annotate Discovery/Src/motion.c @ 578:beb4d47542f1

Rework pitch detection: To improve separation between pos and neg moves the history memory is now evaluated starting from the last detected start condition. This was needed because a small "overshoot" of the end position causes e.g. a pos event to be detected as negative event.
author Ideenmodellierer
date Sun, 29 Nov 2020 23:02:11 +0100
parents 01ee21dd311f
children 4dfdf230d8ba
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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) */
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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 40.0 /* Pitch window which is used for custom view projection */
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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
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30 #define MOTION_DELTA_STABLE 0
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31 #define MOTION_DELTA_JITTER 1
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32 #define MOTION_DELTA_RAISE 2
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33 #define MOTION_DELTA_FALL 3
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34
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35 #define MOTION_DELTA_JITTER_LEVEL 3.0 /* lower values are considered as stable */
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36 #define MOTION_DELTA_RAISE_LEVEL 6.0 /* Movement causing a significant change detected */
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37 #define MOTION_DELTA_FALL_LEVEL -6.0 /* Movement causing a significant change detected */
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38
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39 #define MOTION_DELTA_HISTORY_SIZE 20 /* Number of history data sets */
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40
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41 detectionState_t detectionState = DETECT_NOTHING;
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42 SSector sectorDetection;
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43
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44 static uint8_t motionDeltaHistory[3][MOTION_DELTA_HISTORY_SIZE]; /* Change history of roll, pitch and yaw */
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45 static uint8_t motionDeltaHistoryIdx; /* Current index of history data */
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46
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47 static uint8_t focusCnt = 0;
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48 static uint8_t inFocus = 0;
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49
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50 void resetMotionDeltaHistory()
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51 {
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52 motionDeltaHistoryIdx = 0;
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53 memset(motionDeltaHistory, 0, sizeof(motionDeltaHistory));
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54 }
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55
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56 void evaluateMotionDelta(float roll, float pitch, float yaw)
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57 {
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58 static float lastValue[3] = {0.0,0.0,0.0};
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59 uint8_t nextIndex = motionDeltaHistoryIdx + 1;
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60 uint8_t axis;
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61 float curValue;
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62
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63 if(nextIndex == MOTION_DELTA_HISTORY_SIZE)
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64 {
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65 nextIndex = 0;
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66 }
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67 for(axis=0; axis < 3; axis++)
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68 {
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69 switch(axis)
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70 {
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71 case MOTION_HISTORY_ROLL: curValue = roll;
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72 break;
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73 case MOTION_HISTORY_PITCH: curValue = pitch;
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74 break;
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75 default:
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76 case MOTION_HISTORY_YAW: if((yaw < 90) && (lastValue[MOTION_HISTORY_YAW] > 270.0)) /* transition 360 => 0 */
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77 {
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78 lastValue[MOTION_HISTORY_YAW] -= 360;
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79 }
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80 else if((yaw > 270) && (lastValue[MOTION_HISTORY_YAW] < 90.0)) /* transition 0 => 360 */
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81 {
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82 lastValue[MOTION_HISTORY_YAW] += 360;
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83 }
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84 curValue = yaw;
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85 break;
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86 }
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87 if(curValue - lastValue[axis] > MOTION_DELTA_RAISE_LEVEL)
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88 {
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89 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_RAISE;
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90 }
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91 if(fabsf(curValue - lastValue[axis]) < MOTION_DELTA_RAISE_LEVEL)
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92 {
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93 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_JITTER;
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94 }
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95 if(fabsf(curValue - lastValue[axis]) < MOTION_DELTA_JITTER_LEVEL)
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96 {
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97 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_STABLE;
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98 }
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99 if(curValue - lastValue[axis] < MOTION_DELTA_FALL_LEVEL)
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100 {
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101 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_FALL;
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102 }
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103 lastValue[axis] = curValue;
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104 }
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105 motionDeltaHistoryIdx = nextIndex;
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106 }
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107
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108 SDeltaHistory GetDeltaHistory(uint8_t stepback)
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109 {
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110 uint8_t loop;
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111 uint8_t index = motionDeltaHistoryIdx;
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112
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113 SDeltaHistory result = {0,0,0};
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114
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115 stepback++; /* motionDeltaHistoryIdx is pointing to future entry => step back one to get the latest */
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116 loop = stepback;
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117 if(stepback < MOTION_DELTA_HISTORY_SIZE)
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118 {
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119 while(loop != 0) /* find requested entry */
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120 {
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121 loop--;
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122 index--;
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123 if(index == 0)
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124 {
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125 index = MOTION_DELTA_HISTORY_SIZE - 1;
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126 }
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127 }
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128 result.roll = motionDeltaHistory[MOTION_HISTORY_ROLL][index];
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129 result.pitch = motionDeltaHistory[MOTION_HISTORY_PITCH][index];
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130 result.yaw = motionDeltaHistory[MOTION_HISTORY_YAW][index];
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131 }
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132 return result;
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133 }
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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 */
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142 if (newPitch < 0.0) /* clip value */
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143 {
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144 newPitch = 0.0;
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145 }
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146 if (newPitch > sectorDetection.window) /* clip value */
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147 {
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148 newPitch = sectorDetection.window;
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149 }
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150
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151 /* switch to other sector? */
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152 if((newPitch > sectorDetection.upperborder) || (newPitch <= sectorDetection.lowerborder))
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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;
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157 lastsector = sector;
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158 }
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159
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160 return lastsector;
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161 }
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
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diff changeset
162
371
fca370f847f8 Added parameter for number of sectors to be defined
ideenmodellierer
parents: 370
diff changeset
163 void DefinePitchSectors(float centerPitch,uint8_t numOfSectors)
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
164 {
371
fca370f847f8 Added parameter for number of sectors to be defined
ideenmodellierer
parents: 370
diff changeset
165 if(numOfSectors == CUSTOMER_DEFINED_VIEWS)
fca370f847f8 Added parameter for number of sectors to be defined
ideenmodellierer
parents: 370
diff changeset
166 {
384
427ae9f8e28e Consider number of available t3 views in sector handling:
ideenmodellierer
parents: 383
diff changeset
167 if(settingsGetPointer()->design == 3) /* Big font view ? */
427ae9f8e28e Consider number of available t3 views in sector handling:
ideenmodellierer
parents: 383
diff changeset
168 {
427ae9f8e28e Consider number of available t3 views in sector handling:
ideenmodellierer
parents: 383
diff changeset
169 sectorDetection.count = t3_GetEnabled_customviews();
427ae9f8e28e Consider number of available t3 views in sector handling:
ideenmodellierer
parents: 383
diff changeset
170 }
427ae9f8e28e Consider number of available t3 views in sector handling:
ideenmodellierer
parents: 383
diff changeset
171 else
427ae9f8e28e Consider number of available t3 views in sector handling:
ideenmodellierer
parents: 383
diff changeset
172 {
427ae9f8e28e Consider number of available t3 views in sector handling:
ideenmodellierer
parents: 383
diff changeset
173 sectorDetection.count = t7_GetEnabled_customviews();
427ae9f8e28e Consider number of available t3 views in sector handling:
ideenmodellierer
parents: 383
diff changeset
174 }
383
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 381
diff changeset
175 if(sectorDetection.count > 7)
371
fca370f847f8 Added parameter for number of sectors to be defined
ideenmodellierer
parents: 370
diff changeset
176 {
383
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 381
diff changeset
177 sectorDetection.count = 7; /* more views are hard to manually control */
371
fca370f847f8 Added parameter for number of sectors to be defined
ideenmodellierer
parents: 370
diff changeset
178 }
fca370f847f8 Added parameter for number of sectors to be defined
ideenmodellierer
parents: 370
diff changeset
179 }
fca370f847f8 Added parameter for number of sectors to be defined
ideenmodellierer
parents: 370
diff changeset
180 else
373
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
181 if(numOfSectors != CUSTOMER_KEEP_LAST_SECTORS)
371
fca370f847f8 Added parameter for number of sectors to be defined
ideenmodellierer
parents: 370
diff changeset
182 {
383
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 381
diff changeset
183 sectorDetection.count = numOfSectors;
371
fca370f847f8 Added parameter for number of sectors to be defined
ideenmodellierer
parents: 370
diff changeset
184 }
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
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diff changeset
185
383
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 381
diff changeset
186 if(sectorDetection.count == SECTOR_MAX)
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
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diff changeset
187 {
383
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
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diff changeset
188 sectorDetection.window = SECTOR_WINDOW_MAX;
381
695434a6dcf6 Simplified pitch detection state machine:
ideenmodellierer
parents: 378
diff changeset
189 }
695434a6dcf6 Simplified pitch detection state machine:
ideenmodellierer
parents: 378
diff changeset
190 else
695434a6dcf6 Simplified pitch detection state machine:
ideenmodellierer
parents: 378
diff changeset
191 {
383
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
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diff changeset
192 sectorDetection.window = SECTOR_WINDOW;
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
193 }
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
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diff changeset
194
383
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
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diff changeset
195 sectorDetection.offset = (centerPitch - (sectorDetection.window / 2)) * -1.0;
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
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diff changeset
196 sectorDetection.size = sectorDetection.window / sectorDetection.count;
49a02dea8ae3 Combine variables in a structure to improve readability of code
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diff changeset
197 sectorDetection.center = 0;
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
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diff changeset
198
383
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
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diff changeset
199 /* reset border values */
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
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diff changeset
200 sectorDetection.lowerborder = SECTOR_BORDER;
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
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diff changeset
201 sectorDetection.upperborder = SECTOR_BORDER * -1.0;
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
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diff changeset
202 /* get the current sector */
383
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
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diff changeset
203 sectorDetection.current = GetSectorForPitch(stateRealGetPointer()->lifeData.compass_pitch);
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
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diff changeset
204 sectorDetection.target = sectorDetection.current;
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
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diff changeset
205 /* do a small adjustment to center pitch to make sure the actual pitch is in the center of the current sector */
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
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diff changeset
206 sectorDetection.center = (sectorDetection.upperborder) - ((sectorDetection.size + 2 *SECTOR_HYSTERY) / 2.0) - (centerPitch + sectorDetection.offset);
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 381
diff changeset
207
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
208 }
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
209
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
210 void InitMotionDetection(void)
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
211 {
383
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 381
diff changeset
212 sectorDetection.target = 0;
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 381
diff changeset
213 sectorDetection.current = 0;
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 381
diff changeset
214 sectorDetection.size = 0;
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 381
diff changeset
215 sectorDetection.count = 0;
371
fca370f847f8 Added parameter for number of sectors to be defined
ideenmodellierer
parents: 370
diff changeset
216
fca370f847f8 Added parameter for number of sectors to be defined
ideenmodellierer
parents: 370
diff changeset
217 switch(settingsGetPointer()->MotionDetection)
fca370f847f8 Added parameter for number of sectors to be defined
ideenmodellierer
parents: 370
diff changeset
218 {
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
219 case MOTION_DETECT_SECTOR: DefinePitchSectors(settingsGetPointer()->viewPitch,CUSTOMER_DEFINED_VIEWS);
371
fca370f847f8 Added parameter for number of sectors to be defined
ideenmodellierer
parents: 370
diff changeset
220 break;
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
221 case MOTION_DETECT_MOVE: DefinePitchSectors(settingsGetPointer()->viewPitch,SECTOR_MAX);
371
fca370f847f8 Added parameter for number of sectors to be defined
ideenmodellierer
parents: 370
diff changeset
222 break;
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
223 case MOTION_DETECT_SCROLL: DefinePitchSectors(settingsGetPointer()->viewPitch,SECTOR_SCROLL);
373
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
224 break;
371
fca370f847f8 Added parameter for number of sectors to be defined
ideenmodellierer
parents: 370
diff changeset
225 default:
fca370f847f8 Added parameter for number of sectors to be defined
ideenmodellierer
parents: 370
diff changeset
226 break;
fca370f847f8 Added parameter for number of sectors to be defined
ideenmodellierer
parents: 370
diff changeset
227 }
fca370f847f8 Added parameter for number of sectors to be defined
ideenmodellierer
parents: 370
diff changeset
228
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
229 resetMotionDeltaHistory();
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
230 }
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
231
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
232 /* Map the current pitch value to a sector and create button event in case the sector is left */
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
233 detectionState_t detectSectorButtonEvent(float curPitch)
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
234 {
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
235 static uint8_t lastTargetSector = 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
236 uint8_t newTargetSector;
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
237 uint8_t PitchEvent = DETECT_NOTHING;
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
238
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
239 /* only change sector if reading is stable */
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
240 newTargetSector = GetSectorForPitch(stateRealGetPointer()->lifeData.compass_pitch);
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
241 if(lastTargetSector == newTargetSector)
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
242 {
383
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 381
diff changeset
243 sectorDetection.target = newTargetSector;
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
244 }
381
695434a6dcf6 Simplified pitch detection state machine:
ideenmodellierer
parents: 378
diff changeset
245 lastTargetSector = newTargetSector;
383
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 381
diff changeset
246 if(sectorDetection.target != sectorDetection.current)
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
247 {
383
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 381
diff changeset
248 if(sectorDetection.target > sectorDetection.current)
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
249 {
383
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 381
diff changeset
250 sectorDetection.current++;
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
251 PitchEvent = DETECT_POS_PITCH;
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
252 }
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
253 else
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
254 {
383
49a02dea8ae3 Combine variables in a structure to improve readability of code
ideenmodellierer
parents: 381
diff changeset
255 sectorDetection.current--;
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
256 PitchEvent = DETECT_NEG_PITCH;
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
257 }
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
258 }
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
259 return PitchEvent;
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
260 }
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
261
373
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
262 /* Check if pitch is not in center position and trigger a button action if needed */
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
263 detectionState_t detectScrollButtonEvent(float curPitch)
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
264 {
378
834e087505ec Incremented "idle window" for scroll detection
ideenmodellierer
parents: 373
diff changeset
265 static uint8_t delayscroll = 0; /* slow down the number of scroll events */
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
266
373
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
267 uint8_t PitchEvent = DETECT_NOTHING;
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
268 uint8_t newSector;
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
269
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
270 if(delayscroll == 0)
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
271 {
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
272 newSector = GetSectorForPitch(stateRealGetPointer()->lifeData.compass_pitch);
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
273 /* for scroll detection the motion window is split into 6 sectors => set event accoring to the sector number*/
373
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
274 switch(newSector)
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
275 {
574
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
276 case 0: PitchEvent = DETECT_POS_PITCH;
373
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
277 break;
378
834e087505ec Incremented "idle window" for scroll detection
ideenmodellierer
parents: 373
diff changeset
278 case 6: PitchEvent = DETECT_NEG_PITCH;
373
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
279 break;
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
280 default:
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
281 break;
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
282 }
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
283 if(PitchEvent != DETECT_NOTHING)
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
284 {
574
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
285 delayscroll = 7;
373
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
286 }
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
287 }
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
288 else
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
289 {
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
290 delayscroll--;
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
291 }
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
292 return PitchEvent;
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
293 }
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
294
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
295
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
296 /* Detect if user is generating an pitch including return to starting position */
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
297 /* This is done by feeding the past movements value per value into a state machine */
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
298 detectionState_t detectPitch(float currentPitch)
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
299 {
578
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
300 static int8_t lastStart = 0;
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
301 uint8_t exit = 0;
578
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
302 int8_t step = 0;
574
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
303 uint8_t duration = 0;
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
304 SDeltaHistory test;
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
305
578
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
306 if(lastStart < 0)
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
307 {
beb4d47542f1 Rework pitch detection:
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parents: 574
diff changeset
308 detectionState = DETECT_NOTHING;
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
309 lastStart = 0;
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
310 }
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
311 else
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
312 {
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
313 detectionState = DETECT_START;
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
314 }
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
315 step = lastStart;
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
316 do
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
317 {
e3237f580ae9 Added viewport functionality:
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parents: 385
diff changeset
318 test = GetDeltaHistory(step);
574
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
319 duration++;
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
320 switch (detectionState)
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
321 {
e3237f580ae9 Added viewport functionality:
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parents: 385
diff changeset
322 case DETECT_NOTHING: if(test.pitch > MOTION_DELTA_STABLE)
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
323 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
324 exit = 1;
578
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
325 lastStart = -2;
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
326 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
327 else
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
328 {
e3237f580ae9 Added viewport functionality:
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parents: 385
diff changeset
329 detectionState = DETECT_START;
578
beb4d47542f1 Rework pitch detection:
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parents: 574
diff changeset
330 lastStart = -1;
551
e3237f580ae9 Added viewport functionality:
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parents: 385
diff changeset
331 }
e3237f580ae9 Added viewport functionality:
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parents: 385
diff changeset
332 break;
e3237f580ae9 Added viewport functionality:
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parents: 385
diff changeset
333 case DETECT_START: if(test.pitch == MOTION_DELTA_RAISE)
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
334 {
e3237f580ae9 Added viewport functionality:
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parents: 385
diff changeset
335 detectionState = DETECT_POS_MOVE;
578
beb4d47542f1 Rework pitch detection:
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parents: 574
diff changeset
336 lastStart = step;
551
e3237f580ae9 Added viewport functionality:
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parents: 385
diff changeset
337 }
578
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
338 else
551
e3237f580ae9 Added viewport functionality:
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diff changeset
339 if(test.pitch == MOTION_DELTA_FALL)
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
340 {
e3237f580ae9 Added viewport functionality:
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parents: 385
diff changeset
341 detectionState = DETECT_NEG_MOVE;
578
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
342 lastStart = step;
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
343 }
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
344 else
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
345 {
beb4d47542f1 Rework pitch detection:
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diff changeset
346 lastStart = -1;
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
347 }
574
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
348 duration = 0;
551
e3237f580ae9 Added viewport functionality:
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parents: 385
diff changeset
349 break;
578
beb4d47542f1 Rework pitch detection:
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parents: 574
diff changeset
350 case DETECT_NEG_MOVE: if((test.pitch <= MOTION_DELTA_JITTER) || (test.pitch == MOTION_DELTA_RAISE))
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
351 {
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
352 detectionState++;
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
353 }
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
354 break;
beb4d47542f1 Rework pitch detection:
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parents: 574
diff changeset
355 case DETECT_POS_MOVE: if((test.pitch <= MOTION_DELTA_JITTER) || (test.pitch == MOTION_DELTA_FALL))
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
356 {
e3237f580ae9 Added viewport functionality:
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parents: 385
diff changeset
357 detectionState++;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
358 }
e3237f580ae9 Added viewport functionality:
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parents: 385
diff changeset
359 break;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
360 case DETECT_MAXIMA: if(test.pitch == MOTION_DELTA_FALL)
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
361 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
362 detectionState = DETECT_FALLBACK;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
363 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
364 break;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
365 case DETECT_MINIMA: if(test.pitch == MOTION_DELTA_RAISE)
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
366 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
367 detectionState = DETECT_RISEBACK;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
368 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
369 break;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
370 case DETECT_RISEBACK:
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
371 case DETECT_FALLBACK: if(test.pitch == MOTION_DELTA_STABLE)
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
372 {
578
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
373 if(duration > 4) /* avoid detection triggered by short moves */
574
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
374 {
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
375 detectionState++;
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
376 }
578
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
377 exit = 1;
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
378 lastStart = -2;
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
379 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
380 break;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
381 default:
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
382 detectionState = DETECT_NOTHING;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
383 exit = 1;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
384 break;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
385 }
578
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
386 step--;
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
387 } while((step >= 0) && (!exit));
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
388
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
389 if((lastStart < MOTION_DELTA_HISTORY_SIZE))
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
390 {
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
391 lastStart++; /* prepare value for next iteration (history index will be increased) */
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
392 }
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
393 else
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
394 {
beb4d47542f1 Rework pitch detection:
Ideenmodellierer
parents: 574
diff changeset
395 lastStart = -1;
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
396 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
397 if((detectionState != DETECT_POS_PITCH) && (detectionState != DETECT_NEG_PITCH)) /* nothing found */
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
398 {
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
399 detectionState = DETECT_NOTHING;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
400 }
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
401 else /* dont detect the same event twice */
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
402 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
403 resetMotionDeltaHistory();
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
404 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
405 return detectionState;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
406 }
363
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
407
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
408 void anglesToCoord(float roll, float pitch, float yaw, SCoord *pCoord)
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
409 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
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);
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
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);
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
412 pCoord->z = ((-1*sinf(pitch)) * pCoord->x + (cosf(pitch) *sinf(roll)) * pCoord->y + (cosf(pitch) * cosf(roll))* pCoord->z);
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
413 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
414
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
415 SCoord CoordAdd(SCoord cA, SCoord cB)
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
416 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
417 SCoord result;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
418
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
419 result.x = cA.x + cB.x;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
420 result.y = cA.y + cB.y;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
421 result.z = cA.z + cB.z;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
422 return result;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
423 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
424
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
425 SCoord CoordSub(SCoord cA, SCoord cB)
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
426 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
427 SCoord result;
373
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
428
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
429 result.x = cA.x - cB.x;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
430 result.y = cA.y - cB.y;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
431 result.z = cA.z - cB.z;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
432 return result;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
433 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
434
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
435 SCoord CoordCross(SCoord cA, SCoord cB)
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
436 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
437 SCoord result;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
438
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
439 result.x = (cA.y * cB.z) - (cA.z * cB.y);
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
440 result.y = (cA.z * cB.x) - (cA.x * cB.z);
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
441 result.z = (cA.x * cB.y) - (cA.y * cB.x);
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
442
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
443 return result;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
444
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
445 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
446
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
447 SCoord CoordMulF(SCoord op, float factor)
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
448 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
449 SCoord result;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
450 result.x = (op.x * factor);
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
451 result.y = (op.y * factor);
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
452 result.z = (op.z * factor);
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
453
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
454 return result;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
455 }
373
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
456
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
457 SCoord CoordDivF(SCoord op, float factor)
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
458 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
459 SCoord result;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
460 result.x = (op.x / factor);
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
461 result.y = (op.y / factor);
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
462 result.z = (op.z / factor);
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
463
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
464 return result;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
465 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
466
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
467 float CoordDot(SCoord cA, SCoord cB)
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
468 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
469 float result;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
470
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
471 result = cA.x * cB.x + cA.y * cB.y + cB.z*cA.z;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
472 return result;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
473 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
474
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
475 void calibrateViewport(float roll, float pitch, float yaw)
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
476 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
477 SSettings* pSettings = settingsGetPointer();
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
478
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
479 pSettings->viewPitch = pitch;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
480 pSettings->viewRoll = roll;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
481 pSettings->viewYaw = yaw;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
482 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
483
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
484
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
485 float checkViewport(float roll, float pitch, float yaw)
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
486 {
574
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
487 static float freezeRoll = 0;
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
488 static float freezeYaw = 0;
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
489
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
490 uint8_t retval = 0;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
491 float angleYaw;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
492 float anglePitch;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
493 float angleRoll;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
494 float distance = 0;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
495 float _a, _b;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
496 SCoord u,v,n;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
497 float r;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
498
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
499 SCoord refVec;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
500 SCoord axis_1;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
501 SCoord axis_2;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
502 SCoord curVec;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
503 SCoord resultVec;
574
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
504 SDeltaHistory test;
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
505
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
506 SSettings* pSettings = settingsGetPointer();
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
507
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
508 /* calculate base vector taking calibration delta into account yaw (heading) */
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
509 float compYaw = yaw + pSettings->viewYaw;
574
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
510
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
511 compYaw = 360.0 - yaw; /* turn to 0° */
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
512 compYaw += pSettings->viewYaw; /* consider calib yaw value */
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
513 compYaw += yaw;
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
514
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
515 if (compYaw < 0.0)
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
516 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
517 compYaw = 360.0 + compYaw;
381
695434a6dcf6 Simplified pitch detection state machine:
ideenmodellierer
parents: 378
diff changeset
518 }
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
519
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
520 if (compYaw > 360.0)
381
695434a6dcf6 Simplified pitch detection state machine:
ideenmodellierer
parents: 378
diff changeset
521 {
574
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
522 compYaw = compYaw - 360.0;
373
7b981f8bdd41 Add scroll event by pitch angle detection:
ideenmodellierer
parents: 371
diff changeset
523 }
574
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
524 if (compYaw > 360.0)
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
525 {
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
526 compYaw = compYaw - 360.0;
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
527 }
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
528 angleYaw = pSettings->viewYaw * M_PI / 180.0;
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
529 anglePitch = pSettings->viewPitch * M_PI / 180.0;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
530 angleRoll = pSettings->viewRoll * M_PI / 180.0;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
531
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
532 refVec.x = 0;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
533 refVec.y = 0;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
534 refVec.z = 1.0;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
535
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
536 anglesToCoord(angleRoll,anglePitch,angleYaw, &refVec);
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
537
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
538 anglePitch = pitch * M_PI / 180.0;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
539 angleRoll = roll * M_PI / 180.0;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
540 angleYaw = yaw * M_PI / 180.0;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
541
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
542 /* assume x = 0 and y = 1 => find matching vector so axis_1 is 90° to axis_2 */
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
543 axis_1.x = 0;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
544 if(refVec.y >=0)
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
545 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
546 axis_2.y = 1; /* => Spawn y == refVec y */
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
547 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
548 else axis_1.y = -1;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
549 axis_1.z = -1.0 * refVec.y / refVec.z;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
550 axis_2 = CoordCross(refVec, axis_1); /* Cross is 90° to refVec and Spawn as well => Plane Spawn / cross */
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
552 /* check if detection plane is correct */
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
553 u = CoordSub(axis_1,refVec);
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
554 v = CoordSub(axis_2,refVec);
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
555 n = CoordCross(u,v);
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
556
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
557 if((fabsf(n.x) <= 0.0001) && (fabsf(n.y) <= 0.0001) && (fabsf(n.z) <= 0.0001))
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
558 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
559 retval = 2;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
560 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
561 else
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
562 {
574
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
563 angleYaw = compYaw * M_PI / 180.0;
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
564 anglePitch = pitch * M_PI / 180.0;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
565 angleRoll = roll * M_PI / 180.0;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
566 curVec.x = 0;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
567 curVec.y = 0;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
568 curVec.z = 1.0;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
569 anglesToCoord(angleRoll,anglePitch,angleYaw, &curVec);
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
570
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
571 _a = CoordDot(curVec,n);
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
572 _b = CoordDot(refVec,n);
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
573
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
574 if(_b>=(-0.0001)&&_b<=0.0001) /* Check if view port is parallel (no matchpoint) */
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
575 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
576 retval = 3;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
577 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
578 else
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
579 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
580 r=_a/_b;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
581 if(r<0.00||r>1.40) /* are we looking into wrong direction? */
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
582 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
583 retval = 4;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
584 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
585 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
586 distance = retval * 1.0; /* just for debugging */
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
587 if(retval == 0)
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
588 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
589
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
590 /* start calculating the matchpoint */
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
591 curVec = CoordMulF(curVec,r);
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
592 resultVec = CoordSub(refVec,curVec);
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
593
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
594 /* calculate the distance between reference and actual vector */
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
595 resultVec.x = resultVec.x * resultVec.x;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
596 resultVec.y = resultVec.y * resultVec.y;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
597 resultVec.z = resultVec.z * resultVec.z;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
598
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
599 if((resultVec.x == 0) && (resultVec.y == 0) && (resultVec.z == 0))
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
600 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
601 distance = 0.0;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
602 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
603 else
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
604 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
605 distance = sqrtf((resultVec.x + resultVec.y + resultVec.z));
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
606 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
607 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
608 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
609
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
610 if(distance < 0.5) /* handle focus counter to avoid fast in/out focus changes */
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
611 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
612 if(focusCnt < 10)
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
613 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
614 if((focusCnt == 9) && (inFocus == 0)) /* we will get into focus */
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
615 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
616 resetMotionDeltaHistory();
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
617 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
618 focusCnt++;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
619 }
574
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
620 if((focusCnt == 10) && (inFocus == 0))
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
621 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
622 inFocus = 1;
574
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
623 freezeRoll = roll;
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
624 freezeYaw = yaw;
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
625 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
626 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
627 else
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
628 {
574
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
629 if(focusCnt >= 5) /* Reset focus faster then setting focus */
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
630 {
574
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
631 if(pSettings->MotionDetection != MOTION_DETECT_MOVE) /* only apply extended focus for methods using absolute pitch values */
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
632 {
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
633 test = GetDeltaHistory(0);
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
634 if((test.yaw == MOTION_DELTA_STABLE) && (test.roll == MOTION_DELTA_STABLE))
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
635 {
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
636 if((fabsf(freezeRoll - roll) < MOTION_DELTA_JITTER_LEVEL) && (fabsf(freezeYaw - yaw) < MOTION_DELTA_JITTER_LEVEL))
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
637 {
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
638 focusCnt++;
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
639 }
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
640 }
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
641 else
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
642 {
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
643 if(freezeRoll != 0.0)
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
644 {
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
645 focusCnt = 1;
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
646 }
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
647 }
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
648 }
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
649 focusCnt--;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
650 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
651 else
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
652 {
574
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
653 focusCnt = 0;
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
654 inFocus = 0;
574
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
655 freezeRoll = 0;
01ee21dd311f Improved focus detection:
Ideenmodellierer
parents: 551
diff changeset
656 freezeYaw = 0;
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
657 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
658 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
659 return distance;
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
660 }
551
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
661 uint8_t viewInFocus(void)
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
662 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
663 return inFocus;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
664 }
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
665 void resetFocusState(void)
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
666 {
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
667 inFocus = 0;
e3237f580ae9 Added viewport functionality:
Ideenmodellierer
parents: 385
diff changeset
668 }