9e128c838e
* ShakeWake: Fixed instant wake after sleep issue in certain positions Add lastX var to track the previous x acceleration for correct calculation of speed. Reorder axes for clarity. --------- Co-authored-by: Isaac <114504394+isaacc27@users.noreply.github.com> Co-authored-by: FintasticMan <52415484+FintasticMan@users.noreply.github.com>
78 lines
1.9 KiB
C++
78 lines
1.9 KiB
C++
#include "components/motion/MotionController.h"
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#include <task.h>
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using namespace Pinetime::Controllers;
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void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps) {
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if (this->nbSteps != nbSteps && service != nullptr) {
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service->OnNewStepCountValue(nbSteps);
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}
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if (service != nullptr && (this->x != x || this->y != y || this->z != z)) {
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service->OnNewMotionValues(x, y, z);
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}
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lastTime = time;
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time = xTaskGetTickCount();
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lastX = this->x;
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this->x = x;
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lastY = this->y;
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this->y = y;
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lastZ = this->z;
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this->z = z;
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int32_t deltaSteps = nbSteps - this->nbSteps;
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if (deltaSteps > 0) {
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currentTripSteps += deltaSteps;
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}
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this->nbSteps = nbSteps;
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}
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bool MotionController::ShouldRaiseWake(bool isSleeping) {
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if ((x + 335) <= 670 && z < 0) {
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if (!isSleeping) {
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if (y <= 0) {
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return false;
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}
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lastYForRaiseWake = 0;
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return false;
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}
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if (y >= 0) {
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lastYForRaiseWake = 0;
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return false;
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}
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if (y + 230 < lastYForRaiseWake) {
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lastYForRaiseWake = y;
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return true;
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}
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}
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return false;
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}
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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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int32_t speed = std::abs(z - lastZ + (y / 2) - (lastY / 2) + (x / 4) - (lastX / 4)) / (time - lastTime) * 100;
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//(.2 * speed) + ((1 - .2) * accumulatedSpeed);
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// implemented without floats as .25Alpha
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accumulatedSpeed = (speed / 5) + ((accumulatedSpeed / 5) * 4);
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return accumulatedSpeed > thresh;
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}
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void MotionController::Init(Pinetime::Drivers::Bma421::DeviceTypes types) {
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switch (types) {
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case Drivers::Bma421::DeviceTypes::BMA421:
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this->deviceType = DeviceTypes::BMA421;
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break;
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case Drivers::Bma421::DeviceTypes::BMA425:
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this->deviceType = DeviceTypes::BMA425;
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break;
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default:
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this->deviceType = DeviceTypes::Unknown;
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break;
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}
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}
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