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raisewake: Fix for new raise to wake impl

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This commit is contained in:
Finlay Davidson 2023-08-20 18:29:41 +02:00
parent 6256ec8284
commit 3910552a7b
4 changed files with 109 additions and 45 deletions
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2
CMakeLists.txt
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@ -211,6 +211,8 @@ target_sources(infinisim PUBLIC
${InfiniTime_DIR}/src/systemtask/SystemTask.cpp
${InfiniTime_DIR}/src/systemtask/SystemMonitor.h
${InfiniTime_DIR}/src/systemtask/SystemMonitor.cpp
${InfiniTime_DIR}/src/utility/Math.h
${InfiniTime_DIR}/src/utility/Math.cpp
)
target_sources(infinisim PUBLIC

2
InfiniTime

@ -1 +1 @@
Subproject commit 6d0d8c7d6373062cd084c170d2e50e1535c9e95d
Subproject commit 2b1eae7f597ea6c210b4c15a73ab5ba116fc5d2a

103
sim/components/motion/MotionController.cpp
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@ -2,25 +2,59 @@
//#include <task.h>
#include "utility/Math.h"
using namespace Pinetime::Controllers;
namespace {
constexpr inline int32_t Clamp(int32_t val, int32_t min, int32_t max) {
return val < min ? min : (val > max ? max : val);
}
// only returns meaningful values if inputs are acceleration due to gravity
int16_t DegreesRolled(int16_t y, int16_t z, int16_t prevY, int16_t prevZ) {
int16_t prevYAngle = Pinetime::Utility::Asin(Clamp(prevY * 32, -32767, 32767));
int16_t yAngle = Pinetime::Utility::Asin(Clamp(y * 32, -32767, 32767));
if (z < 0 && prevZ < 0) {
return yAngle - prevYAngle;
}
if (prevZ < 0) {
if (y < 0) {
return -prevYAngle - yAngle - 180;
}
return -prevYAngle - yAngle + 180;
}
if (z < 0) {
if (y < 0) {
return prevYAngle + yAngle + 180;
}
return prevYAngle + yAngle - 180;
}
return prevYAngle - yAngle;
}
}
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)) {
// if (service != nullptr && (this->x != x || yHistory[0] != y || zHistory[0] != z)) {
// service->OnNewMotionValues(x, y, z);
// }
//
// lastTime = time;
// time = xTaskGetTickCount();
lastX = this->x;
this->x = x;
lastY = this->y;
this->y = y;
lastZ = this->z;
this->z = z;
yHistory++;
yHistory[0] = y;
zHistory++;
zHistory[0] = z;
stats = GetAccelStats();
int32_t deltaSteps = nbSteps - this->nbSteps;
if (deltaSteps > 0) {
@ -29,35 +63,56 @@ void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps)
this->nbSteps = nbSteps;
}
bool MotionController::ShouldRaiseWake(bool isSleeping) {
if ((x + 335) <= 670 && z < 0) {
if (!isSleeping) {
if (y <= 0) {
return false;
MotionController::AccelStats MotionController::GetAccelStats() const {
AccelStats stats;
for (uint8_t i = 0; i < AccelStats::numHistory; i++) {
stats.yMean += yHistory[histSize - i];
stats.zMean += zHistory[histSize - i];
stats.prevYMean += yHistory[1 + i];
stats.prevZMean += zHistory[1 + i];
}
lastYForRaiseWake = 0;
return false;
stats.yMean /= AccelStats::numHistory;
stats.zMean /= AccelStats::numHistory;
stats.prevYMean /= AccelStats::numHistory;
stats.prevZMean /= AccelStats::numHistory;
for (uint8_t i = 0; i < AccelStats::numHistory; i++) {
stats.yVariance += (yHistory[histSize - i] - stats.yMean) * (yHistory[histSize - i] - stats.yMean);
stats.zVariance += (zHistory[histSize - i] - stats.zMean) * (zHistory[histSize - i] - stats.zMean);
}
stats.yVariance /= AccelStats::numHistory;
stats.zVariance /= AccelStats::numHistory;
return stats;
}
if (y >= 0) {
lastYForRaiseWake = 0;
return false;
}
if (y + 230 < lastYForRaiseWake) {
lastYForRaiseWake = y;
return true;
}
}
bool MotionController::ShouldRaiseWake() const {
return false;
// constexpr uint32_t varianceThresh = 56 * 56;
// constexpr int16_t xThresh = 384;
// constexpr int16_t yThresh = -64;
// constexpr int16_t rollDegreesThresh = -45;
//
// if (x < -xThresh || x > xThresh) {
// return false;
// }
//
// // if the variance is below the threshold, the accelerometer values can be considered to be from acceleration due to gravity
// if (stats.yVariance > varianceThresh || (stats.yMean < -724 && stats.zVariance > varianceThresh) || stats.yMean > yThresh) {
// return false;
// }
//
// return DegreesRolled(stats.yMean, stats.zMean, stats.prevYMean, stats.prevZMean) < rollDegreesThresh;
}
bool MotionController::ShouldShakeWake(uint16_t thresh) {
return false;
// /* 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) / (time - lastTime) * 100;
// int32_t speed =
// std::abs(zHistory[0] - zHistory[histSize - 1] + (yHistory[0] - yHistory[histSize - 1]) / 2 + (x - lastX) / 4) * 100 / (time - lastTime);
// // (.2 * speed) + ((1 - .2) * accumulatedSpeed);
// // implemented without floats as .25Alpha
// accumulatedSpeed = (speed / 5) + ((accumulatedSpeed / 5) * 4);
// accumulatedSpeed = speed / 5 + accumulatedSpeed * 4 / 5;
//
// return accumulatedSpeed > thresh;
}

41
sim/components/motion/MotionController.h
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@ -6,6 +6,7 @@
#include "drivers/Bma421.h"
//#include "components/ble/MotionService.h"
#include "utility/CircularBuffer.h"
namespace Pinetime {
namespace Controllers {
@ -24,11 +25,11 @@ namespace Pinetime {
}
int16_t Y() const {
return y;
return yHistory[0];
}
int16_t Z() const {
return z;
return zHistory[0];
}
uint32_t NbSteps() const {
@ -44,20 +45,12 @@ namespace Pinetime {
}
bool ShouldShakeWake(uint16_t thresh);
bool ShouldRaiseWake(bool isSleeping);
bool ShouldRaiseWake() const;
int32_t CurrentShakeSpeed() const {
return accumulatedSpeed;
}
void IsSensorOk(bool isOk) {
isSensorOk = isOk;
}
bool IsSensorOk() const {
return isSensorOk;
}
DeviceTypes DeviceType() const {
return deviceType;
}
@ -75,15 +68,29 @@ namespace Pinetime {
// TickType_t lastTime = 0;
// TickType_t time = 0;
struct AccelStats {
static constexpr uint8_t numHistory = 2;
int16_t yMean = 0;
int16_t zMean = 0;
int16_t prevYMean = 0;
int16_t prevZMean = 0;
uint32_t yVariance = 0;
uint32_t zVariance = 0;
};
AccelStats GetAccelStats() const;
AccelStats stats = {};
int16_t lastX = 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;
static constexpr uint8_t histSize = 8;
Utility::CircularBuffer<int16_t, histSize> yHistory = {};
Utility::CircularBuffer<int16_t, histSize> zHistory = {};
int32_t accumulatedSpeed = 0;
bool isSensorOk = false;
DeviceTypes deviceType = DeviceTypes::Unknown;
// Pinetime::Controllers::MotionService* service = nullptr;
};