100 lines
2.1 KiB
C++
100 lines
2.1 KiB
C++
#pragma once
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#include <cstdint>
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//#include <FreeRTOS.h>
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#include "drivers/Bma421.h"
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//#include "components/ble/MotionService.h"
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#include "utility/CircularBuffer.h"
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namespace Pinetime {
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namespace Controllers {
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class MotionController {
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public:
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enum class DeviceTypes {
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Unknown,
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BMA421,
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BMA425,
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};
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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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return x;
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}
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int16_t Y() const {
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return yHistory[0];
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}
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int16_t Z() const {
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return zHistory[0];
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}
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uint32_t NbSteps() const {
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return nbSteps;
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}
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void ResetTrip() {
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currentTripSteps = 0;
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}
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uint32_t GetTripSteps() const {
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return currentTripSteps;
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}
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bool ShouldShakeWake(uint16_t thresh);
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bool ShouldRaiseWake() const;
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bool ShouldLowerSleep() const;
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int32_t CurrentShakeSpeed() const {
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return accumulatedSpeed;
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}
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DeviceTypes DeviceType() const {
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return deviceType;
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}
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void Init(Pinetime::Drivers::Bma421::DeviceTypes types);
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// void SetService(Pinetime::Controllers::MotionService* service) {
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// this->service = service;
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// }
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private:
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uint32_t nbSteps = 0;
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uint32_t currentTripSteps = 0;
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// TickType_t lastTime = 0;
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// TickType_t time = 0;
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struct AccelStats {
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static constexpr uint8_t numHistory = 2;
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int16_t yMean = 0;
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int16_t zMean = 0;
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int16_t prevYMean = 0;
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int16_t prevZMean = 0;
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uint32_t yVariance = 0;
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uint32_t zVariance = 0;
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};
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AccelStats GetAccelStats() const;
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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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Utility::CircularBuffer<int16_t, histSize> yHistory = {};
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Utility::CircularBuffer<int16_t, histSize> zHistory = {};
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int32_t accumulatedSpeed = 0;
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DeviceTypes deviceType = DeviceTypes::Unknown;
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// Pinetime::Controllers::MotionService* service = nullptr;
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};
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}
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}
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