Mercurial > public > ostc4
annotate Discovery/Src/motion.c @ 605:1f665e31aca2
change O2_CALIB_FRACTION_O2 to 0.98
It's common sense that calibrating CCR's with O2 asumes a max. O2 content of
98%
| author | heinrichsweikamp |
|---|---|
| date | Thu, 07 Jan 2021 09:53:04 +0100 |
| parents | fd0b60dee6f3 |
| children | 916998f90e39 |
| 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_WINDOW 30.0 /* Pitch window which is used for custom view projection */ |
| 381 | 23 #define SECTOR_WINDOW_MAX 120.0 /* Pitch window which will be greater than the divers field of view */ |
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24 #define SECTOR_HYSTERY 2 /* Additional offset to avoid fast changing displays */ |
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25 #define SECTOR_BORDER 400.0 /* Define a value which is out of limit to avoid not wanted key events */ |
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26 #define SECTOR_FILTER 10 /* Define speed for calculated angle to follow real value */ |
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27 |
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28 #define SECTOR_MAX 24 /* maximum number of sectors */ |
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29 #define SECTOR_SCROLL 7 /* number of sectors used for scroll detection */ |
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30 #define SECTOR_MAX_CNT 5 /* max number of views used for sector control */ |
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31 |
| 551 | 32 #define MOTION_DELTA_STABLE 0 |
| 33 #define MOTION_DELTA_JITTER 1 | |
| 34 #define MOTION_DELTA_RAISE 2 | |
| 35 #define MOTION_DELTA_FALL 3 | |
| 36 | |
| 37 #define MOTION_DELTA_JITTER_LEVEL 3.0 /* lower values are considered as stable */ | |
| 574 | 38 #define MOTION_DELTA_RAISE_LEVEL 6.0 /* Movement causing a significant change detected */ |
| 551 | 39 #define MOTION_DELTA_FALL_LEVEL -6.0 /* Movement causing a significant change detected */ |
| 40 | |
| 41 #define MOTION_DELTA_HISTORY_SIZE 20 /* Number of history data sets */ | |
| 42 | |
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43 detectionState_t detectionState = DETECT_NOTHING; |
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44 SSector sectorDetection; |
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45 |
| 551 | 46 static uint8_t motionDeltaHistory[3][MOTION_DELTA_HISTORY_SIZE]; /* Change history of roll, pitch and yaw */ |
| 47 static uint8_t motionDeltaHistoryIdx; /* Current index of history data */ | |
| 48 | |
| 49 static uint8_t focusCnt = 0; | |
| 50 static uint8_t inFocus = 0; | |
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51 static uint8_t sectorMap[SECTOR_MAX_CNT]; |
| 551 | 52 |
| 53 void resetMotionDeltaHistory() | |
| 54 { | |
| 55 motionDeltaHistoryIdx = 0; | |
| 56 memset(motionDeltaHistory, 0, sizeof(motionDeltaHistory)); | |
| 57 } | |
| 58 | |
| 59 void evaluateMotionDelta(float roll, float pitch, float yaw) | |
| 60 { | |
| 61 static float lastValue[3] = {0.0,0.0,0.0}; | |
| 62 uint8_t nextIndex = motionDeltaHistoryIdx + 1; | |
| 63 uint8_t axis; | |
| 64 float curValue; | |
| 65 | |
| 66 if(nextIndex == MOTION_DELTA_HISTORY_SIZE) | |
| 67 { | |
| 68 nextIndex = 0; | |
| 69 } | |
| 70 for(axis=0; axis < 3; axis++) | |
| 71 { | |
| 72 switch(axis) | |
| 73 { | |
| 74 case MOTION_HISTORY_ROLL: curValue = roll; | |
| 75 break; | |
| 76 case MOTION_HISTORY_PITCH: curValue = pitch; | |
| 77 break; | |
| 78 default: | |
| 79 case MOTION_HISTORY_YAW: if((yaw < 90) && (lastValue[MOTION_HISTORY_YAW] > 270.0)) /* transition 360 => 0 */ | |
| 80 { | |
| 81 lastValue[MOTION_HISTORY_YAW] -= 360; | |
| 82 } | |
| 83 else if((yaw > 270) && (lastValue[MOTION_HISTORY_YAW] < 90.0)) /* transition 0 => 360 */ | |
| 84 { | |
| 85 lastValue[MOTION_HISTORY_YAW] += 360; | |
| 86 } | |
| 87 curValue = yaw; | |
| 88 break; | |
| 89 } | |
| 90 if(curValue - lastValue[axis] > MOTION_DELTA_RAISE_LEVEL) | |
| 91 { | |
| 92 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_RAISE; | |
| 93 } | |
| 94 if(fabsf(curValue - lastValue[axis]) < MOTION_DELTA_RAISE_LEVEL) | |
| 95 { | |
| 96 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_JITTER; | |
| 97 } | |
| 98 if(fabsf(curValue - lastValue[axis]) < MOTION_DELTA_JITTER_LEVEL) | |
| 99 { | |
| 100 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_STABLE; | |
| 101 } | |
| 102 if(curValue - lastValue[axis] < MOTION_DELTA_FALL_LEVEL) | |
| 103 { | |
| 104 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_FALL; | |
| 105 } | |
| 106 lastValue[axis] = curValue; | |
| 107 } | |
| 108 motionDeltaHistoryIdx = nextIndex; | |
| 109 } | |
| 110 | |
| 111 SDeltaHistory GetDeltaHistory(uint8_t stepback) | |
| 112 { | |
| 578 | 113 uint8_t loop; |
| 551 | 114 uint8_t index = motionDeltaHistoryIdx; |
| 115 | |
| 116 SDeltaHistory result = {0,0,0}; | |
| 117 | |
| 578 | 118 stepback++; /* motionDeltaHistoryIdx is pointing to future entry => step back one to get the latest */ |
| 119 loop = stepback; | |
| 551 | 120 if(stepback < MOTION_DELTA_HISTORY_SIZE) |
| 121 { | |
| 122 while(loop != 0) /* find requested entry */ | |
| 123 { | |
| 124 loop--; | |
| 125 index--; | |
| 126 if(index == 0) | |
| 127 { | |
| 128 index = MOTION_DELTA_HISTORY_SIZE - 1; | |
| 129 } | |
| 130 } | |
| 131 result.roll = motionDeltaHistory[MOTION_HISTORY_ROLL][index]; | |
| 132 result.pitch = motionDeltaHistory[MOTION_HISTORY_PITCH][index]; | |
| 133 result.yaw = motionDeltaHistory[MOTION_HISTORY_YAW][index]; | |
| 134 } | |
| 135 return result; | |
| 136 } | |
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137 |
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138 uint8_t GetSectorForPitch(float pitch) |
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139 { |
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140 static uint8_t lastsector = 0; |
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141 float newPitch; |
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142 uint8_t sector = 0; |
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143 |
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144 newPitch = pitch + sectorDetection.offset + sectorDetection.center; /* do not use negative values and consider offset to center position */ |
| 381 | 145 if (newPitch < 0.0) /* clip value */ |
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146 { |
| 381 | 147 newPitch = 0.0; |
| 148 } | |
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149 if (newPitch > sectorDetection.window) /* clip value */ |
| 381 | 150 { |
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151 newPitch = sectorDetection.window; |
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152 } |
| 381 | 153 |
| 154 /* switch to other sector? */ | |
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155 if((newPitch > sectorDetection.upperborder) || (newPitch <= sectorDetection.lowerborder)) |
| 381 | 156 { |
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157 sector = (uint16_t) newPitch / sectorDetection.size; |
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158 sectorDetection.lowerborder = sector * sectorDetection.size - SECTOR_HYSTERY; |
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159 sectorDetection.upperborder = (sector + 1) * sectorDetection.size + SECTOR_HYSTERY; |
| 381 | 160 lastsector = sector; |
| 161 } | |
| 162 | |
| 163 return lastsector; | |
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164 } |
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165 |
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166 void DefinePitchSectors(float centerPitch,uint8_t numOfSectors) |
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167 { |
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168 if(numOfSectors == CUSTOMER_DEFINED_VIEWS) |
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169 { |
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170 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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171 { |
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172 sectorDetection.count = t3_GetEnabled_customviews(); |
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173 } |
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174 else |
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175 { |
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176 sectorDetection.count = t7_GetEnabled_customviews(); |
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177 } |
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178 if(sectorDetection.count > SECTOR_MAX_CNT) |
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179 { |
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180 sectorDetection.count = SECTOR_MAX_CNT; /* more views are hard to manually control */ |
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181 } |
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182 } |
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183 else |
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184 if(numOfSectors != CUSTOMER_KEEP_LAST_SECTORS) |
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185 { |
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186 sectorDetection.count = numOfSectors; |
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187 } |
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188 |
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189 if(sectorDetection.count == SECTOR_MAX) |
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190 { |
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191 sectorDetection.window = SECTOR_WINDOW_MAX; |
| 381 | 192 } |
| 193 else | |
| 194 { | |
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195 sectorDetection.window = SECTOR_WINDOW; |
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196 } |
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197 |
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198 sectorDetection.offset = (centerPitch - (sectorDetection.window / 2)) * -1.0; |
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199 sectorDetection.size = sectorDetection.window / sectorDetection.count; |
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200 sectorDetection.center = 0; |
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201 |
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202 /* reset border values */ |
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203 sectorDetection.lowerborder = SECTOR_BORDER; |
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204 sectorDetection.upperborder = SECTOR_BORDER * -1.0; |
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205 /* get the current sector */ |
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206 sectorDetection.current = GetSectorForPitch(stateRealGetPointer()->lifeData.compass_pitch); |
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207 sectorDetection.target = sectorDetection.current; |
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208 /* do a small adjustment to center pitch to make sure the actual pitch is in the center of the current sector */ |
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209 sectorDetection.center = (sectorDetection.upperborder) - ((sectorDetection.size + 2 *SECTOR_HYSTERY) / 2.0) - (centerPitch + sectorDetection.offset); |
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210 |
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211 } |
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212 |
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213 |
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214 uint8_t GetCVForSector(uint8_t selSector) |
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215 { |
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216 if(selSector < sectorDetection.count) |
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217 { |
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218 return sectorMap[selSector]; |
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219 } |
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220 else |
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221 { |
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222 return 0; |
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223 } |
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224 } |
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225 void MapCVToSector() |
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226 { |
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227 uint8_t centerView = 0; |
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228 |
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229 memset(sectorMap, 0, sizeof(sectorMap)); |
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230 |
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231 switch(sectorDetection.count) |
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232 { |
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233 case 1: centerView = 0; break; |
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234 case 2: centerView = 0; break; |
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235 case 3: centerView = 1; break; |
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236 case 4: centerView = 1; break; |
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237 case 5: centerView = 2; break; |
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238 default: centerView = sectorDetection.count / 2 - 1; |
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239 break; |
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240 } |
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241 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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242 { |
| 595 | 243 t3_set_customview_to_primary(); |
| 244 sectorMap[centerView] = t3_change_customview(ACTION_END); | |
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245 } |
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246 else |
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247 { |
| 595 | 248 t7_set_customview_to_primary(); |
| 249 sectorMap[centerView] = t7_change_customview(ACTION_END); | |
| 250 | |
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251 } |
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252 |
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253 centerView++; |
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254 while(sectorMap[centerView] == 0) |
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255 { |
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256 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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257 { |
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258 sectorMap[centerView] = t3_change_customview(ACTION_BUTTON_ENTER); |
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259 } |
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260 else |
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261 { |
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262 sectorMap[centerView] = t7_change_customview(ACTION_BUTTON_ENTER); |
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263 } |
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264 centerView++; |
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265 if(centerView == sectorDetection.count) |
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266 { |
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267 centerView = 0; |
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268 } |
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269 } |
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270 |
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271 } |
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272 |
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273 void InitMotionDetection(void) |
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274 { |
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275 sectorDetection.target = 0; |
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276 sectorDetection.current = 0; |
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277 sectorDetection.size = 0; |
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278 sectorDetection.count = 0; |
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279 |
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280 switch(settingsGetPointer()->MotionDetection) |
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281 { |
| 551 | 282 case MOTION_DETECT_SECTOR: DefinePitchSectors(settingsGetPointer()->viewPitch,CUSTOMER_DEFINED_VIEWS); |
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283 MapCVToSector(); |
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284 break; |
| 551 | 285 case MOTION_DETECT_MOVE: DefinePitchSectors(settingsGetPointer()->viewPitch,SECTOR_MAX); |
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286 break; |
| 551 | 287 case MOTION_DETECT_SCROLL: DefinePitchSectors(settingsGetPointer()->viewPitch,SECTOR_SCROLL); |
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288 break; |
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289 default: |
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290 break; |
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291 } |
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292 |
| 551 | 293 resetMotionDeltaHistory(); |
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294 } |
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295 |
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296 /* Map the current pitch value to a sector and create button event in case the sector is left */ |
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297 detectionState_t detectSectorButtonEvent(float curPitch) |
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298 { |
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299 uint8_t newTargetSector; |
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300 |
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301 newTargetSector = GetSectorForPitch(stateRealGetPointer()->lifeData.compass_pitch); |
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302 |
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303 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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304 { |
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305 t3_select_customview(GetCVForSector(newTargetSector)); |
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306 } |
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307 else |
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308 { |
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309 t7_select_customview(GetCVForSector(newTargetSector)); |
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310 } |
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311 |
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312 return DETECT_NOTHING; |
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313 } |
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314 |
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315 /* Check if pitch is not in center position and trigger a button action if needed */ |
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316 detectionState_t detectScrollButtonEvent(float curPitch) |
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317 { |
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318 static uint8_t delayscroll = 0; /* slow down the number of scroll events */ |
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370
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319 |
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320 uint8_t PitchEvent = DETECT_NOTHING; |
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321 uint8_t newSector; |
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322 |
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323 if(delayscroll == 0) |
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324 { |
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325 newSector = GetSectorForPitch(stateRealGetPointer()->lifeData.compass_pitch); |
| 551 | 326 /* for scroll detection the motion window is split into 6 sectors => set event accoring to the sector number*/ |
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327 switch(newSector) |
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328 { |
| 574 | 329 case 0: PitchEvent = DETECT_POS_PITCH; |
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330 break; |
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331 case 6: PitchEvent = DETECT_NEG_PITCH; |
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332 break; |
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333 default: |
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334 break; |
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335 } |
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336 if(PitchEvent != DETECT_NOTHING) |
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337 { |
| 574 | 338 delayscroll = 7; |
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339 } |
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340 } |
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341 else |
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342 { |
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343 delayscroll--; |
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344 } |
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345 return PitchEvent; |
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346 } |
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347 |
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348 |
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349 /* Detect if user is generating an pitch including return to starting position */ |
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350 /* This is done by feeding the past movements value per value into a state machine */ |
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351 detectionState_t detectPitch(float currentPitch) |
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352 { |
| 578 | 353 static int8_t lastStart = 0; |
| 551 | 354 uint8_t exit = 0; |
| 578 | 355 int8_t step = 0; |
| 574 | 356 uint8_t duration = 0; |
| 551 | 357 SDeltaHistory test; |
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358 |
| 578 | 359 if(lastStart < 0) |
| 360 { | |
| 361 detectionState = DETECT_NOTHING; | |
| 362 lastStart = 0; | |
| 363 } | |
| 364 else | |
| 365 { | |
| 366 detectionState = DETECT_START; | |
| 367 } | |
| 368 step = lastStart; | |
| 369 do | |
| 551 | 370 { |
| 371 test = GetDeltaHistory(step); | |
| 574 | 372 duration++; |
| 551 | 373 switch (detectionState) |
| 374 { | |
| 375 case DETECT_NOTHING: if(test.pitch > MOTION_DELTA_STABLE) | |
| 376 { | |
| 377 exit = 1; | |
| 578 | 378 lastStart = -2; |
| 551 | 379 } |
| 380 else | |
| 381 { | |
| 382 detectionState = DETECT_START; | |
| 578 | 383 lastStart = -1; |
| 551 | 384 } |
| 385 break; | |
| 386 case DETECT_START: if(test.pitch == MOTION_DELTA_RAISE) | |
| 387 { | |
| 388 detectionState = DETECT_POS_MOVE; | |
| 578 | 389 lastStart = step; |
| 551 | 390 } |
| 578 | 391 else |
| 551 | 392 if(test.pitch == MOTION_DELTA_FALL) |
| 393 { | |
| 394 detectionState = DETECT_NEG_MOVE; | |
| 578 | 395 lastStart = step; |
| 396 } | |
| 397 else | |
| 398 { | |
| 399 lastStart = -1; | |
| 551 | 400 } |
| 574 | 401 duration = 0; |
| 551 | 402 break; |
| 578 | 403 case DETECT_NEG_MOVE: if((test.pitch <= MOTION_DELTA_JITTER) || (test.pitch == MOTION_DELTA_RAISE)) |
| 404 { | |
| 405 detectionState++; | |
| 406 } | |
| 407 break; | |
| 408 case DETECT_POS_MOVE: if((test.pitch <= MOTION_DELTA_JITTER) || (test.pitch == MOTION_DELTA_FALL)) | |
| 551 | 409 { |
| 410 detectionState++; | |
| 411 } | |
| 412 break; | |
| 413 case DETECT_MAXIMA: if(test.pitch == MOTION_DELTA_FALL) | |
| 414 { | |
| 415 detectionState = DETECT_FALLBACK; | |
| 416 } | |
| 417 break; | |
| 418 case DETECT_MINIMA: if(test.pitch == MOTION_DELTA_RAISE) | |
| 419 { | |
| 420 detectionState = DETECT_RISEBACK; | |
| 421 } | |
| 422 break; | |
| 423 case DETECT_RISEBACK: | |
| 424 case DETECT_FALLBACK: if(test.pitch == MOTION_DELTA_STABLE) | |
| 425 { | |
| 578 | 426 if(duration > 4) /* avoid detection triggered by short moves */ |
| 574 | 427 { |
| 428 detectionState++; | |
| 429 } | |
| 578 | 430 exit = 1; |
| 431 lastStart = -2; | |
| 551 | 432 } |
| 433 break; | |
| 434 default: | |
| 435 detectionState = DETECT_NOTHING; | |
| 436 exit = 1; | |
| 437 break; | |
| 438 } | |
| 578 | 439 step--; |
| 440 } while((step >= 0) && (!exit)); | |
| 441 | |
| 442 if((lastStart < MOTION_DELTA_HISTORY_SIZE)) | |
| 443 { | |
| 444 lastStart++; /* prepare value for next iteration (history index will be increased) */ | |
| 445 } | |
| 446 else | |
| 447 { | |
| 448 lastStart = -1; | |
| 551 | 449 } |
| 450 if((detectionState != DETECT_POS_PITCH) && (detectionState != DETECT_NEG_PITCH)) /* nothing found */ | |
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451 { |
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452 detectionState = DETECT_NOTHING; |
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453 } |
| 551 | 454 else /* dont detect the same event twice */ |
| 455 { | |
| 456 resetMotionDeltaHistory(); | |
| 457 } | |
| 458 return detectionState; | |
| 459 } | |
| 363 | 460 |
| 551 | 461 void anglesToCoord(float roll, float pitch, float yaw, SCoord *pCoord) |
| 462 { | |
| 463 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); | |
| 464 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); | |
| 465 pCoord->z = ((-1*sinf(pitch)) * pCoord->x + (cosf(pitch) *sinf(roll)) * pCoord->y + (cosf(pitch) * cosf(roll))* pCoord->z); | |
| 466 } | |
| 467 | |
| 468 SCoord CoordAdd(SCoord cA, SCoord cB) | |
| 469 { | |
| 470 SCoord result; | |
| 471 | |
| 472 result.x = cA.x + cB.x; | |
| 473 result.y = cA.y + cB.y; | |
| 474 result.z = cA.z + cB.z; | |
| 475 return result; | |
| 476 } | |
| 477 | |
| 478 SCoord CoordSub(SCoord cA, SCoord cB) | |
| 479 { | |
| 480 SCoord result; | |
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481 |
| 551 | 482 result.x = cA.x - cB.x; |
| 483 result.y = cA.y - cB.y; | |
| 484 result.z = cA.z - cB.z; | |
| 485 return result; | |
| 486 } | |
| 487 | |
| 488 SCoord CoordCross(SCoord cA, SCoord cB) | |
| 489 { | |
| 490 SCoord result; | |
| 491 | |
| 492 result.x = (cA.y * cB.z) - (cA.z * cB.y); | |
| 493 result.y = (cA.z * cB.x) - (cA.x * cB.z); | |
| 494 result.z = (cA.x * cB.y) - (cA.y * cB.x); | |
| 495 | |
| 496 return result; | |
| 497 | |
| 498 } | |
| 499 | |
| 500 SCoord CoordMulF(SCoord op, float factor) | |
| 501 { | |
| 502 SCoord result; | |
| 503 result.x = (op.x * factor); | |
| 504 result.y = (op.y * factor); | |
| 505 result.z = (op.z * factor); | |
| 506 | |
| 507 return result; | |
| 508 } | |
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509 |
| 551 | 510 SCoord CoordDivF(SCoord op, float factor) |
| 511 { | |
| 512 SCoord result; | |
| 513 result.x = (op.x / factor); | |
| 514 result.y = (op.y / factor); | |
| 515 result.z = (op.z / factor); | |
| 516 | |
| 517 return result; | |
| 518 } | |
| 519 | |
| 520 float CoordDot(SCoord cA, SCoord cB) | |
| 521 { | |
| 522 float result; | |
| 523 | |
| 524 result = cA.x * cB.x + cA.y * cB.y + cB.z*cA.z; | |
| 525 return result; | |
| 526 } | |
| 527 | |
| 528 void calibrateViewport(float roll, float pitch, float yaw) | |
| 529 { | |
| 530 SSettings* pSettings = settingsGetPointer(); | |
| 531 | |
| 532 pSettings->viewPitch = pitch; | |
| 533 pSettings->viewRoll = roll; | |
| 534 pSettings->viewYaw = yaw; | |
| 535 } | |
| 536 | |
| 537 | |
| 538 float checkViewport(float roll, float pitch, float yaw) | |
| 539 { | |
| 574 | 540 static float freezeRoll = 0; |
| 541 static float freezeYaw = 0; | |
| 542 | |
| 551 | 543 uint8_t retval = 0; |
| 544 float angleYaw; | |
| 545 float anglePitch; | |
| 546 float angleRoll; | |
| 547 float distance = 0; | |
| 548 float _a, _b; | |
| 549 SCoord u,v,n; | |
| 550 float r; | |
| 551 | |
| 552 SCoord refVec; | |
| 553 SCoord axis_1; | |
| 554 SCoord axis_2; | |
| 555 SCoord curVec; | |
| 556 SCoord resultVec; | |
| 574 | 557 SDeltaHistory test; |
| 551 | 558 |
| 559 SSettings* pSettings = settingsGetPointer(); | |
| 560 | |
| 561 /* calculate base vector taking calibration delta into account yaw (heading) */ | |
| 562 float compYaw = yaw + pSettings->viewYaw; | |
| 574 | 563 |
| 564 compYaw = 360.0 - yaw; /* turn to 0° */ | |
| 565 compYaw += pSettings->viewYaw; /* consider calib yaw value */ | |
| 566 compYaw += yaw; | |
| 567 | |
| 551 | 568 if (compYaw < 0.0) |
| 569 { | |
| 570 compYaw = 360.0 + compYaw; | |
| 381 | 571 } |
| 551 | 572 |
| 573 if (compYaw > 360.0) | |
| 381 | 574 { |
| 574 | 575 compYaw = compYaw - 360.0; |
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576 } |
| 574 | 577 if (compYaw > 360.0) |
| 578 { | |
| 579 compYaw = compYaw - 360.0; | |
| 580 } | |
| 581 angleYaw = pSettings->viewYaw * M_PI / 180.0; | |
| 551 | 582 anglePitch = pSettings->viewPitch * M_PI / 180.0; |
| 583 angleRoll = pSettings->viewRoll * M_PI / 180.0; | |
| 584 | |
| 585 refVec.x = 0; | |
| 586 refVec.y = 0; | |
| 587 refVec.z = 1.0; | |
| 588 | |
| 589 anglesToCoord(angleRoll,anglePitch,angleYaw, &refVec); | |
| 590 | |
| 591 anglePitch = pitch * M_PI / 180.0; | |
| 592 angleRoll = roll * M_PI / 180.0; | |
| 593 angleYaw = yaw * M_PI / 180.0; | |
| 594 | |
| 595 /* assume x = 0 and y = 1 => find matching vector so axis_1 is 90° to axis_2 */ | |
| 596 axis_1.x = 0; | |
| 597 if(refVec.y >=0) | |
| 598 { | |
| 599 axis_2.y = 1; /* => Spawn y == refVec y */ | |
| 600 } | |
| 601 else axis_1.y = -1; | |
| 602 axis_1.z = -1.0 * refVec.y / refVec.z; | |
| 603 axis_2 = CoordCross(refVec, axis_1); /* Cross is 90° to refVec and Spawn as well => Plane Spawn / cross */ | |
| 604 | |
| 605 /* check if detection plane is correct */ | |
| 606 u = CoordSub(axis_1,refVec); | |
| 607 v = CoordSub(axis_2,refVec); | |
| 608 n = CoordCross(u,v); | |
| 609 | |
| 610 if((fabsf(n.x) <= 0.0001) && (fabsf(n.y) <= 0.0001) && (fabsf(n.z) <= 0.0001)) | |
| 611 { | |
| 612 retval = 2; | |
| 613 } | |
| 614 else | |
| 615 { | |
| 574 | 616 angleYaw = compYaw * M_PI / 180.0; |
| 551 | 617 anglePitch = pitch * M_PI / 180.0; |
| 618 angleRoll = roll * M_PI / 180.0; | |
| 619 curVec.x = 0; | |
| 620 curVec.y = 0; | |
| 621 curVec.z = 1.0; | |
| 622 anglesToCoord(angleRoll,anglePitch,angleYaw, &curVec); | |
| 623 | |
| 624 _a = CoordDot(curVec,n); | |
| 625 _b = CoordDot(refVec,n); | |
| 626 | |
| 627 if(_b>=(-0.0001)&&_b<=0.0001) /* Check if view port is parallel (no matchpoint) */ | |
| 628 { | |
| 629 retval = 3; | |
| 630 } | |
| 631 else | |
| 632 { | |
| 633 r=_a/_b; | |
| 634 if(r<0.00||r>1.40) /* are we looking into wrong direction? */ | |
| 635 { | |
| 636 retval = 4; | |
| 637 } | |
| 638 } | |
| 639 distance = retval * 1.0; /* just for debugging */ | |
| 640 if(retval == 0) | |
| 641 { | |
| 642 | |
| 643 /* start calculating the matchpoint */ | |
| 644 curVec = CoordMulF(curVec,r); | |
| 645 resultVec = CoordSub(refVec,curVec); | |
| 646 | |
| 647 /* calculate the distance between reference and actual vector */ | |
| 648 resultVec.x = resultVec.x * resultVec.x; | |
| 649 resultVec.y = resultVec.y * resultVec.y; | |
| 650 resultVec.z = resultVec.z * resultVec.z; | |
| 651 | |
| 652 if((resultVec.x == 0) && (resultVec.y == 0) && (resultVec.z == 0)) | |
| 653 { | |
| 654 distance = 0.0; | |
| 655 } | |
| 656 else | |
| 657 { | |
| 658 distance = sqrtf((resultVec.x + resultVec.y + resultVec.z)); | |
| 659 } | |
| 660 } | |
| 661 } | |
| 662 | |
| 663 if(distance < 0.5) /* handle focus counter to avoid fast in/out focus changes */ | |
| 664 { | |
| 665 if(focusCnt < 10) | |
| 666 { | |
| 667 if((focusCnt == 9) && (inFocus == 0)) /* we will get into focus */ | |
| 668 { | |
| 669 resetMotionDeltaHistory(); | |
| 670 } | |
| 671 focusCnt++; | |
| 672 } | |
| 574 | 673 if((focusCnt == 10) && (inFocus == 0)) |
| 551 | 674 { |
| 675 inFocus = 1; | |
| 574 | 676 freezeRoll = roll; |
| 677 freezeYaw = yaw; | |
| 551 | 678 } |
| 679 } | |
| 680 else | |
| 681 { | |
| 574 | 682 if(focusCnt >= 5) /* Reset focus faster then setting focus */ |
| 551 | 683 { |
| 574 | 684 if(pSettings->MotionDetection != MOTION_DETECT_MOVE) /* only apply extended focus for methods using absolute pitch values */ |
| 685 { | |
| 686 test = GetDeltaHistory(0); | |
| 687 if((test.yaw == MOTION_DELTA_STABLE) && (test.roll == MOTION_DELTA_STABLE)) | |
| 688 { | |
| 689 if((fabsf(freezeRoll - roll) < MOTION_DELTA_JITTER_LEVEL) && (fabsf(freezeYaw - yaw) < MOTION_DELTA_JITTER_LEVEL)) | |
| 690 { | |
| 691 focusCnt++; | |
| 692 } | |
| 693 } | |
| 694 else | |
| 695 { | |
| 696 if(freezeRoll != 0.0) | |
| 697 { | |
| 698 focusCnt = 1; | |
| 699 } | |
| 700 } | |
| 701 } | |
| 551 | 702 focusCnt--; |
| 703 } | |
| 704 else | |
| 705 { | |
| 574 | 706 focusCnt = 0; |
| 551 | 707 inFocus = 0; |
| 574 | 708 freezeRoll = 0; |
| 709 freezeYaw = 0; | |
| 551 | 710 } |
| 711 } | |
| 712 return distance; | |
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713 } |
| 551 | 714 uint8_t viewInFocus(void) |
| 715 { | |
| 716 return inFocus; | |
| 717 } | |
| 718 void resetFocusState(void) | |
| 719 { | |
| 720 inFocus = 0; | |
| 721 } |