296 lines
7.9 KiB
C
296 lines
7.9 KiB
C
#include "motion_gesture.h"
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#include "ui_nav.h"
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#include "esp_log.h"
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#include "esp_timer.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/queue.h"
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#include "freertos/task.h"
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#include <assert.h>
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#include <math.h>
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static const char *TAG = "motion";
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#define SAMPLE_PERIOD_MS 10
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#define SAMPLE_RATE_HZ 100
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/* Calibration: keep a sliding window of the last 500 ms and finish only when
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* the window is stable (low variance). This avoids calibrating while the user
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* is picking up or moving the device. */
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#define CALIBRATION_MS 500
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#define CALIBRATION_WINDOW_SAMPLES (CALIBRATION_MS / SAMPLE_PERIOD_MS)
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#define CALIBRATION_MAX_VAR_G2 0.010f
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/* Shake is detected on the horizontal plane (X/Y) so that picking the device
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* up or putting it down (Z-axis jolt) does not trigger navigation. */
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#define THRESHOLD_LOW_G 0.6f
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#define THRESHOLD_MED_G 0.8f
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#define THRESHOLD_HIGH_G 1.0f
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/* A valid shake must produce enough strong samples within a short window. */
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#define WINDOW_MS 300
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#define MIN_SAMPLES 5
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/* A real shake oscillates; require at least two zero-crossings on the
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* dominant horizontal axis to distinguish it from a single jolt. */
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#define MIN_ZERO_CROSSINGS 2
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/* Cooldown prevents one physical shake from generating multiple events. */
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#define COOLDOWN_MS 350
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typedef enum {
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GESTURE_IDLE = 0,
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GESTURE_COOLDOWN,
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} gesture_state_t;
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static QueueHandle_t s_nav_queue;
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static bool s_enabled = true;
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static float s_threshold = THRESHOLD_MED_G;
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static gesture_state_t s_state = GESTURE_IDLE;
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/* Baseline calibration */
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static float s_ref_x;
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static float s_ref_y;
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static float s_ref_z;
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static bool s_calibrated;
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static float s_cal_buf_x[CALIBRATION_WINDOW_SAMPLES];
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static float s_cal_buf_y[CALIBRATION_WINDOW_SAMPLES];
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static float s_cal_buf_z[CALIBRATION_WINDOW_SAMPLES];
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static int s_cal_head;
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static int s_cal_count;
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/* Detection window state */
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static int s_over_count;
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static int64_t s_window_start_us;
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static int s_zero_crossings;
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static int s_last_x_sign;
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static int s_last_y_sign;
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static int64_t s_cooldown_until_us;
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/* Last horizontal magnitude, exposed for UI/debug. */
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static float s_last_horizontal_mag;
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static void nav_handler_task(void *arg)
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{
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(void)arg;
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motion_nav_event_t ev;
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while (xQueueReceive(s_nav_queue, &ev, portMAX_DELAY) == pdTRUE) {
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if (ev == MOTION_NAV_NEXT) {
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ui_nav_next();
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}
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}
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}
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static void post_nav_next(void)
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{
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motion_nav_event_t ev = MOTION_NAV_NEXT;
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if (xQueueSend(s_nav_queue, &ev, 0) != pdTRUE) {
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ESP_LOGW(TAG, "nav queue full");
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} else {
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ESP_LOGI(TAG, "Shake detected -> next screen");
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}
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}
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static void reset_window(void)
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{
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s_over_count = 0;
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s_window_start_us = 0;
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s_zero_crossings = 0;
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s_last_x_sign = 0;
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s_last_y_sign = 0;
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}
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static void run_calibration(float ax, float ay, float az)
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{
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s_cal_buf_x[s_cal_head] = ax;
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s_cal_buf_y[s_cal_head] = ay;
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s_cal_buf_z[s_cal_head] = az;
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s_cal_head = (s_cal_head + 1) % CALIBRATION_WINDOW_SAMPLES;
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if (s_cal_count < CALIBRATION_WINDOW_SAMPLES) {
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s_cal_count++;
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}
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if (s_cal_count < CALIBRATION_WINDOW_SAMPLES) {
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return;
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}
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float sum_x = 0.0f;
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float sum_y = 0.0f;
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float sum_z = 0.0f;
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float sum_sq_x = 0.0f;
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float sum_sq_y = 0.0f;
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float sum_sq_z = 0.0f;
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for (int i = 0; i < CALIBRATION_WINDOW_SAMPLES; i++) {
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sum_x += s_cal_buf_x[i];
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sum_y += s_cal_buf_y[i];
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sum_z += s_cal_buf_z[i];
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sum_sq_x += s_cal_buf_x[i] * s_cal_buf_x[i];
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sum_sq_y += s_cal_buf_y[i] * s_cal_buf_y[i];
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sum_sq_z += s_cal_buf_z[i] * s_cal_buf_z[i];
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}
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const int n = CALIBRATION_WINDOW_SAMPLES;
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float var_x = (sum_sq_x / n) - (sum_x / n) * (sum_x / n);
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float var_y = (sum_sq_y / n) - (sum_y / n) * (sum_y / n);
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float var_z = (sum_sq_z / n) - (sum_z / n) * (sum_z / n);
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float max_var = fmaxf(var_x, fmaxf(var_y, var_z));
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if (max_var > CALIBRATION_MAX_VAR_G2) {
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static int64_t s_last_cal_warn_us;
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int64_t now_us = esp_timer_get_time();
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if ((now_us - s_last_cal_warn_us) >= 1000 * 1000) {
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s_last_cal_warn_us = now_us;
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ESP_LOGW(TAG, "Calibration: motion detected (var=%.3f), waiting", max_var);
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}
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return;
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}
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s_ref_x = sum_x / n;
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s_ref_y = sum_y / n;
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s_ref_z = sum_z / n;
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s_calibrated = true;
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ESP_LOGI(TAG, "Baseline calibrated (ref=%.3f,%.3f,%.3f g)", s_ref_x, s_ref_y, s_ref_z);
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}
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static int axis_sign(float value)
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{
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if (value > 0.0f) {
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return 1;
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}
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if (value < 0.0f) {
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return -1;
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}
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return 0;
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}
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static void process_sample(float ax, float ay, float az)
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{
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int64_t now_us = esp_timer_get_time();
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if (!s_calibrated) {
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run_calibration(ax, ay, az);
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return;
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}
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float dx = ax - s_ref_x;
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float dy = ay - s_ref_y;
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float dz = az - s_ref_z;
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/* Use only horizontal magnitude for shake detection. Z-axis is dominated by
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* gravity and is the main axis for pick-up/put-down false triggers. */
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float horizontal_mag = sqrtf(dx * dx + dy * dy);
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s_last_horizontal_mag = horizontal_mag;
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if (s_state == GESTURE_COOLDOWN) {
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if (now_us >= s_cooldown_until_us) {
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s_state = GESTURE_IDLE;
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reset_window();
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}
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return;
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}
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if (horizontal_mag > s_threshold) {
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if (s_over_count == 0) {
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s_window_start_us = now_us;
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}
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s_over_count++;
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int x_sign = axis_sign(dx);
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int y_sign = axis_sign(dy);
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if (s_last_x_sign != 0 && x_sign != s_last_x_sign) {
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s_zero_crossings++;
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}
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if (s_last_y_sign != 0 && y_sign != s_last_y_sign) {
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s_zero_crossings++;
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}
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s_last_x_sign = x_sign;
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s_last_y_sign = y_sign;
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int64_t window_us = (int64_t)WINDOW_MS * 1000;
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if ((now_us - s_window_start_us) > window_us) {
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/* Window expired: start fresh with the current sample. */
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reset_window();
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s_window_start_us = now_us;
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s_over_count = 1;
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s_last_x_sign = axis_sign(dx);
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s_last_y_sign = axis_sign(dy);
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}
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if (s_over_count >= MIN_SAMPLES && s_zero_crossings >= MIN_ZERO_CROSSINGS) {
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if (s_enabled) {
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post_nav_next();
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}
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s_state = GESTURE_COOLDOWN;
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s_cooldown_until_us = now_us + (int64_t)COOLDOWN_MS * 1000;
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reset_window();
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}
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} else if (s_over_count > 0) {
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int64_t window_us = (int64_t)WINDOW_MS * 1000;
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if ((now_us - s_window_start_us) > window_us) {
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reset_window();
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}
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}
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(void)dz;
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}
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void motion_gesture_init(motion_nav_cb_t cb)
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{
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(void)cb;
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s_nav_queue = xQueueCreate(4, sizeof(motion_nav_event_t));
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xTaskCreate(nav_handler_task, "nav_handler", 2048, NULL, 5, NULL);
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s_calibrated = false;
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s_cal_head = 0;
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s_cal_count = 0;
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ESP_LOGI(TAG, "Motion gesture ready (calibrating %d ms)", CALIBRATION_MS);
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}
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void motion_gesture_set_enabled(bool enabled)
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{
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s_enabled = enabled;
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ESP_LOGI(TAG, "Shake navigation %s", enabled ? "enabled" : "disabled");
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}
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void motion_gesture_set_sensitivity(shake_sensitivity_t sens)
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{
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switch (sens) {
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case SHAKE_SENS_LOW:
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s_threshold = THRESHOLD_LOW_G;
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break;
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case SHAKE_SENS_MED:
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s_threshold = THRESHOLD_MED_G;
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break;
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case SHAKE_SENS_HIGH:
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s_threshold = THRESHOLD_HIGH_G;
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break;
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default:
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assert(false && "unexpected shake_sensitivity_t");
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break;
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}
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ESP_LOGI(TAG, "Sensitivity set (threshold=%.2f g)", s_threshold);
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}
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void motion_gesture_on_sample(float ax_g, float ay_g, float az_g)
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{
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process_sample(ax_g, ay_g, az_g);
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}
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float motion_gesture_get_last_magnitude(void)
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{
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return s_last_horizontal_mag;
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}
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bool motion_gesture_is_calibrated(void)
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{
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return s_calibrated;
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}
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