/*+
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 * motion.h+
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 *+
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 *  Created on: 20.05.2019+
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 *      Author: Thorsten Sonntag+
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 */+
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+
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#ifndef INC_MOTION_H_+
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#define INC_MOTION_H_+
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+
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+
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/* exported data types */+
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#define CUSTOMER_DEFINED_VIEWS	(100u)	/* value will cause the function to detect the number of selected views */+
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#define CUSTOMER_KEEP_LAST_SECTORS	(200u)	/* do not update number of sectors, just define the new center position */+
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+
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#define MOTION_ENABLE_ROLL	(0x01u)+
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#define MOTION_ENABLE_PITCH	(0x02u)+
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#define MOTION_ENABLE_YAW	(0x04u)+
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#define MOTION_ENABLE_ALL	(MOTION_ENABLE_ROLL | MOTION_ENABLE_PITCH | MOTION_ENABLE_YAW)+
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+
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typedef enum+
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{+
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		MOTION_DETECT_OFF = 0,+
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		MOTION_DETECT_SECTOR,+
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		MOTION_DETECT_MOVE,+
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		MOTION_DETECT_SCROLL,+
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		MOTION_DETECT_END+
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} MotionDetectMethod_t;+
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+
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typedef enum+
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{+
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		DETECT_START = 0,+
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		DETECT_POS_MOVE,+
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		DETECT_MAXIMA,+
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		DETECT_FALLBACK,+
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		DETECT_POS_PITCH,+
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		DETECT_NEG_MOVE,+
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		DETECT_MINIMA,+
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		DETECT_RISEBACK,+
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		DETECT_NEG_PITCH,+
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		DETECT_NOTHING+
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} detectionState_t;+
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+
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typedef struct+
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{+
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    float upperborder;			/* current sector is changed if pitch exceeds these borders */+
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    float lowerborder;+
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+
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    uint8_t current;			/* number of the current visible sector */+
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    uint8_t target;				/* used for sector switch => number of the sector which shall be finnaly displayed */+
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+
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    float offset;				/* offset to adjust minimum pitch value used for detection to zero */+
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    float size;					/* delta of upper and lower boarder defining the sector in degree */+
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    float window;				/* defines which range of pitch values are used for detection */+
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    float center;				/* defines the offset from pitch to middle of active sector (avoid center position is close to the calculated borders) */+
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    uint8_t count;				/* number of sectors used for detection */+
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} SSector;+
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+
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typedef struct+
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{+
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	float x;+
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	float y;+
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	float z;+
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} SCoord;+
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+
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typedef enum+
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{+
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		MOTION_HISTORY_ROLL = 0,+
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		MOTION_HISTORY_PITCH,+
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		MOTION_HISTORY_YAW+
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} MotionHistoryEntry_t;+
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+
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typedef struct+
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{+
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	uint8_t roll;+
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	uint8_t pitch;+
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	uint8_t yaw;+
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} SDeltaHistory;+
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+
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void InitMotionDetection(void);+
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void suspendMotionDetection(uint8_t seconds);+
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void HandleMotionDetection(void);+
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void resetMotionDeltaHistory();+
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void evaluateMotionDelta(float roll, float pitch, float yaw);+
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void DefineSectorCount(uint8_t numOfSectors);+
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void MapCVToSector(void);+
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detectionState_t detectPitch(float currentPitch);+
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detectionState_t detectSectorButtonEvent(float focusOffset);+
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detectionState_t detectScrollButtonEvent(float focusOffset);+
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+
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void anglesToCoord(float roll, float pitch, float yaw, SCoord *pCoord);+
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void calibrateViewport(float roll, float pitch, float yaw);+
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float checkViewport(float roll, float pitch, float yaw, uint8_t enableAxis);+
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uint8_t viewInFocus(void);+
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uint8_t viewDetectionSuspended(void);+
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void resetFocusState(void);+
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+
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#endif /* INC_MOTION_H_ */+
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