89 lines
2.4 KiB
C++
89 lines
2.4 KiB
C++
|
#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) {
|
||
|
|
// if (this->nbSteps != nbSteps && service != nullptr) {
|
||
|
|
// service->OnNewStepCountValue(nbSteps);
|
||
|
|
// }
|
||
|
|
//
|
||
|
|
// if (service != nullptr && (this->x != x || this->y != y || this->z != z)) {
|
||
|
|
// service->OnNewMotionValues(x, y, z);
|
||
|
|
// }
|
||
|
|
|
||
|
|
this->x = x;
|
||
|
|
this->y = y;
|
||
|
|
this->z = z;
|
||
|
|
int32_t deltaSteps = nbSteps - this->nbSteps;
|
||
|
|
this->nbSteps = nbSteps;
|
||
|
|
if (deltaSteps > 0) {
|
||
|
|
currentTripSteps += deltaSteps;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
bool MotionController::Should_RaiseWake(bool isSleeping) {
|
||
|
|
if ((x + 335) <= 670 && z < 0) {
|
||
|
|
if (not isSleeping) {
|
||
|
|
if (y <= 0) {
|
||
|
|
return false;
|
||
|
|
} else {
|
||
|
|
lastYForWakeUp = 0;
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
if (y >= 0) {
|
||
|
|
lastYForWakeUp = 0;
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
if (y + 230 < lastYForWakeUp) {
|
||
|
|
lastYForWakeUp = y;
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool MotionController::Should_ShakeWake(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);
|
||
|
|
// // 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;
|
||
|
|
}
|
||
|
|
void MotionController::Init(Pinetime::Drivers::Bma421::DeviceTypes types) {
|
||
|
|
switch (types) {
|
||
|
|
case Drivers::Bma421::DeviceTypes::BMA421:
|
||
|
|
this->deviceType = DeviceTypes::BMA421;
|
||
|
|
break;
|
||
|
|
case Drivers::Bma421::DeviceTypes::BMA425:
|
||
|
|
this->deviceType = DeviceTypes::BMA425;
|
||
|
|
break;
|
||
|
|
default:
|
||
|
|
this->deviceType = DeviceTypes::Unknown;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
//void MotionController::SetService(Pinetime::Controllers::MotionService* service) {
|
||
|
|
// this->service = service;
|
||
|
|
//}
|