File content as of revision 0:da91c8ed4a98:

#include "motion_tracking.h"

void acquire_new_speed(float *cur_speed, float duration, float *instant_accel) {
    cur_speed[0] = cur_speed[0] + duration * instant_accel[0];
    cur_speed[1] = cur_speed[1] + duration * instant_accel[1];
    cur_speed[2] = cur_speed[2] + duration * instant_accel[2];
}

void acquire_sensor_data(float *accel_data, float *gyro_data, float *calib_data, 
                         int calibFlag, FXOS8700 *accel, FXAS21002 *gyro) {
    accel->acquire_accel_data_g(accel_data);
    gyro->acquire_gyro_data_dps(gyro_data);
    int precision = 1000;
    
    float temp_y = accel_data[1];
    accel_data[1] = accel_data[0];
    accel_data[0] = temp_y;
    
    if (calibFlag && (calib_data != NULL)) {
        int i;
        for (i = 0; i < 3; i++) {
            accel_data[i] -= calib_data[i];
            gyro_data[i] -= calib_data[i + 3];

            if (accel_data[i] < 0) {
                accel_data[i] = floor(-1*precision*accel_data[i])/(-1 * precision);
            } else {
                accel_data[i] = floor(precision*accel_data[i])/precision;
            }
            if (gyro_data[i] < 0) {
                gyro_data[i] = floor(-1*precision*gyro_data[i])/(-1*precision);
            } else {
                gyro_data[i] = floor(precision*gyro_data[i])/precision;
            }
        }
    }
}
    
void get_caliberate_data(float *caliberate, FXOS8700 *accel, FXAS21002 *gyro) {
    int i;
    int j;
    float accel_data[3];
    float gyro_data[3];
    
    double temp_calib[6] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
    
    for (i = 0; i < CALIBTIMES; i++) {
        acquire_sensor_data(accel_data, gyro_data, NULL, 0, accel, gyro);
        for (j = 0; j < 3; j++) {
            temp_calib[j]     += accel_data[j];
            temp_calib[j + 3] += gyro_data[j];
        }
        wait_ms(MAINWAIT);
    }
    
    for (i = 0; i < 6; i++) {
           temp_calib[i] /= (double)CALIBTIMES;
           caliberate[i] = (float)temp_calib[i];
    }
}

void load_buffer(float **all_data, float *accel_data, float time, int i) {
    if (i == MAXBUFFERSIZE) {
        printf("Buffer full!\n\r");
        exit(1);
    }
    
    all_data[0][i] = time;
    all_data[1][i] = accel_data[0];
    all_data[2][i] = accel_data[1];
    all_data[3][i] = accel_data[2];
}

void init_moving_avg_buf(float moving_avg_buf[][MOVINGAVRBUFSIZE], int *num_samples, 
                         float *last_total, float **all_data, float *caliberate, 
                         Timer *t, FXOS8700 *accel, FXAS21002 *gyro) {
    int i;
    float accel_data[3];
    float gyro_data[3];
    float time;
    float total_accelx = 0.0f;
    float total_accely = 0.0f;
    float total_accelz = 0.0f;
    
    for (i = 0; i < (int)MOVINGAVRBUFSIZE; i++) {
        acquire_sensor_data(accel_data, gyro_data, caliberate, 1, accel, gyro);
        time = t->read();
        moving_avg_buf[0][i] = accel_data[0];
        moving_avg_buf[1][i] = accel_data[1];
        moving_avg_buf[2][i] = accel_data[2];
        moving_avg_buf[3][i] = time;
        wait_ms(MAINWAIT);
    }

    for (i = 0; i < (int)MOVINGAVRBUFSIZE; i++) {
        total_accelx += moving_avg_buf[0][i];
        total_accely += moving_avg_buf[1][i];
        total_accelz += moving_avg_buf[2][i];
    }
    
    last_total[0] = total_accelx;
    last_total[1] = total_accely;
    last_total[2] = total_accelz;
    
    all_data[0][0] = moving_avg_buf[3][0];
    all_data[1][0] = total_accelx/(float) MOVINGAVRBUFSIZE;
    all_data[2][0] = total_accely/(float) MOVINGAVRBUFSIZE;
    all_data[3][0] = total_accelz/(float) MOVINGAVRBUFSIZE;

    (*num_samples)++;
}

void get_new_moving_average_point(float **all_data, float *last_total, 
                                float *accel_data, float moving_avg_buf[][MOVINGAVRBUFSIZE], 
                                float time, int *num_samples, int *start, 
                                int *end) {
    
    last_total[0] = last_total[0] - moving_avg_buf[0][*start] + accel_data[0];
    last_total[1] = last_total[1] - moving_avg_buf[1][*start] + accel_data[1];
    last_total[2] = last_total[2] - moving_avg_buf[2][*start] + accel_data[2];
    
    all_data[0][*num_samples] = moving_avg_buf[3][*start];
    
    float temp_x = last_total[0] / (float)MOVINGAVRBUFSIZE;
    float temp_y = last_total[1] / (float)MOVINGAVRBUFSIZE;
    float temp_z = last_total[2] / (float)MOVINGAVRBUFSIZE;
    
    if (abs(temp_x) > (float) XMECHANICAL) {
        all_data[1][*num_samples] = temp_x;
    } else {
        all_data[1][*num_samples] = 0.0f;
    }
    
    if (abs(temp_y) > (float) YMECHANICAL) {
        all_data[2][*num_samples] = temp_y;
    } else {
        all_data[2][*num_samples] = 0.0f;
    }
    
    if (abs(temp_z) > (float) ZMECHANICAL) {
        all_data[3][*num_samples] = temp_z;
    } else {
        all_data[3][*num_samples] = 0.0f;
    }
    
    *start = (*start + 1) % (int) MOVINGAVRBUFSIZE;
    *end = (*end + 1) % (int) MOVINGAVRBUFSIZE;
    
    moving_avg_buf[0][*end] = accel_data[0];
    moving_avg_buf[1][*end] = accel_data[1];
    moving_avg_buf[2][*end] = accel_data[2];
    moving_avg_buf[3][*end] = time;
    
    (*num_samples) += 1;
}

void apply_trend_protect(float **all_data, int num_samples, float *total_diff,
                        float *additional_to_vel, float duration) {
    
    if (num_samples > TRENDPROTECTBUFSIZE) {
        total_diff[0] -= all_data[2][num_samples-TRENDPROTECTBUFSIZE] - all_data[2][num_samples-TRENDPROTECTBUFSIZE - 1];
        total_diff[1] -= all_data[3][num_samples-TRENDPROTECTBUFSIZE] - all_data[3][num_samples-TRENDPROTECTBUFSIZE - 1];
        
        total_diff[0] += all_data[2][num_samples-1] - all_data[2][num_samples-2];
        total_diff[1] += all_data[3][num_samples-1] - all_data[3][num_samples-2];
        
        if (abs(total_diff[0]) <= (float)XTRENDPROTECTTHRESHOLD) {
            additional_to_vel[0] = -1000.0f;
        } else {
            float avg_accel = all_data[2][num_samples-1] - ((all_data[2][num_samples-1] - all_data[2][num_samples-2])/2.0f);
            additional_to_vel[0] = avg_accel * duration;
        }
        
        if (abs(total_diff[1]) <= (float)YTRENDPROTECTTHRESHOLD) {
            additional_to_vel[1] = -1000.0f;
        } else {
            float avg_accel = all_data[3][num_samples-1] - ((all_data[3][num_samples-1] - all_data[3][num_samples-2])/2.0f);
            additional_to_vel[1] = avg_accel * duration;
        }
        
    } else {
        if(num_samples == 1){
        } else {
            total_diff[0] += all_data[2][num_samples-1] - all_data[2][num_samples-2];
            total_diff[1] += all_data[3][num_samples-1] - all_data[3][num_samples-2];
        }
    }
}
        
    

void apply_move_end_check(float **all_data, int num_samples, 
                        int moving_end_buf[][MOVINGENDBUFSIZE],
                        int *num_unqualified, int *start, int *end,
                        float *addition_to_vel, float duration,
                        float *total_diff) {

    if (num_samples > MOVINGENDBUFSIZE) {
        num_unqualified[0] -= moving_end_buf[0][*start];
        num_unqualified[1] -= moving_end_buf[1][*start];
        *start = (*start + 1) % MOVINGENDBUFSIZE;
        *end = (*end + 1) % MOVINGENDBUFSIZE;
        
        if (abs(all_data[2][num_samples-1]) <= (float) YMOVENDTHRESHOLD ){
            num_unqualified[0] += 1;
            moving_end_buf[0][*end] = 1;
        } else {
            moving_end_buf[0][*end] = 0;
        }
        
        if (abs(all_data[3][num_samples-1]) <= (float) ZMOVENDTHRESHOLD ){
            num_unqualified[1] += 1;
            moving_end_buf[1][*end] = 1;
        } else {
            moving_end_buf[1][*end] = 0;
        }
        
        if (num_unqualified[0] >= (int)YMOVENDBIASNUM){
            addition_to_vel[0] = -1000.0f;
        }
        
        if (num_unqualified[1] >= (int)ZMOVENDBIASNUM){
            addition_to_vel[1] = -1000.0f;
        }
        
        apply_trend_protect(all_data, num_samples, total_diff, addition_to_vel,
                            duration);
        
        if (num_unqualified[0] < (int)YMOVENDBIASNUM){
            float avg_accel = all_data[2][num_samples-1] - ((all_data[2][num_samples-1] - all_data[2][num_samples-2])/2.0f);
            addition_to_vel[0] = avg_accel * duration;
        }
        
        if (num_unqualified[1] < (int)ZMOVENDBIASNUM){
            float avg_accel = all_data[3][num_samples-1] - ((all_data[3][num_samples-1] - all_data[3][num_samples-2])/2.0f);
            addition_to_vel[1] = avg_accel * duration;
        }
        
    } else if (num_samples < MOVINGENDBUFSIZE) {
        addition_to_vel[0] = -1000.0f;
        addition_to_vel[1] = -1000.0f;
        apply_trend_protect(all_data, num_samples, total_diff, addition_to_vel,
                            duration);
    } else {
        int i;
        for (i = 0; i < MOVINGENDBUFSIZE; i++) {
            if (abs(all_data[2][i]) <= (float)YMOVENDTHRESHOLD) {
                moving_end_buf[0][i] = 1;
                num_unqualified[0] += 1;
            } else {
                moving_end_buf[0][i] = 0;
            }
            
            if (abs(all_data[3][i]) <= (float)ZMOVENDTHRESHOLD) {
                moving_end_buf[1][i] = 1;
                num_unqualified[1] += 1;
            } else {
                moving_end_buf[1][i] = 0;
            }
            
            addition_to_vel[0] = -1000.0f;
            addition_to_vel[1] = -1000.0f;
        }
        apply_trend_protect(all_data, num_samples, total_diff, addition_to_vel,
                            duration);
    }
}

void get_new_velocity (float *original_speed, float *addition_to_vel) {
    if (addition_to_vel[0] == -1000.0f) {
        original_speed[0] = 0.0f;
    } else {
        original_speed[0] += addition_to_vel[0];
    }
    
    if (addition_to_vel[1] == -1000.0f) {
        original_speed[1] = 0.0f;
    } else {
        original_speed[1] += addition_to_vel[1];
    }
}

void get_new_position (float *original_position, float *cur_speed, float duration) {
    original_position[0] += cur_speed[0] * duration;
    original_position[1] -= cur_speed[1] * duration;
}
    

void insert_new_vel_to_buffer(float** vel_buffer, float time, float* cur_vel,
                              int num_samples) {
    
    vel_buffer[0][num_samples - 1] = time;
    vel_buffer[1][num_samples - 1] = cur_vel[0];
    vel_buffer[2][num_samples - 1] = cur_vel[1];
}

void insert_new_pos_to_buffer(float** pos_buffer, float time, float* cur_pos,
                              int num_samples) {
    pos_buffer[0][num_samples - 1] = time;
    pos_buffer[1][num_samples - 1] = cur_pos[0];
    pos_buffer[2][num_samples - 1] = cur_pos[1];
}

void insert_new_color_to_buffer(float **color_buffer, int r, int g, int b, 
                                float time, int num_samples) {
    color_buffer[0][num_samples - 1] = time;
    color_buffer[1][num_samples - 1] = (float) r;
    color_buffer[2][num_samples - 1] = (float) g;
    color_buffer[3][num_samples - 1] = (float) b;
}

void initialize_color_table(RGB rgb_table[][HORIZONTALNUMCOLOR]){
    rgb_table[0][0] = (RGB){255, 77, 210};
    rgb_table[0][1] = (RGB){255, 77, 77};
    rgb_table[0][2] = (RGB){255, 179, 102};
    rgb_table[0][3] = (RGB){133, 224, 133};
    rgb_table[0][4] = (RGB){77, 121, 255};
    
    rgb_table[1][0] = (RGB){255, 0, 191};
    rgb_table[1][1] = (RGB){255, 0, 0};
    rgb_table[1][2] = (RGB){255, 128, 0};
    rgb_table[1][3] = (RGB){51, 204, 51};
    rgb_table[1][4] = (RGB){0, 64, 255};
    
    rgb_table[2][0] = (RGB){179, 0, 134};
    rgb_table[2][1] = (RGB){179, 0, 0};
    rgb_table[2][2] = (RGB){204, 102, 0};
    rgb_table[2][3] = (RGB){31, 122, 31};
    rgb_table[2][4] = (RGB){0, 45, 179};
}

RGB get_new_color(float *cur_location, RGB rgb_table[][HORIZONTALNUMCOLOR]) {
    int x;
    int y;
    
    if (cur_location[0] < -0.03f) {
        x = 0;
    } else if (cur_location[0] >= -0.03f && cur_location[0] < -0.01f) {
        x = 1;
    } else if (cur_location[0] >= -0.01f && cur_location[0] < 0.01f) {
        x = 2;
    } else if (cur_location[0] >= 0.01f && cur_location[0] < 0.03f) {
        x = 3;
    } else {
        x = 4;
    }
    
    if (cur_location[1] > 0.0165f) {
        y = 0;
    } else if (cur_location[1] > -0.0165f && cur_location[1] <= 0.0165f) {
        y = 1;
    } else {
        y = 2;
    }
    
    return rgb_table[y][x];
}

void output_all_to_serial(float **all_data, int num_samples) {
    int i;
    for (i = 0; i < num_samples; i++) {
        printf("%6.3f,%7.5f,%7.5f,%7.5f\n",all_data[0][i],all_data[1][i],all_data[2][i],all_data[3][i]);
        wait(0.01);
    }
    printf("Number of samples = %d\n", num_samples);
    printf ("End Transmission!\n");
}


void output_color_to_serial(float **color_data, int num_samples) {
    int i;
    for (i = 0; i < num_samples; i++) {
        printf("%6.3f,%d,%d,%d\n", color_data[0][i], (int)color_data[1][i],
                    (int)color_data[2][i],(int)color_data[3][i]);
        wait(0.01);
    }
    printf("Number of samples = %d\n", num_samples);
    printf ("End Transmission!\n");
}

void output_to_serial(float **vel_data, int num_samples) {
    int i;
    for (i = 0; i < num_samples; i++) {
        printf("%6.3f,%7.5f,%7.5f\n", vel_data[0][i], vel_data[1][i],vel_data[2][i]);
        wait(0.01);
    }
    printf("Number of samples = %d\n", num_samples);
    printf ("End Transmission!\n");
}