Mercurial > public > ostc4
annotate Discovery/Src/motion.c @ 519:2c49561c8062
Reset Safety Stop display in case of a new descend:
In previous version safety stop was displayed in while the stop depth was reached. The count down was interrupted in case of a new descend but the safety stop was still displayed, blocking the NDL visualization in the big font view. To avoid this scenario a restart function has been added which will return to NDL view in case of a descend > 2m. If just a short drop happend then the countdown will be continued when the safety stop depth is reached again. If that takes more then a minute the safety stop counter is restarted.
author | Ideenmodellierer |
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date | Sun, 06 Sep 2020 22:11:51 +0200 |
parents | 0cd862e501f6 |
children | e3237f580ae9 |
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 |
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18 #define STABLE_STATE_COUNT 2 /* number of count to declare a state as stable (at the moment based on 100ms) */ |
363 | 19 #define STABLE_STATE_TIMEOUT 5 /* Detection shall be aborted if a movement state is stable for more than 500ms */ |
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20 |
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21 #define SECTOR_WINDOW 80.0 /* Pitch window which is used for custom view projection */ |
381 | 22 #define SECTOR_WINDOW_MAX 120.0 /* Pitch window which will be greater than the divers field of view */ |
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23 #define SECTOR_HYSTERY 2 /* Additional offset to avoid fast changing displays */ |
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24 #define SECTOR_BORDER 400.0 /* Define a value which is out of limit to avoid not wanted key events */ |
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25 #define SECTOR_FILTER 10 /* Define speed for calculated angle to follow real value */ |
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26 |
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27 #define SECTOR_MAX 24 /* maximum number of sectors */ |
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28 #define SECTOR_SCROLL 7 /* number of sectors used for scroll detection */ |
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29 |
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30 detectionState_t detectionState = DETECT_NOTHING; |
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31 SSector sectorDetection; |
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32 |
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33 |
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34 uint8_t GetSectorForPitch(float pitch) |
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35 { |
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36 static uint8_t lastsector = 0; |
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37 float newPitch; |
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38 uint8_t sector = 0; |
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39 |
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40 newPitch = pitch + sectorDetection.offset + sectorDetection.center; /* do not use negative values and consider offset to center position */ |
381 | 41 if (newPitch < 0.0) /* clip value */ |
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42 { |
381 | 43 newPitch = 0.0; |
44 } | |
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45 if (newPitch > sectorDetection.window) /* clip value */ |
381 | 46 { |
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47 newPitch = sectorDetection.window; |
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48 } |
381 | 49 |
50 /* switch to other sector? */ | |
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51 if((newPitch > sectorDetection.upperborder) || (newPitch <= sectorDetection.lowerborder)) |
381 | 52 { |
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53 sector = (uint16_t) newPitch / sectorDetection.size; |
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54 sectorDetection.lowerborder = sector * sectorDetection.size - SECTOR_HYSTERY; |
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55 sectorDetection.upperborder = (sector + 1) * sectorDetection.size + SECTOR_HYSTERY; |
381 | 56 lastsector = sector; |
57 } | |
58 | |
59 return lastsector; | |
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60 } |
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61 |
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62 void DefinePitchSectors(float centerPitch,uint8_t numOfSectors) |
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63 { |
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64 if(numOfSectors == CUSTOMER_DEFINED_VIEWS) |
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65 { |
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66 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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67 { |
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68 sectorDetection.count = t3_GetEnabled_customviews(); |
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69 } |
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70 else |
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71 { |
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72 sectorDetection.count = t7_GetEnabled_customviews(); |
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73 } |
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74 if(sectorDetection.count > 7) |
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75 { |
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76 sectorDetection.count = 7; /* more views are hard to manually control */ |
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77 } |
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78 } |
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79 else |
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80 if(numOfSectors != CUSTOMER_KEEP_LAST_SECTORS) |
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81 { |
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82 sectorDetection.count = numOfSectors; |
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83 } |
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84 |
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85 if(sectorDetection.count == SECTOR_MAX) |
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86 { |
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87 sectorDetection.window = SECTOR_WINDOW_MAX; |
381 | 88 } |
89 else | |
90 { | |
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91 sectorDetection.window = SECTOR_WINDOW; |
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92 } |
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93 |
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94 sectorDetection.offset = (centerPitch - (sectorDetection.window / 2)) * -1.0; |
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95 sectorDetection.size = sectorDetection.window / sectorDetection.count; |
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96 sectorDetection.center = 0; |
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97 |
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98 /* reset border values */ |
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99 sectorDetection.lowerborder = SECTOR_BORDER; |
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100 sectorDetection.upperborder = SECTOR_BORDER * -1.0; |
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101 /* get the current sector */ |
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102 sectorDetection.current = GetSectorForPitch(stateRealGetPointer()->lifeData.compass_pitch); |
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103 sectorDetection.target = sectorDetection.current; |
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104 /* 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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105 sectorDetection.center = (sectorDetection.upperborder) - ((sectorDetection.size + 2 *SECTOR_HYSTERY) / 2.0) - (centerPitch + sectorDetection.offset); |
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106 |
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107 } |
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108 |
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109 void InitMotionDetection(void) |
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110 { |
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111 sectorDetection.target = 0; |
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112 sectorDetection.current = 0; |
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113 sectorDetection.size = 0; |
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114 sectorDetection.count = 0; |
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115 |
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116 switch(settingsGetPointer()->MotionDetection) |
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117 { |
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118 case MOTION_DETECT_SECTOR: DefinePitchSectors(0,CUSTOMER_DEFINED_VIEWS); |
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119 break; |
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120 case MOTION_DETECT_MOVE: DefinePitchSectors(0,SECTOR_MAX); |
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121 break; |
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122 case MOTION_DETECT_SCROLL: DefinePitchSectors(0,SECTOR_SCROLL); |
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123 break; |
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124 default: |
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125 break; |
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126 } |
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127 |
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128 } |
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129 |
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130 /* Map the current pitch value to a sector and create button event in case the sector is left */ |
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131 detectionState_t detectSectorButtonEvent(float curPitch) |
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132 { |
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133 static uint8_t lastTargetSector = 0; |
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134 uint8_t newTargetSector; |
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135 uint8_t PitchEvent = DETECT_NOTHING; |
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136 |
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137 /* only change sector if reading is stable */ |
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138 newTargetSector = GetSectorForPitch(stateRealGetPointer()->lifeData.compass_pitch); |
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139 if(lastTargetSector == newTargetSector) |
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140 { |
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141 sectorDetection.target = newTargetSector; |
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142 } |
381 | 143 lastTargetSector = newTargetSector; |
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144 if(sectorDetection.target != sectorDetection.current) |
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145 { |
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146 if(sectorDetection.target > sectorDetection.current) |
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147 { |
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148 sectorDetection.current++; |
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149 PitchEvent = DETECT_POS_PITCH; |
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150 } |
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151 else |
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152 { |
383
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153 sectorDetection.current--; |
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154 PitchEvent = DETECT_NEG_PITCH; |
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155 } |
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156 } |
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157 return PitchEvent; |
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158 } |
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159 |
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160 /* Check if pitch is not in center position and trigger a button action if needed */ |
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161 detectionState_t detectScrollButtonEvent(float curPitch) |
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162 { |
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163 static uint8_t delayscroll = 0; /* slow down the number of scroll events */ |
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164 |
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165 uint8_t PitchEvent = DETECT_NOTHING; |
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166 uint8_t newSector; |
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167 |
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168 if(delayscroll == 0) |
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169 { |
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170 newSector = GetSectorForPitch(stateRealGetPointer()->lifeData.compass_pitch); |
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171 /* for scroll detection the motion windoe is split into 6 sectors => set event accoring to the sector number*/ |
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172 switch(newSector) |
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173 { |
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174 case 0: |
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175 case 1: PitchEvent = DETECT_POS_PITCH; |
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176 break; |
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177 case 5: |
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178 case 6: PitchEvent = DETECT_NEG_PITCH; |
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179 break; |
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180 default: |
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181 break; |
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182 } |
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183 if(PitchEvent != DETECT_NOTHING) |
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184 { |
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185 delayscroll = 5; |
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186 } |
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187 } |
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188 else |
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189 { |
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190 delayscroll--; |
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191 } |
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192 return PitchEvent; |
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193 } |
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194 |
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195 |
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196 /* Detect if user is generating an pitch including return to starting position */ |
359
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197 /* This is done by feeding the past movements value per value into a state machine */ |
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198 detectionState_t detectPitch(float currentPitch) |
359
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199 { |
373
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200 static uint8_t lastSector = 0; |
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201 static uint8_t startSector = 0; |
359
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202 static uint8_t stableCnt = 0; |
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203 |
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204 uint8_t curSector; |
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205 |
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206 if((detectionState == DETECT_NEG_PITCH) || (detectionState == DETECT_POS_PITCH)) /* discard last detection */ |
359
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207 { |
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208 detectionState = DETECT_NOTHING; |
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209 } |
363 | 210 |
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211 curSector = GetSectorForPitch(stateRealGetPointer()->lifeData.compass_pitch); |
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212 |
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213 /* feed value into state machine */ |
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214 switch (detectionState) |
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215 { |
381 | 216 case DETECT_NOTHING: if(curSector != lastSector) /* detect a stable condition before evaluating for the next move */ |
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217 { |
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218 stableCnt=0; |
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219 } |
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220 |
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221 if(stableCnt > STABLE_STATE_COUNT) |
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222 { |
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223 detectionState = DETECT_START; |
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224 stableCnt = 0; |
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225 startSector = lastSector; |
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226 } |
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227 break; |
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228 case DETECT_START: if(curSector != lastSector) |
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229 { |
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230 if(abs(curSector - startSector) > 1) |
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231 { |
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232 if(curSector > lastSector) |
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233 { |
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234 detectionState = DETECT_POS_MOVE; |
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235 } |
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236 else |
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237 { |
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238 detectionState = DETECT_NEG_MOVE; |
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239 } |
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240 stableCnt = 0; |
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241 startSector = lastSector; |
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242 } |
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243 } |
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244 break; |
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245 case DETECT_NEG_MOVE: |
381 | 246 case DETECT_POS_MOVE: if(curSector == lastSector) /* Moved to a max? */ |
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247 { |
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248 if(abs(startSector - curSector) > 2) |
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249 { |
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250 detectionState++; |
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251 stableCnt = 0; |
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252 } |
381 | 253 if(stableCnt > 2) |
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254 { |
381 | 255 detectionState = DETECT_NOTHING; |
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256 stableCnt = 0; |
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257 } |
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258 } |
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259 break; |
381 | 260 case DETECT_MAXIMA: |
261 case DETECT_MINIMA: if(curSector != lastSector) /* reset timeout detection */ | |
262 { | |
263 detectionState++; | |
264 stableCnt = 0; | |
265 } | |
266 break; | |
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267 case DETECT_RISEBACK: |
381 | 268 case DETECT_FALLBACK: |
269 if(curSector == lastSector) /* check if we are back at start position at end of movement */ | |
373
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270 { |
381 | 271 if(abs(startSector - curSector) <= 1) |
373
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272 { |
381 | 273 if(stableCnt > 2) |
274 { | |
275 detectionState++; | |
276 stableCnt = 0; | |
277 } | |
373
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278 } |
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279 } |
381 | 280 break; |
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281 default: |
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282 detectionState = DETECT_NOTHING; |
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283 break; |
381 | 284 } |
285 if(detectionState != DETECT_START) | |
286 { | |
287 stableCnt++; | |
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288 } |
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289 lastSector = curSector; |
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290 if(stableCnt > STABLE_STATE_TIMEOUT) |
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291 { |
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292 detectionState = DETECT_NOTHING; |
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293 stableCnt = 0; |
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294 } |
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295 |
359
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296 return detectionState; |
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297 } |