Mercurial > public > ostc4
view Discovery/Src/motion.c @ 365:c18aebb03fed MotionDetection
Bugfix: selection of current view not working
author | ideenmodellierer |
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date | Mon, 17 Jun 2019 19:53:01 +0200 |
parents | bdf978d2a5d4 |
children | 77cdfbdaca8c |
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/* * motion.c * * Created on: 20.05.2019 * Author: Thorsten Sonntag */ #include <stdint.h> #include <string.h> #include <math.h> #include "motion.h" #define STABLE_STATE_COUNT 2 /* number of count to declare a state as stable (at the moment based on 100ms) */ #define STABLE_STATE_TIMEOUT 5 /* Detection shall be aborted if a movement state is stable for more than 500ms */ #define MOVE_DELTA_SPEED 4 /* Delta speed needed to identify a valid movement */ #define SHAKE_DELTA_COUNT 10 /* Delta count needed to identify a valid minima / maxima */ #define SHAKE_DELTA_END 10 /* Delta allowed between start and end position */ static detectionState_t detectionState = DETECT_NOTHING; /* Detect if user is generating an pitch including return to starting position (shake) */ /* This is done by feeding the past movements value per value into a state machine */ detectionState_t detectShake(float currentPitch) { static uint8_t stableCnt = 0; static float lastPitch = 0.0; static float startPitch = 0.0; static float minmax = 0.0; float curSpeed; if((detectionState == DETECT_NEG_SHAKE) || (detectionState == DETECT_POS_SHAKE)) /* discard last detection */ { detectionState = DETECT_NOTHING; } curSpeed = currentPitch - lastPitch; /* feed value into state machine */ switch (detectionState) { case DETECT_NOTHING: if(fabsf(curSpeed) < MOVE_DELTA_SPEED) /* detect a stable condition before evaluating for the next move */ { stableCnt++; } if(stableCnt > STABLE_STATE_COUNT) { detectionState = DETECT_START; stableCnt = 0; } break; case DETECT_START: if(fabsf(curSpeed) > MOVE_DELTA_SPEED) { if(curSpeed > 0) { detectionState = DETECT_POS_MOVE; } else { detectionState = DETECT_NEG_MOVE; } stableCnt = 0; startPitch = lastPitch; } break; case DETECT_NEG_MOVE: case DETECT_POS_MOVE: if(fabsf(curSpeed) > MOVE_DELTA_SPEED ) { stableCnt++; } else { if(stableCnt >= STABLE_STATE_COUNT) /* debounce movement */ { if(fabsf(startPitch - currentPitch) > SHAKE_DELTA_COUNT) { detectionState++; minmax = lastPitch; } else { detectionState = DETECT_NOTHING; } } else { detectionState = DETECT_NOTHING; } stableCnt = 0; } break; case DETECT_MINIMA: case DETECT_MAXIMA: if(fabsf(currentPitch - minmax ) < SHAKE_DELTA_COUNT) /* stay at maximum for short time to add a pattern for user interaction */ { stableCnt++; } else { if(stableCnt > 0) { detectionState++; } else { detectionState = DETECT_NOTHING; } stableCnt = 0; } break; case DETECT_RISEBACK: case DETECT_FALLBACK: if(fabsf(curSpeed) < MOVE_DELTA_SPEED) { if(fabsf(startPitch - currentPitch) < SHAKE_DELTA_END) { detectionState++; } } stableCnt++; break; default: detectionState = DETECT_NOTHING; break; } if(stableCnt > STABLE_STATE_TIMEOUT) { detectionState = DETECT_NOTHING; stableCnt = 0; } lastPitch = currentPitch; return detectionState; }