Mercurial > public > ostc4
annotate Discovery/Src/motion.c @ 634:7c73f066cd16
Enable sensor check for Analog PPO2 mode:
Checks which may trigger a fallback warning were not activated in previous versions. Beside enabling the checks the test logic has been changed. Before the change an avarage was build automatically using the remaining both sensors if one sensor failed. The scenario that also one of the remaining sensors may be out of bounds was not covered. The new implementation allows an out of bounds detection for all sensors in parallel. In that special case the last valid value will be used until the diver takes action (Fallback warning)
author | Ideenmodellierer |
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date | Wed, 24 Feb 2021 19:18:26 +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 } | |
592
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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 { |
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(); |
371
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265 break; |
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266 case MOTION_DETECT_MOVE: DefineSectorCount(SECTOR_MAX); |
371
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267 break; |
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268 case MOTION_DETECT_SCROLL: DefineSectorCount(SECTOR_SCROLL); |
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269 break; |
371
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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) |
370
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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 ? */ |
370
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285 { |
592
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286 t3_select_customview(GetCVForSector(newTargetSector)); |
370
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287 } |
592
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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; |
370
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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) |
373
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298 { |
378
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299 static uint8_t delayscroll = 0; /* slow down the number of scroll events */ |
370
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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) |
373
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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 } | |
373
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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 |
370
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324 /* Detect if user is generating an pitch including return to starting position */ |
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) |
359
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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 */ | |
359
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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 | |
625
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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 |
625
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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 |
625
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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 |
625
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568 if(enableAxis & MOTION_ENABLE_PITCH) |
381 | 569 { |
625
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570 anglePitch = pSettings->viewPitch * M_PI / 180.0; |
373
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571 } |
625
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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
4258ea9b67fa
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
96af74455420
Development bugfix: focus state not remembered:
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diff
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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
028d8f3a9410
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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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753 else |
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754 { |
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755 focusOffset = checkViewport(stateUsed->lifeData.compass_roll, stateUsed->lifeData.compass_pitch, stateUsed->lifeData.compass_heading, MOTION_ENABLE_ALL); |
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|
756 } |
611
916998f90e39
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|
757 if(viewInFocus()) |
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|
758 { |
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|
759 wasInFocus = 1; |
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|
760 set_Backlight_Boost(settingsGetPointer()->viewPortMode & 0x03); |
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Suspend MotionDetection events while diver is operationg the OSTC:
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|
761 |
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diff
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|
762 if(suspendMotionDetectionSec == 0) /* suspend detection while diver is manually operating the OSTC */ |
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Suspend MotionDetection events while diver is operationg the OSTC:
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|
763 { |
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Suspend MotionDetection events while diver is operationg the OSTC:
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764 switch(settingsGetPointer()->MotionDetection) |
916998f90e39
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|
765 { |
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|
766 case MOTION_DETECT_MOVE: pitchstate = detectPitch(stateRealGetPointer()->lifeData.compass_pitch); |
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diff
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|
767 break; |
625
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|
768 case MOTION_DETECT_SECTOR: pitchstate = detectSectorButtonEvent(focusOffset); |
611
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diff
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|
769 break; |
627 | 770 case MOTION_DETECT_SCROLL: pitchstate = detectScrollButtonEvent(fabs(focusOffset)); |
611
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diff
changeset
|
771 break; |
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|
772 default: |
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diff
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|
773 pitchstate = DETECT_NOTHING; |
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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 |