Mercurial > public > ostc4

annotate Discovery/Inc/motion.h @ 875:943918a69836 Evo_2_23

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
DevBugfix: Added missing default language value
author Ideenmodellierer
date Thu, 15 Aug 2024 20:44:35 +0200
parents c737cf5d9067
children
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
rev   line source
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
1 /*
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
2 * motion.h
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
3 *
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
4 * Created on: 20.05.2019
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
5 * Author: Thorsten Sonntag
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
6 */
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
7
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
8 #ifndef INC_MOTION_H_
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
9 #define INC_MOTION_H_
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
10
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
11
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
12 /* exported data types */
373
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
13 #define CUSTOMER_DEFINED_VIEWS (100u) /* value will cause the function to detect the number of selected views */
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
14 #define CUSTOMER_KEEP_LAST_SECTORS (200u) /* do not update number of sectors, just define the new center position */
370
77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent
ideenmodellierer
parents: 363
diff changeset
15
625
028d8f3a9410 Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents: 611
diff changeset
16 #define MOTION_ENABLE_ROLL (0x01u)
028d8f3a9410 Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents: 611
diff changeset
17 #define MOTION_ENABLE_PITCH (0x02u)
028d8f3a9410 Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents: 611
diff changeset
18 #define MOTION_ENABLE_YAW (0x04u)
028d8f3a9410 Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents: 611
diff changeset
19 #define MOTION_ENABLE_ALL (MOTION_ENABLE_ROLL | MOTION_ENABLE_PITCH | MOTION_ENABLE_YAW)
028d8f3a9410 Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents: 611
diff changeset
20
370
77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent
ideenmodellierer
parents: 363
diff changeset
21 typedef enum
77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent
ideenmodellierer
parents: 363
diff changeset
22 {
77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent
ideenmodellierer
parents: 363
diff changeset
23 MOTION_DETECT_OFF = 0,
77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent
ideenmodellierer
parents: 363
diff changeset
24 MOTION_DETECT_SECTOR,
373
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
25 MOTION_DETECT_MOVE,
375
4bb5ceebfaf9 Use Enum values for initialization and setting check:
ideenmodellierer
parents: 373
diff changeset
26 MOTION_DETECT_SCROLL,
4bb5ceebfaf9 Use Enum values for initialization and setting check:
ideenmodellierer
parents: 373
diff changeset
27 MOTION_DETECT_END
370
77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent
ideenmodellierer
parents: 363
diff changeset
28 } MotionDetectMethod_t;
77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent
ideenmodellierer
parents: 363
diff changeset
29
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
30 typedef enum
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
31 {
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
32 DETECT_START = 0,
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
33 DETECT_POS_MOVE,
363
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 359
diff changeset
34 DETECT_MAXIMA,
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 359
diff changeset
35 DETECT_FALLBACK,
370
77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent
ideenmodellierer
parents: 363
diff changeset
36 DETECT_POS_PITCH,
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
37 DETECT_NEG_MOVE,
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
38 DETECT_MINIMA,
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
39 DETECT_RISEBACK,
370
77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent
ideenmodellierer
parents: 363
diff changeset
40 DETECT_NEG_PITCH,
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
41 DETECT_NOTHING
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
42 } detectionState_t;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
43
370
77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent
ideenmodellierer
parents: 363
diff changeset
44 typedef struct
77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent
ideenmodellierer
parents: 363
diff changeset
45 {
383
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 375
diff changeset
46 float upperborder; /* current sector is changed if pitch exceeds these borders */
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 375
diff changeset
47 float lowerborder;
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 375
diff changeset
48
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 375
diff changeset
49 uint8_t current; /* number of the current visible sector */
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 375
diff changeset
50 uint8_t target; /* used for sector switch => number of the sector which shall be finnaly displayed */
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 375
diff changeset
51
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 375
diff changeset
52 float offset; /* offset to adjust minimum pitch value used for detection to zero */
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 375
diff changeset
53 float size; /* delta of upper and lower boarder defining the sector in degree */
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 375
diff changeset
54 float window; /* defines which range of pitch values are used for detection */
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 375
diff changeset
55 float center; /* defines the offset from pitch to middle of active sector (avoid center position is close to the calculated borders) */
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 375
diff changeset
56 uint8_t count; /* number of sectors used for detection */
370
77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent
ideenmodellierer
parents: 363
diff changeset
57 } SSector;
77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent
ideenmodellierer
parents: 363
diff changeset
58
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 383
diff changeset
59 typedef struct
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 383
diff changeset
60 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 383
diff changeset
61 float x;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 383
diff changeset
62 float y;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 383
diff changeset
63 float z;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 383
diff changeset
64 } SCoord;
383
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 375
diff changeset
65
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 383
diff changeset
66 typedef enum
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 383
diff changeset
67 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 383
diff changeset
68 MOTION_HISTORY_ROLL = 0,
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 383
diff changeset
69 MOTION_HISTORY_PITCH,
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 383
diff changeset
70 MOTION_HISTORY_YAW
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 383
diff changeset
71 } MotionHistoryEntry_t;
383
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 375
diff changeset
72
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 383
diff changeset
73 typedef struct
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 383
diff changeset
74 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 383
diff changeset
75 uint8_t roll;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 383
diff changeset
76 uint8_t pitch;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 383
diff changeset
77 uint8_t yaw;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 383
diff changeset
78 } SDeltaHistory;
383
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 375
diff changeset
79
370
77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent
ideenmodellierer
parents: 363
diff changeset
80 void InitMotionDetection(void);
611
916998f90e39 Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents: 597
diff changeset
81 void suspendMotionDetection(uint8_t seconds);
916998f90e39 Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents: 597
diff changeset
82 void HandleMotionDetection(void);
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 383
diff changeset
83 void resetMotionDeltaHistory();
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 383
diff changeset
84 void evaluateMotionDelta(float roll, float pitch, float yaw);
625
028d8f3a9410 Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents: 611
diff changeset
85 void DefineSectorCount(uint8_t numOfSectors);
597
132e7e3d13a7 MotionControl-Sector: Map sectors during switch T7 <=> T3:
Ideenmodellierer
parents: 551
diff changeset
86 void MapCVToSector(void);
370
77cdfbdaca8c Changed function names from shake to pitch and improved detection function: Shake might be confusing for people reading the code because pitch values are ased for calculation => changed name to pitch to be more transparent
ideenmodellierer
parents: 363
diff changeset
87 detectionState_t detectPitch(float currentPitch);
625
028d8f3a9410 Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents: 611
diff changeset
88 detectionState_t detectSectorButtonEvent(float focusOffset);
028d8f3a9410 Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents: 611
diff changeset
89 detectionState_t detectScrollButtonEvent(float focusOffset);
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
90
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 383
diff changeset
91 void anglesToCoord(float roll, float pitch, float yaw, SCoord *pCoord);
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 383
diff changeset
92 void calibrateViewport(float roll, float pitch, float yaw);
625
028d8f3a9410 Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents: 611
diff changeset
93 float checkViewport(float roll, float pitch, float yaw, uint8_t enableAxis);
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 383
diff changeset
94 uint8_t viewInFocus(void);
642
c737cf5d9067 Do not show focus indicator in case motion detection is suspended:
Ideenmodellierer
parents: 625
diff changeset
95 uint8_t viewDetectionSuspended(void);
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 383
diff changeset
96 void resetFocusState(void);
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 383
diff changeset
97
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
98 #endif /* INC_MOTION_H_ */