lowersleep: Improve algorithm by checking wrist angle
Inspired by https://github.com/InfiniTimeOrg/InfiniTime/pull/827#issuecomment-1881580414.
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2 changed files with 23 additions and 9 deletions
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@ -40,15 +40,15 @@ void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps)
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service->OnNewStepCountValue(nbSteps);
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service->OnNewStepCountValue(nbSteps);
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}
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}
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if (service != nullptr && (this->x != x || yHistory[0] != y || zHistory[0] != z)) {
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if (service != nullptr && (xHistory[0] != x || yHistory[0] != y || zHistory[0] != z)) {
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service->OnNewMotionValues(x, y, z);
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service->OnNewMotionValues(x, y, z);
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}
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}
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lastTime = time;
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lastTime = time;
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time = xTaskGetTickCount();
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time = xTaskGetTickCount();
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lastX = this->x;
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xHistory++;
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this->x = x;
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xHistory[0] = x;
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yHistory++;
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yHistory++;
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yHistory[0] = y;
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yHistory[0] = y;
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zHistory++;
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zHistory++;
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@ -67,20 +67,26 @@ MotionController::AccelStats MotionController::GetAccelStats() const {
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AccelStats stats;
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AccelStats stats;
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for (uint8_t i = 0; i < AccelStats::numHistory; i++) {
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for (uint8_t i = 0; i < AccelStats::numHistory; i++) {
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stats.xMean += xHistory[histSize - i];
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stats.yMean += yHistory[histSize - i];
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stats.yMean += yHistory[histSize - i];
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stats.zMean += zHistory[histSize - i];
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stats.zMean += zHistory[histSize - i];
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stats.prevXMean += xHistory[1 + i];
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stats.prevYMean += yHistory[1 + i];
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stats.prevYMean += yHistory[1 + i];
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stats.prevZMean += zHistory[1 + i];
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stats.prevZMean += zHistory[1 + i];
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}
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}
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stats.xMean /= AccelStats::numHistory;
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stats.yMean /= AccelStats::numHistory;
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stats.yMean /= AccelStats::numHistory;
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stats.zMean /= AccelStats::numHistory;
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stats.zMean /= AccelStats::numHistory;
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stats.prevXMean /= AccelStats::numHistory;
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stats.prevYMean /= AccelStats::numHistory;
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stats.prevYMean /= AccelStats::numHistory;
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stats.prevZMean /= AccelStats::numHistory;
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stats.prevZMean /= AccelStats::numHistory;
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for (uint8_t i = 0; i < AccelStats::numHistory; i++) {
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for (uint8_t i = 0; i < AccelStats::numHistory; i++) {
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stats.xVariance += (xHistory[histSize - i] - stats.xMean) * (xHistory[histSize - i] - stats.xMean);
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stats.yVariance += (yHistory[histSize - i] - stats.yMean) * (yHistory[histSize - i] - stats.yMean);
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stats.yVariance += (yHistory[histSize - i] - stats.yMean) * (yHistory[histSize - i] - stats.yMean);
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stats.zVariance += (zHistory[histSize - i] - stats.zMean) * (zHistory[histSize - i] - stats.zMean);
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stats.zVariance += (zHistory[histSize - i] - stats.zMean) * (zHistory[histSize - i] - stats.zMean);
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}
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}
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stats.xVariance /= AccelStats::numHistory;
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stats.yVariance /= AccelStats::numHistory;
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stats.yVariance /= AccelStats::numHistory;
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stats.zVariance /= AccelStats::numHistory;
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stats.zVariance /= AccelStats::numHistory;
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@ -93,7 +99,7 @@ bool MotionController::ShouldRaiseWake() const {
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constexpr int16_t yThresh = -64;
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constexpr int16_t yThresh = -64;
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constexpr int16_t rollDegreesThresh = -45;
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constexpr int16_t rollDegreesThresh = -45;
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if (x < -xThresh || x > xThresh) {
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if (std::abs(stats.xMean) > xThresh) {
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return false;
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return false;
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}
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}
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@ -107,8 +113,9 @@ bool MotionController::ShouldRaiseWake() const {
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bool MotionController::ShouldShakeWake(uint16_t thresh) {
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bool MotionController::ShouldShakeWake(uint16_t thresh) {
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/* Currently Polling at 10hz, If this ever goes faster scalar and EMA might need adjusting */
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/* Currently Polling at 10hz, If this ever goes faster scalar and EMA might need adjusting */
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int32_t speed =
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int32_t speed = std::abs(zHistory[0] - zHistory[histSize - 1] + (yHistory[0] - yHistory[histSize - 1]) / 2 +
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std::abs(zHistory[0] - zHistory[histSize - 1] + (yHistory[0] - yHistory[histSize - 1]) / 2 + (x - lastX) / 4) * 100 / (time - lastTime);
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(xHistory[0] - xHistory[histSize - 1]) / 4) *
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100 / (time - lastTime);
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// (.2 * speed) + ((1 - .2) * accumulatedSpeed);
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// (.2 * speed) + ((1 - .2) * accumulatedSpeed);
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accumulatedSpeed = speed / 5 + accumulatedSpeed * 4 / 5;
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accumulatedSpeed = speed / 5 + accumulatedSpeed * 4 / 5;
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@ -116,6 +123,11 @@ bool MotionController::ShouldShakeWake(uint16_t thresh) {
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}
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}
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bool MotionController::ShouldLowerSleep() const {
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bool MotionController::ShouldLowerSleep() const {
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if ((stats.xMean > 887 && DegreesRolled(stats.xMean, stats.zMean, stats.prevXMean, stats.prevZMean) > 30) ||
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(stats.xMean < -887 && DegreesRolled(stats.xMean, stats.zMean, stats.prevXMean, stats.prevZMean) < -30)) {
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return true;
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}
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if (stats.yMean < 724 || DegreesRolled(stats.yMean, stats.zMean, stats.prevYMean, stats.prevZMean) < 30) {
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if (stats.yMean < 724 || DegreesRolled(stats.yMean, stats.zMean, stats.prevYMean, stats.prevZMean) < 30) {
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return false;
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return false;
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}
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}
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@ -21,7 +21,7 @@ namespace Pinetime {
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void Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps);
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void Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps);
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int16_t X() const {
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int16_t X() const {
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return x;
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return xHistory[0];
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}
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}
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int16_t Y() const {
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int16_t Y() const {
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@ -76,11 +76,14 @@ namespace Pinetime {
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struct AccelStats {
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struct AccelStats {
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static constexpr uint8_t numHistory = 2;
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static constexpr uint8_t numHistory = 2;
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int16_t xMean = 0;
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int16_t yMean = 0;
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int16_t yMean = 0;
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int16_t zMean = 0;
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int16_t zMean = 0;
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int16_t prevXMean = 0;
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int16_t prevYMean = 0;
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int16_t prevYMean = 0;
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int16_t prevZMean = 0;
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int16_t prevZMean = 0;
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uint32_t xVariance = 0;
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uint32_t yVariance = 0;
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uint32_t yVariance = 0;
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uint32_t zVariance = 0;
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uint32_t zVariance = 0;
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};
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};
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@ -89,9 +92,8 @@ namespace Pinetime {
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AccelStats stats = {};
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AccelStats stats = {};
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int16_t lastX = 0;
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int16_t x = 0;
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static constexpr uint8_t histSize = 8;
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static constexpr uint8_t histSize = 8;
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Utility::CircularBuffer<int16_t, histSize> xHistory = {};
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Utility::CircularBuffer<int16_t, histSize> yHistory = {};
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Utility::CircularBuffer<int16_t, histSize> yHistory = {};
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Utility::CircularBuffer<int16_t, histSize> zHistory = {};
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Utility::CircularBuffer<int16_t, histSize> zHistory = {};
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int32_t accumulatedSpeed = 0;
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int32_t accumulatedSpeed = 0;
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