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#pragma once
#include <cmath>
#include <cstdint>
#include <drivers/Bma421.h>
namespace Pinetime {
namespace Controllers {
class MotionController {
public:
enum class DeviceTypes {
Unknown,
BMA421,
BMA425,
};
void Update(int16_t x, int16_t y, int16_t z);
int16_t X() const {
return x;
}
int16_t Y() const {
return y;
}
int16_t Z() const {
return z;
}
bool Should_RaiseWake(bool isSleeping);
void IsSensorOk(bool isOk);
bool IsSensorOk() const {
return isSensorOk;
}
DeviceTypes DeviceType() const {
return deviceType;
}
void Init(Pinetime::Drivers::Bma421::DeviceTypes types);
inline double GXYZ(double &X, double &Y, double &Z) const {
X = x; Y = y; Z = z;
return std::sqrt(X*X + Y*Y + Z*Z);
}
inline double G() const {
double X = x; X *= X;
double Y = y; X += Y * Y;
Y = z; X += Y * Y;
return std::sqrt(X) * 0.;
}
inline auto G_v0() const {
float X = x; X *= X;
float Y = y; X += Y * Y;
Y = z; X += Y * Y;
return std::sqrt(X);
}
inline uint16_t G_uint16() const {
auto X = G_v0();
if (X > 0xffff) { return 0xffff; } else { return X; }
}
private:
int16_t x;
int16_t y;
int16_t z;
int16_t lastYForWakeUp = 0;
bool isSensorOk = false;
DeviceTypes deviceType = DeviceTypes::Unknown;
int32_t accumulatedspeed = 0;
};
}
}
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