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#include "components/motion/MotionController.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 || yHistory[0] != y || zHistory[0] != z)) {
service->OnNewMotionValues(x, y, z);
}
lastTime = time;
time = xTaskGetTickCount();
lastX = this->x;
this->x = x;
yHistory++;
yHistory[0] = y;
zHistory++;
zHistory[0] = z;
int32_t deltaSteps = nbSteps - this->nbSteps;
if (deltaSteps > 0) {
currentTripSteps += deltaSteps;
}
this->nbSteps = nbSteps;
}
bool MotionController::ShouldRaiseWake(bool isSleeping) {
if ((x + 335) <= 670 && zHistory[0] < 0) {
if (!isSleeping) {
if (yHistory[0] <= 0) {
return false;
}
lastYForRaiseWake = 0;
return false;
}
if (yHistory[0] >= 0) {
lastYForRaiseWake = 0;
return false;
}
if (yHistory[0] + 230 < lastYForRaiseWake) {
lastYForRaiseWake = yHistory[0];
return true;
}
}
return false;
}
bool MotionController::ShouldShakeWake(uint16_t thresh) {
/* Currently Polling at 10hz, If this ever goes faster scalar and EMA might need adjusting */
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);
accumulatedSpeed = speed / 5 + accumulatedSpeed * 4 / 5;
return accumulatedSpeed > thresh;
}
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;
}
}
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