Mercurial > public > ostc4
annotate Discovery/Src/motion.c @ 813:1e688b630a6e
Used real sensor state in simulation:
In previous version the status information of the digital O2 sensors were not forwarded to the simulator. As result the simulator did not show the failure reaction in case of error injection using the RTE.
In the new version the status information provided by RTE is used within the simulator.
| author | Ideenmodellierer |
|---|---|
| date | Sun, 03 Sep 2023 17:53:07 +0200 |
| parents | ff2b393e290f |
| children |
| rev | line source |
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1 /* |
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2 * motion.c |
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3 * |
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4 * Created on: 20.05.2019 |
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5 * Author: Thorsten Sonntag |
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6 */ |
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7 |
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8 #include <stdint.h> |
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9 #include <string.h> |
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10 #include <stdlib.h> |
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11 #include <math.h> |
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12 #include "motion.h" |
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13 #include "data_central.h" |
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14 #include "t7.h" |
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15 #include "t3.h" |
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16 #include "settings.h" |
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17 #include "base.h" |
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18 |
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19 #define STABLE_STATE_COUNT 2 /* number of count to declare a state as stable (at the moment based on 100ms) */ |
| 363 | 20 #define STABLE_STATE_TIMEOUT 5 /* Detection shall be aborted if a movement state is stable for more than 500ms */ |
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21 |
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22 #define SECTOR_MAX 24 /* maximum number of sectors */ |
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23 #define SECTOR_SCROLL 7 /* number of sectors used for scroll detection */ |
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24 #define SECTOR_MAX_CNT 5 /* max number of views used for sector control */ |
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25 |
| 627 | 26 |
| 27 typedef enum | |
| 28 { | |
| 29 MOTION_DELTA_STABLE = 0, | |
| 30 MOTION_DELTA_JITTER, | |
| 31 MOTION_DELTA_RAISE, | |
| 32 MOTION_DELTA_RAISE_FAST, | |
| 33 MOTION_DELTA_FALL, | |
| 34 MOTION_DELTA_FALL_FAST | |
| 35 } MotionDeltaState_t; | |
| 551 | 36 |
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37 #define MOTION_DELTA_JITTER_LEVEL 2.0 /* lower values are considered as stable */ |
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38 #define MOTION_DELTA_RAISE_LEVEL 4.0 /* Movement causing a significant change detected */ |
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39 #define MOTION_DELTA_FALL_LEVEL -4.0 /* Movement causing a significant change detected */ |
| 627 | 40 #define MOTION_DELTA_FAST_LEVEL 6.0 /* Movement causing a fast change detected */ |
| 551 | 41 |
| 42 #define MOTION_DELTA_HISTORY_SIZE 20 /* Number of history data sets */ | |
| 43 | |
| 627 | 44 #define MOTION_FOCUS_LIMIT 0.5 /* +/- value which defines the border of the focus area */ |
| 45 #define MOTION_FOCUS_USE_SECTOR 0.4 /* +/- value for the focus area used to map secors to views */ | |
| 46 #define MOTION_FOCUS_SCROLL_IDLE 0.3 /* +/- value for starting generation of scroll events */ | |
| 47 | |
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48 detectionState_t detectionState = DETECT_NOTHING; |
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49 SSector sectorDetection; |
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50 |
| 551 | 51 static uint8_t motionDeltaHistory[3][MOTION_DELTA_HISTORY_SIZE]; /* Change history of roll, pitch and yaw */ |
| 52 static uint8_t motionDeltaHistoryIdx; /* Current index of history data */ | |
| 53 | |
| 54 static uint8_t focusCnt = 0; | |
| 55 static uint8_t inFocus = 0; | |
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56 static uint8_t sectorMap[SECTOR_MAX_CNT]; |
| 551 | 57 |
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58 static uint8_t suspendMotionDetectionSec = 0; |
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59 |
| 551 | 60 void resetMotionDeltaHistory() |
| 61 { | |
| 62 motionDeltaHistoryIdx = 0; | |
| 63 memset(motionDeltaHistory, 0, sizeof(motionDeltaHistory)); | |
| 64 } | |
| 65 | |
| 66 void evaluateMotionDelta(float roll, float pitch, float yaw) | |
| 67 { | |
| 68 static float lastValue[3] = {0.0,0.0,0.0}; | |
| 69 uint8_t nextIndex = motionDeltaHistoryIdx + 1; | |
| 70 uint8_t axis; | |
| 71 float curValue; | |
| 72 | |
| 73 if(nextIndex == MOTION_DELTA_HISTORY_SIZE) | |
| 74 { | |
| 75 nextIndex = 0; | |
| 76 } | |
| 77 for(axis=0; axis < 3; axis++) | |
| 78 { | |
| 79 switch(axis) | |
| 80 { | |
| 81 case MOTION_HISTORY_ROLL: curValue = roll; | |
| 82 break; | |
| 83 case MOTION_HISTORY_PITCH: curValue = pitch; | |
| 84 break; | |
| 85 default: | |
| 86 case MOTION_HISTORY_YAW: if((yaw < 90) && (lastValue[MOTION_HISTORY_YAW] > 270.0)) /* transition 360 => 0 */ | |
| 87 { | |
| 88 lastValue[MOTION_HISTORY_YAW] -= 360; | |
| 89 } | |
| 90 else if((yaw > 270) && (lastValue[MOTION_HISTORY_YAW] < 90.0)) /* transition 0 => 360 */ | |
| 91 { | |
| 92 lastValue[MOTION_HISTORY_YAW] += 360; | |
| 93 } | |
| 94 curValue = yaw; | |
| 95 break; | |
| 96 } | |
| 97 if(curValue - lastValue[axis] > MOTION_DELTA_RAISE_LEVEL) | |
| 98 { | |
| 99 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_RAISE; | |
| 100 } | |
| 101 if(fabsf(curValue - lastValue[axis]) < MOTION_DELTA_RAISE_LEVEL) | |
| 102 { | |
| 103 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_JITTER; | |
| 104 } | |
| 105 if(fabsf(curValue - lastValue[axis]) < MOTION_DELTA_JITTER_LEVEL) | |
| 106 { | |
| 107 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_STABLE; | |
| 108 } | |
| 109 if(curValue - lastValue[axis] < MOTION_DELTA_FALL_LEVEL) | |
| 110 { | |
| 111 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_FALL; | |
| 112 } | |
| 627 | 113 |
| 114 if(fabsf(curValue - lastValue[axis]) > MOTION_DELTA_FAST_LEVEL) | |
| 115 { | |
| 116 motionDeltaHistory[axis][nextIndex]++; | |
| 117 } | |
| 118 | |
| 551 | 119 lastValue[axis] = curValue; |
| 120 } | |
| 121 motionDeltaHistoryIdx = nextIndex; | |
| 122 } | |
| 123 | |
| 124 SDeltaHistory GetDeltaHistory(uint8_t stepback) | |
| 125 { | |
| 578 | 126 uint8_t loop; |
| 551 | 127 uint8_t index = motionDeltaHistoryIdx; |
| 128 | |
| 129 SDeltaHistory result = {0,0,0}; | |
| 130 | |
| 627 | 131 loop = stepback + 1; /* motionDeltaHistoryIdx is pointing to future entry => step back one more to get the latest */ |
| 551 | 132 if(stepback < MOTION_DELTA_HISTORY_SIZE) |
| 133 { | |
| 134 while(loop != 0) /* find requested entry */ | |
| 135 { | |
| 136 loop--; | |
| 137 index--; | |
| 138 if(index == 0) | |
| 139 { | |
| 140 index = MOTION_DELTA_HISTORY_SIZE - 1; | |
| 141 } | |
| 142 } | |
| 143 result.roll = motionDeltaHistory[MOTION_HISTORY_ROLL][index]; | |
| 144 result.pitch = motionDeltaHistory[MOTION_HISTORY_PITCH][index]; | |
| 145 result.yaw = motionDeltaHistory[MOTION_HISTORY_YAW][index]; | |
| 146 } | |
| 147 return result; | |
| 148 } | |
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149 |
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150 uint8_t GetSectorForFocus(float focusOffset) |
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151 { |
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152 uint8_t sector = 0; |
| 627 | 153 float compare = -1.0 * MOTION_FOCUS_USE_SECTOR + sectorDetection.size ; /* start with first sector upper limit */ |
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154 |
| 627 | 155 while(compare <= MOTION_FOCUS_USE_SECTOR) |
| 381 | 156 { |
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157 if(focusOffset > compare) |
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158 { |
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159 sector++; |
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160 } |
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161 else |
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162 { |
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163 break; |
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164 } |
| 627 | 165 compare += sectorDetection.size; |
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166 } |
| 627 | 167 if(sector >= sectorDetection.count) |
| 381 | 168 { |
| 627 | 169 sector = sectorDetection.count - 1; |
| 381 | 170 } |
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171 return sector; |
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172 } |
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173 |
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174 void DefineSectorCount(uint8_t numOfSectors) |
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175 { |
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176 if(numOfSectors == CUSTOMER_DEFINED_VIEWS) |
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177 { |
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178 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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179 { |
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180 sectorDetection.count = t3_GetEnabled_customviews(); |
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181 } |
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182 else |
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183 { |
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184 sectorDetection.count = t7_GetEnabled_customviews(); |
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185 } |
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186 if(sectorDetection.count > SECTOR_MAX_CNT) |
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187 { |
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188 sectorDetection.count = SECTOR_MAX_CNT; /* more views are hard to manually control */ |
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189 } |
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190 } |
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191 else |
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192 if(numOfSectors != CUSTOMER_KEEP_LAST_SECTORS) |
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193 { |
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194 sectorDetection.count = numOfSectors; |
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195 } |
| 627 | 196 sectorDetection.size = MOTION_FOCUS_USE_SECTOR * 2.0 / sectorDetection.count; |
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197 } |
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198 |
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199 |
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200 uint8_t GetCVForSector(uint8_t selSector) |
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201 { |
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202 if(selSector < sectorDetection.count) |
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203 { |
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204 return sectorMap[selSector]; |
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205 } |
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206 else |
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207 { |
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208 return 0; |
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209 } |
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210 } |
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211 |
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212 void MapCVToSector() |
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213 { |
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214 uint8_t ViewIndex = 0; |
| 627 | 215 memset(sectorMap, 0, sizeof(sectorMap)); |
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216 |
| 627 | 217 while(ViewIndex < (sectorDetection.count / 2)) /* define center sector */ |
| 218 { | |
| 219 ViewIndex++; | |
| 220 } | |
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221 |
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222 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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223 { |
| 595 | 224 t3_set_customview_to_primary(); |
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225 sectorMap[ViewIndex] = t3_change_customview(ACTION_END); |
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226 } |
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227 else |
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228 { |
| 595 | 229 t7_set_customview_to_primary(); |
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230 sectorMap[ViewIndex] = t7_change_customview(ACTION_END); |
| 595 | 231 |
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232 } |
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233 |
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234 ViewIndex++; |
| 627 | 235 while(sectorMap[ViewIndex] == 0) |
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236 { |
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237 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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238 { |
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239 sectorMap[ViewIndex] = t3_change_customview(ACTION_BUTTON_ENTER); |
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240 } |
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241 else |
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242 { |
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243 sectorMap[ViewIndex] = t7_change_customview(ACTION_BUTTON_ENTER); |
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244 } |
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245 ViewIndex++; |
| 627 | 246 if(ViewIndex == sectorDetection.count) |
| 247 { | |
| 248 ViewIndex = 0; | |
| 249 } | |
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250 } |
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251 |
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252 } |
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253 |
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254 void InitMotionDetection(void) |
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255 { |
|
383
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256 sectorDetection.target = 0; |
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257 sectorDetection.current = 0; |
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258 sectorDetection.size = 0; |
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259 sectorDetection.count = 0; |
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260 |
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261 switch(settingsGetPointer()->MotionDetection) |
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262 { |
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263 case MOTION_DETECT_SECTOR: DefineSectorCount(CUSTOMER_DEFINED_VIEWS); |
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264 MapCVToSector(); |
|
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265 break; |
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266 case MOTION_DETECT_MOVE: DefineSectorCount(SECTOR_MAX); |
|
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267 break; |
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268 case MOTION_DETECT_SCROLL: DefineSectorCount(SECTOR_SCROLL); |
|
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269 break; |
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270 default: |
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271 break; |
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272 } |
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273 |
| 551 | 274 resetMotionDeltaHistory(); |
|
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275 } |
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276 |
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277 /* Map the current pitch value to a sector and create button event in case the sector is left */ |
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278 detectionState_t detectSectorButtonEvent(float focusOffset) |
|
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279 { |
|
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280 static uint8_t lastTargetSector = 0xFF; |
|
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281 static float lastfocusOffset = 1000.0; |
|
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282 |
|
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283 uint8_t newTargetSector; |
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284 |
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285 newTargetSector = GetSectorForFocus(focusOffset); |
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286 |
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287 /* take a small hysteresis into account to avoid fast display changes (flicker) */ |
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288 if((newTargetSector != lastTargetSector) && (fabsf(focusOffset - lastfocusOffset) > (sectorDetection.size / 3))) |
|
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289 { |
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290 lastfocusOffset = focusOffset; |
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291 lastTargetSector = newTargetSector; |
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292 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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293 { |
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294 t3_select_customview(GetCVForSector(newTargetSector)); |
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295 } |
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296 else |
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297 { |
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298 t7_select_customview(GetCVForSector(newTargetSector)); |
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299 } |
|
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300 } |
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301 return DETECT_NOTHING; |
|
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302 } |
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303 |
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304 /* Check if pitch is not in center position and trigger a button action if needed */ |
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305 detectionState_t detectScrollButtonEvent(float focusOffset) |
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306 { |
|
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307 static uint8_t delayscroll = 0; /* slow down the number of scroll events */ |
|
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308 |
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309 uint8_t PitchEvent = DETECT_NOTHING; |
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310 |
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311 if(delayscroll == 0) |
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312 { |
| 627 | 313 if(focusOffset > MOTION_FOCUS_SCROLL_IDLE) |
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314 { |
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315 PitchEvent = DETECT_POS_PITCH; |
| 574 | 316 delayscroll = 7; |
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317 } |
| 627 | 318 if(focusOffset < (-1.0 * MOTION_FOCUS_SCROLL_IDLE)) |
| 319 { | |
| 320 PitchEvent = DETECT_NEG_PITCH; | |
| 321 delayscroll = 7; | |
| 322 } | |
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323 } |
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324 else |
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325 { |
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326 delayscroll--; |
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327 } |
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328 return PitchEvent; |
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329 } |
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330 |
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331 |
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332 /* Detect if user is generating an pitch including return to starting position */ |
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333 /* This is done by feeding the past movements value per value into a state machine */ |
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334 detectionState_t detectPitch(float currentPitch) |
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335 { |
| 578 | 336 static int8_t lastStart = 0; |
| 551 | 337 uint8_t exit = 0; |
| 578 | 338 int8_t step = 0; |
| 574 | 339 uint8_t duration = 0; |
| 551 | 340 SDeltaHistory test; |
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341 |
| 578 | 342 if(lastStart < 0) |
| 343 { | |
| 344 detectionState = DETECT_NOTHING; | |
| 345 lastStart = 0; | |
| 346 } | |
| 347 else | |
| 348 { | |
| 349 detectionState = DETECT_START; | |
| 350 } | |
| 351 step = lastStart; | |
| 352 do | |
| 551 | 353 { |
| 354 test = GetDeltaHistory(step); | |
| 574 | 355 duration++; |
| 551 | 356 switch (detectionState) |
| 357 { | |
| 358 case DETECT_NOTHING: if(test.pitch > MOTION_DELTA_STABLE) | |
| 359 { | |
| 360 exit = 1; | |
| 578 | 361 lastStart = -2; |
| 551 | 362 } |
| 363 else | |
| 364 { | |
| 365 detectionState = DETECT_START; | |
| 578 | 366 lastStart = -1; |
| 551 | 367 } |
| 368 break; | |
| 369 case DETECT_START: if(test.pitch == MOTION_DELTA_RAISE) | |
| 370 { | |
| 371 detectionState = DETECT_POS_MOVE; | |
| 578 | 372 lastStart = step; |
| 551 | 373 } |
| 578 | 374 else |
| 551 | 375 if(test.pitch == MOTION_DELTA_FALL) |
| 376 { | |
| 377 detectionState = DETECT_NEG_MOVE; | |
| 578 | 378 lastStart = step; |
| 379 } | |
| 380 else | |
| 381 { | |
| 382 lastStart = -1; | |
| 551 | 383 } |
| 574 | 384 duration = 0; |
| 551 | 385 break; |
| 627 | 386 case DETECT_NEG_MOVE: if((test.pitch <= MOTION_DELTA_JITTER) || (test.pitch == MOTION_DELTA_RAISE) || (test.pitch == MOTION_DELTA_RAISE_FAST)) |
| 578 | 387 { |
| 388 detectionState++; | |
| 389 } | |
| 390 break; | |
| 627 | 391 case DETECT_POS_MOVE: if((test.pitch <= MOTION_DELTA_JITTER) || (test.pitch == MOTION_DELTA_FALL) || (test.pitch == MOTION_DELTA_FALL_FAST)) |
| 551 | 392 { |
| 393 detectionState++; | |
| 394 } | |
| 395 break; | |
| 396 case DETECT_MAXIMA: if(test.pitch == MOTION_DELTA_FALL) | |
| 397 { | |
| 398 detectionState = DETECT_FALLBACK; | |
| 399 } | |
| 400 break; | |
| 401 case DETECT_MINIMA: if(test.pitch == MOTION_DELTA_RAISE) | |
| 402 { | |
| 403 detectionState = DETECT_RISEBACK; | |
| 404 } | |
| 405 break; | |
| 406 case DETECT_RISEBACK: | |
| 407 case DETECT_FALLBACK: if(test.pitch == MOTION_DELTA_STABLE) | |
| 408 { | |
| 578 | 409 if(duration > 4) /* avoid detection triggered by short moves */ |
| 574 | 410 { |
| 411 detectionState++; | |
| 412 } | |
| 578 | 413 exit = 1; |
| 414 lastStart = -2; | |
| 551 | 415 } |
| 416 break; | |
| 417 default: | |
| 418 detectionState = DETECT_NOTHING; | |
| 419 exit = 1; | |
| 420 break; | |
| 421 } | |
| 578 | 422 step--; |
| 423 } while((step >= 0) && (!exit)); | |
| 424 | |
| 425 if((lastStart < MOTION_DELTA_HISTORY_SIZE)) | |
| 426 { | |
| 427 lastStart++; /* prepare value for next iteration (history index will be increased) */ | |
| 428 } | |
| 429 else | |
| 430 { | |
| 431 lastStart = -1; | |
| 551 | 432 } |
| 433 if((detectionState != DETECT_POS_PITCH) && (detectionState != DETECT_NEG_PITCH)) /* nothing found */ | |
|
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434 { |
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435 detectionState = DETECT_NOTHING; |
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436 } |
| 551 | 437 else /* dont detect the same event twice */ |
| 438 { | |
| 439 resetMotionDeltaHistory(); | |
| 440 } | |
| 441 return detectionState; | |
| 442 } | |
| 363 | 443 |
| 551 | 444 void anglesToCoord(float roll, float pitch, float yaw, SCoord *pCoord) |
| 445 { | |
| 446 pCoord->x = ((cosf(yaw) * cosf(pitch)) * pCoord->x + (cosf(yaw)*sinf(pitch)*sinf(roll) - (sinf(yaw)* cosf(roll))) * pCoord->y + (cosf(yaw)*sinf(pitch)*cosf(roll) + sinf(yaw)*sinf(roll)) * pCoord->z); | |
| 447 pCoord->y = ((sinf(yaw) * cosf(pitch)) * pCoord->x + (sinf(yaw)*sinf(pitch)*sinf(roll) + cosf(yaw) * cosf(roll)) * pCoord->y + ( sinf(yaw) * sinf(pitch) * cosf(roll) - cosf(yaw) * sinf(roll))* pCoord->z); | |
| 448 pCoord->z = ((-1*sinf(pitch)) * pCoord->x + (cosf(pitch) *sinf(roll)) * pCoord->y + (cosf(pitch) * cosf(roll))* pCoord->z); | |
| 449 } | |
| 450 | |
| 451 SCoord CoordAdd(SCoord cA, SCoord cB) | |
| 452 { | |
| 453 SCoord result; | |
| 454 | |
| 455 result.x = cA.x + cB.x; | |
| 456 result.y = cA.y + cB.y; | |
| 457 result.z = cA.z + cB.z; | |
| 458 return result; | |
| 459 } | |
| 460 | |
| 461 SCoord CoordSub(SCoord cA, SCoord cB) | |
| 462 { | |
| 463 SCoord result; | |
|
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464 |
| 551 | 465 result.x = cA.x - cB.x; |
| 466 result.y = cA.y - cB.y; | |
| 467 result.z = cA.z - cB.z; | |
| 468 return result; | |
| 469 } | |
| 470 | |
| 471 SCoord CoordCross(SCoord cA, SCoord cB) | |
| 472 { | |
| 473 SCoord result; | |
| 474 | |
| 475 result.x = (cA.y * cB.z) - (cA.z * cB.y); | |
| 476 result.y = (cA.z * cB.x) - (cA.x * cB.z); | |
| 477 result.z = (cA.x * cB.y) - (cA.y * cB.x); | |
| 478 | |
| 479 return result; | |
| 480 | |
| 481 } | |
| 482 | |
| 483 SCoord CoordMulF(SCoord op, float factor) | |
| 484 { | |
| 485 SCoord result; | |
| 486 result.x = (op.x * factor); | |
| 487 result.y = (op.y * factor); | |
| 488 result.z = (op.z * factor); | |
| 489 | |
| 490 return result; | |
| 491 } | |
|
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492 |
| 551 | 493 SCoord CoordDivF(SCoord op, float factor) |
| 494 { | |
| 495 SCoord result; | |
| 496 result.x = (op.x / factor); | |
| 497 result.y = (op.y / factor); | |
| 498 result.z = (op.z / factor); | |
| 499 | |
| 500 return result; | |
| 501 } | |
| 502 | |
| 503 float CoordDot(SCoord cA, SCoord cB) | |
| 504 { | |
| 505 float result; | |
| 506 | |
| 507 result = cA.x * cB.x + cA.y * cB.y + cB.z*cA.z; | |
| 508 return result; | |
| 509 } | |
| 510 | |
| 511 void calibrateViewport(float roll, float pitch, float yaw) | |
| 512 { | |
| 513 SSettings* pSettings = settingsGetPointer(); | |
| 514 | |
| 621 | 515 pSettings->viewPitch = pitch + 180; |
| 516 pSettings->viewRoll = roll+ 180; | |
| 551 | 517 pSettings->viewYaw = yaw; |
| 518 } | |
| 519 | |
| 520 | |
|
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521 float checkViewport(float roll, float pitch, float yaw, uint8_t enableAxis) |
| 551 | 522 { |
| 523 uint8_t retval = 0; | |
| 524 float angleYaw; | |
| 525 float anglePitch; | |
| 526 float angleRoll; | |
| 527 float distance = 0; | |
| 528 float _a, _b; | |
| 529 SCoord u,v,n; | |
| 627 | 530 float r = 0.0; |
| 531 float focusLimit = 0; | |
| 551 | 532 |
| 533 SCoord refVec; | |
| 534 SCoord axis_1; | |
| 535 SCoord axis_2; | |
| 536 SCoord curVec; | |
| 537 SCoord resultVec; | |
| 538 | |
| 627 | 539 SDeltaHistory movementDelta; |
| 540 | |
| 551 | 541 SSettings* pSettings = settingsGetPointer(); |
| 542 | |
| 621 | 543 roll += 180; |
| 544 pitch += 180; | |
| 545 | |
| 551 | 546 /* calculate base vector taking calibration delta into account yaw (heading) */ |
| 621 | 547 float compYaw; |
| 574 | 548 |
|
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549 if(enableAxis & MOTION_ENABLE_YAW) |
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550 { |
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551 compYaw = 360.0 - yaw; /* turn to 0° */ |
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552 compYaw += pSettings->viewYaw; /* consider calib yaw value */ |
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553 compYaw += yaw; |
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554 |
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555 if (compYaw < 0.0) |
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556 { |
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557 compYaw = 360.0 + compYaw; |
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558 } |
| 574 | 559 |
|
625
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560 if (compYaw > 360.0) |
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561 { |
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562 compYaw = compYaw - 360.0; |
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563 } |
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564 if (compYaw > 360.0) |
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565 { |
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566 compYaw = compYaw - 360.0; |
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567 } |
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568 angleYaw = pSettings->viewYaw * M_PI / 180.0; |
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569 } |
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570 else |
| 551 | 571 { |
|
625
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572 compYaw = 0.0; |
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573 angleYaw = 0.0; |
| 381 | 574 } |
| 551 | 575 |
|
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576 if(enableAxis & MOTION_ENABLE_PITCH) |
| 381 | 577 { |
|
625
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578 anglePitch = pSettings->viewPitch * M_PI / 180.0; |
|
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579 } |
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580 else |
| 574 | 581 { |
|
625
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582 anglePitch = 0; |
| 574 | 583 } |
|
625
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584 if(enableAxis & MOTION_ENABLE_ROLL) |
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585 { |
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586 angleRoll = pSettings->viewRoll * M_PI / 180.0; |
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587 } |
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588 else |
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589 { |
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590 angleRoll = 0; |
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|
591 } |
| 551 | 592 |
| 593 refVec.x = 0; | |
| 594 refVec.y = 0; | |
| 595 refVec.z = 1.0; | |
| 596 | |
| 597 anglesToCoord(angleRoll,anglePitch,angleYaw, &refVec); | |
| 598 | |
| 599 /* assume x = 0 and y = 1 => find matching vector so axis_1 is 90° to axis_2 */ | |
| 600 axis_1.x = 0; | |
| 601 if(refVec.y >=0) | |
| 602 { | |
| 603 axis_2.y = 1; /* => Spawn y == refVec y */ | |
| 604 } | |
| 605 else axis_1.y = -1; | |
| 606 axis_1.z = -1.0 * refVec.y / refVec.z; | |
| 607 axis_2 = CoordCross(refVec, axis_1); /* Cross is 90° to refVec and Spawn as well => Plane Spawn / cross */ | |
| 608 | |
| 609 /* check if detection plane is correct */ | |
| 610 u = CoordSub(axis_1,refVec); | |
| 611 v = CoordSub(axis_2,refVec); | |
| 612 n = CoordCross(u,v); | |
| 613 | |
| 614 if((fabsf(n.x) <= 0.0001) && (fabsf(n.y) <= 0.0001) && (fabsf(n.z) <= 0.0001)) | |
| 615 { | |
| 616 retval = 2; | |
| 617 } | |
| 618 else | |
| 619 { | |
|
625
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620 if(enableAxis & MOTION_ENABLE_PITCH) |
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621 { |
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622 anglePitch = pitch * M_PI / 180.0; |
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623 } |
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|
624 else |
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|
625 { |
|
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626 anglePitch = 0.0; |
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|
627 } |
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628 if(enableAxis & MOTION_ENABLE_ROLL) |
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|
629 { |
|
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630 angleRoll = roll * M_PI / 180.0; |
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|
631 } |
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632 else |
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|
633 { |
|
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|
634 angleRoll = 0.0; |
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|
635 } |
|
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|
636 if(enableAxis & MOTION_ENABLE_YAW) |
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|
637 { |
|
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|
638 angleYaw = compYaw * M_PI / 180.0; |
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639 } |
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|
640 else |
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|
641 { |
|
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|
642 angleYaw = 0.0; |
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|
643 } |
|
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|
644 |
| 551 | 645 curVec.x = 0; |
| 646 curVec.y = 0; | |
| 647 curVec.z = 1.0; | |
| 648 anglesToCoord(angleRoll,anglePitch,angleYaw, &curVec); | |
| 649 | |
| 650 _a = CoordDot(curVec,n); | |
| 651 _b = CoordDot(refVec,n); | |
| 652 | |
| 653 if(_b>=(-0.0001)&&_b<=0.0001) /* Check if view port is parallel (no matchpoint) */ | |
| 654 { | |
| 655 retval = 3; | |
| 656 } | |
| 657 else | |
| 658 { | |
| 659 r=_a/_b; | |
| 660 if(r<0.00||r>1.40) /* are we looking into wrong direction? */ | |
| 661 { | |
| 662 retval = 4; | |
| 663 } | |
| 664 } | |
| 665 distance = retval * 1.0; /* just for debugging */ | |
| 666 if(retval == 0) | |
| 667 { | |
| 668 /* start calculating the matchpoint */ | |
| 669 curVec = CoordMulF(curVec,r); | |
| 670 resultVec = CoordSub(refVec,curVec); | |
| 671 | |
| 672 /* calculate the distance between reference and actual vector */ | |
| 673 resultVec.x = resultVec.x * resultVec.x; | |
| 674 resultVec.y = resultVec.y * resultVec.y; | |
| 675 resultVec.z = resultVec.z * resultVec.z; | |
| 676 | |
| 677 if((resultVec.x == 0) && (resultVec.y == 0) && (resultVec.z == 0)) | |
| 678 { | |
| 679 distance = 0.0; | |
| 680 } | |
| 681 else | |
| 682 { | |
| 683 distance = sqrtf((resultVec.x + resultVec.y + resultVec.z)); | |
| 684 } | |
| 685 } | |
| 686 } | |
| 687 | |
| 627 | 688 movementDelta = GetDeltaHistory(0); |
| 689 | |
| 690 if(inFocus == 0) /* consider option to use smaller spot to detect focus state */ | |
| 691 { | |
| 692 focusLimit = MOTION_FOCUS_LIMIT - (((pSettings->viewPortMode >> 5) & 0x03) / 10.0); | |
| 693 } | |
| 694 else | |
| 695 { | |
| 696 focusLimit = MOTION_FOCUS_LIMIT; /* use standard spot to detect diver interactions */ | |
| 697 } | |
| 698 | |
| 699 if((distance <= focusLimit) && (movementDelta.yaw != MOTION_DELTA_RAISE_FAST) && (movementDelta.yaw != MOTION_DELTA_FALL_FAST)) /* handle focus counter to avoid fast in/out focus changes */ | |
| 551 | 700 { |
| 701 if(focusCnt < 10) | |
| 702 { | |
| 703 if((focusCnt == 9) && (inFocus == 0)) /* we will get into focus */ | |
| 704 { | |
| 705 resetMotionDeltaHistory(); | |
| 706 } | |
| 707 focusCnt++; | |
| 708 } | |
| 574 | 709 if((focusCnt == 10) && (inFocus == 0)) |
| 551 | 710 { |
| 711 inFocus = 1; | |
| 712 } | |
| 713 } | |
| 714 else | |
| 715 { | |
| 627 | 716 if((movementDelta.yaw > MOTION_DELTA_JITTER ) && (focusCnt >= 5)) |
| 717 { | |
| 718 focusCnt--; | |
| 719 } | |
|
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|
720 if(focusCnt >= 5) /* Reset focus faster then setting focus */ |
| 551 | 721 { |
| 722 focusCnt--; | |
| 723 } | |
| 724 else | |
| 725 { | |
| 574 | 726 focusCnt = 0; |
| 551 | 727 inFocus = 0; |
| 728 } | |
| 729 } | |
| 627 | 730 if ((r<1) && (retval == 0)) /* add direction information to distance */ |
| 731 { | |
| 732 distance *= -1.0; | |
| 733 } | |
| 551 | 734 return distance; |
|
359
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|
735 } |
| 551 | 736 uint8_t viewInFocus(void) |
| 737 { | |
| 738 return inFocus; | |
| 739 } | |
| 740 void resetFocusState(void) | |
| 741 { | |
| 742 inFocus = 0; | |
| 743 } | |
|
611
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Suspend MotionDetection events while diver is operationg the OSTC:
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|
744 |
|
642
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|
745 uint8_t viewDetectionSuspended(void) |
|
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746 { |
|
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747 uint8_t retVal = 0; |
|
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|
748 |
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|
749 if(suspendMotionDetectionSec) |
|
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|
750 { |
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751 retVal = 1; |
|
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|
752 } |
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|
753 return retVal; |
|
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|
754 } |
|
c737cf5d9067
Do not show focus indicator in case motion detection is suspended:
Ideenmodellierer
parents:
627
diff
changeset
|
755 |
|
611
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
756 void suspendMotionDetection(uint8_t seconds) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
757 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
758 suspendMotionDetectionSec = seconds * 10; /* detection function is called every 100ms */ |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
759 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
760 |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
761 void HandleMotionDetection(void) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
762 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
763 detectionState_t pitchstate = DETECT_NOTHING; |
|
618
96af74455420
Development bugfix: focus state not remembered:
Ideenmodellierer
parents:
611
diff
changeset
|
764 static uint8_t wasInFocus = 0; |
|
625
028d8f3a9410
Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents:
621
diff
changeset
|
765 float focusOffset = 0.0; |
|
611
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
766 |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
767 evaluateMotionDelta(stateUsed->lifeData.compass_roll, stateUsed->lifeData.compass_pitch, stateUsed->lifeData.compass_heading); |
|
625
028d8f3a9410
Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents:
621
diff
changeset
|
768 if(viewInFocus()) |
|
028d8f3a9410
Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents:
621
diff
changeset
|
769 { |
|
028d8f3a9410
Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents:
621
diff
changeset
|
770 focusOffset = checkViewport(stateUsed->lifeData.compass_roll, stateUsed->lifeData.compass_pitch, stateUsed->lifeData.compass_heading, (MOTION_ENABLE_PITCH | MOTION_ENABLE_YAW)); |
|
028d8f3a9410
Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents:
621
diff
changeset
|
771 } |
|
028d8f3a9410
Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents:
621
diff
changeset
|
772 else |
|
028d8f3a9410
Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents:
621
diff
changeset
|
773 { |
|
028d8f3a9410
Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents:
621
diff
changeset
|
774 focusOffset = checkViewport(stateUsed->lifeData.compass_roll, stateUsed->lifeData.compass_pitch, stateUsed->lifeData.compass_heading, MOTION_ENABLE_ALL); |
|
028d8f3a9410
Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents:
621
diff
changeset
|
775 } |
|
611
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
776 if(viewInFocus()) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
777 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
778 wasInFocus = 1; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
779 set_Backlight_Boost(settingsGetPointer()->viewPortMode & 0x03); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
780 |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
781 if(suspendMotionDetectionSec == 0) /* suspend detection while diver is manually operating the OSTC */ |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
782 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
783 switch(settingsGetPointer()->MotionDetection) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
784 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
785 case MOTION_DETECT_MOVE: pitchstate = detectPitch(stateRealGetPointer()->lifeData.compass_pitch); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
786 break; |
|
625
028d8f3a9410
Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents:
621
diff
changeset
|
787 case MOTION_DETECT_SECTOR: pitchstate = detectSectorButtonEvent(focusOffset); |
|
611
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
788 break; |
| 627 | 789 case MOTION_DETECT_SCROLL: pitchstate = detectScrollButtonEvent(fabs(focusOffset)); |
|
611
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
790 break; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
791 default: |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
792 pitchstate = DETECT_NOTHING; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
793 break; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
794 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
795 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
796 |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
797 if(DETECT_NEG_PITCH == pitchstate) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
798 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
799 StoreButtonAction((uint8_t)ACTION_PITCH_NEG); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
800 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
801 if(DETECT_POS_PITCH == pitchstate) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
802 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
803 StoreButtonAction((uint8_t)ACTION_PITCH_POS); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
804 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
805 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
806 else |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
807 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
808 if(wasInFocus) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
809 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
810 wasInFocus = 0; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
811 if(suspendMotionDetectionSec == 0) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
812 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
813 if(settingsGetPointer()->design == 7) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
814 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
815 t7_set_customview_to_primary(); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
816 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
817 else |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
818 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
819 t3_set_customview_to_primary(); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
820 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
821 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
822 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
823 set_Backlight_Boost(0); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
824 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
825 if(suspendMotionDetectionSec != 0) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
826 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
827 suspendMotionDetectionSec--; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
828 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
829 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
830 |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
831 |