diff options
author | Jean-François Milants <jf@codingfield.com> | 2022-01-04 21:48:20 +0100 |
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committer | Jean-François Milants <jf@codingfield.com> | 2022-01-04 21:48:20 +0100 |
commit | dc8be2244ceb46fb58d2706935dc05b2d0ecdf8c (patch) | |
tree | 8e955bb1b6c11c65afcc30eb39174ab20bfa0437 /src/components/motion/MotionController.cpp | |
parent | b8b54f47a2a09e32186bf7d8dddc658fae2c6e5f (diff) | |
parent | bef3e708f6b5a6f71797f72aab89d09520813046 (diff) |
Merge branch 'geekbozu-ShakeWake' into develop
Diffstat (limited to 'src/components/motion/MotionController.cpp')
-rw-r--r-- | src/components/motion/MotionController.cpp | 29 |
1 files changed, 26 insertions, 3 deletions
diff --git a/src/components/motion/MotionController.cpp b/src/components/motion/MotionController.cpp index 97a8feb2..7dd32127 100644 --- a/src/components/motion/MotionController.cpp +++ b/src/components/motion/MotionController.cpp @@ -1,5 +1,5 @@ #include "components/motion/MotionController.h" - +#include "os/os_cputime.h" using namespace Pinetime::Controllers; void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps) { @@ -7,7 +7,7 @@ void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps) service->OnNewStepCountValue(nbSteps); } - if(service != nullptr && (this->x != x || this->y != y || this->z != z)) { + if (service != nullptr && (this->x != x || this->y != y || this->z != z)) { service->OnNewMotionValues(x, y, z); } @@ -21,7 +21,7 @@ void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps) } } -bool MotionController::ShouldWakeUp(bool isSleeping) { +bool MotionController::Should_RaiseWake(bool isSleeping) { if ((x + 335) <= 670 && z < 0) { if (not isSleeping) { if (y <= 0) { @@ -43,6 +43,29 @@ bool MotionController::ShouldWakeUp(bool isSleeping) { } return false; } + +bool MotionController::Should_ShakeWake(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) - lastYForShake - lastZForShake) / diff * 100; + //(.2 * speed) + ((1 - .2) * accumulatedspeed); + // implemented without floats as .25Alpha + accumulatedspeed = (speed / 5) + ((accumulatedspeed / 5) * 4); + + if (accumulatedspeed > thresh) { + wake = true; + } + lastXForShake = x / 4; + lastYForShake = y / 2; + lastZForShake = z; + return wake; +} +int32_t MotionController::currentShakeSpeed() { + return accumulatedspeed; +} + void MotionController::IsSensorOk(bool isOk) { isSensorOk = isOk; } |