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Merge pull request #93 from FintasticMan/fix_cleaned_up_motioncontroller

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motioncontroller: Fix changes in InfiniTime#1659
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NeroBurner 2023-03-12 22:14:28 +01:00 committed by GitHub
commit 65f3d3fdb9
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3 changed files with 61 additions and 53 deletions
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2
InfiniTime

@ -1 +1 @@
Subproject commit 9bbd2ddbc4e44742913e35e25b21b80d80efe36b
Subproject commit e55a76f740561378479eda5ff8c32e09db9f1693

55
sim/components/motion/MotionController.cpp
View file

@ -1,5 +1,7 @@
#include "components/motion/MotionController.h"
//#include "os/os_cputime.h"
//#include <task.h>
using namespace Pinetime::Controllers;
void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps) {
@ -10,66 +12,56 @@ void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps)
// if (service != nullptr && (this->x != x || this->y != y || this->z != z)) {
// service->OnNewMotionValues(x, y, z);
// }
//
// lastTime = time;
// time = xTaskGetTickCount();
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;
}
this->nbSteps = nbSteps;
}
bool MotionController::Should_RaiseWake(bool isSleeping) {
bool MotionController::ShouldRaiseWake(bool isSleeping) {
if ((x + 335) <= 670 && z < 0) {
if (not isSleeping) {
if (!isSleeping) {
if (y <= 0) {
return false;
} else {
lastYForWakeUp = 0;
return false;
}
lastYForRaiseWake = 0;
return false;
}
if (y >= 0) {
lastYForWakeUp = 0;
lastYForRaiseWake = 0;
return false;
}
if (y + 230 < lastYForWakeUp) {
lastYForWakeUp = y;
if (y + 230 < lastYForRaiseWake) {
lastYForRaiseWake = y;
return true;
}
}
return false;
}
bool MotionController::Should_ShakeWake(uint16_t thresh) {
bool MotionController::ShouldShakeWake(uint16_t thresh) {
return false;
// 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);
// int32_t speed = std::abs(z + (y / 2) + (x / 4) - lastY / 2 - lastZ) / (time - lastTime) * 100;
// //(.2 * speed) + ((1 - .2) * accumulatedSpeed);
// // implemented without floats as .25Alpha
// accumulatedspeed = (speed / 5) + ((accumulatedspeed / 5) * 4);
// 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;
// return accumulatedSpeed > thresh;
}
void MotionController::IsSensorOk(bool isOk) {
isSensorOk = isOk;
}
void MotionController::Init(Pinetime::Drivers::Bma421::DeviceTypes types) {
switch (types) {
case Drivers::Bma421::DeviceTypes::BMA421:
@ -83,6 +75,3 @@ void MotionController::Init(Pinetime::Drivers::Bma421::DeviceTypes types) {
break;
}
}
//void MotionController::SetService(Pinetime::Controllers::MotionService* service) {
// this->service = service;
//}

55
sim/components/motion/MotionController.h
View file

@ -1,8 +1,11 @@
#pragma once
#include <cstdint>
#include <drivers/Bma421.h>
//#include <components/ble/MotionService.h>
//#include <FreeRTOS.h>
#include "drivers/Bma421.h"
//#include "components/ble/MotionService.h"
namespace Pinetime {
namespace Controllers {
@ -19,12 +22,15 @@ namespace Pinetime {
int16_t X() const {
return x;
}
int16_t Y() const {
return y;
}
int16_t Z() const {
return z;
}
uint32_t NbSteps() const {
return nbSteps;
}
@ -32,14 +38,22 @@ namespace Pinetime {
void ResetTrip() {
currentTripSteps = 0;
}
uint32_t GetTripSteps() const {
return currentTripSteps;
}
bool Should_ShakeWake(uint16_t thresh);
bool Should_RaiseWake(bool isSleeping);
int32_t currentShakeSpeed();
void IsSensorOk(bool isOk);
bool ShouldShakeWake(uint16_t thresh);
bool ShouldRaiseWake(bool isSleeping);
int32_t CurrentShakeSpeed() const {
return accumulatedSpeed;
}
void IsSensorOk(bool isOk) {
isSensorOk = isOk;
}
bool IsSensorOk() const {
return isSensorOk;
}
@ -49,24 +63,29 @@ namespace Pinetime {
}
void Init(Pinetime::Drivers::Bma421::DeviceTypes types);
// void SetService(Pinetime::Controllers::MotionService* service);
// void SetService(Pinetime::Controllers::MotionService* service) {
// this->service = service;
// }
private:
uint32_t nbSteps;
uint32_t nbSteps = 0;
uint32_t currentTripSteps = 0;
int16_t x;
int16_t y;
int16_t z;
int16_t lastYForWakeUp = 0;
// TickType_t lastTime = 0;
// TickType_t time = 0;
int16_t x = 0;
int16_t lastYForRaiseWake = 0;
int16_t lastY = 0;
int16_t y = 0;
int16_t lastZ = 0;
int16_t z = 0;
int32_t accumulatedSpeed = 0;
bool isSensorOk = false;
DeviceTypes deviceType = DeviceTypes::Unknown;
// Pinetime::Controllers::MotionService* service = nullptr;
int16_t lastXForShake = 0;
int16_t lastYForShake = 0;
int16_t lastZForShake = 0;
int32_t accumulatedspeed = 0;
uint32_t lastShakeTime = 0;
};
}
}