Mercurial > public > ostc4
annotate Discovery/Src/motion.c @ 642:c737cf5d9067
Do not show focus indicator in case motion detection is suspended:
Motion detection will be suspended in case the diver is operating the OSTC using the buttons. In previous versions the focus indicator was shown even the motion detection was not active => may cause confusion. The indicator is now only shown in case the detection is active
Added hystresis for switching between sector views:
In previous versions small jitter at the angle signal could cause fast switching of the custom view. An offset has now been added to avoid this scenario
| author | Ideenmodellierer |
|---|---|
| date | Wed, 24 Mar 2021 21:28:41 +0100 |
| parents | 189f945ae4ba |
| children | ff2b393e290f |
| rev | line source |
|---|---|
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1 /* |
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2 * motion.c |
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3 * |
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4 * Created on: 20.05.2019 |
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5 * Author: Thorsten Sonntag |
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6 */ |
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7 |
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8 #include <stdint.h> |
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9 #include <string.h> |
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10 #include <stdlib.h> |
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11 #include <math.h> |
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12 #include "motion.h" |
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13 #include "data_central.h" |
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14 #include "t7.h" |
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15 #include "t3.h" |
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16 #include "settings.h" |
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17 #include "base.h" |
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18 |
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19 #define STABLE_STATE_COUNT 2 /* number of count to declare a state as stable (at the moment based on 100ms) */ |
| 363 | 20 #define STABLE_STATE_TIMEOUT 5 /* Detection shall be aborted if a movement state is stable for more than 500ms */ |
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21 |
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22 #define SECTOR_MAX 24 /* maximum number of sectors */ |
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23 #define SECTOR_SCROLL 7 /* number of sectors used for scroll detection */ |
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24 #define SECTOR_MAX_CNT 5 /* max number of views used for sector control */ |
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25 |
| 627 | 26 |
| 27 typedef enum | |
| 28 { | |
| 29 MOTION_DELTA_STABLE = 0, | |
| 30 MOTION_DELTA_JITTER, | |
| 31 MOTION_DELTA_RAISE, | |
| 32 MOTION_DELTA_RAISE_FAST, | |
| 33 MOTION_DELTA_FALL, | |
| 34 MOTION_DELTA_FALL_FAST | |
| 35 } MotionDeltaState_t; | |
| 551 | 36 |
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37 #define MOTION_DELTA_JITTER_LEVEL 2.0 /* lower values are considered as stable */ |
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38 #define MOTION_DELTA_RAISE_LEVEL 4.0 /* Movement causing a significant change detected */ |
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39 #define MOTION_DELTA_FALL_LEVEL -4.0 /* Movement causing a significant change detected */ |
| 627 | 40 #define MOTION_DELTA_FAST_LEVEL 6.0 /* Movement causing a fast change detected */ |
| 551 | 41 |
| 42 #define MOTION_DELTA_HISTORY_SIZE 20 /* Number of history data sets */ | |
| 43 | |
| 627 | 44 #define MOTION_FOCUS_LIMIT 0.5 /* +/- value which defines the border of the focus area */ |
| 45 #define MOTION_FOCUS_USE_SECTOR 0.4 /* +/- value for the focus area used to map secors to views */ | |
| 46 #define MOTION_FOCUS_SCROLL_IDLE 0.3 /* +/- value for starting generation of scroll events */ | |
| 47 | |
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48 detectionState_t detectionState = DETECT_NOTHING; |
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49 SSector sectorDetection; |
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50 |
| 551 | 51 static uint8_t motionDeltaHistory[3][MOTION_DELTA_HISTORY_SIZE]; /* Change history of roll, pitch and yaw */ |
| 52 static uint8_t motionDeltaHistoryIdx; /* Current index of history data */ | |
| 53 | |
| 54 static uint8_t focusCnt = 0; | |
| 55 static uint8_t inFocus = 0; | |
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56 static uint8_t sectorMap[SECTOR_MAX_CNT]; |
| 551 | 57 |
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58 static uint8_t suspendMotionDetectionSec = 0; |
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59 |
| 551 | 60 void resetMotionDeltaHistory() |
| 61 { | |
| 62 motionDeltaHistoryIdx = 0; | |
| 63 memset(motionDeltaHistory, 0, sizeof(motionDeltaHistory)); | |
| 64 } | |
| 65 | |
| 66 void evaluateMotionDelta(float roll, float pitch, float yaw) | |
| 67 { | |
| 68 static float lastValue[3] = {0.0,0.0,0.0}; | |
| 69 uint8_t nextIndex = motionDeltaHistoryIdx + 1; | |
| 70 uint8_t axis; | |
| 71 float curValue; | |
| 72 | |
| 73 if(nextIndex == MOTION_DELTA_HISTORY_SIZE) | |
| 74 { | |
| 75 nextIndex = 0; | |
| 76 } | |
| 77 for(axis=0; axis < 3; axis++) | |
| 78 { | |
| 79 switch(axis) | |
| 80 { | |
| 81 case MOTION_HISTORY_ROLL: curValue = roll; | |
| 82 break; | |
| 83 case MOTION_HISTORY_PITCH: curValue = pitch; | |
| 84 break; | |
| 85 default: | |
| 86 case MOTION_HISTORY_YAW: if((yaw < 90) && (lastValue[MOTION_HISTORY_YAW] > 270.0)) /* transition 360 => 0 */ | |
| 87 { | |
| 88 lastValue[MOTION_HISTORY_YAW] -= 360; | |
| 89 } | |
| 90 else if((yaw > 270) && (lastValue[MOTION_HISTORY_YAW] < 90.0)) /* transition 0 => 360 */ | |
| 91 { | |
| 92 lastValue[MOTION_HISTORY_YAW] += 360; | |
| 93 } | |
| 94 curValue = yaw; | |
| 95 break; | |
| 96 } | |
| 97 if(curValue - lastValue[axis] > MOTION_DELTA_RAISE_LEVEL) | |
| 98 { | |
| 99 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_RAISE; | |
| 100 } | |
| 101 if(fabsf(curValue - lastValue[axis]) < MOTION_DELTA_RAISE_LEVEL) | |
| 102 { | |
| 103 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_JITTER; | |
| 104 } | |
| 105 if(fabsf(curValue - lastValue[axis]) < MOTION_DELTA_JITTER_LEVEL) | |
| 106 { | |
| 107 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_STABLE; | |
| 108 } | |
| 109 if(curValue - lastValue[axis] < MOTION_DELTA_FALL_LEVEL) | |
| 110 { | |
| 111 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_FALL; | |
| 112 } | |
| 627 | 113 |
| 114 if(fabsf(curValue - lastValue[axis]) > MOTION_DELTA_FAST_LEVEL) | |
| 115 { | |
| 116 motionDeltaHistory[axis][nextIndex]++; | |
| 117 } | |
| 118 | |
| 551 | 119 lastValue[axis] = curValue; |
| 120 } | |
| 121 motionDeltaHistoryIdx = nextIndex; | |
| 122 } | |
| 123 | |
| 124 SDeltaHistory GetDeltaHistory(uint8_t stepback) | |
| 125 { | |
| 578 | 126 uint8_t loop; |
| 551 | 127 uint8_t index = motionDeltaHistoryIdx; |
| 128 | |
| 129 SDeltaHistory result = {0,0,0}; | |
| 130 | |
| 627 | 131 loop = stepback + 1; /* motionDeltaHistoryIdx is pointing to future entry => step back one more to get the latest */ |
| 551 | 132 if(stepback < MOTION_DELTA_HISTORY_SIZE) |
| 133 { | |
| 134 while(loop != 0) /* find requested entry */ | |
| 135 { | |
| 136 loop--; | |
| 137 index--; | |
| 138 if(index == 0) | |
| 139 { | |
| 140 index = MOTION_DELTA_HISTORY_SIZE - 1; | |
| 141 } | |
| 142 } | |
| 143 result.roll = motionDeltaHistory[MOTION_HISTORY_ROLL][index]; | |
| 144 result.pitch = motionDeltaHistory[MOTION_HISTORY_PITCH][index]; | |
| 145 result.yaw = motionDeltaHistory[MOTION_HISTORY_YAW][index]; | |
| 146 } | |
| 147 return result; | |
| 148 } | |
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149 |
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150 uint8_t GetSectorForFocus(float focusOffset) |
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151 { |
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152 uint8_t sector = 0; |
| 627 | 153 float compare = -1.0 * MOTION_FOCUS_USE_SECTOR + sectorDetection.size ; /* start with first sector upper limit */ |
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154 |
| 627 | 155 while(compare <= MOTION_FOCUS_USE_SECTOR) |
| 381 | 156 { |
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157 if(focusOffset > compare) |
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158 { |
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159 sector++; |
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160 } |
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161 else |
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162 { |
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163 break; |
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164 } |
| 627 | 165 compare += sectorDetection.size; |
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166 } |
| 627 | 167 if(sector >= sectorDetection.count) |
| 381 | 168 { |
| 627 | 169 sector = sectorDetection.count - 1; |
| 381 | 170 } |
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171 return sector; |
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172 } |
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173 |
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174 void DefineSectorCount(uint8_t numOfSectors) |
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175 { |
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176 if(numOfSectors == CUSTOMER_DEFINED_VIEWS) |
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177 { |
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178 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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179 { |
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180 sectorDetection.count = t3_GetEnabled_customviews(); |
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181 } |
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182 else |
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183 { |
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184 sectorDetection.count = t7_GetEnabled_customviews(); |
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185 } |
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186 if(sectorDetection.count > SECTOR_MAX_CNT) |
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187 { |
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188 sectorDetection.count = SECTOR_MAX_CNT; /* more views are hard to manually control */ |
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189 } |
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190 } |
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191 else |
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192 if(numOfSectors != CUSTOMER_KEEP_LAST_SECTORS) |
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193 { |
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194 sectorDetection.count = numOfSectors; |
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195 } |
| 627 | 196 sectorDetection.size = MOTION_FOCUS_USE_SECTOR * 2.0 / sectorDetection.count; |
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197 } |
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198 |
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199 |
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200 uint8_t GetCVForSector(uint8_t selSector) |
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201 { |
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202 if(selSector < sectorDetection.count) |
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203 { |
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204 return sectorMap[selSector]; |
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205 } |
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206 else |
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207 { |
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208 return 0; |
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209 } |
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210 } |
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211 |
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212 void MapCVToSector() |
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213 { |
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214 uint8_t ViewIndex = 0; |
| 627 | 215 memset(sectorMap, 0, sizeof(sectorMap)); |
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216 |
| 627 | 217 while(ViewIndex < (sectorDetection.count / 2)) /* define center sector */ |
| 218 { | |
| 219 ViewIndex++; | |
| 220 } | |
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221 |
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222 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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223 { |
| 595 | 224 t3_set_customview_to_primary(); |
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225 sectorMap[ViewIndex] = t3_change_customview(ACTION_END); |
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226 } |
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227 else |
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228 { |
| 595 | 229 t7_set_customview_to_primary(); |
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230 sectorMap[ViewIndex] = t7_change_customview(ACTION_END); |
| 595 | 231 |
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232 } |
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233 |
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234 ViewIndex++; |
| 627 | 235 while(sectorMap[ViewIndex] == 0) |
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236 { |
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237 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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238 { |
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239 sectorMap[ViewIndex] = t3_change_customview(ACTION_BUTTON_ENTER); |
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240 } |
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241 else |
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242 { |
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243 sectorMap[ViewIndex] = t7_change_customview(ACTION_BUTTON_ENTER); |
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244 } |
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245 ViewIndex++; |
| 627 | 246 if(ViewIndex == sectorDetection.count) |
| 247 { | |
| 248 ViewIndex = 0; | |
| 249 } | |
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250 } |
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251 |
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252 } |
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253 |
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254 void InitMotionDetection(void) |
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255 { |
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383
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256 sectorDetection.target = 0; |
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257 sectorDetection.current = 0; |
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258 sectorDetection.size = 0; |
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259 sectorDetection.count = 0; |
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260 |
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261 switch(settingsGetPointer()->MotionDetection) |
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262 { |
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263 case MOTION_DETECT_SECTOR: DefineSectorCount(CUSTOMER_DEFINED_VIEWS); |
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264 MapCVToSector(); |
|
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265 break; |
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266 case MOTION_DETECT_MOVE: DefineSectorCount(SECTOR_MAX); |
|
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267 break; |
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268 case MOTION_DETECT_SCROLL: DefineSectorCount(SECTOR_SCROLL); |
|
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269 break; |
|
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270 default: |
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271 break; |
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272 } |
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273 |
| 551 | 274 resetMotionDeltaHistory(); |
|
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275 } |
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276 |
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277 /* Map the current pitch value to a sector and create button event in case the sector is left */ |
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278 detectionState_t detectSectorButtonEvent(float focusOffset) |
|
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279 { |
|
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280 static uint8_t lastTargetSector = 0xFF; |
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281 static float lastfocusOffset = 0.0; |
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282 |
|
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283 uint8_t newTargetSector; |
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284 |
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285 newTargetSector = GetSectorForFocus(focusOffset); |
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286 |
|
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287 /* take a small hysteresis into account to avoid fast display changes (flicker) */ |
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288 if((newTargetSector != lastTargetSector) && (fabsf(focusOffset - lastfocusOffset) > (sectorDetection.size / 3))) |
|
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289 { |
|
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290 lastfocusOffset = focusOffset; |
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291 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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292 { |
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293 t3_select_customview(GetCVForSector(newTargetSector)); |
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294 } |
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295 else |
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296 { |
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297 t7_select_customview(GetCVForSector(newTargetSector)); |
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298 } |
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299 } |
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300 return DETECT_NOTHING; |
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301 } |
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302 |
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303 /* Check if pitch is not in center position and trigger a button action if needed */ |
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304 detectionState_t detectScrollButtonEvent(float focusOffset) |
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305 { |
|
378
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306 static uint8_t delayscroll = 0; /* slow down the number of scroll events */ |
|
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307 |
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308 uint8_t PitchEvent = DETECT_NOTHING; |
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309 |
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310 if(delayscroll == 0) |
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311 { |
| 627 | 312 if(focusOffset > MOTION_FOCUS_SCROLL_IDLE) |
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313 { |
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314 PitchEvent = DETECT_POS_PITCH; |
| 574 | 315 delayscroll = 7; |
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316 } |
| 627 | 317 if(focusOffset < (-1.0 * MOTION_FOCUS_SCROLL_IDLE)) |
| 318 { | |
| 319 PitchEvent = DETECT_NEG_PITCH; | |
| 320 delayscroll = 7; | |
| 321 } | |
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322 } |
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323 else |
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324 { |
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325 delayscroll--; |
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326 } |
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327 return PitchEvent; |
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328 } |
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329 |
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330 |
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331 /* Detect if user is generating an pitch including return to starting position */ |
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332 /* This is done by feeding the past movements value per value into a state machine */ |
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333 detectionState_t detectPitch(float currentPitch) |
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334 { |
| 578 | 335 static int8_t lastStart = 0; |
| 551 | 336 uint8_t exit = 0; |
| 578 | 337 int8_t step = 0; |
| 574 | 338 uint8_t duration = 0; |
| 551 | 339 SDeltaHistory test; |
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340 |
| 578 | 341 if(lastStart < 0) |
| 342 { | |
| 343 detectionState = DETECT_NOTHING; | |
| 344 lastStart = 0; | |
| 345 } | |
| 346 else | |
| 347 { | |
| 348 detectionState = DETECT_START; | |
| 349 } | |
| 350 step = lastStart; | |
| 351 do | |
| 551 | 352 { |
| 353 test = GetDeltaHistory(step); | |
| 574 | 354 duration++; |
| 551 | 355 switch (detectionState) |
| 356 { | |
| 357 case DETECT_NOTHING: if(test.pitch > MOTION_DELTA_STABLE) | |
| 358 { | |
| 359 exit = 1; | |
| 578 | 360 lastStart = -2; |
| 551 | 361 } |
| 362 else | |
| 363 { | |
| 364 detectionState = DETECT_START; | |
| 578 | 365 lastStart = -1; |
| 551 | 366 } |
| 367 break; | |
| 368 case DETECT_START: if(test.pitch == MOTION_DELTA_RAISE) | |
| 369 { | |
| 370 detectionState = DETECT_POS_MOVE; | |
| 578 | 371 lastStart = step; |
| 551 | 372 } |
| 578 | 373 else |
| 551 | 374 if(test.pitch == MOTION_DELTA_FALL) |
| 375 { | |
| 376 detectionState = DETECT_NEG_MOVE; | |
| 578 | 377 lastStart = step; |
| 378 } | |
| 379 else | |
| 380 { | |
| 381 lastStart = -1; | |
| 551 | 382 } |
| 574 | 383 duration = 0; |
| 551 | 384 break; |
| 627 | 385 case DETECT_NEG_MOVE: if((test.pitch <= MOTION_DELTA_JITTER) || (test.pitch == MOTION_DELTA_RAISE) || (test.pitch == MOTION_DELTA_RAISE_FAST)) |
| 578 | 386 { |
| 387 detectionState++; | |
| 388 } | |
| 389 break; | |
| 627 | 390 case DETECT_POS_MOVE: if((test.pitch <= MOTION_DELTA_JITTER) || (test.pitch == MOTION_DELTA_FALL) || (test.pitch == MOTION_DELTA_FALL_FAST)) |
| 551 | 391 { |
| 392 detectionState++; | |
| 393 } | |
| 394 break; | |
| 395 case DETECT_MAXIMA: if(test.pitch == MOTION_DELTA_FALL) | |
| 396 { | |
| 397 detectionState = DETECT_FALLBACK; | |
| 398 } | |
| 399 break; | |
| 400 case DETECT_MINIMA: if(test.pitch == MOTION_DELTA_RAISE) | |
| 401 { | |
| 402 detectionState = DETECT_RISEBACK; | |
| 403 } | |
| 404 break; | |
| 405 case DETECT_RISEBACK: | |
| 406 case DETECT_FALLBACK: if(test.pitch == MOTION_DELTA_STABLE) | |
| 407 { | |
| 578 | 408 if(duration > 4) /* avoid detection triggered by short moves */ |
| 574 | 409 { |
| 410 detectionState++; | |
| 411 } | |
| 578 | 412 exit = 1; |
| 413 lastStart = -2; | |
| 551 | 414 } |
| 415 break; | |
| 416 default: | |
| 417 detectionState = DETECT_NOTHING; | |
| 418 exit = 1; | |
| 419 break; | |
| 420 } | |
| 578 | 421 step--; |
| 422 } while((step >= 0) && (!exit)); | |
| 423 | |
| 424 if((lastStart < MOTION_DELTA_HISTORY_SIZE)) | |
| 425 { | |
| 426 lastStart++; /* prepare value for next iteration (history index will be increased) */ | |
| 427 } | |
| 428 else | |
| 429 { | |
| 430 lastStart = -1; | |
| 551 | 431 } |
| 432 if((detectionState != DETECT_POS_PITCH) && (detectionState != DETECT_NEG_PITCH)) /* nothing found */ | |
|
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433 { |
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434 detectionState = DETECT_NOTHING; |
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435 } |
| 551 | 436 else /* dont detect the same event twice */ |
| 437 { | |
| 438 resetMotionDeltaHistory(); | |
| 439 } | |
| 440 return detectionState; | |
| 441 } | |
| 363 | 442 |
| 551 | 443 void anglesToCoord(float roll, float pitch, float yaw, SCoord *pCoord) |
| 444 { | |
| 445 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); | |
| 446 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); | |
| 447 pCoord->z = ((-1*sinf(pitch)) * pCoord->x + (cosf(pitch) *sinf(roll)) * pCoord->y + (cosf(pitch) * cosf(roll))* pCoord->z); | |
| 448 } | |
| 449 | |
| 450 SCoord CoordAdd(SCoord cA, SCoord cB) | |
| 451 { | |
| 452 SCoord result; | |
| 453 | |
| 454 result.x = cA.x + cB.x; | |
| 455 result.y = cA.y + cB.y; | |
| 456 result.z = cA.z + cB.z; | |
| 457 return result; | |
| 458 } | |
| 459 | |
| 460 SCoord CoordSub(SCoord cA, SCoord cB) | |
| 461 { | |
| 462 SCoord result; | |
|
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463 |
| 551 | 464 result.x = cA.x - cB.x; |
| 465 result.y = cA.y - cB.y; | |
| 466 result.z = cA.z - cB.z; | |
| 467 return result; | |
| 468 } | |
| 469 | |
| 470 SCoord CoordCross(SCoord cA, SCoord cB) | |
| 471 { | |
| 472 SCoord result; | |
| 473 | |
| 474 result.x = (cA.y * cB.z) - (cA.z * cB.y); | |
| 475 result.y = (cA.z * cB.x) - (cA.x * cB.z); | |
| 476 result.z = (cA.x * cB.y) - (cA.y * cB.x); | |
| 477 | |
| 478 return result; | |
| 479 | |
| 480 } | |
| 481 | |
| 482 SCoord CoordMulF(SCoord op, float factor) | |
| 483 { | |
| 484 SCoord result; | |
| 485 result.x = (op.x * factor); | |
| 486 result.y = (op.y * factor); | |
| 487 result.z = (op.z * factor); | |
| 488 | |
| 489 return result; | |
| 490 } | |
|
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491 |
| 551 | 492 SCoord CoordDivF(SCoord op, float factor) |
| 493 { | |
| 494 SCoord result; | |
| 495 result.x = (op.x / factor); | |
| 496 result.y = (op.y / factor); | |
| 497 result.z = (op.z / factor); | |
| 498 | |
| 499 return result; | |
| 500 } | |
| 501 | |
| 502 float CoordDot(SCoord cA, SCoord cB) | |
| 503 { | |
| 504 float result; | |
| 505 | |
| 506 result = cA.x * cB.x + cA.y * cB.y + cB.z*cA.z; | |
| 507 return result; | |
| 508 } | |
| 509 | |
| 510 void calibrateViewport(float roll, float pitch, float yaw) | |
| 511 { | |
| 512 SSettings* pSettings = settingsGetPointer(); | |
| 513 | |
| 621 | 514 pSettings->viewPitch = pitch + 180; |
| 515 pSettings->viewRoll = roll+ 180; | |
| 551 | 516 pSettings->viewYaw = yaw; |
| 517 } | |
| 518 | |
| 519 | |
|
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520 float checkViewport(float roll, float pitch, float yaw, uint8_t enableAxis) |
| 551 | 521 { |
| 522 uint8_t retval = 0; | |
| 523 float angleYaw; | |
| 524 float anglePitch; | |
| 525 float angleRoll; | |
| 526 float distance = 0; | |
| 527 float _a, _b; | |
| 528 SCoord u,v,n; | |
| 627 | 529 float r = 0.0; |
| 530 float focusLimit = 0; | |
| 551 | 531 |
| 532 SCoord refVec; | |
| 533 SCoord axis_1; | |
| 534 SCoord axis_2; | |
| 535 SCoord curVec; | |
| 536 SCoord resultVec; | |
| 537 | |
| 627 | 538 SDeltaHistory movementDelta; |
| 539 | |
| 551 | 540 SSettings* pSettings = settingsGetPointer(); |
| 541 | |
| 621 | 542 roll += 180; |
| 543 pitch += 180; | |
| 544 | |
| 551 | 545 /* calculate base vector taking calibration delta into account yaw (heading) */ |
| 621 | 546 float compYaw; |
| 574 | 547 |
|
625
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548 if(enableAxis & MOTION_ENABLE_YAW) |
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549 { |
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550 compYaw = 360.0 - yaw; /* turn to 0° */ |
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551 compYaw += pSettings->viewYaw; /* consider calib yaw value */ |
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552 compYaw += yaw; |
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553 |
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554 if (compYaw < 0.0) |
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555 { |
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556 compYaw = 360.0 + compYaw; |
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557 } |
| 574 | 558 |
|
625
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559 if (compYaw > 360.0) |
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560 { |
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561 compYaw = compYaw - 360.0; |
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562 } |
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563 if (compYaw > 360.0) |
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564 { |
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565 compYaw = compYaw - 360.0; |
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566 } |
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567 angleYaw = pSettings->viewYaw * M_PI / 180.0; |
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568 } |
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569 else |
| 551 | 570 { |
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571 compYaw = 0.0; |
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572 angleYaw = 0.0; |
| 381 | 573 } |
| 551 | 574 |
|
625
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575 if(enableAxis & MOTION_ENABLE_PITCH) |
| 381 | 576 { |
|
625
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577 anglePitch = pSettings->viewPitch * M_PI / 180.0; |
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578 } |
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579 else |
| 574 | 580 { |
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625
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581 anglePitch = 0; |
| 574 | 582 } |
|
625
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583 if(enableAxis & MOTION_ENABLE_ROLL) |
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584 { |
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585 angleRoll = pSettings->viewRoll * M_PI / 180.0; |
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586 } |
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587 else |
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588 { |
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589 angleRoll = 0; |
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590 } |
| 551 | 591 |
| 592 refVec.x = 0; | |
| 593 refVec.y = 0; | |
| 594 refVec.z = 1.0; | |
| 595 | |
| 596 anglesToCoord(angleRoll,anglePitch,angleYaw, &refVec); | |
| 597 | |
| 598 /* assume x = 0 and y = 1 => find matching vector so axis_1 is 90° to axis_2 */ | |
| 599 axis_1.x = 0; | |
| 600 if(refVec.y >=0) | |
| 601 { | |
| 602 axis_2.y = 1; /* => Spawn y == refVec y */ | |
| 603 } | |
| 604 else axis_1.y = -1; | |
| 605 axis_1.z = -1.0 * refVec.y / refVec.z; | |
| 606 axis_2 = CoordCross(refVec, axis_1); /* Cross is 90° to refVec and Spawn as well => Plane Spawn / cross */ | |
| 607 | |
| 608 /* check if detection plane is correct */ | |
| 609 u = CoordSub(axis_1,refVec); | |
| 610 v = CoordSub(axis_2,refVec); | |
| 611 n = CoordCross(u,v); | |
| 612 | |
| 613 if((fabsf(n.x) <= 0.0001) && (fabsf(n.y) <= 0.0001) && (fabsf(n.z) <= 0.0001)) | |
| 614 { | |
| 615 retval = 2; | |
| 616 } | |
| 617 else | |
| 618 { | |
|
625
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619 if(enableAxis & MOTION_ENABLE_PITCH) |
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620 { |
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621 anglePitch = pitch * M_PI / 180.0; |
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622 } |
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623 else |
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624 { |
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625 anglePitch = 0.0; |
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626 } |
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627 if(enableAxis & MOTION_ENABLE_ROLL) |
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628 { |
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629 angleRoll = roll * M_PI / 180.0; |
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630 } |
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631 else |
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632 { |
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633 angleRoll = 0.0; |
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634 } |
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635 if(enableAxis & MOTION_ENABLE_YAW) |
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636 { |
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637 angleYaw = compYaw * M_PI / 180.0; |
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638 } |
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639 else |
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640 { |
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641 angleYaw = 0.0; |
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642 } |
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|
643 |
| 551 | 644 curVec.x = 0; |
| 645 curVec.y = 0; | |
| 646 curVec.z = 1.0; | |
| 647 anglesToCoord(angleRoll,anglePitch,angleYaw, &curVec); | |
| 648 | |
| 649 _a = CoordDot(curVec,n); | |
| 650 _b = CoordDot(refVec,n); | |
| 651 | |
| 652 if(_b>=(-0.0001)&&_b<=0.0001) /* Check if view port is parallel (no matchpoint) */ | |
| 653 { | |
| 654 retval = 3; | |
| 655 } | |
| 656 else | |
| 657 { | |
| 658 r=_a/_b; | |
| 659 if(r<0.00||r>1.40) /* are we looking into wrong direction? */ | |
| 660 { | |
| 661 retval = 4; | |
| 662 } | |
| 663 } | |
| 664 distance = retval * 1.0; /* just for debugging */ | |
| 665 if(retval == 0) | |
| 666 { | |
| 667 /* start calculating the matchpoint */ | |
| 668 curVec = CoordMulF(curVec,r); | |
| 669 resultVec = CoordSub(refVec,curVec); | |
| 670 | |
| 671 /* calculate the distance between reference and actual vector */ | |
| 672 resultVec.x = resultVec.x * resultVec.x; | |
| 673 resultVec.y = resultVec.y * resultVec.y; | |
| 674 resultVec.z = resultVec.z * resultVec.z; | |
| 675 | |
| 676 if((resultVec.x == 0) && (resultVec.y == 0) && (resultVec.z == 0)) | |
| 677 { | |
| 678 distance = 0.0; | |
| 679 } | |
| 680 else | |
| 681 { | |
| 682 distance = sqrtf((resultVec.x + resultVec.y + resultVec.z)); | |
| 683 } | |
| 684 } | |
| 685 } | |
| 686 | |
| 627 | 687 movementDelta = GetDeltaHistory(0); |
| 688 | |
| 689 if(inFocus == 0) /* consider option to use smaller spot to detect focus state */ | |
| 690 { | |
| 691 focusLimit = MOTION_FOCUS_LIMIT - (((pSettings->viewPortMode >> 5) & 0x03) / 10.0); | |
| 692 } | |
| 693 else | |
| 694 { | |
| 695 focusLimit = MOTION_FOCUS_LIMIT; /* use standard spot to detect diver interactions */ | |
| 696 } | |
| 697 | |
| 698 if((distance <= focusLimit) && (movementDelta.yaw != MOTION_DELTA_RAISE_FAST) && (movementDelta.yaw != MOTION_DELTA_FALL_FAST)) /* handle focus counter to avoid fast in/out focus changes */ | |
| 551 | 699 { |
| 700 if(focusCnt < 10) | |
| 701 { | |
| 702 if((focusCnt == 9) && (inFocus == 0)) /* we will get into focus */ | |
| 703 { | |
| 704 resetMotionDeltaHistory(); | |
| 705 } | |
| 706 focusCnt++; | |
| 707 } | |
| 574 | 708 if((focusCnt == 10) && (inFocus == 0)) |
| 551 | 709 { |
| 710 inFocus = 1; | |
| 711 } | |
| 712 } | |
| 713 else | |
| 714 { | |
| 627 | 715 if((movementDelta.yaw > MOTION_DELTA_JITTER ) && (focusCnt >= 5)) |
| 716 { | |
| 717 focusCnt--; | |
| 718 } | |
|
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719 if(focusCnt >= 5) /* Reset focus faster then setting focus */ |
| 551 | 720 { |
| 721 focusCnt--; | |
| 722 } | |
| 723 else | |
| 724 { | |
| 574 | 725 focusCnt = 0; |
| 551 | 726 inFocus = 0; |
| 727 } | |
| 728 } | |
| 627 | 729 if ((r<1) && (retval == 0)) /* add direction information to distance */ |
| 730 { | |
| 731 distance *= -1.0; | |
| 732 } | |
| 551 | 733 return distance; |
|
359
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|
734 } |
| 551 | 735 uint8_t viewInFocus(void) |
| 736 { | |
| 737 return inFocus; | |
| 738 } | |
| 739 void resetFocusState(void) | |
| 740 { | |
| 741 inFocus = 0; | |
| 742 } | |
|
611
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|
743 |
|
642
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744 uint8_t viewDetectionSuspended(void) |
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745 { |
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746 uint8_t retVal = 0; |
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747 |
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748 if(suspendMotionDetectionSec) |
|
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749 { |
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750 retVal = 1; |
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751 } |
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752 return retVal; |
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753 } |
|
c737cf5d9067
Do not show focus indicator in case motion detection is suspended:
Ideenmodellierer
parents:
627
diff
changeset
|
754 |
|
611
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
755 void suspendMotionDetection(uint8_t seconds) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
756 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
757 suspendMotionDetectionSec = seconds * 10; /* detection function is called every 100ms */ |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
758 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
759 |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
760 void HandleMotionDetection(void) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
761 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
762 detectionState_t pitchstate = DETECT_NOTHING; |
|
618
96af74455420
Development bugfix: focus state not remembered:
Ideenmodellierer
parents:
611
diff
changeset
|
763 static uint8_t wasInFocus = 0; |
|
625
028d8f3a9410
Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents:
621
diff
changeset
|
764 float focusOffset = 0.0; |
|
611
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
765 |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
766 evaluateMotionDelta(stateUsed->lifeData.compass_roll, stateUsed->lifeData.compass_pitch, stateUsed->lifeData.compass_heading); |
|
625
028d8f3a9410
Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents:
621
diff
changeset
|
767 if(viewInFocus()) |
|
028d8f3a9410
Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents:
621
diff
changeset
|
768 { |
|
028d8f3a9410
Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents:
621
diff
changeset
|
769 focusOffset = checkViewport(stateUsed->lifeData.compass_roll, stateUsed->lifeData.compass_pitch, stateUsed->lifeData.compass_heading, (MOTION_ENABLE_PITCH | MOTION_ENABLE_YAW)); |
|
028d8f3a9410
Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents:
621
diff
changeset
|
770 } |
|
028d8f3a9410
Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents:
621
diff
changeset
|
771 else |
|
028d8f3a9410
Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents:
621
diff
changeset
|
772 { |
|
028d8f3a9410
Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents:
621
diff
changeset
|
773 focusOffset = checkViewport(stateUsed->lifeData.compass_roll, stateUsed->lifeData.compass_pitch, stateUsed->lifeData.compass_heading, MOTION_ENABLE_ALL); |
|
028d8f3a9410
Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents:
621
diff
changeset
|
774 } |
|
611
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
775 if(viewInFocus()) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
776 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
777 wasInFocus = 1; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
778 set_Backlight_Boost(settingsGetPointer()->viewPortMode & 0x03); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
779 |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
780 if(suspendMotionDetectionSec == 0) /* suspend detection while diver is manually operating the OSTC */ |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
781 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
782 switch(settingsGetPointer()->MotionDetection) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
783 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
784 case MOTION_DETECT_MOVE: pitchstate = detectPitch(stateRealGetPointer()->lifeData.compass_pitch); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
785 break; |
|
625
028d8f3a9410
Switch Sector / Scroll detection to vector implementation:
Ideenmodellierer
parents:
621
diff
changeset
|
786 case MOTION_DETECT_SECTOR: pitchstate = detectSectorButtonEvent(focusOffset); |
|
611
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
787 break; |
| 627 | 788 case MOTION_DETECT_SCROLL: pitchstate = detectScrollButtonEvent(fabs(focusOffset)); |
|
611
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
789 break; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
790 default: |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
791 pitchstate = DETECT_NOTHING; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
792 break; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
793 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
794 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
795 |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
796 if(DETECT_NEG_PITCH == pitchstate) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
797 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
798 StoreButtonAction((uint8_t)ACTION_PITCH_NEG); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
799 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
800 if(DETECT_POS_PITCH == pitchstate) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
801 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
802 StoreButtonAction((uint8_t)ACTION_PITCH_POS); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
803 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
804 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
805 else |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
806 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
807 if(wasInFocus) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
808 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
809 wasInFocus = 0; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
810 if(suspendMotionDetectionSec == 0) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
811 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
812 if(settingsGetPointer()->design == 7) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
813 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
814 t7_set_customview_to_primary(); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
815 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
816 else |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
817 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
818 t3_set_customview_to_primary(); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
819 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
820 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
821 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
822 set_Backlight_Boost(0); |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
823 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
824 if(suspendMotionDetectionSec != 0) |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
825 { |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
826 suspendMotionDetectionSec--; |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
827 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
828 } |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
829 |
|
916998f90e39
Suspend MotionDetection events while diver is operationg the OSTC:
Ideenmodellierer
parents:
595
diff
changeset
|
830 |