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lowersleep: Improve algorithm by checking wrist angle #2014

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Mar 12, 2024
Merged

lowersleep: Improve algorithm by checking wrist angle #2014

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24 changes: 18 additions & 6 deletions src/components/motion/MotionController.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,15 +40,15 @@ void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps)
service->OnNewStepCountValue(nbSteps);
}

if (service != nullptr && (this->x != x || yHistory[0] != y || zHistory[0] != z)) {
if (service != nullptr && (xHistory[0] != x || yHistory[0] != y || zHistory[0] != z)) {
service->OnNewMotionValues(x, y, z);
}

lastTime = time;
time = xTaskGetTickCount();

lastX = this->x;
this->x = x;
xHistory++;
xHistory[0] = x;
yHistory++;
yHistory[0] = y;
zHistory++;
Expand All @@ -67,20 +67,26 @@ MotionController::AccelStats MotionController::GetAccelStats() const {
AccelStats stats;

for (uint8_t i = 0; i < AccelStats::numHistory; i++) {
stats.xMean += xHistory[histSize - i];
stats.yMean += yHistory[histSize - i];
stats.zMean += zHistory[histSize - i];
stats.prevXMean += xHistory[1 + i];
stats.prevYMean += yHistory[1 + i];
stats.prevZMean += zHistory[1 + i];
}
stats.xMean /= AccelStats::numHistory;
stats.yMean /= AccelStats::numHistory;
stats.zMean /= AccelStats::numHistory;
stats.prevXMean /= AccelStats::numHistory;
stats.prevYMean /= AccelStats::numHistory;
stats.prevZMean /= AccelStats::numHistory;

for (uint8_t i = 0; i < AccelStats::numHistory; i++) {
stats.xVariance += (xHistory[histSize - i] - stats.xMean) * (xHistory[histSize - i] - stats.xMean);
stats.yVariance += (yHistory[histSize - i] - stats.yMean) * (yHistory[histSize - i] - stats.yMean);
stats.zVariance += (zHistory[histSize - i] - stats.zMean) * (zHistory[histSize - i] - stats.zMean);
}
stats.xVariance /= AccelStats::numHistory;
stats.yVariance /= AccelStats::numHistory;
stats.zVariance /= AccelStats::numHistory;

Expand All @@ -93,7 +99,7 @@ bool MotionController::ShouldRaiseWake() const {
constexpr int16_t yThresh = -64;
constexpr int16_t rollDegreesThresh = -45;

if (x < -xThresh || x > xThresh) {
if (std::abs(stats.xMean) > xThresh) {
return false;
}

Expand All @@ -107,15 +113,21 @@ bool MotionController::ShouldRaiseWake() const {

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);
int32_t speed = std::abs(zHistory[0] - zHistory[histSize - 1] + (yHistory[0] - yHistory[histSize - 1]) / 2 +
(xHistory[0] - xHistory[histSize - 1]) / 4) *
100 / (time - lastTime);
// (.2 * speed) + ((1 - .2) * accumulatedSpeed);
accumulatedSpeed = speed / 5 + accumulatedSpeed * 4 / 5;

return accumulatedSpeed > thresh;
}

bool MotionController::ShouldLowerSleep() const {
if ((stats.xMean > 887 && DegreesRolled(stats.xMean, stats.zMean, stats.prevXMean, stats.prevZMean) > 30) ||
(stats.xMean < -887 && DegreesRolled(stats.xMean, stats.zMean, stats.prevXMean, stats.prevZMean) < -30)) {
return true;
}

if (stats.yMean < 724 || DegreesRolled(stats.yMean, stats.zMean, stats.prevYMean, stats.prevZMean) < 30) {
return false;
}
Expand Down
8 changes: 5 additions & 3 deletions src/components/motion/MotionController.h
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@ namespace Pinetime {
void Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps);

int16_t X() const {
return x;
return xHistory[0];
}

int16_t Y() const {
Expand Down Expand Up @@ -76,11 +76,14 @@ namespace Pinetime {
struct AccelStats {
static constexpr uint8_t numHistory = 2;

int16_t xMean = 0;
int16_t yMean = 0;
int16_t zMean = 0;
int16_t prevXMean = 0;
int16_t prevYMean = 0;
int16_t prevZMean = 0;

uint32_t xVariance = 0;
uint32_t yVariance = 0;
uint32_t zVariance = 0;
};
Expand All @@ -89,9 +92,8 @@ namespace Pinetime {

AccelStats stats = {};

int16_t lastX = 0;
int16_t x = 0;
static constexpr uint8_t histSize = 8;
Utility::CircularBuffer<int16_t, histSize> xHistory = {};
Utility::CircularBuffer<int16_t, histSize> yHistory = {};
Utility::CircularBuffer<int16_t, histSize> zHistory = {};
int32_t accumulatedSpeed = 0;
Expand Down
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