Author: Finlay Davidson <finlay.davidson@coderclass.nl>
raisewake: Improve raise to wake algorithm This new algorithm calculates the number of degrees that the wrist has rolled, and checks if that is above a threshold. First it checks if the wrist is still enough for the acceleration values to be considered mostly from gravity. It does this by calculating the mean over the past 2 SystemTask loops, and checking that the variance from that mean is below a threshold. Then it calculates the angle the wrist is being held at, and calculates the difference from the angle some time ago. If this difference is above the threshold, it wakes the watch.
src/components/motion/MotionController.cpp | 32 ++++++++++------------- src/components/motion/MotionController.h | 3 - src/systemtask/SystemTask.cpp | 2
diff --git a/src/components/motion/MotionController.cpp b/src/components/motion/MotionController.cpp index 69e418ce58c6479bff99c84ef26460bac4043667..feb9ead015120885f45074beab1caee6fefcaafa 100644 --- a/src/components/motion/MotionController.cpp +++ b/src/components/motion/MotionController.cpp @@ -87,26 +87,22 @@ return stats; } -bool MotionController::ShouldRaiseWake(bool isSleeping) { - if ((x + 335) <= 670 && zHistory[0] < 0) { - if (!isSleeping) { - if (yHistory[0] <= 0) { - return false; - } - lastYForRaiseWake = 0; - return false; - } +bool MotionController::ShouldRaiseWake() const { + constexpr uint32_t varianceThresh = 56 * 56; + constexpr int16_t xThresh = 384; + constexpr int16_t yThresh = -64; + constexpr int16_t rollDegreesThresh = -45; - if (yHistory[0] >= 0) { - lastYForRaiseWake = 0; - return false; - } - if (yHistory[0] + 230 < lastYForRaiseWake) { - lastYForRaiseWake = yHistory[0]; - return true; - } + if (x < -xThresh || x > xThresh) { + return false; } - return false; + + // if the variance is below the threshold, the accelerometer values can be considered to be from acceleration due to gravity + if (stats.yVariance > varianceThresh || (stats.yMean < -724 && stats.zVariance > varianceThresh) || stats.yMean > yThresh) { + return false; + } + + return DegreesRolled(stats.yMean, stats.zMean, stats.prevYMean, stats.prevZMean) < rollDegreesThresh; } bool MotionController::ShouldShakeWake(uint16_t thresh) { diff --git a/src/components/motion/MotionController.h b/src/components/motion/MotionController.h index de86d44c3ee7745a788ec8fb37fb2ecb0a2d2415..1ad032b83f99129796927c5b4a942a11f16061ec 100644 --- a/src/components/motion/MotionController.h +++ b/src/components/motion/MotionController.h @@ -45,7 +45,7 @@ return currentTripSteps; } bool ShouldShakeWake(uint16_t thresh); - bool ShouldRaiseWake(bool isSleeping); + bool ShouldRaiseWake() const; int32_t CurrentShakeSpeed() const { return accumulatedSpeed; @@ -86,7 +86,6 @@ AccelStats stats = {}; int16_t lastX = 0; int16_t x = 0; - int16_t lastYForRaiseWake = 0; static constexpr uint8_t histSize = 8; Utility::CircularBuffer<int16_t, histSize> yHistory = {}; Utility::CircularBuffer<int16_t, histSize> zHistory = {}; diff --git a/src/systemtask/SystemTask.cpp b/src/systemtask/SystemTask.cpp index b199d53f02077cc406a6b5f560160687b6bbe617..4719bb50aeac0402c6ea40cec95cdfc2b58305f6 100644 --- a/src/systemtask/SystemTask.cpp +++ b/src/systemtask/SystemTask.cpp @@ -430,7 +430,7 @@ motionController.Update(motionValues.x, motionValues.y, motionValues.z, motionValues.steps); if (settingsController.GetNotificationStatus() != Controllers::Settings::Notification::Sleep) { if ((settingsController.isWakeUpModeOn(Pinetime::Controllers::Settings::WakeUpMode::RaiseWrist) && - motionController.ShouldRaiseWake(state == SystemTaskState::Sleeping)) || + motionController.ShouldRaiseWake()) || (settingsController.isWakeUpModeOn(Pinetime::Controllers::Settings::WakeUpMode::Shake) && motionController.ShouldShakeWake(settingsController.GetShakeThreshold()))) { GoToRunning();