Mercurial > public > ostc4
annotate Discovery/Src/motion.c @ 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 | 96af74455420 |
| children | 028d8f3a9410 |
| 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 |
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53 static uint8_t suspendMotionDetectionSec = 0; |
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54 |
| 551 | 55 void resetMotionDeltaHistory() |
| 56 { | |
| 57 motionDeltaHistoryIdx = 0; | |
| 58 memset(motionDeltaHistory, 0, sizeof(motionDeltaHistory)); | |
| 59 } | |
| 60 | |
| 61 void evaluateMotionDelta(float roll, float pitch, float yaw) | |
| 62 { | |
| 63 static float lastValue[3] = {0.0,0.0,0.0}; | |
| 64 uint8_t nextIndex = motionDeltaHistoryIdx + 1; | |
| 65 uint8_t axis; | |
| 66 float curValue; | |
| 67 | |
| 68 if(nextIndex == MOTION_DELTA_HISTORY_SIZE) | |
| 69 { | |
| 70 nextIndex = 0; | |
| 71 } | |
| 72 for(axis=0; axis < 3; axis++) | |
| 73 { | |
| 74 switch(axis) | |
| 75 { | |
| 76 case MOTION_HISTORY_ROLL: curValue = roll; | |
| 77 break; | |
| 78 case MOTION_HISTORY_PITCH: curValue = pitch; | |
| 79 break; | |
| 80 default: | |
| 81 case MOTION_HISTORY_YAW: if((yaw < 90) && (lastValue[MOTION_HISTORY_YAW] > 270.0)) /* transition 360 => 0 */ | |
| 82 { | |
| 83 lastValue[MOTION_HISTORY_YAW] -= 360; | |
| 84 } | |
| 85 else if((yaw > 270) && (lastValue[MOTION_HISTORY_YAW] < 90.0)) /* transition 0 => 360 */ | |
| 86 { | |
| 87 lastValue[MOTION_HISTORY_YAW] += 360; | |
| 88 } | |
| 89 curValue = yaw; | |
| 90 break; | |
| 91 } | |
| 92 if(curValue - lastValue[axis] > MOTION_DELTA_RAISE_LEVEL) | |
| 93 { | |
| 94 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_RAISE; | |
| 95 } | |
| 96 if(fabsf(curValue - lastValue[axis]) < MOTION_DELTA_RAISE_LEVEL) | |
| 97 { | |
| 98 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_JITTER; | |
| 99 } | |
| 100 if(fabsf(curValue - lastValue[axis]) < MOTION_DELTA_JITTER_LEVEL) | |
| 101 { | |
| 102 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_STABLE; | |
| 103 } | |
| 104 if(curValue - lastValue[axis] < MOTION_DELTA_FALL_LEVEL) | |
| 105 { | |
| 106 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_FALL; | |
| 107 } | |
| 108 lastValue[axis] = curValue; | |
| 109 } | |
| 110 motionDeltaHistoryIdx = nextIndex; | |
| 111 } | |
| 112 | |
| 113 SDeltaHistory GetDeltaHistory(uint8_t stepback) | |
| 114 { | |
| 578 | 115 uint8_t loop; |
| 551 | 116 uint8_t index = motionDeltaHistoryIdx; |
| 117 | |
| 118 SDeltaHistory result = {0,0,0}; | |
| 119 | |
| 578 | 120 stepback++; /* motionDeltaHistoryIdx is pointing to future entry => step back one to get the latest */ |
| 121 loop = stepback; | |
| 551 | 122 if(stepback < MOTION_DELTA_HISTORY_SIZE) |
| 123 { | |
| 124 while(loop != 0) /* find requested entry */ | |
| 125 { | |
| 126 loop--; | |
| 127 index--; | |
| 128 if(index == 0) | |
| 129 { | |
| 130 index = MOTION_DELTA_HISTORY_SIZE - 1; | |
| 131 } | |
| 132 } | |
| 133 result.roll = motionDeltaHistory[MOTION_HISTORY_ROLL][index]; | |
| 134 result.pitch = motionDeltaHistory[MOTION_HISTORY_PITCH][index]; | |
| 135 result.yaw = motionDeltaHistory[MOTION_HISTORY_YAW][index]; | |
| 136 } | |
| 137 return result; | |
| 138 } | |
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139 |
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140 uint8_t GetSectorForPitch(float pitch) |
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141 { |
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142 static uint8_t lastsector = 0; |
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143 float newPitch; |
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144 uint8_t sector = 0; |
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145 |
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146 newPitch = pitch + sectorDetection.offset + sectorDetection.center; /* do not use negative values and consider offset to center position */ |
| 381 | 147 if (newPitch < 0.0) /* clip value */ |
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148 { |
| 381 | 149 newPitch = 0.0; |
| 150 } | |
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151 if (newPitch > sectorDetection.window) /* clip value */ |
| 381 | 152 { |
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153 newPitch = sectorDetection.window; |
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154 } |
| 381 | 155 |
| 156 /* switch to other sector? */ | |
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157 if((newPitch > sectorDetection.upperborder) || (newPitch <= sectorDetection.lowerborder)) |
| 381 | 158 { |
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159 sector = (uint16_t) newPitch / sectorDetection.size; |
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160 sectorDetection.lowerborder = sector * sectorDetection.size - SECTOR_HYSTERY; |
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161 sectorDetection.upperborder = (sector + 1) * sectorDetection.size + SECTOR_HYSTERY; |
| 381 | 162 lastsector = sector; |
| 163 } | |
| 164 | |
| 165 return lastsector; | |
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166 } |
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167 |
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168 void DefinePitchSectors(float centerPitch,uint8_t numOfSectors) |
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169 { |
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170 if(numOfSectors == CUSTOMER_DEFINED_VIEWS) |
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171 { |
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172 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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173 { |
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174 sectorDetection.count = t3_GetEnabled_customviews(); |
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175 } |
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176 else |
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177 { |
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178 sectorDetection.count = t7_GetEnabled_customviews(); |
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179 } |
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180 if(sectorDetection.count > SECTOR_MAX_CNT) |
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181 { |
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182 sectorDetection.count = SECTOR_MAX_CNT; /* more views are hard to manually control */ |
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183 } |
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184 } |
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185 else |
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186 if(numOfSectors != CUSTOMER_KEEP_LAST_SECTORS) |
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187 { |
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188 sectorDetection.count = numOfSectors; |
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189 } |
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190 |
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191 if(sectorDetection.count == SECTOR_MAX) |
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192 { |
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193 sectorDetection.window = SECTOR_WINDOW_MAX; |
| 381 | 194 } |
| 195 else | |
| 196 { | |
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197 sectorDetection.window = SECTOR_WINDOW; |
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198 } |
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199 |
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200 sectorDetection.offset = (centerPitch - (sectorDetection.window / 2)) * -1.0; |
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201 sectorDetection.size = sectorDetection.window / sectorDetection.count; |
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202 sectorDetection.center = 0; |
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203 |
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204 /* reset border values */ |
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205 sectorDetection.lowerborder = SECTOR_BORDER; |
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206 sectorDetection.upperborder = SECTOR_BORDER * -1.0; |
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207 /* get the current sector */ |
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208 sectorDetection.current = GetSectorForPitch(stateRealGetPointer()->lifeData.compass_pitch); |
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209 sectorDetection.target = sectorDetection.current; |
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210 /* 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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211 sectorDetection.center = (sectorDetection.upperborder) - ((sectorDetection.size + 2 *SECTOR_HYSTERY) / 2.0) - (centerPitch + sectorDetection.offset); |
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212 |
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213 } |
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214 |
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215 |
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216 uint8_t GetCVForSector(uint8_t selSector) |
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217 { |
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218 if(selSector < sectorDetection.count) |
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219 { |
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220 return sectorMap[selSector]; |
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221 } |
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222 else |
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223 { |
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224 return 0; |
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225 } |
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226 } |
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227 void MapCVToSector() |
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228 { |
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229 uint8_t centerView = 0; |
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230 |
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231 memset(sectorMap, 0, sizeof(sectorMap)); |
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232 |
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233 switch(sectorDetection.count) |
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234 { |
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235 case 1: centerView = 0; break; |
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236 case 2: centerView = 0; break; |
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237 case 3: centerView = 1; break; |
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238 case 4: centerView = 1; break; |
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239 case 5: centerView = 2; break; |
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240 default: centerView = sectorDetection.count / 2 - 1; |
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241 break; |
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242 } |
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243 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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244 { |
| 595 | 245 t3_set_customview_to_primary(); |
| 246 sectorMap[centerView] = t3_change_customview(ACTION_END); | |
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247 } |
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248 else |
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249 { |
| 595 | 250 t7_set_customview_to_primary(); |
| 251 sectorMap[centerView] = t7_change_customview(ACTION_END); | |
| 252 | |
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253 } |
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254 |
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255 centerView++; |
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256 while(sectorMap[centerView] == 0) |
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257 { |
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258 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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259 { |
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260 sectorMap[centerView] = t3_change_customview(ACTION_BUTTON_ENTER); |
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261 } |
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262 else |
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263 { |
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264 sectorMap[centerView] = t7_change_customview(ACTION_BUTTON_ENTER); |
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265 } |
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266 centerView++; |
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267 if(centerView == sectorDetection.count) |
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268 { |
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269 centerView = 0; |
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270 } |
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271 } |
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272 |
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273 } |
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274 |
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275 void InitMotionDetection(void) |
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276 { |
| 621 | 277 float sensorPitch = settingsGetPointer()->viewPitch - 180.0; /* calib values are stored as 360° values. Sensor uses +/- 180° */ |
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278 sectorDetection.target = 0; |
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279 sectorDetection.current = 0; |
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280 sectorDetection.size = 0; |
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281 sectorDetection.count = 0; |
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282 |
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283 switch(settingsGetPointer()->MotionDetection) |
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284 { |
| 621 | 285 case MOTION_DETECT_SECTOR: DefinePitchSectors(sensorPitch,CUSTOMER_DEFINED_VIEWS); |
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286 MapCVToSector(); |
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287 break; |
| 621 | 288 case MOTION_DETECT_MOVE: DefinePitchSectors(sensorPitch,SECTOR_MAX); |
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289 break; |
| 621 | 290 case MOTION_DETECT_SCROLL: DefinePitchSectors(sensorPitch,SECTOR_SCROLL); |
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291 break; |
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292 default: |
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293 break; |
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294 } |
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295 |
| 551 | 296 resetMotionDeltaHistory(); |
|
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297 } |
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298 |
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299 /* Map the current pitch value to a sector and create button event in case the sector is left */ |
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300 detectionState_t detectSectorButtonEvent(float curPitch) |
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301 { |
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302 uint8_t newTargetSector; |
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303 |
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304 newTargetSector = GetSectorForPitch(stateRealGetPointer()->lifeData.compass_pitch); |
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305 |
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306 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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307 { |
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308 t3_select_customview(GetCVForSector(newTargetSector)); |
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309 } |
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310 else |
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311 { |
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312 t7_select_customview(GetCVForSector(newTargetSector)); |
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313 } |
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314 |
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315 return DETECT_NOTHING; |
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316 } |
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317 |
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318 /* Check if pitch is not in center position and trigger a button action if needed */ |
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319 detectionState_t detectScrollButtonEvent(float curPitch) |
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320 { |
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321 static uint8_t delayscroll = 0; /* slow down the number of scroll events */ |
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370
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322 |
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323 uint8_t PitchEvent = DETECT_NOTHING; |
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324 uint8_t newSector; |
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325 |
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326 if(delayscroll == 0) |
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327 { |
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328 newSector = GetSectorForPitch(stateRealGetPointer()->lifeData.compass_pitch); |
| 551 | 329 /* for scroll detection the motion window is split into 6 sectors => set event accoring to the sector number*/ |
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330 switch(newSector) |
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331 { |
| 574 | 332 case 0: PitchEvent = DETECT_POS_PITCH; |
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333 break; |
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334 case 6: PitchEvent = DETECT_NEG_PITCH; |
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335 break; |
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336 default: |
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337 break; |
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338 } |
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339 if(PitchEvent != DETECT_NOTHING) |
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340 { |
| 574 | 341 delayscroll = 7; |
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342 } |
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343 } |
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344 else |
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345 { |
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346 delayscroll--; |
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347 } |
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348 return PitchEvent; |
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349 } |
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350 |
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351 |
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352 /* Detect if user is generating an pitch including return to starting position */ |
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353 /* This is done by feeding the past movements value per value into a state machine */ |
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354 detectionState_t detectPitch(float currentPitch) |
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355 { |
| 578 | 356 static int8_t lastStart = 0; |
| 551 | 357 uint8_t exit = 0; |
| 578 | 358 int8_t step = 0; |
| 574 | 359 uint8_t duration = 0; |
| 551 | 360 SDeltaHistory test; |
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361 |
| 578 | 362 if(lastStart < 0) |
| 363 { | |
| 364 detectionState = DETECT_NOTHING; | |
| 365 lastStart = 0; | |
| 366 } | |
| 367 else | |
| 368 { | |
| 369 detectionState = DETECT_START; | |
| 370 } | |
| 371 step = lastStart; | |
| 372 do | |
| 551 | 373 { |
| 374 test = GetDeltaHistory(step); | |
| 574 | 375 duration++; |
| 551 | 376 switch (detectionState) |
| 377 { | |
| 378 case DETECT_NOTHING: if(test.pitch > MOTION_DELTA_STABLE) | |
| 379 { | |
| 380 exit = 1; | |
| 578 | 381 lastStart = -2; |
| 551 | 382 } |
| 383 else | |
| 384 { | |
| 385 detectionState = DETECT_START; | |
| 578 | 386 lastStart = -1; |
| 551 | 387 } |
| 388 break; | |
| 389 case DETECT_START: if(test.pitch == MOTION_DELTA_RAISE) | |
| 390 { | |
| 391 detectionState = DETECT_POS_MOVE; | |
| 578 | 392 lastStart = step; |
| 551 | 393 } |
| 578 | 394 else |
| 551 | 395 if(test.pitch == MOTION_DELTA_FALL) |
| 396 { | |
| 397 detectionState = DETECT_NEG_MOVE; | |
| 578 | 398 lastStart = step; |
| 399 } | |
| 400 else | |
| 401 { | |
| 402 lastStart = -1; | |
| 551 | 403 } |
| 574 | 404 duration = 0; |
| 551 | 405 break; |
| 578 | 406 case DETECT_NEG_MOVE: if((test.pitch <= MOTION_DELTA_JITTER) || (test.pitch == MOTION_DELTA_RAISE)) |
| 407 { | |
| 408 detectionState++; | |
| 409 } | |
| 410 break; | |
| 411 case DETECT_POS_MOVE: if((test.pitch <= MOTION_DELTA_JITTER) || (test.pitch == MOTION_DELTA_FALL)) | |
| 551 | 412 { |
| 413 detectionState++; | |
| 414 } | |
| 415 break; | |
| 416 case DETECT_MAXIMA: if(test.pitch == MOTION_DELTA_FALL) | |
| 417 { | |
| 418 detectionState = DETECT_FALLBACK; | |
| 419 } | |
| 420 break; | |
| 421 case DETECT_MINIMA: if(test.pitch == MOTION_DELTA_RAISE) | |
| 422 { | |
| 423 detectionState = DETECT_RISEBACK; | |
| 424 } | |
| 425 break; | |
| 426 case DETECT_RISEBACK: | |
| 427 case DETECT_FALLBACK: if(test.pitch == MOTION_DELTA_STABLE) | |
| 428 { | |
| 578 | 429 if(duration > 4) /* avoid detection triggered by short moves */ |
| 574 | 430 { |
| 431 detectionState++; | |
| 432 } | |
| 578 | 433 exit = 1; |
| 434 lastStart = -2; | |
| 551 | 435 } |
| 436 break; | |
| 437 default: | |
| 438 detectionState = DETECT_NOTHING; | |
| 439 exit = 1; | |
| 440 break; | |
| 441 } | |
| 578 | 442 step--; |
| 443 } while((step >= 0) && (!exit)); | |
| 444 | |
| 445 if((lastStart < MOTION_DELTA_HISTORY_SIZE)) | |
| 446 { | |
| 447 lastStart++; /* prepare value for next iteration (history index will be increased) */ | |
| 448 } | |
| 449 else | |
| 450 { | |
| 451 lastStart = -1; | |
| 551 | 452 } |
| 453 if((detectionState != DETECT_POS_PITCH) && (detectionState != DETECT_NEG_PITCH)) /* nothing found */ | |
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454 { |
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455 detectionState = DETECT_NOTHING; |
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456 } |
| 551 | 457 else /* dont detect the same event twice */ |
| 458 { | |
| 459 resetMotionDeltaHistory(); | |
| 460 } | |
| 461 return detectionState; | |
| 462 } | |
| 363 | 463 |
| 551 | 464 void anglesToCoord(float roll, float pitch, float yaw, SCoord *pCoord) |
| 465 { | |
| 466 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); | |
| 467 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); | |
| 468 pCoord->z = ((-1*sinf(pitch)) * pCoord->x + (cosf(pitch) *sinf(roll)) * pCoord->y + (cosf(pitch) * cosf(roll))* pCoord->z); | |
| 469 } | |
| 470 | |
| 471 SCoord CoordAdd(SCoord cA, SCoord cB) | |
| 472 { | |
| 473 SCoord result; | |
| 474 | |
| 475 result.x = cA.x + cB.x; | |
| 476 result.y = cA.y + cB.y; | |
| 477 result.z = cA.z + cB.z; | |
| 478 return result; | |
| 479 } | |
| 480 | |
| 481 SCoord CoordSub(SCoord cA, SCoord cB) | |
| 482 { | |
| 483 SCoord result; | |
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484 |
| 551 | 485 result.x = cA.x - cB.x; |
| 486 result.y = cA.y - cB.y; | |
| 487 result.z = cA.z - cB.z; | |
| 488 return result; | |
| 489 } | |
| 490 | |
| 491 SCoord CoordCross(SCoord cA, SCoord cB) | |
| 492 { | |
| 493 SCoord result; | |
| 494 | |
| 495 result.x = (cA.y * cB.z) - (cA.z * cB.y); | |
| 496 result.y = (cA.z * cB.x) - (cA.x * cB.z); | |
| 497 result.z = (cA.x * cB.y) - (cA.y * cB.x); | |
| 498 | |
| 499 return result; | |
| 500 | |
| 501 } | |
| 502 | |
| 503 SCoord CoordMulF(SCoord op, float factor) | |
| 504 { | |
| 505 SCoord result; | |
| 506 result.x = (op.x * factor); | |
| 507 result.y = (op.y * factor); | |
| 508 result.z = (op.z * factor); | |
| 509 | |
| 510 return result; | |
| 511 } | |
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512 |
| 551 | 513 SCoord CoordDivF(SCoord op, float factor) |
| 514 { | |
| 515 SCoord result; | |
| 516 result.x = (op.x / factor); | |
| 517 result.y = (op.y / factor); | |
| 518 result.z = (op.z / factor); | |
| 519 | |
| 520 return result; | |
| 521 } | |
| 522 | |
| 523 float CoordDot(SCoord cA, SCoord cB) | |
| 524 { | |
| 525 float result; | |
| 526 | |
| 527 result = cA.x * cB.x + cA.y * cB.y + cB.z*cA.z; | |
| 528 return result; | |
| 529 } | |
| 530 | |
| 531 void calibrateViewport(float roll, float pitch, float yaw) | |
| 532 { | |
| 533 SSettings* pSettings = settingsGetPointer(); | |
| 534 | |
| 621 | 535 pSettings->viewPitch = pitch + 180; |
| 536 pSettings->viewRoll = roll+ 180; | |
| 551 | 537 pSettings->viewYaw = yaw; |
| 538 } | |
| 539 | |
| 540 | |
| 541 float checkViewport(float roll, float pitch, float yaw) | |
| 542 { | |
| 574 | 543 static float freezeRoll = 0; |
| 544 static float freezeYaw = 0; | |
| 545 | |
| 551 | 546 uint8_t retval = 0; |
| 547 float angleYaw; | |
| 548 float anglePitch; | |
| 549 float angleRoll; | |
| 550 float distance = 0; | |
| 551 float _a, _b; | |
| 552 SCoord u,v,n; | |
| 553 float r; | |
| 554 | |
| 555 SCoord refVec; | |
| 556 SCoord axis_1; | |
| 557 SCoord axis_2; | |
| 558 SCoord curVec; | |
| 559 SCoord resultVec; | |
| 574 | 560 SDeltaHistory test; |
| 551 | 561 |
| 562 SSettings* pSettings = settingsGetPointer(); | |
| 563 | |
| 621 | 564 roll += 180; |
| 565 pitch += 180; | |
| 566 | |
| 551 | 567 /* calculate base vector taking calibration delta into account yaw (heading) */ |
| 621 | 568 float compYaw; |
| 574 | 569 |
| 570 compYaw = 360.0 - yaw; /* turn to 0° */ | |
| 571 compYaw += pSettings->viewYaw; /* consider calib yaw value */ | |
| 572 compYaw += yaw; | |
| 573 | |
| 551 | 574 if (compYaw < 0.0) |
| 575 { | |
| 576 compYaw = 360.0 + compYaw; | |
| 381 | 577 } |
| 551 | 578 |
| 579 if (compYaw > 360.0) | |
| 381 | 580 { |
| 574 | 581 compYaw = compYaw - 360.0; |
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582 } |
| 574 | 583 if (compYaw > 360.0) |
| 584 { | |
| 585 compYaw = compYaw - 360.0; | |
| 586 } | |
| 587 angleYaw = pSettings->viewYaw * M_PI / 180.0; | |
| 551 | 588 anglePitch = pSettings->viewPitch * M_PI / 180.0; |
| 589 angleRoll = pSettings->viewRoll * M_PI / 180.0; | |
| 590 | |
| 591 refVec.x = 0; | |
| 592 refVec.y = 0; | |
| 593 refVec.z = 1.0; | |
| 594 | |
| 595 anglesToCoord(angleRoll,anglePitch,angleYaw, &refVec); | |
| 596 | |
| 597 anglePitch = pitch * M_PI / 180.0; | |
| 598 angleRoll = roll * M_PI / 180.0; | |
| 599 angleYaw = yaw * M_PI / 180.0; | |
| 600 | |
| 601 /* assume x = 0 and y = 1 => find matching vector so axis_1 is 90° to axis_2 */ | |
| 602 axis_1.x = 0; | |
| 603 if(refVec.y >=0) | |
| 604 { | |
| 605 axis_2.y = 1; /* => Spawn y == refVec y */ | |
| 606 } | |
| 607 else axis_1.y = -1; | |
| 608 axis_1.z = -1.0 * refVec.y / refVec.z; | |
| 609 axis_2 = CoordCross(refVec, axis_1); /* Cross is 90° to refVec and Spawn as well => Plane Spawn / cross */ | |
| 610 | |
| 611 /* check if detection plane is correct */ | |
| 612 u = CoordSub(axis_1,refVec); | |
| 613 v = CoordSub(axis_2,refVec); | |
| 614 n = CoordCross(u,v); | |
| 615 | |
| 616 if((fabsf(n.x) <= 0.0001) && (fabsf(n.y) <= 0.0001) && (fabsf(n.z) <= 0.0001)) | |
| 617 { | |
| 618 retval = 2; | |
| 619 } | |
| 620 else | |
| 621 { | |
| 574 | 622 angleYaw = compYaw * M_PI / 180.0; |
| 551 | 623 anglePitch = pitch * M_PI / 180.0; |
| 624 angleRoll = roll * M_PI / 180.0; | |
| 625 curVec.x = 0; | |
| 626 curVec.y = 0; | |
| 627 curVec.z = 1.0; | |
| 628 anglesToCoord(angleRoll,anglePitch,angleYaw, &curVec); | |
| 629 | |
| 630 _a = CoordDot(curVec,n); | |
| 631 _b = CoordDot(refVec,n); | |
| 632 | |
| 633 if(_b>=(-0.0001)&&_b<=0.0001) /* Check if view port is parallel (no matchpoint) */ | |
| 634 { | |
| 635 retval = 3; | |
| 636 } | |
| 637 else | |
| 638 { | |
| 639 r=_a/_b; | |
| 640 if(r<0.00||r>1.40) /* are we looking into wrong direction? */ | |
| 641 { | |
| 642 retval = 4; | |
| 643 } | |
| 644 } | |
| 645 distance = retval * 1.0; /* just for debugging */ | |
| 646 if(retval == 0) | |
| 647 { | |
| 648 | |
| 649 /* start calculating the matchpoint */ | |
| 650 curVec = CoordMulF(curVec,r); | |
| 651 resultVec = CoordSub(refVec,curVec); | |
| 652 | |
| 653 /* calculate the distance between reference and actual vector */ | |
| 654 resultVec.x = resultVec.x * resultVec.x; | |
| 655 resultVec.y = resultVec.y * resultVec.y; | |
| 656 resultVec.z = resultVec.z * resultVec.z; | |
| 657 | |
| 658 if((resultVec.x == 0) && (resultVec.y == 0) && (resultVec.z == 0)) | |
| 659 { | |
| 660 distance = 0.0; | |
| 661 } | |
| 662 else | |
| 663 { | |
| 664 distance = sqrtf((resultVec.x + resultVec.y + resultVec.z)); | |
| 665 } | |
| 666 } | |
| 667 } | |
| 668 | |
| 669 if(distance < 0.5) /* handle focus counter to avoid fast in/out focus changes */ | |
| 670 { | |
| 671 if(focusCnt < 10) | |
| 672 { | |
| 673 if((focusCnt == 9) && (inFocus == 0)) /* we will get into focus */ | |
| 674 { | |
| 675 resetMotionDeltaHistory(); | |
| 676 } | |
| 677 focusCnt++; | |
| 678 } | |
| 574 | 679 if((focusCnt == 10) && (inFocus == 0)) |
| 551 | 680 { |
| 681 inFocus = 1; | |
| 574 | 682 freezeRoll = roll; |
| 683 freezeYaw = yaw; | |
| 551 | 684 } |
| 685 } | |
| 686 else | |
| 687 { | |
| 574 | 688 if(focusCnt >= 5) /* Reset focus faster then setting focus */ |
| 551 | 689 { |
| 574 | 690 if(pSettings->MotionDetection != MOTION_DETECT_MOVE) /* only apply extended focus for methods using absolute pitch values */ |
| 691 { | |
| 692 test = GetDeltaHistory(0); | |
| 693 if((test.yaw == MOTION_DELTA_STABLE) && (test.roll == MOTION_DELTA_STABLE)) | |
| 694 { | |
| 695 if((fabsf(freezeRoll - roll) < MOTION_DELTA_JITTER_LEVEL) && (fabsf(freezeYaw - yaw) < MOTION_DELTA_JITTER_LEVEL)) | |
| 696 { | |
| 697 focusCnt++; | |
| 698 } | |
| 699 } | |
| 700 else | |
| 701 { | |
| 702 if(freezeRoll != 0.0) | |
| 703 { | |
| 704 focusCnt = 1; | |
| 705 } | |
| 706 } | |
| 707 } | |
| 551 | 708 focusCnt--; |
| 709 } | |
| 710 else | |
| 711 { | |
| 574 | 712 focusCnt = 0; |
| 551 | 713 inFocus = 0; |
| 574 | 714 freezeRoll = 0; |
| 715 freezeYaw = 0; | |
| 551 | 716 } |
| 717 } | |
| 718 return distance; | |
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719 } |
| 551 | 720 uint8_t viewInFocus(void) |
| 721 { | |
| 722 return inFocus; | |
| 723 } | |
| 724 void resetFocusState(void) | |
| 725 { | |
| 726 inFocus = 0; | |
| 727 } | |
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728 |
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729 void suspendMotionDetection(uint8_t seconds) |
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730 { |
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731 suspendMotionDetectionSec = seconds * 10; /* detection function is called every 100ms */ |
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732 } |
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733 |
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734 void HandleMotionDetection(void) |
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735 { |
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736 detectionState_t pitchstate = DETECT_NOTHING; |
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737 static uint8_t wasInFocus = 0; |
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738 |
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739 evaluateMotionDelta(stateUsed->lifeData.compass_roll, stateUsed->lifeData.compass_pitch, stateUsed->lifeData.compass_heading); |
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740 checkViewport(stateUsed->lifeData.compass_roll, stateUsed->lifeData.compass_pitch, stateUsed->lifeData.compass_heading); |
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741 |
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742 if(viewInFocus()) |
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743 { |
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744 wasInFocus = 1; |
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745 set_Backlight_Boost(settingsGetPointer()->viewPortMode & 0x03); |
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746 |
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747 if(suspendMotionDetectionSec == 0) /* suspend detection while diver is manually operating the OSTC */ |
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748 { |
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749 switch(settingsGetPointer()->MotionDetection) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
750 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
751 case MOTION_DETECT_MOVE: pitchstate = detectPitch(stateRealGetPointer()->lifeData.compass_pitch); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
752 break; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
753 case MOTION_DETECT_SECTOR: pitchstate = detectSectorButtonEvent(stateRealGetPointer()->lifeData.compass_pitch); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
754 break; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
755 case MOTION_DETECT_SCROLL: pitchstate = detectScrollButtonEvent(stateRealGetPointer()->lifeData.compass_pitch); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
756 break; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
757 default: |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
758 pitchstate = DETECT_NOTHING; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
759 break; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
760 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
761 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
762 |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
763 if(DETECT_NEG_PITCH == pitchstate) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
764 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
765 StoreButtonAction((uint8_t)ACTION_PITCH_NEG); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
766 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
767 if(DETECT_POS_PITCH == pitchstate) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
768 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
769 StoreButtonAction((uint8_t)ACTION_PITCH_POS); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
770 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
771 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
772 else |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
773 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
774 if(wasInFocus) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
775 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
776 wasInFocus = 0; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
777 if(suspendMotionDetectionSec == 0) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
778 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
779 if(settingsGetPointer()->design == 7) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
780 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
781 t7_set_customview_to_primary(); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
782 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
783 else |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
784 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
785 t3_set_customview_to_primary(); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
786 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
787 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
788 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
789 set_Backlight_Boost(0); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
790 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
791 if(suspendMotionDetectionSec != 0) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
792 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
793 suspendMotionDetectionSec--; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
794 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
795 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
796 |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
797 |