scott/InfiniTime
1
0
Fork 0
Code Issues Pull requests Actions Packages Projects Releases 1 Wiki Activity

shakewake: Switch to more generic timekeeping

Browse source 
Could be used for other motion-based algorithms in the future.
This commit is contained in:
Finlay Davidson 2023-03-05 15:19:52 +01:00 committed by Riku Isokoski
parent a43463762c
commit 76e79df375
2 changed files with 10 additions and 7 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

8
src/components/motion/MotionController.cpp
View file

@ -1,6 +1,5 @@
#include "components/motion/MotionController.h" #include "components/motion/MotionController.h"
#include <FreeRTOS.h>
#include <task.h> #include <task.h>
using namespace Pinetime::Controllers; using namespace Pinetime::Controllers;
@ -14,6 +13,9 @@ void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps)
service->OnNewMotionValues(x, y, z); service->OnNewMotionValues(x, y, z);
} }
lastTime = time;
time = xTaskGetTickCount();
this->x = x; this->x = x;
lastY = this->y; lastY = this->y;
this->y = y; this->y = y;
@ -50,10 +52,8 @@ bool MotionController::Should_RaiseWake(bool isSleeping) {
} }
bool MotionController::ShouldShakeWake(uint16_t thresh) { bool MotionController::ShouldShakeWake(uint16_t thresh) {
auto diff = xTaskGetTickCount() - lastShakeTime;
lastShakeTime = xTaskGetTickCount();
/* Currently Polling at 10hz, If this ever goes faster scalar and EMA might need adjusting */ /* 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; int32_t speed = std::abs(z + (y / 2) + (x / 4) - lastY / 2 - lastZ) / (time - lastTime) * 100;
//(.2 * speed) + ((1 - .2) * accumulatedSpeed); //(.2 * speed) + ((1 - .2) * accumulatedSpeed);
// implemented without floats as .25Alpha // implemented without floats as .25Alpha
accumulatedSpeed = (speed / 5) + ((accumulatedSpeed / 5) * 4); accumulatedSpeed = (speed / 5) + ((accumulatedSpeed / 5) * 4);

9
src/components/motion/MotionController.h
View file

@ -2,6 +2,8 @@
#include <cstdint> #include <cstdint>
#include <FreeRTOS.h>
#include "drivers/Bma421.h" #include "drivers/Bma421.h"
#include "components/ble/MotionService.h" #include "components/ble/MotionService.h"
@ -65,19 +67,20 @@ namespace Pinetime {
uint32_t nbSteps; uint32_t nbSteps;
uint32_t currentTripSteps = 0; uint32_t currentTripSteps = 0;
TickType_t lastTime = 0;
TickType_t time = 0;
int16_t x; int16_t x;
int16_t lastYForWakeUp = 0; int16_t lastYForWakeUp = 0;
int16_t lastY = 0; int16_t lastY = 0;
int16_t y; int16_t y;
int16_t lastZ = 0; int16_t lastZ = 0;
int16_t z; int16_t z;
int32_t accumulatedSpeed = 0;
bool isSensorOk = false; bool isSensorOk = false;
DeviceTypes deviceType = DeviceTypes::Unknown; DeviceTypes deviceType = DeviceTypes::Unknown;
Pinetime::Controllers::MotionService* service = nullptr; Pinetime::Controllers::MotionService* service = nullptr;
int32_t accumulatedSpeed = 0;
uint32_t lastShakeTime = 0;
}; };
} }
} }