Merge pull request #504 from hello/integration

RC3
hello · Sep 14, 2016 · 1eedbe8 · 1eedbe8
2 parents 6737349 + dba442e
commit 1eedbe8
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Showing 6 changed files with 36 additions and 261 deletions.
diff --git a/common/app_info.h b/common/app_info.h
@@ -3,12 +3,12 @@
  * A place to put all common defines
  */
 //make sure the FW_VERSION_STRING fits in MorpheusCommand.top_version (16 bytes)
-#define FW_VERSION_STRING "1.5.5"
+#define FW_VERSION_STRING "1.5.6"
 
 //pill only
-#define FIRMWARE_VERSION_8BIT (55)
+#define FIRMWARE_VERSION_8BIT (56)
 
-#define BLE_SIG_COMPANY_ID 998
+#define BLE_SIG_COMPANY_ID 1002
 
 typedef struct __attribute__((packed)){
     uint8_t hw_type;    /* hw type, see ant_devices.h */

diff --git a/common/printf.c b/common/printf.c
diff --git a/drivers/imu.c b/drivers/imu.c
@@ -22,7 +22,7 @@
 #define LIS2DH_HRES_MG_PER_CNT 		(1)
 #define MPU6500_MG_PER_LSB 			(16384UL)
 
-#define IMU_WTM_THRESHOLD (6)
+#define IMU_WTM_THRESHOLD (3)
 
 #define IMU_USE_PIN_INT1
 //#define IMU_USE_PIN_INT2

diff --git a/pill/app.h b/pill/app.h
@@ -117,7 +117,7 @@ enum {
 #define HEARTBEAT_INTERVAL_MIN              (3600/60)
 #define BATT_MEASURE_INTERVAL_MIN           (1200/60)  /* Measure battery level every 20 minutes */
 
-#define SHAKING_MOTION_THRESHOLD        (400000000)
+#define SHAKING_MOTION_THRESHOLD        (500000000)
 #define SLIDING_WINDOW_SIZE_SEC         (2) // shake second timer runs on imu active timer at 2hz now, so this is 1/2 secs
 #define SHAKING_DATA_COUNT_THRESHOLD    (5)
 

diff --git a/pill/message_imu.c b/pill/message_imu.c
@@ -50,6 +50,7 @@ static uint8_t stuck_counter;
 static uint32_t top_of_minute = 0;
 static uint32_t active_time = 0;
 
+static void _update_motion_mask(uint32_t now, uint32_t anchor);
 
 static struct imu_settings _settings = {
 	.active_wom_threshold = IMU_ACTIVE_WOM,
@@ -105,18 +106,6 @@ static uint32_t _aggregate_motion_data(const int16_t* raw_xyz, size_t len)
     //int32_t aggregate = ABS(values[0]) + ABS(values[1]) + ABS(values[2]);
     uint32_t aggregate = values[0] * values[0] + values[1] * values[1] + values[2] * values[2];
 
-    /*
-    tf_unit_t curr = TF_GetCurrent();
-
-    PRINTS("Current value: ");
-    PRINT_HEX(&curr, sizeof(curr));
-    PRINTS("\r\n");
-    PRINTS("New value: ");
-    PRINT_HEX(&aggregate, sizeof(tf_unit_t));
-    PRINTS("\r\n");
-    */
-
-	//TF_SetCurrent((uint16_t)values[0]);
 	tf_unit_t* current = TF_GetCurrent();
     ++current->num_meas;
     if(current->max_amp < aggregate){
@@ -169,21 +158,28 @@ static void _imu_gpiote_process(uint32_t event_pins_low_to_high, uint32_t event_
 
 #define PRINT_HEX_X(x) PRINT_HEX(&x, sizeof(x)); PRINTS("\r\n");
 
+static void _update_motion_mask(uint32_t now, uint32_t anchor){
+    uint32_t time_diff = 0;
+    app_timer_cnt_diff_compute(now, anchor, &time_diff);
+    time_diff /= APP_TIMER_TICKS( 1000, APP_TIMER_PRESCALER );
+
+	uint64_t old_mask = TF_GetCurrent()->motion_mask;
+    TF_GetCurrent()->motion_mask |= 1ull<<(time_diff%60);
+
+	if(TF_GetCurrent()->motion_mask != old_mask){
+		PRINTS("mask\r\n");
+		PRINT_HEX_X( TF_GetCurrent()->motion_mask  );
+	}
+}
+
 static void _on_wom_timer(void* context)
 {
     uint32_t current_time = 0;
     app_timer_cnt_get(&current_time);
-    uint32_t time_diff = 0;
-    app_timer_cnt_diff_compute(current_time, top_of_minute, &time_diff);
+
     uint32_t active_time_diff = 0;
     app_timer_cnt_diff_compute(current_time, active_time, &active_time_diff);
 
-    time_diff /= APP_TIMER_TICKS( 1000, APP_TIMER_PRESCALER );
-    TF_GetCurrent()->motion_mask |= 1ull<<(time_diff%60);
-    PRINTS("mask\r\n");
-
-    PRINT_HEX_X( TF_GetCurrent()->motion_mask  );
-
     ShakeDetectDecWindow();
 
     if(active_time_diff < IMU_ACTIVE_INTERVAL && _settings.is_active)
@@ -377,6 +373,11 @@ static MSG_Status _send(MSG_Address_t src, MSG_Address_t dst, MSG_Data_t * data)
 		case IMU_READ_XYZ:
 			ret = _handle_read_xyz();
 			imu_clear_interrupt_status();
+			{
+				uint32_t current_time = 0;
+				app_timer_cnt_get(&current_time);
+				_update_motion_mask(current_time, top_of_minute);
+			}
 			break;
 		case IMU_SELF_TEST:
 			ret = _handle_self_test();

diff --git a/pill/timedfifo.c b/pill/timedfifo.c
@@ -102,11 +102,16 @@ bool TF_GetCondensed(MotionPayload_t* payload){
         dot = ((uint64_t)dot*_fastinvsqrt(_mag(datum.prev_avg_accel)))>>16;
 
         payload->cos_theta = _bitlog(dot);
-        uint32_t s = (_fastsqrt(datum.max_amp)) >> 8;
-        if( s < UINT8_MAX ) {
-            payload->max = s;
-        }else{
-            payload->max = UINT8_MAX;
+        uint32_t s = _fastsqrt(datum.max_amp);
+        if ( s < IMU_ONE_G ) {
+            payload->max = 0;
+        } else {
+            s = (s-IMU_ONE_G)>>7; //remove 1g, scale into 8 bits
+            if( s < UINT8_MAX ) {
+                payload->max = s;
+            }else{
+                payload->max = UINT8_MAX;
+            }
         }
         payload->motion_mask = datum.motion_mask;
 #if 1