motionCheck.c File Reference

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Functions
bool	motionCheck (float sample[3], float baseline[3], float tolerance, uint32_t winLength, uint32_t *count)

Detailed Description

This function would normally be called from your fusion_tasks in your main.c. See main_freertos_two_tasks_power_cycling.c for example usage.

Definition in file motionCheck.c.

Function Documentation

bool motionCheck	(	float	sample[3],
		float	baseline[3],
		float	tolerance,
		uint32_t	winLength,
		uint32_t *	count
	)

The motionCheck() function is not a sensor fusion function. It is a function that simply monitors an accelerometer or magnetometer tri-axial sensor output, returning Boolean true if the sensor appears to be stationary, and false otherwise. This function would normally be called from your fusion_tasks in your main().

Parameters

sample	processed triaxial sensor sample (accel or mag)
baseline	previous value to compare to
tolerance	how much tolerance you can stand
winLength	how many samples need to be stable to assert "noMotion"
count	how many samples so far we've been not moving

Definition at line 44 of file motionCheck.c.

Referenced by fusion_task(), and vApplicationTickHook().

{
    float change[3];
    bool changed;
    change[CHX] = fabs(baseline[CHX] - sample[CHX]);
    change[CHY] = fabs(baseline[CHY] - sample[CHY]);
    change[CHZ] = fabs(baseline[CHZ] - sample[CHZ]);
    changed = (change[CHX]>tolerance) ||
              (change[CHY]>tolerance) ||
              (change[CHZ]>tolerance);
    if (changed) {
        baseline[CHX] = sample[CHX];
        baseline[CHY] = sample[CHY];
        baseline[CHZ] = sample[CHZ];
        *count = 0;
    } else {
        if ((*count) <= winLength) (*count) += 1;
    }
    return(*count > winLength);
}