89 lines
2.2 KiB
C++
89 lines
2.2 KiB
C++
#include "components/motion/MotionController.h"
|
|
|
|
#include <FreeRTOS.h>
|
|
#include <task.h>
|
|
|
|
using namespace Pinetime::Controllers;
|
|
|
|
void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps) {
|
|
if (this->nbSteps != nbSteps && service != nullptr) {
|
|
service->OnNewStepCountValue(nbSteps);
|
|
}
|
|
|
|
if (service != nullptr && (this->x != x || this->y != y || this->z != z)) {
|
|
service->OnNewMotionValues(x, y, z);
|
|
}
|
|
|
|
this->x = x;
|
|
lastY = this->y;
|
|
this->y = y;
|
|
lastZ = this->z;
|
|
this->z = z;
|
|
|
|
int32_t deltaSteps = nbSteps - this->nbSteps;
|
|
this->nbSteps = nbSteps;
|
|
if (deltaSteps > 0) {
|
|
currentTripSteps += deltaSteps;
|
|
}
|
|
}
|
|
|
|
bool MotionController::Should_RaiseWake(bool isSleeping) {
|
|
if ((x + 335) <= 670 && z < 0) {
|
|
if (not isSleeping) {
|
|
if (y <= 0) {
|
|
return false;
|
|
}
|
|
lastYForWakeUp = 0;
|
|
return false;
|
|
}
|
|
|
|
if (y >= 0) {
|
|
lastYForWakeUp = 0;
|
|
return false;
|
|
}
|
|
if (y + 230 < lastYForWakeUp) {
|
|
lastYForWakeUp = y;
|
|
return true;
|
|
}
|
|
}
|
|
return false;
|
|
}
|
|
|
|
bool MotionController::ShouldShakeWake(uint16_t thresh) {
|
|
bool wake = false;
|
|
auto diff = xTaskGetTickCount() - lastShakeTime;
|
|
lastShakeTime = xTaskGetTickCount();
|
|
/* Currently Polling at 10hz, If this ever goes faster scalar and EMA might need adjusting */
|
|
int32_t speed = std::abs(z + (y / 2) + (x / 4) - lastY / 2 - lastZ) / diff * 100;
|
|
//(.2 * speed) + ((1 - .2) * accumulatedSpeed);
|
|
// implemented without floats as .25Alpha
|
|
accumulatedSpeed = (speed / 5) + ((accumulatedSpeed / 5) * 4);
|
|
|
|
if (accumulatedSpeed > thresh) {
|
|
wake = true;
|
|
}
|
|
return wake;
|
|
}
|
|
|
|
void MotionController::IsSensorOk(bool isOk) {
|
|
isSensorOk = isOk;
|
|
}
|
|
|
|
void MotionController::Init(Pinetime::Drivers::Bma421::DeviceTypes types) {
|
|
switch (types) {
|
|
case Drivers::Bma421::DeviceTypes::BMA421:
|
|
this->deviceType = DeviceTypes::BMA421;
|
|
break;
|
|
case Drivers::Bma421::DeviceTypes::BMA425:
|
|
this->deviceType = DeviceTypes::BMA425;
|
|
break;
|
|
default:
|
|
this->deviceType = DeviceTypes::Unknown;
|
|
break;
|
|
}
|
|
}
|
|
|
|
void MotionController::SetService(Pinetime::Controllers::MotionService* service) {
|
|
this->service = service;
|
|
}
|