shakewake: Switch to more generic last* vars
These could be used for other motion-based algorithms in the future. Also fix includes.
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@ -1,5 +1,8 @@
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#include "components/motion/MotionController.h"
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#include "os/os_cputime.h"
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#include <FreeRTOS.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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@ -12,8 +15,11 @@ void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps)
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}
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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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this->nbSteps = nbSteps;
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if (deltaSteps > 0) {
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@ -48,7 +54,7 @@ bool MotionController::ShouldShakeWake(uint16_t thresh) {
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auto diff = xTaskGetTickCount() - lastShakeTime;
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lastShakeTime = xTaskGetTickCount();
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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 + (y / 2) + (x / 4) - lastYForShake - lastZForShake) / diff * 100;
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int32_t speed = std::abs(z + (y / 2) + (x / 4) - lastY / 2 - lastZ) / diff * 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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@ -56,9 +62,6 @@ bool MotionController::ShouldShakeWake(uint16_t thresh) {
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if (accumulatedSpeed > thresh) {
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wake = true;
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}
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lastXForShake = x / 4;
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lastYForShake = y / 2;
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lastZForShake = z;
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return wake;
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}
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@ -1,8 +1,9 @@
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#pragma once
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#include <cstdint>
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#include <drivers/Bma421.h>
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#include <components/ble/MotionService.h>
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#include "drivers/Bma421.h"
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#include "components/ble/MotionService.h"
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namespace Pinetime {
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namespace Controllers {
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@ -63,17 +64,18 @@ namespace Pinetime {
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private:
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uint32_t nbSteps;
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uint32_t currentTripSteps = 0;
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int16_t x;
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int16_t y;
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int16_t z;
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int16_t lastYForWakeUp = 0;
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int16_t lastY = 0;
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int16_t y;
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int16_t lastZ = 0;
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int16_t z;
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bool isSensorOk = false;
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DeviceTypes deviceType = DeviceTypes::Unknown;
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Pinetime::Controllers::MotionService* service = nullptr;
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int16_t lastXForShake = 0;
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int16_t lastYForShake = 0;
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int16_t lastZForShake = 0;
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int32_t accumulatedSpeed = 0;
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uint32_t lastShakeTime = 0;
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};
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