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MangOH Motion Service
======
This application is designed to operate on a [MongOH Red](https://mangoh.io/mangoh-red-new) WP85 board. Using **general input output** this project uses pthreads to probe the onboard bmi160 chip intermittently in order to detect a significant motion on the board.
## Prerequisites
When cloning use ``git clone --recurse-submodule https://github.com/brnkl/motion-service.git``
to include the util module.
## Building
Compile the project using
wp85: ``make wp85``
## Setting Variables
To change the sensitivity of impact detection you must edit the `motionMonitor/motionMonitor.c` file.
The Accelerometer measures acceleration in 3 dimensions, X, Y, and Z. These dimensions of acceleration are recorded and the magnitude of their resulting vector is calculated using ``double impactMagnitude = sqrt(x * x + y * y + z * z);``. As visualized in the image below.
`#define DEFAULT_THRESHOLD_MS2 17` determines the magnitude of the resulting vector that will trigger the application to detect a sudden impact.
If adjusting the value of `DEFAUTL_THRESHOLD_MS2` keep in mind that gravity implies a motionless magnitude of -9.8m/s^2.
## Bindings
```
...
bindings:
{
myClientApp.myComponent.brnkl_motion -> motionService.brnkl_motion
}
...
```
```
...
requires:
{
api:
{
brnkl_motion.api
}
}
...
```
## Example
For getting the current acceleration
```
struct Acceleration{
double x;
double y;
double z;
};
struct Acceleration v = value;
le_result_t result = brnkl_motion_getCurrentAccleration(&v->x, &v->y, &v->z);
```
To get a list of all recent impacts.
```
double xAcc[N_MAX_IMPACT_VALUES], yAcc[N_MAX_IMPACT_VALUES], zAcc[N_MAX_IMPACT_VALUES];
uint64_t timestamps[N_MAX_IMPACT_VALUES];
size_t xSize = N_MAX_IMPACT_VALUES, ySize = N_MAX_IMPACT_VALUES,
zSize = N_MAX_IMPACT_VALUES, timestampsSize = N_MAX_IMPACT_VALUES;
le_result_t r = brnkl_motion_getSuddenImpact(
xAcc, &xSize, yAcc, &ySize, zAcc, &zSize, timestamps, ×tampsSize);
if (r != LE_OK)
return r;
// NOTE this assumes that xSize == ySize == zSize == timestampsSize
// TODO could even assert/log this
int j = 0;
for (int i = 0; i < xSize; i++) {
recordRes[j++] =
le_avdata_RecordFloat(ref, "impactx", xAcc[i], timestamps[i]);
recordRes[j++] =
le_avdata_RecordFloat(ref, "impacty", yAcc[i], timestamps[i]);
recordRes[j++] =
le_avdata_RecordFloat(ref, "impactz", zAcc[i], timestamps[i]);
}
```
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