Mercurial > public > ostc4
annotate Discovery/Src/motion.c @ 552:531e7818b737
Added menu structure to acces viewport calibration:
A menu item in surface and dive mode has been added to calibrate the view point between diver and OSTC display. For a proper calibration the diver needs to face north (0? ) => Detailed instruction / guidance to be added.
| author | Ideenmodellierer |
|---|---|
| date | Sun, 08 Nov 2020 18:46:46 +0100 |
| parents | e3237f580ae9 |
| children | 01ee21dd311f |
| 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 |
| 551 | 21 #define SECTOR_WINDOW 40.0 /* 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 |
| 551 | 30 #define MOTION_DELTA_STABLE 0 |
| 31 #define MOTION_DELTA_JITTER 1 | |
| 32 #define MOTION_DELTA_RAISE 2 | |
| 33 #define MOTION_DELTA_FALL 3 | |
| 34 | |
| 35 #define MOTION_DELTA_JITTER_LEVEL 3.0 /* lower values are considered as stable */ | |
| 36 #define MOTION_DELTA_RAISE_LEVEL 6.0 /* Movement causing a significant change detected */ | |
| 37 #define MOTION_DELTA_FALL_LEVEL -6.0 /* Movement causing a significant change detected */ | |
| 38 | |
| 39 #define MOTION_DELTA_HISTORY_SIZE 20 /* Number of history data sets */ | |
| 40 | |
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41 detectionState_t detectionState = DETECT_NOTHING; |
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42 SSector sectorDetection; |
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43 |
| 551 | 44 static uint8_t motionDeltaHistory[3][MOTION_DELTA_HISTORY_SIZE]; /* Change history of roll, pitch and yaw */ |
| 45 static uint8_t motionDeltaHistoryIdx; /* Current index of history data */ | |
| 46 | |
| 47 static uint8_t focusCnt = 0; | |
| 48 static uint8_t inFocus = 0; | |
| 49 | |
| 50 void resetMotionDeltaHistory() | |
| 51 { | |
| 52 motionDeltaHistoryIdx = 0; | |
| 53 memset(motionDeltaHistory, 0, sizeof(motionDeltaHistory)); | |
| 54 } | |
| 55 | |
| 56 void evaluateMotionDelta(float roll, float pitch, float yaw) | |
| 57 { | |
| 58 static float lastValue[3] = {0.0,0.0,0.0}; | |
| 59 uint8_t nextIndex = motionDeltaHistoryIdx + 1; | |
| 60 uint8_t axis; | |
| 61 float curValue; | |
| 62 | |
| 63 if(nextIndex == MOTION_DELTA_HISTORY_SIZE) | |
| 64 { | |
| 65 nextIndex = 0; | |
| 66 } | |
| 67 for(axis=0; axis < 3; axis++) | |
| 68 { | |
| 69 switch(axis) | |
| 70 { | |
| 71 case MOTION_HISTORY_ROLL: curValue = roll; | |
| 72 break; | |
| 73 case MOTION_HISTORY_PITCH: curValue = pitch; | |
| 74 break; | |
| 75 default: | |
| 76 case MOTION_HISTORY_YAW: if((yaw < 90) && (lastValue[MOTION_HISTORY_YAW] > 270.0)) /* transition 360 => 0 */ | |
| 77 { | |
| 78 lastValue[MOTION_HISTORY_YAW] -= 360; | |
| 79 } | |
| 80 else if((yaw > 270) && (lastValue[MOTION_HISTORY_YAW] < 90.0)) /* transition 0 => 360 */ | |
| 81 { | |
| 82 lastValue[MOTION_HISTORY_YAW] += 360; | |
| 83 } | |
| 84 curValue = yaw; | |
| 85 break; | |
| 86 } | |
| 87 if(curValue - lastValue[axis] > MOTION_DELTA_RAISE_LEVEL) | |
| 88 { | |
| 89 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_RAISE; | |
| 90 } | |
| 91 if(fabsf(curValue - lastValue[axis]) < MOTION_DELTA_RAISE_LEVEL) | |
| 92 { | |
| 93 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_JITTER; | |
| 94 } | |
| 95 if(fabsf(curValue - lastValue[axis]) < MOTION_DELTA_JITTER_LEVEL) | |
| 96 { | |
| 97 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_STABLE; | |
| 98 } | |
| 99 if(curValue - lastValue[axis] < MOTION_DELTA_FALL_LEVEL) | |
| 100 { | |
| 101 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_FALL; | |
| 102 } | |
| 103 lastValue[axis] = curValue; | |
| 104 } | |
| 105 motionDeltaHistoryIdx = nextIndex; | |
| 106 } | |
| 107 | |
| 108 SDeltaHistory GetDeltaHistory(uint8_t stepback) | |
| 109 { | |
| 110 uint8_t loop = stepback; | |
| 111 uint8_t index = motionDeltaHistoryIdx; | |
| 112 | |
| 113 SDeltaHistory result = {0,0,0}; | |
| 114 | |
| 115 if(stepback < MOTION_DELTA_HISTORY_SIZE) | |
| 116 { | |
| 117 while(loop != 0) /* find requested entry */ | |
| 118 { | |
| 119 loop--; | |
| 120 index--; | |
| 121 if(index == 0) | |
| 122 { | |
| 123 index = MOTION_DELTA_HISTORY_SIZE - 1; | |
| 124 } | |
| 125 } | |
| 126 result.roll = motionDeltaHistory[MOTION_HISTORY_ROLL][index]; | |
| 127 result.pitch = motionDeltaHistory[MOTION_HISTORY_PITCH][index]; | |
| 128 result.yaw = motionDeltaHistory[MOTION_HISTORY_YAW][index]; | |
| 129 } | |
| 130 return result; | |
| 131 } | |
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132 |
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133 uint8_t GetSectorForPitch(float pitch) |
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134 { |
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135 static uint8_t lastsector = 0; |
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136 float newPitch; |
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137 uint8_t sector = 0; |
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138 |
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139 newPitch = pitch + sectorDetection.offset + sectorDetection.center; /* do not use negative values and consider offset to center position */ |
| 381 | 140 if (newPitch < 0.0) /* clip value */ |
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141 { |
| 381 | 142 newPitch = 0.0; |
| 143 } | |
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144 if (newPitch > sectorDetection.window) /* clip value */ |
| 381 | 145 { |
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146 newPitch = sectorDetection.window; |
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147 } |
| 381 | 148 |
| 149 /* switch to other sector? */ | |
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150 if((newPitch > sectorDetection.upperborder) || (newPitch <= sectorDetection.lowerborder)) |
| 381 | 151 { |
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152 sector = (uint16_t) newPitch / sectorDetection.size; |
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153 sectorDetection.lowerborder = sector * sectorDetection.size - SECTOR_HYSTERY; |
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154 sectorDetection.upperborder = (sector + 1) * sectorDetection.size + SECTOR_HYSTERY; |
| 381 | 155 lastsector = sector; |
| 156 } | |
| 157 | |
| 158 return lastsector; | |
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159 } |
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160 |
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161 void DefinePitchSectors(float centerPitch,uint8_t numOfSectors) |
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162 { |
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163 if(numOfSectors == CUSTOMER_DEFINED_VIEWS) |
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164 { |
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165 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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166 { |
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167 sectorDetection.count = t3_GetEnabled_customviews(); |
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168 } |
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169 else |
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170 { |
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171 sectorDetection.count = t7_GetEnabled_customviews(); |
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172 } |
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173 if(sectorDetection.count > 7) |
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174 { |
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175 sectorDetection.count = 7; /* more views are hard to manually control */ |
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176 } |
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177 } |
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178 else |
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179 if(numOfSectors != CUSTOMER_KEEP_LAST_SECTORS) |
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180 { |
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181 sectorDetection.count = numOfSectors; |
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182 } |
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183 |
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184 if(sectorDetection.count == SECTOR_MAX) |
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185 { |
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186 sectorDetection.window = SECTOR_WINDOW_MAX; |
| 381 | 187 } |
| 188 else | |
| 189 { | |
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190 sectorDetection.window = SECTOR_WINDOW; |
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191 } |
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192 |
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193 sectorDetection.offset = (centerPitch - (sectorDetection.window / 2)) * -1.0; |
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194 sectorDetection.size = sectorDetection.window / sectorDetection.count; |
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195 sectorDetection.center = 0; |
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196 |
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197 /* reset border values */ |
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198 sectorDetection.lowerborder = SECTOR_BORDER; |
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199 sectorDetection.upperborder = SECTOR_BORDER * -1.0; |
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200 /* get the current sector */ |
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201 sectorDetection.current = GetSectorForPitch(stateRealGetPointer()->lifeData.compass_pitch); |
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202 sectorDetection.target = sectorDetection.current; |
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203 /* 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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204 sectorDetection.center = (sectorDetection.upperborder) - ((sectorDetection.size + 2 *SECTOR_HYSTERY) / 2.0) - (centerPitch + sectorDetection.offset); |
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205 |
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206 } |
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207 |
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208 void InitMotionDetection(void) |
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209 { |
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210 sectorDetection.target = 0; |
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211 sectorDetection.current = 0; |
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212 sectorDetection.size = 0; |
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213 sectorDetection.count = 0; |
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214 |
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215 switch(settingsGetPointer()->MotionDetection) |
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216 { |
| 551 | 217 case MOTION_DETECT_SECTOR: DefinePitchSectors(settingsGetPointer()->viewPitch,CUSTOMER_DEFINED_VIEWS); |
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218 break; |
| 551 | 219 case MOTION_DETECT_MOVE: DefinePitchSectors(settingsGetPointer()->viewPitch,SECTOR_MAX); |
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220 break; |
| 551 | 221 case MOTION_DETECT_SCROLL: DefinePitchSectors(settingsGetPointer()->viewPitch,SECTOR_SCROLL); |
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222 break; |
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223 default: |
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224 break; |
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225 } |
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226 |
| 551 | 227 resetMotionDeltaHistory(); |
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228 } |
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229 |
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230 /* Map the current pitch value to a sector and create button event in case the sector is left */ |
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231 detectionState_t detectSectorButtonEvent(float curPitch) |
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232 { |
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233 static uint8_t lastTargetSector = 0; |
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234 uint8_t newTargetSector; |
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235 uint8_t PitchEvent = DETECT_NOTHING; |
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236 |
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237 /* only change sector if reading is stable */ |
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238 newTargetSector = GetSectorForPitch(stateRealGetPointer()->lifeData.compass_pitch); |
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239 if(lastTargetSector == newTargetSector) |
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240 { |
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241 sectorDetection.target = newTargetSector; |
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242 } |
| 381 | 243 lastTargetSector = newTargetSector; |
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244 if(sectorDetection.target != sectorDetection.current) |
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245 { |
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246 if(sectorDetection.target > sectorDetection.current) |
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247 { |
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248 sectorDetection.current++; |
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249 PitchEvent = DETECT_POS_PITCH; |
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250 } |
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251 else |
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252 { |
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253 sectorDetection.current--; |
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254 PitchEvent = DETECT_NEG_PITCH; |
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255 } |
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256 } |
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257 return PitchEvent; |
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258 } |
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259 |
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260 /* Check if pitch is not in center position and trigger a button action if needed */ |
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261 detectionState_t detectScrollButtonEvent(float curPitch) |
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262 { |
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263 static uint8_t delayscroll = 0; /* slow down the number of scroll events */ |
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264 |
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265 uint8_t PitchEvent = DETECT_NOTHING; |
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266 uint8_t newSector; |
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267 |
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268 if(delayscroll == 0) |
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269 { |
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270 newSector = GetSectorForPitch(stateRealGetPointer()->lifeData.compass_pitch); |
| 551 | 271 /* for scroll detection the motion window is split into 6 sectors => set event accoring to the sector number*/ |
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272 switch(newSector) |
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273 { |
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274 case 0: |
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275 case 1: PitchEvent = DETECT_POS_PITCH; |
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276 break; |
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277 case 5: |
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278 case 6: PitchEvent = DETECT_NEG_PITCH; |
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279 break; |
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280 default: |
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281 break; |
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282 } |
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283 if(PitchEvent != DETECT_NOTHING) |
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284 { |
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285 delayscroll = 5; |
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286 } |
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287 } |
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288 else |
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289 { |
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290 delayscroll--; |
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291 } |
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292 return PitchEvent; |
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293 } |
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294 |
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295 |
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296 /* Detect if user is generating an pitch including return to starting position */ |
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297 /* This is done by feeding the past movements value per value into a state machine */ |
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298 detectionState_t detectPitch(float currentPitch) |
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299 { |
| 551 | 300 uint8_t exit = 0; |
| 301 uint8_t step = 0; | |
| 302 SDeltaHistory test; | |
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303 |
| 551 | 304 detectionState = DETECT_NOTHING; |
| 305 while((step != MOTION_DELTA_HISTORY_SIZE) && (!exit)) /* start backward evalution of pitch changes*/ | |
| 306 { | |
| 307 test = GetDeltaHistory(step); | |
| 308 step++; | |
| 309 switch (detectionState) | |
| 310 { | |
| 311 case DETECT_NOTHING: if(test.pitch > MOTION_DELTA_STABLE) | |
| 312 { | |
| 313 exit = 1; | |
| 314 } | |
| 315 else | |
| 316 { | |
| 317 detectionState = DETECT_START; | |
| 318 } | |
| 319 break; | |
| 320 case DETECT_START: if(test.pitch == MOTION_DELTA_RAISE) | |
| 321 { | |
| 322 detectionState = DETECT_POS_MOVE; | |
| 323 } | |
| 324 if(test.pitch == MOTION_DELTA_FALL) | |
| 325 { | |
| 326 detectionState = DETECT_NEG_MOVE; | |
| 327 } | |
| 328 break; | |
| 329 case DETECT_NEG_MOVE: | |
| 330 case DETECT_POS_MOVE: if(test.pitch <= MOTION_DELTA_JITTER) | |
| 331 { | |
| 332 detectionState++; | |
| 333 } | |
| 334 break; | |
| 335 case DETECT_MAXIMA: if(test.pitch == MOTION_DELTA_FALL) | |
| 336 { | |
| 337 detectionState = DETECT_FALLBACK; | |
| 338 } | |
| 339 break; | |
| 340 case DETECT_MINIMA: if(test.pitch == MOTION_DELTA_RAISE) | |
| 341 { | |
| 342 detectionState = DETECT_RISEBACK; | |
| 343 } | |
| 344 break; | |
| 345 case DETECT_RISEBACK: | |
| 346 case DETECT_FALLBACK: if(test.pitch == MOTION_DELTA_STABLE) | |
| 347 { | |
| 348 detectionState++; | |
| 349 exit = 1; | |
| 350 } | |
| 351 break; | |
| 352 default: | |
| 353 detectionState = DETECT_NOTHING; | |
| 354 exit = 1; | |
| 355 break; | |
| 356 } | |
| 357 } | |
| 358 if((detectionState != DETECT_POS_PITCH) && (detectionState != DETECT_NEG_PITCH)) /* nothing found */ | |
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359
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359 { |
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360 detectionState = DETECT_NOTHING; |
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361 } |
| 551 | 362 else /* dont detect the same event twice */ |
| 363 { | |
| 364 resetMotionDeltaHistory(); | |
| 365 } | |
| 366 return detectionState; | |
| 367 } | |
| 363 | 368 |
| 551 | 369 void anglesToCoord(float roll, float pitch, float yaw, SCoord *pCoord) |
| 370 { | |
| 371 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); | |
| 372 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); | |
| 373 pCoord->z = ((-1*sinf(pitch)) * pCoord->x + (cosf(pitch) *sinf(roll)) * pCoord->y + (cosf(pitch) * cosf(roll))* pCoord->z); | |
| 374 } | |
| 375 | |
| 376 SCoord CoordAdd(SCoord cA, SCoord cB) | |
| 377 { | |
| 378 SCoord result; | |
| 379 | |
| 380 result.x = cA.x + cB.x; | |
| 381 result.y = cA.y + cB.y; | |
| 382 result.z = cA.z + cB.z; | |
| 383 return result; | |
| 384 } | |
| 385 | |
| 386 SCoord CoordSub(SCoord cA, SCoord cB) | |
| 387 { | |
| 388 SCoord result; | |
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389 |
| 551 | 390 result.x = cA.x - cB.x; |
| 391 result.y = cA.y - cB.y; | |
| 392 result.z = cA.z - cB.z; | |
| 393 return result; | |
| 394 } | |
| 395 | |
| 396 SCoord CoordCross(SCoord cA, SCoord cB) | |
| 397 { | |
| 398 SCoord result; | |
| 399 | |
| 400 result.x = (cA.y * cB.z) - (cA.z * cB.y); | |
| 401 result.y = (cA.z * cB.x) - (cA.x * cB.z); | |
| 402 result.z = (cA.x * cB.y) - (cA.y * cB.x); | |
| 403 | |
| 404 return result; | |
| 405 | |
| 406 } | |
| 407 | |
| 408 SCoord CoordMulF(SCoord op, float factor) | |
| 409 { | |
| 410 SCoord result; | |
| 411 result.x = (op.x * factor); | |
| 412 result.y = (op.y * factor); | |
| 413 result.z = (op.z * factor); | |
| 414 | |
| 415 return result; | |
| 416 } | |
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417 |
| 551 | 418 SCoord CoordDivF(SCoord op, float factor) |
| 419 { | |
| 420 SCoord result; | |
| 421 result.x = (op.x / factor); | |
| 422 result.y = (op.y / factor); | |
| 423 result.z = (op.z / factor); | |
| 424 | |
| 425 return result; | |
| 426 } | |
| 427 | |
| 428 float CoordDot(SCoord cA, SCoord cB) | |
| 429 { | |
| 430 float result; | |
| 431 | |
| 432 result = cA.x * cB.x + cA.y * cB.y + cB.z*cA.z; | |
| 433 return result; | |
| 434 } | |
| 435 | |
| 436 void calibrateViewport(float roll, float pitch, float yaw) | |
| 437 { | |
| 438 SSettings* pSettings = settingsGetPointer(); | |
| 439 | |
| 440 pSettings->viewPitch = pitch; | |
| 441 pSettings->viewRoll = roll; | |
| 442 pSettings->viewYaw = yaw; | |
| 443 } | |
| 444 | |
| 445 | |
| 446 float checkViewport(float roll, float pitch, float yaw) | |
| 447 { | |
| 448 uint8_t retval = 0; | |
| 449 float angleYaw; | |
| 450 float anglePitch; | |
| 451 float angleRoll; | |
| 452 float distance = 0; | |
| 453 float _a, _b; | |
| 454 SCoord u,v,n; | |
| 455 float r; | |
| 456 | |
| 457 SCoord refVec; | |
| 458 SCoord axis_1; | |
| 459 SCoord axis_2; | |
| 460 SCoord curVec; | |
| 461 SCoord resultVec; | |
| 462 | |
| 463 SSettings* pSettings = settingsGetPointer(); | |
| 464 | |
| 465 /* calculate base vector taking calibration delta into account yaw (heading) */ | |
| 466 float compYaw = yaw + pSettings->viewYaw; | |
| 467 if (compYaw < 0.0) | |
| 468 { | |
| 469 compYaw = 360.0 + compYaw; | |
| 381 | 470 } |
| 551 | 471 |
| 472 if (compYaw > 360.0) | |
| 381 | 473 { |
| 551 | 474 compYaw = compYaw - 360.0;; |
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475 } |
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476 |
| 551 | 477 angleYaw = compYaw * M_PI / 180.0; |
| 478 anglePitch = pSettings->viewPitch * M_PI / 180.0; | |
| 479 angleRoll = pSettings->viewRoll * M_PI / 180.0; | |
| 480 | |
| 481 refVec.x = 0; | |
| 482 refVec.y = 0; | |
| 483 refVec.z = 1.0; | |
| 484 | |
| 485 anglesToCoord(angleRoll,anglePitch,angleYaw, &refVec); | |
| 486 | |
| 487 anglePitch = pitch * M_PI / 180.0; | |
| 488 angleRoll = roll * M_PI / 180.0; | |
| 489 angleYaw = yaw * M_PI / 180.0; | |
| 490 | |
| 491 /* assume x = 0 and y = 1 => find matching vector so axis_1 is 90° to axis_2 */ | |
| 492 axis_1.x = 0; | |
| 493 if(refVec.y >=0) | |
| 494 { | |
| 495 axis_2.y = 1; /* => Spawn y == refVec y */ | |
| 496 } | |
| 497 else axis_1.y = -1; | |
| 498 axis_1.z = -1.0 * refVec.y / refVec.z; | |
| 499 axis_2 = CoordCross(refVec, axis_1); /* Cross is 90° to refVec and Spawn as well => Plane Spawn / cross */ | |
| 500 | |
| 501 /* check if detection plane is correct */ | |
| 502 u = CoordSub(axis_1,refVec); | |
| 503 v = CoordSub(axis_2,refVec); | |
| 504 n = CoordCross(u,v); | |
| 505 | |
| 506 if((fabsf(n.x) <= 0.0001) && (fabsf(n.y) <= 0.0001) && (fabsf(n.z) <= 0.0001)) | |
| 507 { | |
| 508 retval = 2; | |
| 509 } | |
| 510 else | |
| 511 { | |
| 512 angleYaw = yaw * M_PI / 180.0; | |
| 513 anglePitch = pitch * M_PI / 180.0; | |
| 514 angleRoll = roll * M_PI / 180.0; | |
| 515 curVec.x = 0; | |
| 516 curVec.y = 0; | |
| 517 curVec.z = 1.0; | |
| 518 anglesToCoord(angleRoll,anglePitch,angleYaw, &curVec); | |
| 519 | |
| 520 _a = CoordDot(curVec,n); | |
| 521 _b = CoordDot(refVec,n); | |
| 522 | |
| 523 if(_b>=(-0.0001)&&_b<=0.0001) /* Check if view port is parallel (no matchpoint) */ | |
| 524 { | |
| 525 retval = 3; | |
| 526 } | |
| 527 else | |
| 528 { | |
| 529 r=_a/_b; | |
| 530 if(r<0.00||r>1.40) /* are we looking into wrong direction? */ | |
| 531 { | |
| 532 retval = 4; | |
| 533 } | |
| 534 } | |
| 535 distance = retval * 1.0; /* just for debugging */ | |
| 536 if(retval == 0) | |
| 537 { | |
| 538 | |
| 539 /* start calculating the matchpoint */ | |
| 540 curVec = CoordMulF(curVec,r); | |
| 541 resultVec = CoordSub(refVec,curVec); | |
| 542 | |
| 543 /* calculate the distance between reference and actual vector */ | |
| 544 resultVec.x = resultVec.x * resultVec.x; | |
| 545 resultVec.y = resultVec.y * resultVec.y; | |
| 546 resultVec.z = resultVec.z * resultVec.z; | |
| 547 | |
| 548 if((resultVec.x == 0) && (resultVec.y == 0) && (resultVec.z == 0)) | |
| 549 { | |
| 550 distance = 0.0; | |
| 551 } | |
| 552 else | |
| 553 { | |
| 554 distance = sqrtf((resultVec.x + resultVec.y + resultVec.z)); | |
| 555 } | |
| 556 } | |
| 557 } | |
| 558 | |
| 559 if(distance < 0.5) /* handle focus counter to avoid fast in/out focus changes */ | |
| 560 { | |
| 561 if(focusCnt < 10) | |
| 562 { | |
| 563 if((focusCnt == 9) && (inFocus == 0)) /* we will get into focus */ | |
| 564 { | |
| 565 resetMotionDeltaHistory(); | |
| 566 } | |
| 567 focusCnt++; | |
| 568 } | |
| 569 if(focusCnt == 10) | |
| 570 { | |
| 571 inFocus = 1; | |
| 572 } | |
| 573 } | |
| 574 else | |
| 575 { | |
| 576 if(focusCnt) | |
| 577 { | |
| 578 focusCnt--; | |
| 579 } | |
| 580 else | |
| 581 { | |
| 582 inFocus = 0; | |
| 583 } | |
| 584 } | |
| 585 return distance; | |
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586 } |
| 551 | 587 uint8_t viewInFocus(void) |
| 588 { | |
| 589 return inFocus; | |
| 590 } | |
| 591 void resetFocusState(void) | |
| 592 { | |
| 593 inFocus = 0; | |
| 594 } |