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annotate Discovery/Src/motion.c @ 371:fca370f847f8 MotionDetection

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Added parameter for number of sectors to be defined
author ideenmodellierer
date Mon, 19 Aug 2019 17:39:47 +0200
parents 77cdfbdaca8c
children 7b981f8bdd41
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4258ea9b67fa Added new files for motion detection (shaking) detection
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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
4258ea9b67fa Added new files for motion detection (shaking) detection
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5 * Author: Thorsten Sonntag
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6 */
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7
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8 #include <stdint.h>
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9 #include <string.h>
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10 #include <math.h>
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11 #include "motion.h"
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12 #include "data_central.h"
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13 #include "t7.h"
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14 #include "settings.h"
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15
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16 #define STABLE_STATE_COUNT 2 /* number of count to declare a state as stable (at the moment based on 100ms) */
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17 #define STABLE_STATE_TIMEOUT 5 /* Detection shall be aborted if a movement state is stable for more than 500ms */
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18 #define MOVE_DELTA_SPEED 4 /* Delta speed needed to identify a valid movement */
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19 #define PITCH_DELTA_COUNT 10 /* Delta count needed to identify a valid minima / maxima */
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
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20 #define PITCH_DELTA_END 10 /* Delta allowed between start and end position */
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
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21
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
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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
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23 #define SECTOR_WINDOW 40.0 /* Pitch window which is used for custom view projection */
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24 #define SECTOR_HYSTERY 3 /* Additional offset to avoid fast changing displays */
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25 #define SECTOR_BORDER 400.0 /* Define a value which is out of limit to avoid not wanted key events */
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26 #define SECTOR_FILTER 10 /* Define speed for calculated angle to follow real value */
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27
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28 #define SECTOR_MAX 10 /* maximum number of sectors */
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29
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30 static detectionState_t detectionState = DETECT_NOTHING;
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7b8c87a39c0e Parameter update
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32 static uint8_t curSector;
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33 static uint8_t targetSector;
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34 static uint8_t sectorSize;
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35 static uint8_t sectorCount;
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37 SSector PitchSector[10]; /* max number of enabled custom views */
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38
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
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39
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
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40 uint8_t GetSectorForPitch(float pitch)
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41 {
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42 static float lastPitch = 1000;
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43 float newPitch;
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
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44 uint8_t index;
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45 uint8_t sector = 0;
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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
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47 if(lastPitch == 1000) /* init at first call */
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48 {
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49 lastPitch = pitch;
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50 }
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52 newPitch = lastPitch + (pitch / SECTOR_FILTER);
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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
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54 for(index = 1; index < sectorCount; index++)
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55 {
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56 if((pitch < PitchSector[index].upperlimit) && (pitch > PitchSector[index].lowerlimit ))
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57 {
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58 sector = index;
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59 break;
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60 }
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61 }
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
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62 lastPitch = newPitch;
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63 return sector;
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64 }
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65
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66 void DefinePitchSectors(float centerPitch,uint8_t numOfSectors)
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67 {
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68 uint8_t index;
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69
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70 if(numOfSectors == CUSTOMER_DEFINED_VIEWS)
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71 {
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72 sectorCount = t7_GetEnabled_customviews();
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73 if(sectorCount > 5)
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74 {
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75 sectorCount = 5; /* more views are hard to manually control */
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76 }
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77 }
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78 else
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79 {
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80 sectorCount = numOfSectors;
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81 }
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82 sectorSize = SECTOR_WINDOW / sectorCount;
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83
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84 PitchSector[0].upperlimit = centerPitch + (SECTOR_WINDOW / 2);
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
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85 PitchSector[0].lowerlimit = PitchSector[0].upperlimit - sectorSize - SECTOR_HYSTERY;
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86
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87 for(index = 1; index < sectorCount; index++)
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88 {
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89 PitchSector[index].upperlimit = PitchSector[0].upperlimit - index * sectorSize + SECTOR_HYSTERY;
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90 PitchSector[index].lowerlimit = PitchSector[0].upperlimit - (index + 1) * sectorSize - SECTOR_HYSTERY;
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
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91 }
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92
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93 PitchSector[0].upperlimit = SECTOR_BORDER;
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94 PitchSector[index - 1].lowerlimit = SECTOR_BORDER * -1.0;
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95
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96 /* get the current sector */
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97 curSector = GetSectorForPitch(stateRealGetPointer()->lifeData.compass_pitch);
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98 targetSector = curSector;
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99 }
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
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100
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101 void InitMotionDetection(void)
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102 {
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103 targetSector = 0;
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104 curSector = 0;
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105 sectorSize = 0;
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106 sectorCount = 0;
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107
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108 switch(settingsGetPointer()->MotionDetection)
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109 {
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110 case MOTION_DETECT_SECTOR: DefinePitchSectors(0,CUSTOMER_DEFINED_VIEWS);
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111 break;
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112 case MOTION_DETECT_MOVE: DefinePitchSectors(0,SECTOR_MAX);
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113 break;
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114 default:
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115 break;
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116 }
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117
370
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118 }
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120 /* 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
121 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
122 {
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
123 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
124 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
125 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
126
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
127 /* 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
128 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
129 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
130 {
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
131 targetSector = 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
132 }
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
133 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
134 if(targetSector != curSector)
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
135 {
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
136 if(targetSector > curSector)
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
137 {
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
138 curSector++;
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
139 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
140 }
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
141 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
142 {
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
143 curSector--;
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
144 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
145 }
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
146 }
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
147 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
148 }
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
149
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
150
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
151 /* Detect if user is generating an pitch including return to starting position */
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
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diff changeset
152 /* 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
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diff changeset
153 detectionState_t detectPitch(float currentPitch)
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
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154 {
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
155 static uint8_t stableCnt = 0;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
156 static float lastPitch = 0.0;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
157 static float startPitch = 0.0;
363
bdf978d2a5d4 Reworked detection function
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diff changeset
158 float curSpeed;
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
159
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
160
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
161 if((detectionState == DETECT_NEG_PITCH) || (detectionState == DETECT_POS_PITCH)) /* discard last detection */
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
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diff changeset
162 {
4258ea9b67fa Added new files for motion detection (shaking) detection
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163 detectionState = DETECT_NOTHING;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
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164 }
363
bdf978d2a5d4 Reworked detection function
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parents: 362
diff changeset
165
bdf978d2a5d4 Reworked detection function
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diff changeset
166 curSpeed = currentPitch - lastPitch;
359
4258ea9b67fa Added new files for motion detection (shaking) detection
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diff changeset
167
363
bdf978d2a5d4 Reworked detection function
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diff changeset
168 /* feed value into state machine */
bdf978d2a5d4 Reworked detection function
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diff changeset
169 switch (detectionState)
bdf978d2a5d4 Reworked detection function
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diff changeset
170 {
bdf978d2a5d4 Reworked detection function
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diff changeset
171 case DETECT_NOTHING: if(fabsf(curSpeed) < MOVE_DELTA_SPEED) /* detect a stable condition before evaluating for the next move */
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
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diff changeset
172 {
363
bdf978d2a5d4 Reworked detection function
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diff changeset
173 stableCnt++;
bdf978d2a5d4 Reworked detection function
ideenmodellierer
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diff changeset
174 }
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
175 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
176 {
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
177 stableCnt=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
178 }
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
179
363
bdf978d2a5d4 Reworked detection function
ideenmodellierer
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diff changeset
180 if(stableCnt > STABLE_STATE_COUNT)
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
181 {
bdf978d2a5d4 Reworked detection function
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diff changeset
182 detectionState = DETECT_START;
bdf978d2a5d4 Reworked detection function
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diff changeset
183 stableCnt = 0;
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
184 }
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
185 break;
363
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
186 case DETECT_START: if(fabsf(curSpeed) > MOVE_DELTA_SPEED)
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
187 {
363
bdf978d2a5d4 Reworked detection function
ideenmodellierer
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diff changeset
188 if(curSpeed > 0)
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
189 {
bdf978d2a5d4 Reworked detection function
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diff changeset
190 detectionState = DETECT_POS_MOVE;
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
191 }
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
192 else
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
193 {
bdf978d2a5d4 Reworked detection function
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diff changeset
194 detectionState = DETECT_NEG_MOVE;
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
195 }
bdf978d2a5d4 Reworked detection function
ideenmodellierer
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diff changeset
196 stableCnt = 0;
bdf978d2a5d4 Reworked detection function
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diff changeset
197 startPitch = lastPitch;
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
198 }
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
199 break;
363
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
200 case DETECT_NEG_MOVE:
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
201 case DETECT_POS_MOVE: if(fabsf(curSpeed) > MOVE_DELTA_SPEED )
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
202 {
363
bdf978d2a5d4 Reworked detection function
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diff changeset
203 stableCnt++;
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
204 }
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
205 else
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
206 {
363
bdf978d2a5d4 Reworked detection function
ideenmodellierer
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diff changeset
207 if(stableCnt >= STABLE_STATE_COUNT) /* debounce movement */
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
208 {
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
209 if(fabsf(startPitch - currentPitch) > PITCH_DELTA_COUNT)
363
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
210 {
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
211 detectionState++;
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
212 }
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
213 else
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
214 {
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
215 detectionState = DETECT_NOTHING;
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
216 }
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
217 }
363
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
218 else
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
219 {
363
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
220 detectionState = DETECT_NOTHING;
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
221 }
363
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
222 stableCnt = 0;
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
223 }
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
224 break;
363
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
225 case DETECT_MINIMA:
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
226 case DETECT_MAXIMA: /* stay at maximum for short time to add a pattern for user interaction */
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
227 if(fabsf(curSpeed) < MOVE_DELTA_SPEED )
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
228 {
363
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
229 stableCnt++;
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
230 }
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
231 else
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
232 {
363
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
233 if(stableCnt > 0)
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
234 {
363
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
235 detectionState++;
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
236 }
363
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
237 else
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
238 {
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
239 detectionState = DETECT_NOTHING;
363
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
240 }
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
241 stableCnt = 0;
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
242 }
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
243 break;
363
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
244 case DETECT_RISEBACK:
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
245 case DETECT_FALLBACK: if(fabsf(curSpeed) < MOVE_DELTA_SPEED)
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
246 {
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 if(fabsf(startPitch - currentPitch) < PITCH_DELTA_END)
363
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
248 {
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
249 detectionState++;
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
250 }
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
251 }
363
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
252 stableCnt++;
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
253 break;
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
254 default:
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
255 detectionState = DETECT_NOTHING;
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
256 break;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
257
363
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
258 }
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
259 if(stableCnt > STABLE_STATE_TIMEOUT)
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
260 {
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
261 detectionState = DETECT_NOTHING;
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
262 stableCnt = 0;
bdf978d2a5d4 Reworked detection function
ideenmodellierer
parents: 362
diff changeset
263 }
359
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
264
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
265 lastPitch = currentPitch;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
266 return detectionState;
4258ea9b67fa Added new files for motion detection (shaking) detection
ideenmodellierer
parents:
diff changeset
267 }