view Discovery/Inc/motion.h @ 621:6826731ff2be

Use roll and pitch agles in 0-360 format: The roll and pitch values are provided as pos/neg angle values which causes problems in the vector calculation for the motion detection => changed the implementation to store the calibration data with a 180? offset. Also shift value by 180? before they are used for vector calculations.
author Ideenmodellierer
date Wed, 03 Feb 2021 21:44:22 +0100
parents 916998f90e39
children 028d8f3a9410
line wrap: on
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/*
 * motion.h
 *
 *  Created on: 20.05.2019
 *      Author: Thorsten Sonntag
 */

#ifndef INC_MOTION_H_
#define INC_MOTION_H_


/* exported data types */
#define CUSTOMER_DEFINED_VIEWS	(100u)	/* value will cause the function to detect the number of selected views */
#define CUSTOMER_KEEP_LAST_SECTORS	(200u)	/* do not update number of sectors, just define the new center position */

typedef enum
{
		MOTION_DETECT_OFF = 0,
		MOTION_DETECT_SECTOR,
		MOTION_DETECT_MOVE,
		MOTION_DETECT_SCROLL,
		MOTION_DETECT_END
} MotionDetectMethod_t;

typedef enum
{
		DETECT_START = 0,
		DETECT_POS_MOVE,
		DETECT_MAXIMA,
		DETECT_FALLBACK,
		DETECT_POS_PITCH,
		DETECT_NEG_MOVE,
		DETECT_MINIMA,
		DETECT_RISEBACK,
		DETECT_NEG_PITCH,
		DETECT_NOTHING
} detectionState_t;

typedef struct
{
    float upperborder;			/* current sector is changed if pitch exceeds these borders */
    float lowerborder;

    uint8_t current;			/* number of the current visible sector */
    uint8_t target;				/* used for sector switch => number of the sector which shall be finnaly displayed */

    float offset;				/* offset to adjust minimum pitch value used for detection to zero */
    float size;					/* delta of upper and lower boarder defining the sector in degree */
    float window;				/* defines which range of pitch values are used for detection */
    float center;				/* defines the offset from pitch to middle of active sector (avoid center position is close to the calculated borders) */
    uint8_t count;				/* number of sectors used for detection */
} SSector;

typedef struct
{
	float x;
	float y;
	float z;
} SCoord;

typedef enum
{
		MOTION_HISTORY_ROLL = 0,
		MOTION_HISTORY_PITCH,
		MOTION_HISTORY_YAW
} MotionHistoryEntry_t;

typedef struct
{
	uint8_t roll;
	uint8_t pitch;
	uint8_t yaw;
} SDeltaHistory;

void InitMotionDetection(void);
void suspendMotionDetection(uint8_t seconds);
void HandleMotionDetection(void);
void resetMotionDeltaHistory();
void evaluateMotionDelta(float roll, float pitch, float yaw);
void DefinePitchSectors(float centerAngle, uint8_t numOfSectors);
void MapCVToSector(void);
detectionState_t detectPitch(float currentPitch);
detectionState_t detectSectorButtonEvent(float curPitch);
detectionState_t detectScrollButtonEvent(float curPitch);

void anglesToCoord(float roll, float pitch, float yaw, SCoord *pCoord);
void calibrateViewport(float roll, float pitch, float yaw);
float checkViewport(float roll, float pitch, float yaw);
uint8_t viewInFocus(void);
void resetFocusState(void);

#endif /* INC_MOTION_H_ */