Mercurial > public > ostc4
annotate Discovery/Inc/motion.h @ 735:39f48356049b
Fixed invalid setpoint (0.0) used after switch from CCR to extra (OC) gas
Bugfix from mikeller
author | heinrichsweikamp |
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date | Tue, 14 Feb 2023 10:21:56 +0100 |
parents | c737cf5d9067 |
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1 /* |
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2 * motion.h |
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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 #ifndef INC_MOTION_H_ |
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9 #define INC_MOTION_H_ |
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10 |
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11 |
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12 /* exported data types */ |
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13 #define CUSTOMER_DEFINED_VIEWS (100u) /* value will cause the function to detect the number of selected views */ |
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14 #define CUSTOMER_KEEP_LAST_SECTORS (200u) /* do not update number of sectors, just define the new center position */ |
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15 |
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16 #define MOTION_ENABLE_ROLL (0x01u) |
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17 #define MOTION_ENABLE_PITCH (0x02u) |
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18 #define MOTION_ENABLE_YAW (0x04u) |
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19 #define MOTION_ENABLE_ALL (MOTION_ENABLE_ROLL | MOTION_ENABLE_PITCH | MOTION_ENABLE_YAW) |
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20 |
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21 typedef enum |
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22 { |
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23 MOTION_DETECT_OFF = 0, |
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24 MOTION_DETECT_SECTOR, |
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25 MOTION_DETECT_MOVE, |
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26 MOTION_DETECT_SCROLL, |
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27 MOTION_DETECT_END |
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28 } MotionDetectMethod_t; |
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29 |
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30 typedef enum |
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31 { |
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32 DETECT_START = 0, |
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33 DETECT_POS_MOVE, |
363 | 34 DETECT_MAXIMA, |
35 DETECT_FALLBACK, | |
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36 DETECT_POS_PITCH, |
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37 DETECT_NEG_MOVE, |
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38 DETECT_MINIMA, |
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39 DETECT_RISEBACK, |
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40 DETECT_NEG_PITCH, |
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41 DETECT_NOTHING |
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42 } detectionState_t; |
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43 |
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44 typedef struct |
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45 { |
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46 float upperborder; /* current sector is changed if pitch exceeds these borders */ |
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47 float lowerborder; |
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48 |
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49 uint8_t current; /* number of the current visible sector */ |
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50 uint8_t target; /* used for sector switch => number of the sector which shall be finnaly displayed */ |
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51 |
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52 float offset; /* offset to adjust minimum pitch value used for detection to zero */ |
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53 float size; /* delta of upper and lower boarder defining the sector in degree */ |
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54 float window; /* defines which range of pitch values are used for detection */ |
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55 float center; /* defines the offset from pitch to middle of active sector (avoid center position is close to the calculated borders) */ |
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56 uint8_t count; /* number of sectors used for detection */ |
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57 } SSector; |
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58 |
551 | 59 typedef struct |
60 { | |
61 float x; | |
62 float y; | |
63 float z; | |
64 } SCoord; | |
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65 |
551 | 66 typedef enum |
67 { | |
68 MOTION_HISTORY_ROLL = 0, | |
69 MOTION_HISTORY_PITCH, | |
70 MOTION_HISTORY_YAW | |
71 } MotionHistoryEntry_t; | |
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72 |
551 | 73 typedef struct |
74 { | |
75 uint8_t roll; | |
76 uint8_t pitch; | |
77 uint8_t yaw; | |
78 } SDeltaHistory; | |
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79 |
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80 void InitMotionDetection(void); |
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81 void suspendMotionDetection(uint8_t seconds); |
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82 void HandleMotionDetection(void); |
551 | 83 void resetMotionDeltaHistory(); |
84 void evaluateMotionDelta(float roll, float pitch, float yaw); | |
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85 void DefineSectorCount(uint8_t numOfSectors); |
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86 void MapCVToSector(void); |
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87 detectionState_t detectPitch(float currentPitch); |
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88 detectionState_t detectSectorButtonEvent(float focusOffset); |
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89 detectionState_t detectScrollButtonEvent(float focusOffset); |
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90 |
551 | 91 void anglesToCoord(float roll, float pitch, float yaw, SCoord *pCoord); |
92 void calibrateViewport(float roll, float pitch, float yaw); | |
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93 float checkViewport(float roll, float pitch, float yaw, uint8_t enableAxis); |
551 | 94 uint8_t viewInFocus(void); |
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95 uint8_t viewDetectionSuspended(void); |
551 | 96 void resetFocusState(void); |
97 | |
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98 #endif /* INC_MOTION_H_ */ |