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#include "components/motion/MotionController.h"
#include <FreeRTOS.h>
#include <task.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;
lastY = this->y;
this->y = y;
lastZ = this->z;
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;
}
lastYForWakeUp = 0;
return false;
}
if (y >= 0) {
lastYForWakeUp = 0;
return false;
}
if (y + 230 < lastYForWakeUp) {
lastYForWakeUp = y;
return true;
}
}
return false;
}
bool MotionController::ShouldShakeWake(uint16_t thresh) {
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) - lastY / 2 - lastZ) / diff * 100;
//(.2 * speed) + ((1 - .2) * accumulatedSpeed);
// implemented without floats as .25Alpha
accumulatedSpeed = (speed / 5) + ((accumulatedSpeed / 5) * 4);
return accumulatedSpeed > thresh;
}
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;
}
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