ostc4: Discovery/Inc/motion.h annotate

annotate Discovery/Inc/motion.h @ 621:6826731ff2be

Use roll and pitch agles in 0-360 format: The roll and pitch values are provided as pos/neg angle values which causes problems in the vector calculation for the motion detection => changed the implementation to store the calibration data with a 180? offset. Also shift value by 180? before they are used for vector calculations.

author	Ideenmodellierer
date	Wed, 03 Feb 2021 21:44:22 +0100
parents	916998f90e39
children	028d8f3a9410

rev	line source
359 4258ea9b67fa Added new files for motion detection (shaking) detection ideenmodellierer parents: diff changeset	1 /*
4258ea9b67fa Added new files for motion detection (shaking) detection ideenmodellierer parents: diff changeset	2 * motion.h
4258ea9b67fa Added new files for motion detection (shaking) detection ideenmodellierer parents: diff changeset	3 *
4258ea9b67fa Added new files for motion detection (shaking) detection ideenmodellierer parents: diff changeset	4 * Created on: 20.05.2019
4258ea9b67fa Added new files for motion detection (shaking) detection ideenmodellierer parents: diff changeset	5 * Author: Thorsten Sonntag
4258ea9b67fa Added new files for motion detection (shaking) detection ideenmodellierer parents: diff changeset	6 */
4258ea9b67fa Added new files for motion detection (shaking) detection ideenmodellierer parents: diff changeset	7
4258ea9b67fa Added new files for motion detection (shaking) detection ideenmodellierer parents: diff changeset	8 #ifndef INC_MOTION_H_
4258ea9b67fa Added new files for motion detection (shaking) detection ideenmodellierer parents: diff changeset	9 #define INC_MOTION_H_
4258ea9b67fa Added new files for motion detection (shaking) detection ideenmodellierer parents: diff changeset	10
4258ea9b67fa Added new files for motion detection (shaking) detection ideenmodellierer parents: diff changeset	11
4258ea9b67fa Added new files for motion detection (shaking) detection ideenmodellierer parents: diff changeset	12 /* exported data types */
373 7b981f8bdd41 Add scroll event by pitch angle detection: ideenmodellierer parents: 371 diff changeset	13 #define CUSTOMER_DEFINED_VIEWS (100u) /* value will cause the function to detect the number of selected views */
7b981f8bdd41 Add scroll event by pitch angle detection: ideenmodellierer parents: 371 diff changeset	14 #define CUSTOMER_KEEP_LAST_SECTORS (200u) /* do not update number of sectors, just define the new center position */
370 77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent ideenmodellierer parents: 363 diff changeset	15
77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent ideenmodellierer parents: 363 diff changeset	16 typedef enum
77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent ideenmodellierer parents: 363 diff changeset	17 {
77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent ideenmodellierer parents: 363 diff changeset	18 MOTION_DETECT_OFF = 0,
77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent ideenmodellierer parents: 363 diff changeset	19 MOTION_DETECT_SECTOR,
373 7b981f8bdd41 Add scroll event by pitch angle detection: ideenmodellierer parents: 371 diff changeset	20 MOTION_DETECT_MOVE,
375 4bb5ceebfaf9 Use Enum values for initialization and setting check: ideenmodellierer parents: 373 diff changeset	21 MOTION_DETECT_SCROLL,
4bb5ceebfaf9 Use Enum values for initialization and setting check: ideenmodellierer parents: 373 diff changeset	22 MOTION_DETECT_END
370 77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent ideenmodellierer parents: 363 diff changeset	23 } MotionDetectMethod_t;
77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent ideenmodellierer parents: 363 diff changeset	24
359 4258ea9b67fa Added new files for motion detection (shaking) detection ideenmodellierer parents: diff changeset	25 typedef enum
4258ea9b67fa Added new files for motion detection (shaking) detection ideenmodellierer parents: diff changeset	26 {
4258ea9b67fa Added new files for motion detection (shaking) detection ideenmodellierer parents: diff changeset	27 DETECT_START = 0,
4258ea9b67fa Added new files for motion detection (shaking) detection ideenmodellierer parents: diff changeset	28 DETECT_POS_MOVE,
363 bdf978d2a5d4 Reworked detection function ideenmodellierer parents: 359 diff changeset	29 DETECT_MAXIMA,
bdf978d2a5d4 Reworked detection function ideenmodellierer parents: 359 diff changeset	30 DETECT_FALLBACK,
370 77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent ideenmodellierer parents: 363 diff changeset	31 DETECT_POS_PITCH,
359 4258ea9b67fa Added new files for motion detection (shaking) detection ideenmodellierer parents: diff changeset	32 DETECT_NEG_MOVE,
4258ea9b67fa Added new files for motion detection (shaking) detection ideenmodellierer parents: diff changeset	33 DETECT_MINIMA,
4258ea9b67fa Added new files for motion detection (shaking) detection ideenmodellierer parents: diff changeset	34 DETECT_RISEBACK,
370 77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent ideenmodellierer parents: 363 diff changeset	35 DETECT_NEG_PITCH,
359 4258ea9b67fa Added new files for motion detection (shaking) detection ideenmodellierer parents: diff changeset	36 DETECT_NOTHING
4258ea9b67fa Added new files for motion detection (shaking) detection ideenmodellierer parents: diff changeset	37 } detectionState_t;
4258ea9b67fa Added new files for motion detection (shaking) detection ideenmodellierer parents: diff changeset	38
370 77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent ideenmodellierer parents: 363 diff changeset	39 typedef struct
77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent ideenmodellierer parents: 363 diff changeset	40 {
383 49a02dea8ae3 Combine variables in a structure to improve readability of code ideenmodellierer parents: 375 diff changeset	41 float upperborder; /* current sector is changed if pitch exceeds these borders */
49a02dea8ae3 Combine variables in a structure to improve readability of code ideenmodellierer parents: 375 diff changeset	42 float lowerborder;
49a02dea8ae3 Combine variables in a structure to improve readability of code ideenmodellierer parents: 375 diff changeset	43
49a02dea8ae3 Combine variables in a structure to improve readability of code ideenmodellierer parents: 375 diff changeset	44 uint8_t current; /* number of the current visible sector */
49a02dea8ae3 Combine variables in a structure to improve readability of code ideenmodellierer parents: 375 diff changeset	45 uint8_t target; /* used for sector switch => number of the sector which shall be finnaly displayed */
49a02dea8ae3 Combine variables in a structure to improve readability of code ideenmodellierer parents: 375 diff changeset	46
49a02dea8ae3 Combine variables in a structure to improve readability of code ideenmodellierer parents: 375 diff changeset	47 float offset; /* offset to adjust minimum pitch value used for detection to zero */
49a02dea8ae3 Combine variables in a structure to improve readability of code ideenmodellierer parents: 375 diff changeset	48 float size; /* delta of upper and lower boarder defining the sector in degree */
49a02dea8ae3 Combine variables in a structure to improve readability of code ideenmodellierer parents: 375 diff changeset	49 float window; /* defines which range of pitch values are used for detection */
49a02dea8ae3 Combine variables in a structure to improve readability of code ideenmodellierer parents: 375 diff changeset	50 float center; /* defines the offset from pitch to middle of active sector (avoid center position is close to the calculated borders) */
49a02dea8ae3 Combine variables in a structure to improve readability of code ideenmodellierer parents: 375 diff changeset	51 uint8_t count; /* number of sectors used for detection */
370 77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent ideenmodellierer parents: 363 diff changeset	52 } SSector;
77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent ideenmodellierer parents: 363 diff changeset	53
551 e3237f580ae9 Added viewport functionality: Ideenmodellierer parents: 383 diff changeset	54 typedef struct
e3237f580ae9 Added viewport functionality: Ideenmodellierer parents: 383 diff changeset	55 {
e3237f580ae9 Added viewport functionality: Ideenmodellierer parents: 383 diff changeset	56 float x;
e3237f580ae9 Added viewport functionality: Ideenmodellierer parents: 383 diff changeset	57 float y;
e3237f580ae9 Added viewport functionality: Ideenmodellierer parents: 383 diff changeset	58 float z;
e3237f580ae9 Added viewport functionality: Ideenmodellierer parents: 383 diff changeset	59 } SCoord;
383 49a02dea8ae3 Combine variables in a structure to improve readability of code ideenmodellierer parents: 375 diff changeset	60
551 e3237f580ae9 Added viewport functionality: Ideenmodellierer parents: 383 diff changeset	61 typedef enum
e3237f580ae9 Added viewport functionality: Ideenmodellierer parents: 383 diff changeset	62 {
e3237f580ae9 Added viewport functionality: Ideenmodellierer parents: 383 diff changeset	63 MOTION_HISTORY_ROLL = 0,
e3237f580ae9 Added viewport functionality: Ideenmodellierer parents: 383 diff changeset	64 MOTION_HISTORY_PITCH,
e3237f580ae9 Added viewport functionality: Ideenmodellierer parents: 383 diff changeset	65 MOTION_HISTORY_YAW
e3237f580ae9 Added viewport functionality: Ideenmodellierer parents: 383 diff changeset	66 } MotionHistoryEntry_t;
383 49a02dea8ae3 Combine variables in a structure to improve readability of code ideenmodellierer parents: 375 diff changeset	67
551 e3237f580ae9 Added viewport functionality: Ideenmodellierer parents: 383 diff changeset	68 typedef struct
e3237f580ae9 Added viewport functionality: Ideenmodellierer parents: 383 diff changeset	69 {
e3237f580ae9 Added viewport functionality: Ideenmodellierer parents: 383 diff changeset	70 uint8_t roll;
e3237f580ae9 Added viewport functionality: Ideenmodellierer parents: 383 diff changeset	71 uint8_t pitch;
e3237f580ae9 Added viewport functionality: Ideenmodellierer parents: 383 diff changeset	72 uint8_t yaw;
e3237f580ae9 Added viewport functionality: Ideenmodellierer parents: 383 diff changeset	73 } SDeltaHistory;
383 49a02dea8ae3 Combine variables in a structure to improve readability of code ideenmodellierer parents: 375 diff changeset	74
370 77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent ideenmodellierer parents: 363 diff changeset	75 void InitMotionDetection(void);
611 916998f90e39 Suspend MotionDetection events while diver is operationg the OSTC: Ideenmodellierer parents: 597 diff changeset	76 void suspendMotionDetection(uint8_t seconds);
916998f90e39 Suspend MotionDetection events while diver is operationg the OSTC: Ideenmodellierer parents: 597 diff changeset	77 void HandleMotionDetection(void);
551 e3237f580ae9 Added viewport functionality: Ideenmodellierer parents: 383 diff changeset	78 void resetMotionDeltaHistory();
e3237f580ae9 Added viewport functionality: Ideenmodellierer parents: 383 diff changeset	79 void evaluateMotionDelta(float roll, float pitch, float yaw);
371 fca370f847f8 Added parameter for number of sectors to be defined ideenmodellierer parents: 370 diff changeset	80 void DefinePitchSectors(float centerAngle, uint8_t numOfSectors);
597 132e7e3d13a7 MotionControl-Sector: Map sectors during switch T7 <=> T3: Ideenmodellierer parents: 551 diff changeset	81 void MapCVToSector(void);
370 77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent ideenmodellierer parents: 363 diff changeset	82 detectionState_t detectPitch(float currentPitch);
77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent ideenmodellierer parents: 363 diff changeset	83 detectionState_t detectSectorButtonEvent(float curPitch);
373 7b981f8bdd41 Add scroll event by pitch angle detection: ideenmodellierer parents: 371 diff changeset	84 detectionState_t detectScrollButtonEvent(float curPitch);
359 4258ea9b67fa Added new files for motion detection (shaking) detection ideenmodellierer parents: diff changeset	85
551 e3237f580ae9 Added viewport functionality: Ideenmodellierer parents: 383 diff changeset	86 void anglesToCoord(float roll, float pitch, float yaw, SCoord *pCoord);
e3237f580ae9 Added viewport functionality: Ideenmodellierer parents: 383 diff changeset	87 void calibrateViewport(float roll, float pitch, float yaw);
e3237f580ae9 Added viewport functionality: Ideenmodellierer parents: 383 diff changeset	88 float checkViewport(float roll, float pitch, float yaw);
e3237f580ae9 Added viewport functionality: Ideenmodellierer parents: 383 diff changeset	89 uint8_t viewInFocus(void);
e3237f580ae9 Added viewport functionality: Ideenmodellierer parents: 383 diff changeset	90 void resetFocusState(void);
e3237f580ae9 Added viewport functionality: Ideenmodellierer parents: 383 diff changeset	91
359 4258ea9b67fa Added new files for motion detection (shaking) detection ideenmodellierer parents: diff changeset	92 #endif /* INC_MOTION_H_ */

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annotate Discovery/Inc/motion.h @ 621:6826731ff2be