Mercurial > public > ostc4
annotate Discovery/Src/motion.c @ 588:b1c489b503b9
Update current build, "RTErequired" value and release date
| author | heinrichsweikamp |
|---|---|
| date | Thu, 17 Dec 2020 09:52:12 +0100 |
| parents | 4dfdf230d8ba |
| children | f52bc70e380f |
| 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 |
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18 #define STABLE_STATE_COUNT 2 /* number of count to declare a state as stable (at the moment based on 100ms) */ |
| 363 | 19 #define STABLE_STATE_TIMEOUT 5 /* Detection shall be aborted if a movement state is stable for more than 500ms */ |
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20 |
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21 #define SECTOR_WINDOW 30.0 /* Pitch window which is used for custom view projection */ |
| 381 | 22 #define SECTOR_WINDOW_MAX 120.0 /* Pitch window which will be greater than the divers field of view */ |
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23 #define SECTOR_HYSTERY 2 /* Additional offset to avoid fast changing displays */ |
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24 #define SECTOR_BORDER 400.0 /* Define a value which is out of limit to avoid not wanted key events */ |
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25 #define SECTOR_FILTER 10 /* Define speed for calculated angle to follow real value */ |
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26 |
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27 #define SECTOR_MAX 24 /* maximum number of sectors */ |
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28 #define SECTOR_SCROLL 7 /* number of sectors used for scroll detection */ |
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29 |
| 551 | 30 #define MOTION_DELTA_STABLE 0 |
| 31 #define MOTION_DELTA_JITTER 1 | |
| 32 #define MOTION_DELTA_RAISE 2 | |
| 33 #define MOTION_DELTA_FALL 3 | |
| 34 | |
| 35 #define MOTION_DELTA_JITTER_LEVEL 3.0 /* lower values are considered as stable */ | |
| 574 | 36 #define MOTION_DELTA_RAISE_LEVEL 6.0 /* Movement causing a significant change detected */ |
| 551 | 37 #define MOTION_DELTA_FALL_LEVEL -6.0 /* Movement causing a significant change detected */ |
| 38 | |
| 39 #define MOTION_DELTA_HISTORY_SIZE 20 /* Number of history data sets */ | |
| 40 | |
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41 detectionState_t detectionState = DETECT_NOTHING; |
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42 SSector sectorDetection; |
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43 |
| 551 | 44 static uint8_t motionDeltaHistory[3][MOTION_DELTA_HISTORY_SIZE]; /* Change history of roll, pitch and yaw */ |
| 45 static uint8_t motionDeltaHistoryIdx; /* Current index of history data */ | |
| 46 | |
| 47 static uint8_t focusCnt = 0; | |
| 48 static uint8_t inFocus = 0; | |
| 49 | |
| 50 void resetMotionDeltaHistory() | |
| 51 { | |
| 52 motionDeltaHistoryIdx = 0; | |
| 53 memset(motionDeltaHistory, 0, sizeof(motionDeltaHistory)); | |
| 54 } | |
| 55 | |
| 56 void evaluateMotionDelta(float roll, float pitch, float yaw) | |
| 57 { | |
| 58 static float lastValue[3] = {0.0,0.0,0.0}; | |
| 59 uint8_t nextIndex = motionDeltaHistoryIdx + 1; | |
| 60 uint8_t axis; | |
| 61 float curValue; | |
| 62 | |
| 63 if(nextIndex == MOTION_DELTA_HISTORY_SIZE) | |
| 64 { | |
| 65 nextIndex = 0; | |
| 66 } | |
| 67 for(axis=0; axis < 3; axis++) | |
| 68 { | |
| 69 switch(axis) | |
| 70 { | |
| 71 case MOTION_HISTORY_ROLL: curValue = roll; | |
| 72 break; | |
| 73 case MOTION_HISTORY_PITCH: curValue = pitch; | |
| 74 break; | |
| 75 default: | |
| 76 case MOTION_HISTORY_YAW: if((yaw < 90) && (lastValue[MOTION_HISTORY_YAW] > 270.0)) /* transition 360 => 0 */ | |
| 77 { | |
| 78 lastValue[MOTION_HISTORY_YAW] -= 360; | |
| 79 } | |
| 80 else if((yaw > 270) && (lastValue[MOTION_HISTORY_YAW] < 90.0)) /* transition 0 => 360 */ | |
| 81 { | |
| 82 lastValue[MOTION_HISTORY_YAW] += 360; | |
| 83 } | |
| 84 curValue = yaw; | |
| 85 break; | |
| 86 } | |
| 87 if(curValue - lastValue[axis] > MOTION_DELTA_RAISE_LEVEL) | |
| 88 { | |
| 89 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_RAISE; | |
| 90 } | |
| 91 if(fabsf(curValue - lastValue[axis]) < MOTION_DELTA_RAISE_LEVEL) | |
| 92 { | |
| 93 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_JITTER; | |
| 94 } | |
| 95 if(fabsf(curValue - lastValue[axis]) < MOTION_DELTA_JITTER_LEVEL) | |
| 96 { | |
| 97 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_STABLE; | |
| 98 } | |
| 99 if(curValue - lastValue[axis] < MOTION_DELTA_FALL_LEVEL) | |
| 100 { | |
| 101 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_FALL; | |
| 102 } | |
| 103 lastValue[axis] = curValue; | |
| 104 } | |
| 105 motionDeltaHistoryIdx = nextIndex; | |
| 106 } | |
| 107 | |
| 108 SDeltaHistory GetDeltaHistory(uint8_t stepback) | |
| 109 { | |
| 578 | 110 uint8_t loop; |
| 551 | 111 uint8_t index = motionDeltaHistoryIdx; |
| 112 | |
| 113 SDeltaHistory result = {0,0,0}; | |
| 114 | |
| 578 | 115 stepback++; /* motionDeltaHistoryIdx is pointing to future entry => step back one to get the latest */ |
| 116 loop = stepback; | |
| 551 | 117 if(stepback < MOTION_DELTA_HISTORY_SIZE) |
| 118 { | |
| 119 while(loop != 0) /* find requested entry */ | |
| 120 { | |
| 121 loop--; | |
| 122 index--; | |
| 123 if(index == 0) | |
| 124 { | |
| 125 index = MOTION_DELTA_HISTORY_SIZE - 1; | |
| 126 } | |
| 127 } | |
| 128 result.roll = motionDeltaHistory[MOTION_HISTORY_ROLL][index]; | |
| 129 result.pitch = motionDeltaHistory[MOTION_HISTORY_PITCH][index]; | |
| 130 result.yaw = motionDeltaHistory[MOTION_HISTORY_YAW][index]; | |
| 131 } | |
| 132 return result; | |
| 133 } | |
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134 |
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135 uint8_t GetSectorForPitch(float pitch) |
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136 { |
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137 static uint8_t lastsector = 0; |
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138 float newPitch; |
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139 uint8_t sector = 0; |
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140 |
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141 newPitch = pitch + sectorDetection.offset + sectorDetection.center; /* do not use negative values and consider offset to center position */ |
| 381 | 142 if (newPitch < 0.0) /* clip value */ |
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143 { |
| 381 | 144 newPitch = 0.0; |
| 145 } | |
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146 if (newPitch > sectorDetection.window) /* clip value */ |
| 381 | 147 { |
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148 newPitch = sectorDetection.window; |
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149 } |
| 381 | 150 |
| 151 /* switch to other sector? */ | |
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152 if((newPitch > sectorDetection.upperborder) || (newPitch <= sectorDetection.lowerborder)) |
| 381 | 153 { |
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154 sector = (uint16_t) newPitch / sectorDetection.size; |
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155 sectorDetection.lowerborder = sector * sectorDetection.size - SECTOR_HYSTERY; |
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156 sectorDetection.upperborder = (sector + 1) * sectorDetection.size + SECTOR_HYSTERY; |
| 381 | 157 lastsector = sector; |
| 158 } | |
| 159 | |
| 160 return lastsector; | |
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161 } |
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162 |
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163 void DefinePitchSectors(float centerPitch,uint8_t numOfSectors) |
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164 { |
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165 if(numOfSectors == CUSTOMER_DEFINED_VIEWS) |
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166 { |
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167 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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168 { |
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169 sectorDetection.count = t3_GetEnabled_customviews(); |
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170 } |
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171 else |
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172 { |
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173 sectorDetection.count = t7_GetEnabled_customviews(); |
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174 } |
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175 if(sectorDetection.count > 5) |
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176 { |
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177 sectorDetection.count = 5; /* more views are hard to manually control */ |
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178 } |
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179 } |
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180 else |
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181 if(numOfSectors != CUSTOMER_KEEP_LAST_SECTORS) |
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182 { |
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183 sectorDetection.count = numOfSectors; |
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184 } |
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185 |
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186 if(sectorDetection.count == SECTOR_MAX) |
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187 { |
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188 sectorDetection.window = SECTOR_WINDOW_MAX; |
| 381 | 189 } |
| 190 else | |
| 191 { | |
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192 sectorDetection.window = SECTOR_WINDOW; |
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193 } |
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194 |
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195 sectorDetection.offset = (centerPitch - (sectorDetection.window / 2)) * -1.0; |
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196 sectorDetection.size = sectorDetection.window / sectorDetection.count; |
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197 sectorDetection.center = 0; |
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198 |
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199 /* reset border values */ |
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200 sectorDetection.lowerborder = SECTOR_BORDER; |
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201 sectorDetection.upperborder = SECTOR_BORDER * -1.0; |
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202 /* get the current sector */ |
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203 sectorDetection.current = GetSectorForPitch(stateRealGetPointer()->lifeData.compass_pitch); |
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204 sectorDetection.target = sectorDetection.current; |
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205 /* do a small adjustment to center pitch to make sure the actual pitch is in the center of the current sector */ |
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206 sectorDetection.center = (sectorDetection.upperborder) - ((sectorDetection.size + 2 *SECTOR_HYSTERY) / 2.0) - (centerPitch + sectorDetection.offset); |
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207 |
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208 } |
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209 |
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210 void InitMotionDetection(void) |
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211 { |
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212 sectorDetection.target = 0; |
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213 sectorDetection.current = 0; |
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214 sectorDetection.size = 0; |
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215 sectorDetection.count = 0; |
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216 |
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217 switch(settingsGetPointer()->MotionDetection) |
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218 { |
| 551 | 219 case MOTION_DETECT_SECTOR: DefinePitchSectors(settingsGetPointer()->viewPitch,CUSTOMER_DEFINED_VIEWS); |
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220 break; |
| 551 | 221 case MOTION_DETECT_MOVE: DefinePitchSectors(settingsGetPointer()->viewPitch,SECTOR_MAX); |
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222 break; |
| 551 | 223 case MOTION_DETECT_SCROLL: DefinePitchSectors(settingsGetPointer()->viewPitch,SECTOR_SCROLL); |
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224 break; |
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225 default: |
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226 break; |
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227 } |
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228 |
| 551 | 229 resetMotionDeltaHistory(); |
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230 } |
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231 |
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232 /* Map the current pitch value to a sector and create button event in case the sector is left */ |
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233 detectionState_t detectSectorButtonEvent(float curPitch) |
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234 { |
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235 static uint8_t lastTargetSector = 0; |
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236 uint8_t newTargetSector; |
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237 uint8_t PitchEvent = DETECT_NOTHING; |
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238 |
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239 /* only change sector if reading is stable */ |
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240 newTargetSector = GetSectorForPitch(stateRealGetPointer()->lifeData.compass_pitch); |
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241 if(lastTargetSector == newTargetSector) |
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242 { |
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243 sectorDetection.target = newTargetSector; |
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244 } |
| 381 | 245 lastTargetSector = newTargetSector; |
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246 if(sectorDetection.target != sectorDetection.current) |
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247 { |
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248 if(sectorDetection.target > sectorDetection.current) |
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249 { |
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250 sectorDetection.current++; |
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251 PitchEvent = DETECT_POS_PITCH; |
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252 } |
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253 else |
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254 { |
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255 sectorDetection.current--; |
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256 PitchEvent = DETECT_NEG_PITCH; |
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257 } |
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258 } |
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259 return PitchEvent; |
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260 } |
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261 |
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262 /* Check if pitch is not in center position and trigger a button action if needed */ |
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263 detectionState_t detectScrollButtonEvent(float curPitch) |
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264 { |
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265 static uint8_t delayscroll = 0; /* slow down the number of scroll events */ |
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266 |
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267 uint8_t PitchEvent = DETECT_NOTHING; |
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268 uint8_t newSector; |
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269 |
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270 if(delayscroll == 0) |
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271 { |
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272 newSector = GetSectorForPitch(stateRealGetPointer()->lifeData.compass_pitch); |
| 551 | 273 /* for scroll detection the motion window is split into 6 sectors => set event accoring to the sector number*/ |
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274 switch(newSector) |
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275 { |
| 574 | 276 case 0: PitchEvent = DETECT_POS_PITCH; |
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277 break; |
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278 case 6: PitchEvent = DETECT_NEG_PITCH; |
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279 break; |
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280 default: |
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281 break; |
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282 } |
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283 if(PitchEvent != DETECT_NOTHING) |
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284 { |
| 574 | 285 delayscroll = 7; |
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286 } |
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287 } |
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288 else |
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289 { |
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290 delayscroll--; |
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291 } |
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292 return PitchEvent; |
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293 } |
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294 |
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295 |
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296 /* Detect if user is generating an pitch including return to starting position */ |
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297 /* This is done by feeding the past movements value per value into a state machine */ |
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298 detectionState_t detectPitch(float currentPitch) |
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299 { |
| 578 | 300 static int8_t lastStart = 0; |
| 551 | 301 uint8_t exit = 0; |
| 578 | 302 int8_t step = 0; |
| 574 | 303 uint8_t duration = 0; |
| 551 | 304 SDeltaHistory test; |
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305 |
| 578 | 306 if(lastStart < 0) |
| 307 { | |
| 308 detectionState = DETECT_NOTHING; | |
| 309 lastStart = 0; | |
| 310 } | |
| 311 else | |
| 312 { | |
| 313 detectionState = DETECT_START; | |
| 314 } | |
| 315 step = lastStart; | |
| 316 do | |
| 551 | 317 { |
| 318 test = GetDeltaHistory(step); | |
| 574 | 319 duration++; |
| 551 | 320 switch (detectionState) |
| 321 { | |
| 322 case DETECT_NOTHING: if(test.pitch > MOTION_DELTA_STABLE) | |
| 323 { | |
| 324 exit = 1; | |
| 578 | 325 lastStart = -2; |
| 551 | 326 } |
| 327 else | |
| 328 { | |
| 329 detectionState = DETECT_START; | |
| 578 | 330 lastStart = -1; |
| 551 | 331 } |
| 332 break; | |
| 333 case DETECT_START: if(test.pitch == MOTION_DELTA_RAISE) | |
| 334 { | |
| 335 detectionState = DETECT_POS_MOVE; | |
| 578 | 336 lastStart = step; |
| 551 | 337 } |
| 578 | 338 else |
| 551 | 339 if(test.pitch == MOTION_DELTA_FALL) |
| 340 { | |
| 341 detectionState = DETECT_NEG_MOVE; | |
| 578 | 342 lastStart = step; |
| 343 } | |
| 344 else | |
| 345 { | |
| 346 lastStart = -1; | |
| 551 | 347 } |
| 574 | 348 duration = 0; |
| 551 | 349 break; |
| 578 | 350 case DETECT_NEG_MOVE: if((test.pitch <= MOTION_DELTA_JITTER) || (test.pitch == MOTION_DELTA_RAISE)) |
| 351 { | |
| 352 detectionState++; | |
| 353 } | |
| 354 break; | |
| 355 case DETECT_POS_MOVE: if((test.pitch <= MOTION_DELTA_JITTER) || (test.pitch == MOTION_DELTA_FALL)) | |
| 551 | 356 { |
| 357 detectionState++; | |
| 358 } | |
| 359 break; | |
| 360 case DETECT_MAXIMA: if(test.pitch == MOTION_DELTA_FALL) | |
| 361 { | |
| 362 detectionState = DETECT_FALLBACK; | |
| 363 } | |
| 364 break; | |
| 365 case DETECT_MINIMA: if(test.pitch == MOTION_DELTA_RAISE) | |
| 366 { | |
| 367 detectionState = DETECT_RISEBACK; | |
| 368 } | |
| 369 break; | |
| 370 case DETECT_RISEBACK: | |
| 371 case DETECT_FALLBACK: if(test.pitch == MOTION_DELTA_STABLE) | |
| 372 { | |
| 578 | 373 if(duration > 4) /* avoid detection triggered by short moves */ |
| 574 | 374 { |
| 375 detectionState++; | |
| 376 } | |
| 578 | 377 exit = 1; |
| 378 lastStart = -2; | |
| 551 | 379 } |
| 380 break; | |
| 381 default: | |
| 382 detectionState = DETECT_NOTHING; | |
| 383 exit = 1; | |
| 384 break; | |
| 385 } | |
| 578 | 386 step--; |
| 387 } while((step >= 0) && (!exit)); | |
| 388 | |
| 389 if((lastStart < MOTION_DELTA_HISTORY_SIZE)) | |
| 390 { | |
| 391 lastStart++; /* prepare value for next iteration (history index will be increased) */ | |
| 392 } | |
| 393 else | |
| 394 { | |
| 395 lastStart = -1; | |
| 551 | 396 } |
| 397 if((detectionState != DETECT_POS_PITCH) && (detectionState != DETECT_NEG_PITCH)) /* nothing found */ | |
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398 { |
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399 detectionState = DETECT_NOTHING; |
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400 } |
| 551 | 401 else /* dont detect the same event twice */ |
| 402 { | |
| 403 resetMotionDeltaHistory(); | |
| 404 } | |
| 405 return detectionState; | |
| 406 } | |
| 363 | 407 |
| 551 | 408 void anglesToCoord(float roll, float pitch, float yaw, SCoord *pCoord) |
| 409 { | |
| 410 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); | |
| 411 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); | |
| 412 pCoord->z = ((-1*sinf(pitch)) * pCoord->x + (cosf(pitch) *sinf(roll)) * pCoord->y + (cosf(pitch) * cosf(roll))* pCoord->z); | |
| 413 } | |
| 414 | |
| 415 SCoord CoordAdd(SCoord cA, SCoord cB) | |
| 416 { | |
| 417 SCoord result; | |
| 418 | |
| 419 result.x = cA.x + cB.x; | |
| 420 result.y = cA.y + cB.y; | |
| 421 result.z = cA.z + cB.z; | |
| 422 return result; | |
| 423 } | |
| 424 | |
| 425 SCoord CoordSub(SCoord cA, SCoord cB) | |
| 426 { | |
| 427 SCoord result; | |
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428 |
| 551 | 429 result.x = cA.x - cB.x; |
| 430 result.y = cA.y - cB.y; | |
| 431 result.z = cA.z - cB.z; | |
| 432 return result; | |
| 433 } | |
| 434 | |
| 435 SCoord CoordCross(SCoord cA, SCoord cB) | |
| 436 { | |
| 437 SCoord result; | |
| 438 | |
| 439 result.x = (cA.y * cB.z) - (cA.z * cB.y); | |
| 440 result.y = (cA.z * cB.x) - (cA.x * cB.z); | |
| 441 result.z = (cA.x * cB.y) - (cA.y * cB.x); | |
| 442 | |
| 443 return result; | |
| 444 | |
| 445 } | |
| 446 | |
| 447 SCoord CoordMulF(SCoord op, float factor) | |
| 448 { | |
| 449 SCoord result; | |
| 450 result.x = (op.x * factor); | |
| 451 result.y = (op.y * factor); | |
| 452 result.z = (op.z * factor); | |
| 453 | |
| 454 return result; | |
| 455 } | |
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456 |
| 551 | 457 SCoord CoordDivF(SCoord op, float factor) |
| 458 { | |
| 459 SCoord result; | |
| 460 result.x = (op.x / factor); | |
| 461 result.y = (op.y / factor); | |
| 462 result.z = (op.z / factor); | |
| 463 | |
| 464 return result; | |
| 465 } | |
| 466 | |
| 467 float CoordDot(SCoord cA, SCoord cB) | |
| 468 { | |
| 469 float result; | |
| 470 | |
| 471 result = cA.x * cB.x + cA.y * cB.y + cB.z*cA.z; | |
| 472 return result; | |
| 473 } | |
| 474 | |
| 475 void calibrateViewport(float roll, float pitch, float yaw) | |
| 476 { | |
| 477 SSettings* pSettings = settingsGetPointer(); | |
| 478 | |
| 479 pSettings->viewPitch = pitch; | |
| 480 pSettings->viewRoll = roll; | |
| 481 pSettings->viewYaw = yaw; | |
| 482 } | |
| 483 | |
| 484 | |
| 485 float checkViewport(float roll, float pitch, float yaw) | |
| 486 { | |
| 574 | 487 static float freezeRoll = 0; |
| 488 static float freezeYaw = 0; | |
| 489 | |
| 551 | 490 uint8_t retval = 0; |
| 491 float angleYaw; | |
| 492 float anglePitch; | |
| 493 float angleRoll; | |
| 494 float distance = 0; | |
| 495 float _a, _b; | |
| 496 SCoord u,v,n; | |
| 497 float r; | |
| 498 | |
| 499 SCoord refVec; | |
| 500 SCoord axis_1; | |
| 501 SCoord axis_2; | |
| 502 SCoord curVec; | |
| 503 SCoord resultVec; | |
| 574 | 504 SDeltaHistory test; |
| 551 | 505 |
| 506 SSettings* pSettings = settingsGetPointer(); | |
| 507 | |
| 508 /* calculate base vector taking calibration delta into account yaw (heading) */ | |
| 509 float compYaw = yaw + pSettings->viewYaw; | |
| 574 | 510 |
| 511 compYaw = 360.0 - yaw; /* turn to 0° */ | |
| 512 compYaw += pSettings->viewYaw; /* consider calib yaw value */ | |
| 513 compYaw += yaw; | |
| 514 | |
| 551 | 515 if (compYaw < 0.0) |
| 516 { | |
| 517 compYaw = 360.0 + compYaw; | |
| 381 | 518 } |
| 551 | 519 |
| 520 if (compYaw > 360.0) | |
| 381 | 521 { |
| 574 | 522 compYaw = compYaw - 360.0; |
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523 } |
| 574 | 524 if (compYaw > 360.0) |
| 525 { | |
| 526 compYaw = compYaw - 360.0; | |
| 527 } | |
| 528 angleYaw = pSettings->viewYaw * M_PI / 180.0; | |
| 551 | 529 anglePitch = pSettings->viewPitch * M_PI / 180.0; |
| 530 angleRoll = pSettings->viewRoll * M_PI / 180.0; | |
| 531 | |
| 532 refVec.x = 0; | |
| 533 refVec.y = 0; | |
| 534 refVec.z = 1.0; | |
| 535 | |
| 536 anglesToCoord(angleRoll,anglePitch,angleYaw, &refVec); | |
| 537 | |
| 538 anglePitch = pitch * M_PI / 180.0; | |
| 539 angleRoll = roll * M_PI / 180.0; | |
| 540 angleYaw = yaw * M_PI / 180.0; | |
| 541 | |
| 542 /* assume x = 0 and y = 1 => find matching vector so axis_1 is 90° to axis_2 */ | |
| 543 axis_1.x = 0; | |
| 544 if(refVec.y >=0) | |
| 545 { | |
| 546 axis_2.y = 1; /* => Spawn y == refVec y */ | |
| 547 } | |
| 548 else axis_1.y = -1; | |
| 549 axis_1.z = -1.0 * refVec.y / refVec.z; | |
| 550 axis_2 = CoordCross(refVec, axis_1); /* Cross is 90° to refVec and Spawn as well => Plane Spawn / cross */ | |
| 551 | |
| 552 /* check if detection plane is correct */ | |
| 553 u = CoordSub(axis_1,refVec); | |
| 554 v = CoordSub(axis_2,refVec); | |
| 555 n = CoordCross(u,v); | |
| 556 | |
| 557 if((fabsf(n.x) <= 0.0001) && (fabsf(n.y) <= 0.0001) && (fabsf(n.z) <= 0.0001)) | |
| 558 { | |
| 559 retval = 2; | |
| 560 } | |
| 561 else | |
| 562 { | |
| 574 | 563 angleYaw = compYaw * M_PI / 180.0; |
| 551 | 564 anglePitch = pitch * M_PI / 180.0; |
| 565 angleRoll = roll * M_PI / 180.0; | |
| 566 curVec.x = 0; | |
| 567 curVec.y = 0; | |
| 568 curVec.z = 1.0; | |
| 569 anglesToCoord(angleRoll,anglePitch,angleYaw, &curVec); | |
| 570 | |
| 571 _a = CoordDot(curVec,n); | |
| 572 _b = CoordDot(refVec,n); | |
| 573 | |
| 574 if(_b>=(-0.0001)&&_b<=0.0001) /* Check if view port is parallel (no matchpoint) */ | |
| 575 { | |
| 576 retval = 3; | |
| 577 } | |
| 578 else | |
| 579 { | |
| 580 r=_a/_b; | |
| 581 if(r<0.00||r>1.40) /* are we looking into wrong direction? */ | |
| 582 { | |
| 583 retval = 4; | |
| 584 } | |
| 585 } | |
| 586 distance = retval * 1.0; /* just for debugging */ | |
| 587 if(retval == 0) | |
| 588 { | |
| 589 | |
| 590 /* start calculating the matchpoint */ | |
| 591 curVec = CoordMulF(curVec,r); | |
| 592 resultVec = CoordSub(refVec,curVec); | |
| 593 | |
| 594 /* calculate the distance between reference and actual vector */ | |
| 595 resultVec.x = resultVec.x * resultVec.x; | |
| 596 resultVec.y = resultVec.y * resultVec.y; | |
| 597 resultVec.z = resultVec.z * resultVec.z; | |
| 598 | |
| 599 if((resultVec.x == 0) && (resultVec.y == 0) && (resultVec.z == 0)) | |
| 600 { | |
| 601 distance = 0.0; | |
| 602 } | |
| 603 else | |
| 604 { | |
| 605 distance = sqrtf((resultVec.x + resultVec.y + resultVec.z)); | |
| 606 } | |
| 607 } | |
| 608 } | |
| 609 | |
| 610 if(distance < 0.5) /* handle focus counter to avoid fast in/out focus changes */ | |
| 611 { | |
| 612 if(focusCnt < 10) | |
| 613 { | |
| 614 if((focusCnt == 9) && (inFocus == 0)) /* we will get into focus */ | |
| 615 { | |
| 616 resetMotionDeltaHistory(); | |
| 617 } | |
| 618 focusCnt++; | |
| 619 } | |
| 574 | 620 if((focusCnt == 10) && (inFocus == 0)) |
| 551 | 621 { |
| 622 inFocus = 1; | |
| 574 | 623 freezeRoll = roll; |
| 624 freezeYaw = yaw; | |
| 551 | 625 } |
| 626 } | |
| 627 else | |
| 628 { | |
| 574 | 629 if(focusCnt >= 5) /* Reset focus faster then setting focus */ |
| 551 | 630 { |
| 574 | 631 if(pSettings->MotionDetection != MOTION_DETECT_MOVE) /* only apply extended focus for methods using absolute pitch values */ |
| 632 { | |
| 633 test = GetDeltaHistory(0); | |
| 634 if((test.yaw == MOTION_DELTA_STABLE) && (test.roll == MOTION_DELTA_STABLE)) | |
| 635 { | |
| 636 if((fabsf(freezeRoll - roll) < MOTION_DELTA_JITTER_LEVEL) && (fabsf(freezeYaw - yaw) < MOTION_DELTA_JITTER_LEVEL)) | |
| 637 { | |
| 638 focusCnt++; | |
| 639 } | |
| 640 } | |
| 641 else | |
| 642 { | |
| 643 if(freezeRoll != 0.0) | |
| 644 { | |
| 645 focusCnt = 1; | |
| 646 } | |
| 647 } | |
| 648 } | |
| 551 | 649 focusCnt--; |
| 650 } | |
| 651 else | |
| 652 { | |
| 574 | 653 focusCnt = 0; |
| 551 | 654 inFocus = 0; |
| 574 | 655 freezeRoll = 0; |
| 656 freezeYaw = 0; | |
| 551 | 657 } |
| 658 } | |
| 659 return distance; | |
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660 } |
| 551 | 661 uint8_t viewInFocus(void) |
| 662 { | |
| 663 return inFocus; | |
| 664 } | |
| 665 void resetFocusState(void) | |
| 666 { | |
| 667 inFocus = 0; | |
| 668 } |