Mercurial > public > ostc4
annotate Discovery/Src/motion.c @ 633:68d95049f11a
Added menu structure to allow ppo2 modification in simulator mode:
For development purpose (to be enabled by compile switch) the posibillity to modify ppo2 values using the T3_Sensor view quick menu access has been added.
| author | Ideenmodellierer |
|---|---|
| date | Tue, 23 Feb 2021 21:58:18 +0100 |
| parents | 189f945ae4ba |
| children | c737cf5d9067 |
| 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_MAX 24 /* maximum number of sectors */ |
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23 #define SECTOR_SCROLL 7 /* number of sectors used for scroll detection */ |
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24 #define SECTOR_MAX_CNT 5 /* max number of views used for sector control */ |
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25 |
| 627 | 26 |
| 27 typedef enum | |
| 28 { | |
| 29 MOTION_DELTA_STABLE = 0, | |
| 30 MOTION_DELTA_JITTER, | |
| 31 MOTION_DELTA_RAISE, | |
| 32 MOTION_DELTA_RAISE_FAST, | |
| 33 MOTION_DELTA_FALL, | |
| 34 MOTION_DELTA_FALL_FAST | |
| 35 } MotionDeltaState_t; | |
| 551 | 36 |
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37 #define MOTION_DELTA_JITTER_LEVEL 2.0 /* lower values are considered as stable */ |
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38 #define MOTION_DELTA_RAISE_LEVEL 4.0 /* Movement causing a significant change detected */ |
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39 #define MOTION_DELTA_FALL_LEVEL -4.0 /* Movement causing a significant change detected */ |
| 627 | 40 #define MOTION_DELTA_FAST_LEVEL 6.0 /* Movement causing a fast change detected */ |
| 551 | 41 |
| 42 #define MOTION_DELTA_HISTORY_SIZE 20 /* Number of history data sets */ | |
| 43 | |
| 627 | 44 #define MOTION_FOCUS_LIMIT 0.5 /* +/- value which defines the border of the focus area */ |
| 45 #define MOTION_FOCUS_USE_SECTOR 0.4 /* +/- value for the focus area used to map secors to views */ | |
| 46 #define MOTION_FOCUS_SCROLL_IDLE 0.3 /* +/- value for starting generation of scroll events */ | |
| 47 | |
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48 detectionState_t detectionState = DETECT_NOTHING; |
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49 SSector sectorDetection; |
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50 |
| 551 | 51 static uint8_t motionDeltaHistory[3][MOTION_DELTA_HISTORY_SIZE]; /* Change history of roll, pitch and yaw */ |
| 52 static uint8_t motionDeltaHistoryIdx; /* Current index of history data */ | |
| 53 | |
| 54 static uint8_t focusCnt = 0; | |
| 55 static uint8_t inFocus = 0; | |
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56 static uint8_t sectorMap[SECTOR_MAX_CNT]; |
| 551 | 57 |
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58 static uint8_t suspendMotionDetectionSec = 0; |
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59 |
| 551 | 60 void resetMotionDeltaHistory() |
| 61 { | |
| 62 motionDeltaHistoryIdx = 0; | |
| 63 memset(motionDeltaHistory, 0, sizeof(motionDeltaHistory)); | |
| 64 } | |
| 65 | |
| 66 void evaluateMotionDelta(float roll, float pitch, float yaw) | |
| 67 { | |
| 68 static float lastValue[3] = {0.0,0.0,0.0}; | |
| 69 uint8_t nextIndex = motionDeltaHistoryIdx + 1; | |
| 70 uint8_t axis; | |
| 71 float curValue; | |
| 72 | |
| 73 if(nextIndex == MOTION_DELTA_HISTORY_SIZE) | |
| 74 { | |
| 75 nextIndex = 0; | |
| 76 } | |
| 77 for(axis=0; axis < 3; axis++) | |
| 78 { | |
| 79 switch(axis) | |
| 80 { | |
| 81 case MOTION_HISTORY_ROLL: curValue = roll; | |
| 82 break; | |
| 83 case MOTION_HISTORY_PITCH: curValue = pitch; | |
| 84 break; | |
| 85 default: | |
| 86 case MOTION_HISTORY_YAW: if((yaw < 90) && (lastValue[MOTION_HISTORY_YAW] > 270.0)) /* transition 360 => 0 */ | |
| 87 { | |
| 88 lastValue[MOTION_HISTORY_YAW] -= 360; | |
| 89 } | |
| 90 else if((yaw > 270) && (lastValue[MOTION_HISTORY_YAW] < 90.0)) /* transition 0 => 360 */ | |
| 91 { | |
| 92 lastValue[MOTION_HISTORY_YAW] += 360; | |
| 93 } | |
| 94 curValue = yaw; | |
| 95 break; | |
| 96 } | |
| 97 if(curValue - lastValue[axis] > MOTION_DELTA_RAISE_LEVEL) | |
| 98 { | |
| 99 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_RAISE; | |
| 100 } | |
| 101 if(fabsf(curValue - lastValue[axis]) < MOTION_DELTA_RAISE_LEVEL) | |
| 102 { | |
| 103 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_JITTER; | |
| 104 } | |
| 105 if(fabsf(curValue - lastValue[axis]) < MOTION_DELTA_JITTER_LEVEL) | |
| 106 { | |
| 107 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_STABLE; | |
| 108 } | |
| 109 if(curValue - lastValue[axis] < MOTION_DELTA_FALL_LEVEL) | |
| 110 { | |
| 111 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_FALL; | |
| 112 } | |
| 627 | 113 |
| 114 if(fabsf(curValue - lastValue[axis]) > MOTION_DELTA_FAST_LEVEL) | |
| 115 { | |
| 116 motionDeltaHistory[axis][nextIndex]++; | |
| 117 } | |
| 118 | |
| 551 | 119 lastValue[axis] = curValue; |
| 120 } | |
| 121 motionDeltaHistoryIdx = nextIndex; | |
| 122 } | |
| 123 | |
| 124 SDeltaHistory GetDeltaHistory(uint8_t stepback) | |
| 125 { | |
| 578 | 126 uint8_t loop; |
| 551 | 127 uint8_t index = motionDeltaHistoryIdx; |
| 128 | |
| 129 SDeltaHistory result = {0,0,0}; | |
| 130 | |
| 627 | 131 loop = stepback + 1; /* motionDeltaHistoryIdx is pointing to future entry => step back one more to get the latest */ |
| 551 | 132 if(stepback < MOTION_DELTA_HISTORY_SIZE) |
| 133 { | |
| 134 while(loop != 0) /* find requested entry */ | |
| 135 { | |
| 136 loop--; | |
| 137 index--; | |
| 138 if(index == 0) | |
| 139 { | |
| 140 index = MOTION_DELTA_HISTORY_SIZE - 1; | |
| 141 } | |
| 142 } | |
| 143 result.roll = motionDeltaHistory[MOTION_HISTORY_ROLL][index]; | |
| 144 result.pitch = motionDeltaHistory[MOTION_HISTORY_PITCH][index]; | |
| 145 result.yaw = motionDeltaHistory[MOTION_HISTORY_YAW][index]; | |
| 146 } | |
| 147 return result; | |
| 148 } | |
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149 |
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150 uint8_t GetSectorForFocus(float focusOffset) |
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151 { |
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152 uint8_t sector = 0; |
| 627 | 153 float compare = -1.0 * MOTION_FOCUS_USE_SECTOR + sectorDetection.size ; /* start with first sector upper limit */ |
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154 |
| 627 | 155 while(compare <= MOTION_FOCUS_USE_SECTOR) |
| 381 | 156 { |
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157 if(focusOffset > compare) |
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158 { |
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159 sector++; |
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160 } |
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161 else |
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162 { |
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163 break; |
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164 } |
| 627 | 165 compare += sectorDetection.size; |
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166 } |
| 627 | 167 if(sector >= sectorDetection.count) |
| 381 | 168 { |
| 627 | 169 sector = sectorDetection.count - 1; |
| 381 | 170 } |
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171 return sector; |
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172 } |
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173 |
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174 void DefineSectorCount(uint8_t numOfSectors) |
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175 { |
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176 if(numOfSectors == CUSTOMER_DEFINED_VIEWS) |
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177 { |
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178 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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179 { |
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180 sectorDetection.count = t3_GetEnabled_customviews(); |
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181 } |
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182 else |
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183 { |
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184 sectorDetection.count = t7_GetEnabled_customviews(); |
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185 } |
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186 if(sectorDetection.count > SECTOR_MAX_CNT) |
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187 { |
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188 sectorDetection.count = SECTOR_MAX_CNT; /* more views are hard to manually control */ |
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189 } |
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190 } |
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191 else |
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192 if(numOfSectors != CUSTOMER_KEEP_LAST_SECTORS) |
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193 { |
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194 sectorDetection.count = numOfSectors; |
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195 } |
| 627 | 196 sectorDetection.size = MOTION_FOCUS_USE_SECTOR * 2.0 / sectorDetection.count; |
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197 } |
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198 |
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199 |
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200 uint8_t GetCVForSector(uint8_t selSector) |
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201 { |
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202 if(selSector < sectorDetection.count) |
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203 { |
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204 return sectorMap[selSector]; |
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205 } |
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206 else |
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207 { |
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208 return 0; |
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209 } |
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210 } |
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211 |
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212 void MapCVToSector() |
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213 { |
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214 uint8_t ViewIndex = 0; |
| 627 | 215 memset(sectorMap, 0, sizeof(sectorMap)); |
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216 |
| 627 | 217 while(ViewIndex < (sectorDetection.count / 2)) /* define center sector */ |
| 218 { | |
| 219 ViewIndex++; | |
| 220 } | |
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221 |
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222 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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223 { |
| 595 | 224 t3_set_customview_to_primary(); |
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225 sectorMap[ViewIndex] = t3_change_customview(ACTION_END); |
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226 } |
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227 else |
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228 { |
| 595 | 229 t7_set_customview_to_primary(); |
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230 sectorMap[ViewIndex] = t7_change_customview(ACTION_END); |
| 595 | 231 |
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232 } |
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233 |
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234 ViewIndex++; |
| 627 | 235 while(sectorMap[ViewIndex] == 0) |
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236 { |
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237 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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238 { |
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239 sectorMap[ViewIndex] = t3_change_customview(ACTION_BUTTON_ENTER); |
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240 } |
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241 else |
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242 { |
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243 sectorMap[ViewIndex] = t7_change_customview(ACTION_BUTTON_ENTER); |
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244 } |
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245 ViewIndex++; |
| 627 | 246 if(ViewIndex == sectorDetection.count) |
| 247 { | |
| 248 ViewIndex = 0; | |
| 249 } | |
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250 } |
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251 |
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252 } |
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253 |
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254 void InitMotionDetection(void) |
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255 { |
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383
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256 sectorDetection.target = 0; |
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257 sectorDetection.current = 0; |
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258 sectorDetection.size = 0; |
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259 sectorDetection.count = 0; |
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260 |
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261 switch(settingsGetPointer()->MotionDetection) |
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262 { |
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263 case MOTION_DETECT_SECTOR: DefineSectorCount(CUSTOMER_DEFINED_VIEWS); |
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264 MapCVToSector(); |
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265 break; |
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266 case MOTION_DETECT_MOVE: DefineSectorCount(SECTOR_MAX); |
|
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267 break; |
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268 case MOTION_DETECT_SCROLL: DefineSectorCount(SECTOR_SCROLL); |
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269 break; |
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270 default: |
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271 break; |
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272 } |
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273 |
| 551 | 274 resetMotionDeltaHistory(); |
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275 } |
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276 |
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277 /* Map the current pitch value to a sector and create button event in case the sector is left */ |
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278 detectionState_t detectSectorButtonEvent(float focusOffset) |
|
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279 { |
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280 uint8_t newTargetSector; |
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281 |
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282 newTargetSector = GetSectorForFocus(focusOffset); |
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283 |
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284 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
|
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285 { |
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286 t3_select_customview(GetCVForSector(newTargetSector)); |
|
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287 } |
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288 else |
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289 { |
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290 t7_select_customview(GetCVForSector(newTargetSector)); |
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291 } |
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292 |
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293 return DETECT_NOTHING; |
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294 } |
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295 |
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296 /* Check if pitch is not in center position and trigger a button action if needed */ |
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297 detectionState_t detectScrollButtonEvent(float focusOffset) |
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298 { |
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299 static uint8_t delayscroll = 0; /* slow down the number of scroll events */ |
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300 |
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301 uint8_t PitchEvent = DETECT_NOTHING; |
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302 |
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303 if(delayscroll == 0) |
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304 { |
| 627 | 305 if(focusOffset > MOTION_FOCUS_SCROLL_IDLE) |
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306 { |
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307 PitchEvent = DETECT_POS_PITCH; |
| 574 | 308 delayscroll = 7; |
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309 } |
| 627 | 310 if(focusOffset < (-1.0 * MOTION_FOCUS_SCROLL_IDLE)) |
| 311 { | |
| 312 PitchEvent = DETECT_NEG_PITCH; | |
| 313 delayscroll = 7; | |
| 314 } | |
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315 } |
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316 else |
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317 { |
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318 delayscroll--; |
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319 } |
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320 return PitchEvent; |
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321 } |
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322 |
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323 |
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324 /* Detect if user is generating an pitch including return to starting position */ |
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359
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325 /* This is done by feeding the past movements value per value into a state machine */ |
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326 detectionState_t detectPitch(float currentPitch) |
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327 { |
| 578 | 328 static int8_t lastStart = 0; |
| 551 | 329 uint8_t exit = 0; |
| 578 | 330 int8_t step = 0; |
| 574 | 331 uint8_t duration = 0; |
| 551 | 332 SDeltaHistory test; |
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333 |
| 578 | 334 if(lastStart < 0) |
| 335 { | |
| 336 detectionState = DETECT_NOTHING; | |
| 337 lastStart = 0; | |
| 338 } | |
| 339 else | |
| 340 { | |
| 341 detectionState = DETECT_START; | |
| 342 } | |
| 343 step = lastStart; | |
| 344 do | |
| 551 | 345 { |
| 346 test = GetDeltaHistory(step); | |
| 574 | 347 duration++; |
| 551 | 348 switch (detectionState) |
| 349 { | |
| 350 case DETECT_NOTHING: if(test.pitch > MOTION_DELTA_STABLE) | |
| 351 { | |
| 352 exit = 1; | |
| 578 | 353 lastStart = -2; |
| 551 | 354 } |
| 355 else | |
| 356 { | |
| 357 detectionState = DETECT_START; | |
| 578 | 358 lastStart = -1; |
| 551 | 359 } |
| 360 break; | |
| 361 case DETECT_START: if(test.pitch == MOTION_DELTA_RAISE) | |
| 362 { | |
| 363 detectionState = DETECT_POS_MOVE; | |
| 578 | 364 lastStart = step; |
| 551 | 365 } |
| 578 | 366 else |
| 551 | 367 if(test.pitch == MOTION_DELTA_FALL) |
| 368 { | |
| 369 detectionState = DETECT_NEG_MOVE; | |
| 578 | 370 lastStart = step; |
| 371 } | |
| 372 else | |
| 373 { | |
| 374 lastStart = -1; | |
| 551 | 375 } |
| 574 | 376 duration = 0; |
| 551 | 377 break; |
| 627 | 378 case DETECT_NEG_MOVE: if((test.pitch <= MOTION_DELTA_JITTER) || (test.pitch == MOTION_DELTA_RAISE) || (test.pitch == MOTION_DELTA_RAISE_FAST)) |
| 578 | 379 { |
| 380 detectionState++; | |
| 381 } | |
| 382 break; | |
| 627 | 383 case DETECT_POS_MOVE: if((test.pitch <= MOTION_DELTA_JITTER) || (test.pitch == MOTION_DELTA_FALL) || (test.pitch == MOTION_DELTA_FALL_FAST)) |
| 551 | 384 { |
| 385 detectionState++; | |
| 386 } | |
| 387 break; | |
| 388 case DETECT_MAXIMA: if(test.pitch == MOTION_DELTA_FALL) | |
| 389 { | |
| 390 detectionState = DETECT_FALLBACK; | |
| 391 } | |
| 392 break; | |
| 393 case DETECT_MINIMA: if(test.pitch == MOTION_DELTA_RAISE) | |
| 394 { | |
| 395 detectionState = DETECT_RISEBACK; | |
| 396 } | |
| 397 break; | |
| 398 case DETECT_RISEBACK: | |
| 399 case DETECT_FALLBACK: if(test.pitch == MOTION_DELTA_STABLE) | |
| 400 { | |
| 578 | 401 if(duration > 4) /* avoid detection triggered by short moves */ |
| 574 | 402 { |
| 403 detectionState++; | |
| 404 } | |
| 578 | 405 exit = 1; |
| 406 lastStart = -2; | |
| 551 | 407 } |
| 408 break; | |
| 409 default: | |
| 410 detectionState = DETECT_NOTHING; | |
| 411 exit = 1; | |
| 412 break; | |
| 413 } | |
| 578 | 414 step--; |
| 415 } while((step >= 0) && (!exit)); | |
| 416 | |
| 417 if((lastStart < MOTION_DELTA_HISTORY_SIZE)) | |
| 418 { | |
| 419 lastStart++; /* prepare value for next iteration (history index will be increased) */ | |
| 420 } | |
| 421 else | |
| 422 { | |
| 423 lastStart = -1; | |
| 551 | 424 } |
| 425 if((detectionState != DETECT_POS_PITCH) && (detectionState != DETECT_NEG_PITCH)) /* nothing found */ | |
|
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426 { |
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427 detectionState = DETECT_NOTHING; |
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428 } |
| 551 | 429 else /* dont detect the same event twice */ |
| 430 { | |
| 431 resetMotionDeltaHistory(); | |
| 432 } | |
| 433 return detectionState; | |
| 434 } | |
| 363 | 435 |
| 551 | 436 void anglesToCoord(float roll, float pitch, float yaw, SCoord *pCoord) |
| 437 { | |
| 438 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); | |
| 439 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); | |
| 440 pCoord->z = ((-1*sinf(pitch)) * pCoord->x + (cosf(pitch) *sinf(roll)) * pCoord->y + (cosf(pitch) * cosf(roll))* pCoord->z); | |
| 441 } | |
| 442 | |
| 443 SCoord CoordAdd(SCoord cA, SCoord cB) | |
| 444 { | |
| 445 SCoord result; | |
| 446 | |
| 447 result.x = cA.x + cB.x; | |
| 448 result.y = cA.y + cB.y; | |
| 449 result.z = cA.z + cB.z; | |
| 450 return result; | |
| 451 } | |
| 452 | |
| 453 SCoord CoordSub(SCoord cA, SCoord cB) | |
| 454 { | |
| 455 SCoord result; | |
|
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456 |
| 551 | 457 result.x = cA.x - cB.x; |
| 458 result.y = cA.y - cB.y; | |
| 459 result.z = cA.z - cB.z; | |
| 460 return result; | |
| 461 } | |
| 462 | |
| 463 SCoord CoordCross(SCoord cA, SCoord cB) | |
| 464 { | |
| 465 SCoord result; | |
| 466 | |
| 467 result.x = (cA.y * cB.z) - (cA.z * cB.y); | |
| 468 result.y = (cA.z * cB.x) - (cA.x * cB.z); | |
| 469 result.z = (cA.x * cB.y) - (cA.y * cB.x); | |
| 470 | |
| 471 return result; | |
| 472 | |
| 473 } | |
| 474 | |
| 475 SCoord CoordMulF(SCoord op, float factor) | |
| 476 { | |
| 477 SCoord result; | |
| 478 result.x = (op.x * factor); | |
| 479 result.y = (op.y * factor); | |
| 480 result.z = (op.z * factor); | |
| 481 | |
| 482 return result; | |
| 483 } | |
|
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484 |
| 551 | 485 SCoord CoordDivF(SCoord op, float factor) |
| 486 { | |
| 487 SCoord result; | |
| 488 result.x = (op.x / factor); | |
| 489 result.y = (op.y / factor); | |
| 490 result.z = (op.z / factor); | |
| 491 | |
| 492 return result; | |
| 493 } | |
| 494 | |
| 495 float CoordDot(SCoord cA, SCoord cB) | |
| 496 { | |
| 497 float result; | |
| 498 | |
| 499 result = cA.x * cB.x + cA.y * cB.y + cB.z*cA.z; | |
| 500 return result; | |
| 501 } | |
| 502 | |
| 503 void calibrateViewport(float roll, float pitch, float yaw) | |
| 504 { | |
| 505 SSettings* pSettings = settingsGetPointer(); | |
| 506 | |
| 621 | 507 pSettings->viewPitch = pitch + 180; |
| 508 pSettings->viewRoll = roll+ 180; | |
| 551 | 509 pSettings->viewYaw = yaw; |
| 510 } | |
| 511 | |
| 512 | |
|
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513 float checkViewport(float roll, float pitch, float yaw, uint8_t enableAxis) |
| 551 | 514 { |
| 515 uint8_t retval = 0; | |
| 516 float angleYaw; | |
| 517 float anglePitch; | |
| 518 float angleRoll; | |
| 519 float distance = 0; | |
| 520 float _a, _b; | |
| 521 SCoord u,v,n; | |
| 627 | 522 float r = 0.0; |
| 523 float focusLimit = 0; | |
| 551 | 524 |
| 525 SCoord refVec; | |
| 526 SCoord axis_1; | |
| 527 SCoord axis_2; | |
| 528 SCoord curVec; | |
| 529 SCoord resultVec; | |
| 530 | |
| 627 | 531 SDeltaHistory movementDelta; |
| 532 | |
| 551 | 533 SSettings* pSettings = settingsGetPointer(); |
| 534 | |
| 621 | 535 roll += 180; |
| 536 pitch += 180; | |
| 537 | |
| 551 | 538 /* calculate base vector taking calibration delta into account yaw (heading) */ |
| 621 | 539 float compYaw; |
| 574 | 540 |
|
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541 if(enableAxis & MOTION_ENABLE_YAW) |
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542 { |
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543 compYaw = 360.0 - yaw; /* turn to 0° */ |
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544 compYaw += pSettings->viewYaw; /* consider calib yaw value */ |
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545 compYaw += yaw; |
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546 |
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547 if (compYaw < 0.0) |
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548 { |
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549 compYaw = 360.0 + compYaw; |
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550 } |
| 574 | 551 |
|
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552 if (compYaw > 360.0) |
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553 { |
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554 compYaw = compYaw - 360.0; |
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555 } |
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556 if (compYaw > 360.0) |
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557 { |
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558 compYaw = compYaw - 360.0; |
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559 } |
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560 angleYaw = pSettings->viewYaw * M_PI / 180.0; |
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561 } |
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562 else |
| 551 | 563 { |
|
625
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564 compYaw = 0.0; |
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565 angleYaw = 0.0; |
| 381 | 566 } |
| 551 | 567 |
|
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568 if(enableAxis & MOTION_ENABLE_PITCH) |
| 381 | 569 { |
|
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570 anglePitch = pSettings->viewPitch * M_PI / 180.0; |
|
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571 } |
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572 else |
| 574 | 573 { |
|
625
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574 anglePitch = 0; |
| 574 | 575 } |
|
625
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576 if(enableAxis & MOTION_ENABLE_ROLL) |
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577 { |
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578 angleRoll = pSettings->viewRoll * M_PI / 180.0; |
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579 } |
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580 else |
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581 { |
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582 angleRoll = 0; |
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583 } |
| 551 | 584 |
| 585 refVec.x = 0; | |
| 586 refVec.y = 0; | |
| 587 refVec.z = 1.0; | |
| 588 | |
| 589 anglesToCoord(angleRoll,anglePitch,angleYaw, &refVec); | |
| 590 | |
| 591 /* assume x = 0 and y = 1 => find matching vector so axis_1 is 90° to axis_2 */ | |
| 592 axis_1.x = 0; | |
| 593 if(refVec.y >=0) | |
| 594 { | |
| 595 axis_2.y = 1; /* => Spawn y == refVec y */ | |
| 596 } | |
| 597 else axis_1.y = -1; | |
| 598 axis_1.z = -1.0 * refVec.y / refVec.z; | |
| 599 axis_2 = CoordCross(refVec, axis_1); /* Cross is 90° to refVec and Spawn as well => Plane Spawn / cross */ | |
| 600 | |
| 601 /* check if detection plane is correct */ | |
| 602 u = CoordSub(axis_1,refVec); | |
| 603 v = CoordSub(axis_2,refVec); | |
| 604 n = CoordCross(u,v); | |
| 605 | |
| 606 if((fabsf(n.x) <= 0.0001) && (fabsf(n.y) <= 0.0001) && (fabsf(n.z) <= 0.0001)) | |
| 607 { | |
| 608 retval = 2; | |
| 609 } | |
| 610 else | |
| 611 { | |
|
625
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612 if(enableAxis & MOTION_ENABLE_PITCH) |
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613 { |
|
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614 anglePitch = pitch * M_PI / 180.0; |
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615 } |
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616 else |
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|
617 { |
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618 anglePitch = 0.0; |
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619 } |
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620 if(enableAxis & MOTION_ENABLE_ROLL) |
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621 { |
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622 angleRoll = roll * M_PI / 180.0; |
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623 } |
|
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624 else |
|
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|
625 { |
|
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626 angleRoll = 0.0; |
|
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|
627 } |
|
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|
628 if(enableAxis & MOTION_ENABLE_YAW) |
|
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|
629 { |
|
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|
630 angleYaw = compYaw * M_PI / 180.0; |
|
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631 } |
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|
632 else |
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|
633 { |
|
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|
634 angleYaw = 0.0; |
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|
635 } |
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|
636 |
| 551 | 637 curVec.x = 0; |
| 638 curVec.y = 0; | |
| 639 curVec.z = 1.0; | |
| 640 anglesToCoord(angleRoll,anglePitch,angleYaw, &curVec); | |
| 641 | |
| 642 _a = CoordDot(curVec,n); | |
| 643 _b = CoordDot(refVec,n); | |
| 644 | |
| 645 if(_b>=(-0.0001)&&_b<=0.0001) /* Check if view port is parallel (no matchpoint) */ | |
| 646 { | |
| 647 retval = 3; | |
| 648 } | |
| 649 else | |
| 650 { | |
| 651 r=_a/_b; | |
| 652 if(r<0.00||r>1.40) /* are we looking into wrong direction? */ | |
| 653 { | |
| 654 retval = 4; | |
| 655 } | |
| 656 } | |
| 657 distance = retval * 1.0; /* just for debugging */ | |
| 658 if(retval == 0) | |
| 659 { | |
| 660 /* start calculating the matchpoint */ | |
| 661 curVec = CoordMulF(curVec,r); | |
| 662 resultVec = CoordSub(refVec,curVec); | |
| 663 | |
| 664 /* calculate the distance between reference and actual vector */ | |
| 665 resultVec.x = resultVec.x * resultVec.x; | |
| 666 resultVec.y = resultVec.y * resultVec.y; | |
| 667 resultVec.z = resultVec.z * resultVec.z; | |
| 668 | |
| 669 if((resultVec.x == 0) && (resultVec.y == 0) && (resultVec.z == 0)) | |
| 670 { | |
| 671 distance = 0.0; | |
| 672 } | |
| 673 else | |
| 674 { | |
| 675 distance = sqrtf((resultVec.x + resultVec.y + resultVec.z)); | |
| 676 } | |
| 677 } | |
| 678 } | |
| 679 | |
| 627 | 680 movementDelta = GetDeltaHistory(0); |
| 681 | |
| 682 if(inFocus == 0) /* consider option to use smaller spot to detect focus state */ | |
| 683 { | |
| 684 focusLimit = MOTION_FOCUS_LIMIT - (((pSettings->viewPortMode >> 5) & 0x03) / 10.0); | |
| 685 } | |
| 686 else | |
| 687 { | |
| 688 focusLimit = MOTION_FOCUS_LIMIT; /* use standard spot to detect diver interactions */ | |
| 689 } | |
| 690 | |
| 691 if((distance <= focusLimit) && (movementDelta.yaw != MOTION_DELTA_RAISE_FAST) && (movementDelta.yaw != MOTION_DELTA_FALL_FAST)) /* handle focus counter to avoid fast in/out focus changes */ | |
| 551 | 692 { |
| 693 if(focusCnt < 10) | |
| 694 { | |
| 695 if((focusCnt == 9) && (inFocus == 0)) /* we will get into focus */ | |
| 696 { | |
| 697 resetMotionDeltaHistory(); | |
| 698 } | |
| 699 focusCnt++; | |
| 700 } | |
| 574 | 701 if((focusCnt == 10) && (inFocus == 0)) |
| 551 | 702 { |
| 703 inFocus = 1; | |
| 704 } | |
| 705 } | |
| 706 else | |
| 707 { | |
| 627 | 708 if((movementDelta.yaw > MOTION_DELTA_JITTER ) && (focusCnt >= 5)) |
| 709 { | |
| 710 focusCnt--; | |
| 711 } | |
|
625
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|
712 if(focusCnt >= 5) /* Reset focus faster then setting focus */ |
| 551 | 713 { |
| 714 focusCnt--; | |
| 715 } | |
| 716 else | |
| 717 { | |
| 574 | 718 focusCnt = 0; |
| 551 | 719 inFocus = 0; |
| 720 } | |
| 721 } | |
| 627 | 722 if ((r<1) && (retval == 0)) /* add direction information to distance */ |
| 723 { | |
| 724 distance *= -1.0; | |
| 725 } | |
| 551 | 726 return distance; |
|
359
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Added new files for motion detection (shaking) detection
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|
727 } |
| 551 | 728 uint8_t viewInFocus(void) |
| 729 { | |
| 730 return inFocus; | |
| 731 } | |
| 732 void resetFocusState(void) | |
| 733 { | |
| 734 inFocus = 0; | |
| 735 } | |
|
611
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|
736 |
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|
737 void suspendMotionDetection(uint8_t seconds) |
|
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738 { |
|
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739 suspendMotionDetectionSec = seconds * 10; /* detection function is called every 100ms */ |
|
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|
740 } |
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|
741 |
|
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|
742 void HandleMotionDetection(void) |
|
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743 { |
|
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|
744 detectionState_t pitchstate = DETECT_NOTHING; |
|
618
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|
745 static uint8_t wasInFocus = 0; |
|
625
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746 float focusOffset = 0.0; |
|
611
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747 |
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|
748 evaluateMotionDelta(stateUsed->lifeData.compass_roll, stateUsed->lifeData.compass_pitch, stateUsed->lifeData.compass_heading); |
|
625
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749 if(viewInFocus()) |
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750 { |
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|
751 focusOffset = checkViewport(stateUsed->lifeData.compass_roll, stateUsed->lifeData.compass_pitch, stateUsed->lifeData.compass_heading, (MOTION_ENABLE_PITCH | MOTION_ENABLE_YAW)); |
|
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752 } |
|
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Ideenmodellierer
parents:
621
diff
changeset
|
753 else |
|
028d8f3a9410
Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents:
621
diff
changeset
|
754 { |
|
028d8f3a9410
Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents:
621
diff
changeset
|
755 focusOffset = checkViewport(stateUsed->lifeData.compass_roll, stateUsed->lifeData.compass_pitch, stateUsed->lifeData.compass_heading, MOTION_ENABLE_ALL); |
|
028d8f3a9410
Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents:
621
diff
changeset
|
756 } |
|
611
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
757 if(viewInFocus()) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
758 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
759 wasInFocus = 1; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
760 set_Backlight_Boost(settingsGetPointer()->viewPortMode & 0x03); |
|
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 if(suspendMotionDetectionSec == 0) /* suspend detection while diver is manually operating the OSTC */ |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
763 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
764 switch(settingsGetPointer()->MotionDetection) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
765 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
766 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
|
767 break; |
|
625
028d8f3a9410
Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents:
621
diff
changeset
|
768 case MOTION_DETECT_SECTOR: pitchstate = detectSectorButtonEvent(focusOffset); |
|
611
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
769 break; |
| 627 | 770 case MOTION_DETECT_SCROLL: pitchstate = detectScrollButtonEvent(fabs(focusOffset)); |
|
611
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
771 break; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
772 default: |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
773 pitchstate = DETECT_NOTHING; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
774 break; |
|
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 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
777 |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
778 if(DETECT_NEG_PITCH == pitchstate) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
779 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
780 StoreButtonAction((uint8_t)ACTION_PITCH_NEG); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
781 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
782 if(DETECT_POS_PITCH == pitchstate) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
783 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
784 StoreButtonAction((uint8_t)ACTION_PITCH_POS); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
785 } |
|
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 else |
|
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 if(wasInFocus) |
|
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 wasInFocus = 0; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
792 if(suspendMotionDetectionSec == 0) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
793 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
794 if(settingsGetPointer()->design == 7) |
|
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 t7_set_customview_to_primary(); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
797 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
798 else |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
799 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
800 t3_set_customview_to_primary(); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
801 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
802 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
803 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
804 set_Backlight_Boost(0); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
805 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
806 if(suspendMotionDetectionSec != 0) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
807 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
808 suspendMotionDetectionSec--; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
809 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
810 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
811 |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
812 |