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annotate Discovery/Src/motion.c @ 361:b111fc4250e9 MotionDetection

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Pass action to customer vie update function. By intoducing shakes the reason for calling an update may not only be the middle button. To be able to handle positiv and negativ shake events the action is now provided to the update function
author Ideenmodellierer
date Tue, 11 Jun 2019 05:30:09 +0200
parents 4258ea9b67fa
children 7b8c87a39c0e
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
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 <math.h>
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11 #include "motion.h"
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12
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13 #define PITCH_HISTORY_ENTRIES 20 /* number of pitch value stored in buffer */
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14 #define STABLE_STATE_COUNT 2 /* number of count to declare a state as stable (at the moment based on 100ms) */
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15 #define MOVE_DELTA_COUNT 5 /* Delta count needed to identify a valid movement */
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16 #define SHAKE_DELTA_COUNT 30 /* Delta count needed to identify a valid minima / maxima */
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17
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18
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19 typedef enum
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20 {
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21 RELATIVE_MOVE_STATIC = 0,
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22 RELATIVE_MOVE_INCREASE,
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23 RELATIVE_MOVE_DECREASE,
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24 RELATIVE_MOVE_INVALID
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25 } relativeMove_t;
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26
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27
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28
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29
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30
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31 float pitchHistory[PITCH_HISTORY_ENTRIES]; /* Ringbuffer of last read pich values */
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32 static uint8_t pitchWriteIdx; /* Index of current write slot */
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33
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34 /* Init data structures */
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35 void InitMotion()
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36 {
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37 uint8_t tmp;
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38
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39 for(tmp = 0; tmp < PITCH_HISTORY_ENTRIES; tmp++)
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40 {
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41 pitchHistory[tmp] = 0;
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42 }
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43 pitchWriteIdx = 0;
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44
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45 }
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46
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47 /* Detect if user is generating an pitch including return to starting position (shake) */
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48 /* This is done by feeding the past movements value per value into a state machine */
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49 detectionState_t detectShake(float currentPitch)
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50 {
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51 static uint8_t runningIdx = 0;
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52 static uint8_t stableCnt = 0;
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53 static float lastPitch = 0.0;
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54 static float startPitch = 0.0;
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55
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56 relativeMove_t relativeMove = RELATIVE_MOVE_INVALID;
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57 static detectionState_t detectionState = DETECT_NOTHING;
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58
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59 pitchHistory[pitchWriteIdx] = currentPitch;
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60 runningIdx = pitchWriteIdx;
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61 #if 0
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62 runningIdx = pitchWriteIdx + 1;
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63
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64 if(runningIdx == PITCH_HISTORY_ENTRIES)
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65 {
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66 runningIdx = 0;
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67 }
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68 #endif
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69
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70 if((detectionState == DETECT_NEG_SHAKE) || (detectionState == DETECT_POS_SHAKE)) /* discard last detection */
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71 {
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72 detectionState = DETECT_NOTHING;
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73 }
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74 // do
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75 // {
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76 // lastPitch = pitchHistory[runningIdx];
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77 #if 0
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78 runningIdx++;
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79 if(runningIdx == PITCH_HISTORY_ENTRIES)
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80 {
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81 runningIdx = 0;
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82 }
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83 #endif
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84 /* define relative movement compared to last position */
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85 if(fabsf(lastPitch - pitchHistory[runningIdx]) < MOVE_DELTA_COUNT ) /* more or less no movement */
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86 {
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87 relativeMove = RELATIVE_MOVE_STATIC;
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88 stableCnt++;
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89 }
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90 else
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91 {
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92 if(lastPitch > pitchHistory[runningIdx]) /* decreasing */
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93 {
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94 relativeMove = RELATIVE_MOVE_DECREASE;
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95 }
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96 else
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97 {
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98 relativeMove = RELATIVE_MOVE_INCREASE; /* increasing */
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99 }
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100 }
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101
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102 /* feed value into statemachine */
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103 switch (detectionState)
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104 {
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105 case DETECT_NOTHING: if(relativeMove == RELATIVE_MOVE_STATIC)
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106 {
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107 if(stableCnt > 4)
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108 {
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109 detectionState = DETECT_START;
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110 startPitch = lastPitch;
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111 }
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112 }
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113 break;
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114 case DETECT_START: switch(relativeMove)
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115 {
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116 case RELATIVE_MOVE_INCREASE: detectionState = DETECT_POS_MOVE;
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117 break;
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118 case RELATIVE_MOVE_DECREASE: detectionState = DETECT_NEG_MOVE;
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119 break;
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120 default:
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121 break;
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122 }
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123 break;
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124 case DETECT_POS_MOVE: switch(relativeMove)
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125 {
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126 case RELATIVE_MOVE_INCREASE: detectionState = DETECT_POS_MOVE;
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127 break;
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128 case RELATIVE_MOVE_STATIC: if(fabsf(startPitch - lastPitch) > SHAKE_DELTA_COUNT)
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129 {
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130 detectionState = DETECT_MAXIMA;
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131 }
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132 else
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133 {
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134 detectionState = DETECT_NOTHING;
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135 }
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136 break;
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137 default:
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138 detectionState = DETECT_NOTHING;
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139 break;
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140 }
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141 break;
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142 case DETECT_NEG_MOVE: switch(relativeMove)
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143 {
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144 case RELATIVE_MOVE_DECREASE: detectionState = DETECT_NEG_MOVE;
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145 break;
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146 case RELATIVE_MOVE_STATIC: if(fabsf(startPitch - lastPitch) > SHAKE_DELTA_COUNT) /* significant movment */
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147 {
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148 detectionState = DETECT_MINIMA;
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149 }
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150 else
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151 {
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152 detectionState = DETECT_NOTHING;
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153 }
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154 break;
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155 default:
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156 detectionState = DETECT_NOTHING;
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157 break;
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158 }
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159 break;
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160 case DETECT_MAXIMA: if((relativeMove != RELATIVE_MOVE_STATIC) && (stableCnt < STABLE_STATE_COUNT ))
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161 {
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162 detectionState = DETECT_NOTHING;
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163 }
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164 else
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165 {
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166 if(relativeMove == RELATIVE_MOVE_DECREASE)
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167 {
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168 detectionState = DETECT_FALLBACK;
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169 }
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170 if(relativeMove == RELATIVE_MOVE_INCREASE)
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171 {
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ideenmodellierer
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172 detectionState = DETECT_POS_MOVE;
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ideenmodellierer
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173 }
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
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174 }
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
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175 break;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
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176 case DETECT_MINIMA: if((relativeMove != RELATIVE_MOVE_STATIC) && (stableCnt < STABLE_STATE_COUNT ))
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
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177 {
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
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178 detectionState = DETECT_NOTHING;
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ideenmodellierer
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179 }
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
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180 else
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
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181 {
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
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182 if(relativeMove == RELATIVE_MOVE_DECREASE)
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ideenmodellierer
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183 {
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ideenmodellierer
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184 detectionState = DETECT_NEG_MOVE;
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ideenmodellierer
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185 }
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
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186 if(relativeMove == RELATIVE_MOVE_INCREASE)
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ideenmodellierer
parents:
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187 {
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ideenmodellierer
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188 detectionState = DETECT_RISEBACK;
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ideenmodellierer
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189 }
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
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190 }
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
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191 break;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
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192
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
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193 case DETECT_FALLBACK: switch(relativeMove)
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ideenmodellierer
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194 {
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
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195 case RELATIVE_MOVE_DECREASE: detectionState = DETECT_FALLBACK;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
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196 break;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
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197 case RELATIVE_MOVE_STATIC: if( stableCnt >= STABLE_STATE_COUNT)
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ideenmodellierer
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198 {
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ideenmodellierer
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199 if(fabsf(startPitch - lastPitch) < MOVE_DELTA_COUNT) /* are we where started, again? */
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
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200 {
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
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201 detectionState = DETECT_POS_SHAKE;
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ideenmodellierer
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202 memset(pitchHistory, 0, sizeof(pitchHistory));
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ideenmodellierer
parents:
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203 }
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
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204 else
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
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205 {
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
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206 detectionState = DETECT_START; /* start new detection */
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ideenmodellierer
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207 startPitch = lastPitch;
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ideenmodellierer
parents:
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208 }
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
209 }
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
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210 break;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
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211 default:
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
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212 detectionState = DETECT_NOTHING;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
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213 break;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
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214 }
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
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215 break;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
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216 case DETECT_RISEBACK: switch(relativeMove)
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ideenmodellierer
parents:
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217 {
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
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218 case RELATIVE_MOVE_INCREASE: detectionState = DETECT_RISEBACK;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
219 break;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
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220 case RELATIVE_MOVE_STATIC: if(stableCnt >= STABLE_STATE_COUNT)
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ideenmodellierer
parents:
diff changeset
221 {
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
222 if(fabsf(startPitch - lastPitch) < MOVE_DELTA_COUNT)
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
223 {
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
224 detectionState = DETECT_NEG_SHAKE;
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ideenmodellierer
parents:
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225 memset(pitchHistory, 0, sizeof(pitchHistory));
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
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226 }
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
227 else
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
228 {
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
229 detectionState = DETECT_START;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
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230 startPitch = lastPitch;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
231 }
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
232 }
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
233 break;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
234 default:
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
235 detectionState = DETECT_NOTHING;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
236 break;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
237 }
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
238 break;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
239
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
240 default:
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
241 break;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
242
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
243 }
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
244 if(relativeMove != RELATIVE_MOVE_STATIC) /* reset counter for stable time detection */
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
245 {
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
246 stableCnt = 0;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
247 }
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
248 // } while ((runningIdx != pitchWriteIdx) && (detectionState != DETECT_NEG_SHAKE) && (detectionState != DETECT_POS_SHAKE));
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
249
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
250 lastPitch = currentPitch;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
251 pitchWriteIdx++;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
252 if(pitchWriteIdx == PITCH_HISTORY_ENTRIES)
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
253 {
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
254 pitchWriteIdx = 0;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
255 }
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
256 return detectionState;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
257 }