Full Motion Detection

Lab 5: ระบบ Motion Detection สมบูรณ์

วัตถุประสงค์

• รวมทุกฟังก์ชันเข้าด้วยกัน

• เพิ่ม Event Counting และ Statistics

• สร้างระบบ Motion Detection ที่ใช้งานได้จริง

5.1 เพิ่ม Statistics Structure

/* Motion Statistics */
typedef struct {
    uint32_t stationary_count;
    uint32_t light_count;
    uint32_t moderate_count;
    uint32_t intense_count;
    float max_magnitude;
    float min_magnitude;
    uint32_t total_samples;
} motion_stats_t;

static motion_stats_t g_stats = {0};

/*******************************************************************************
 * Function Name: stats_init
 ******************************************************************************/
static void stats_init(motion_stats_t *stats)
{
    memset(stats, 0, sizeof(motion_stats_t));
    stats->min_magnitude = 100.0f;  /* Start high */
    stats->max_magnitude = 0.0f;
}

/*******************************************************************************
 * Function Name: stats_update
 *******************************************************************************
 * Summary:
 *   อัพเดท statistics จากการอ่านค่า sensor
 ******************************************************************************/
static void stats_update(motion_stats_t *stats,
                         motion_state_t state,
                         float magnitude)
{
    stats->total_samples++;

    /* Count by state */
    switch (state)
    {
        case MOTION_STATIONARY: stats->stationary_count++; break;
        case MOTION_LIGHT:      stats->light_count++;      break;
        case MOTION_MODERATE:   stats->moderate_count++;   break;
        case MOTION_INTENSE:    stats->intense_count++;    break;
    }

    /* Track min/max */
    if (magnitude > stats->max_magnitude)
    {
        stats->max_magnitude = magnitude;
    }
    if (magnitude < stats->min_magnitude)
    {
        stats->min_magnitude = magnitude;
    }
}

/*******************************************************************************
 * Function Name: stats_print
 *******************************************************************************
 * Summary:
 *   แสดงสรุปสถิติทุก N samples
 ******************************************************************************/
static void stats_print(const motion_stats_t *stats)
{
    if (stats->total_samples == 0) return;

    printf("\n========== Motion Statistics ==========\n");
    printf("Total Samples: %lu\n", stats->total_samples);
    printf("Stationary: %lu (%.1f%%)\n",
           stats->stationary_count,
           (100.0f * stats->stationary_count / stats->total_samples));
    printf("Light:      %lu (%.1f%%)\n",
           stats->light_count,
           (100.0f * stats->light_count / stats->total_samples));
    printf("Moderate:   %lu (%.1f%%)\n",
           stats->moderate_count,
           (100.0f * stats->moderate_count / stats->total_samples));
    printf("Intense:    %lu (%.1f%%)\n",
           stats->intense_count,
           (100.0f * stats->intense_count / stats->total_samples));
    printf("Min Magnitude: %.3f m/s² (%.2f g)\n",
           (double)stats->min_magnitude,
           (double)(stats->min_magnitude / GRAVITY_EARTH));
    printf("Max Magnitude: %.3f m/s² (%.2f g)\n",
           (double)stats->max_magnitude,
           (double)(stats->max_magnitude / GRAVITY_EARTH));
    printf("========================================\n\n");
}

5.2 Main Loop สมบูรณ์

static void sensor_hub_daq_task(void *pvParameters)
{
    const TickType_t xDelay = 100 / portTICK_PERIOD_MS;  /* 10Hz */
    float x, y, z;
    float magnitude = 0.0f;
    float filtered_magnitude = 0.0f;
    motion_state_t motion_state = MOTION_STATIONARY;
    uint32_t print_counter = 0;

    (void)pvParameters;

    /* Initialize I2C and BMI270 */
    /* ... existing initialization code ... */

    /* Initialize filter and statistics */
    filter_init(&mag_filter);
    stats_init(&g_stats);

    printf("************************************************************\n");
    printf("     PSOC Edge MCU: Motion Detection System                 \n");
    printf("************************************************************\r\n\n");

    TickType_t xLastWakeTime = xTaskGetTickCount();

    for (;;)
    {
        /* Read sensor */
        result = mtb_bmi270_read(&bmi270, &bmi270_data);
        if (CY_RSLT_SUCCESS != result)
        {
            handle_app_error();
        }

        /* Convert accelerometer to m/s² */
        x = lsb_to_mps2(bmi270_data.sensor_data.acc.x,
                        ACC_RANGE_2G,
                        bmi270.sensor.resolution);
        y = lsb_to_mps2(bmi270_data.sensor_data.acc.y,
                        ACC_RANGE_2G,
                        bmi270.sensor.resolution);
        z = lsb_to_mps2(bmi270_data.sensor_data.acc.z,
                        ACC_RANGE_2G,
                        bmi270.sensor.resolution);

        /* Calculate magnitude */
        magnitude = calculate_magnitude(x, y, z);

        /* Apply filter */
        filtered_magnitude = filter_update(&mag_filter, magnitude);

        /* Detect motion */
        motion_state = detect_motion(filtered_magnitude);

        /* Update statistics */
        stats_update(&g_stats, motion_state, magnitude);

        /* Display */
        printf("Acc: [%7.3f, %7.3f, %7.3f] m/s²\n",
               (double)x, (double)y, (double)z);
        printf("Mag: Raw=%6.3f, Flt=%6.3f m/s² | %s\n",
               (double)magnitude,
               (double)filtered_magnitude,
               get_motion_string(motion_state));

        /* LED feedback */
        switch (motion_state)
        {
            case MOTION_STATIONARY:
                Cy_GPIO_Clr(CYBSP_USER_LED1_PORT, CYBSP_USER_LED1_PIN);
                break;
            case MOTION_LIGHT:
                Cy_GPIO_Inv(CYBSP_USER_LED1_PORT, CYBSP_USER_LED1_PIN);
                break;
            case MOTION_MODERATE:
            case MOTION_INTENSE:
                Cy_GPIO_Set(CYBSP_USER_LED1_PORT, CYBSP_USER_LED1_PIN);
                break;
        }

        /* Print statistics every 100 samples (10 seconds) */
        print_counter++;
        if (print_counter >= 100)
        {
            stats_print(&g_stats);
            print_counter = 0;
        }

        /* ANSI escape to move cursor up */
        printf("\x1b[2A");

        /* Wait for next cycle */
        vTaskDelayUntil(&xLastWakeTime, xDelay);
    }
}

5.3 Output ที่คาดหวัง

************************************************************
     PSOC Edge MCU: Motion Detection System
************************************************************

Acc: [  0.123,  -0.045,   9.801] m/s²
Mag: Raw= 9.802, Flt= 9.805 m/s² | STATIONARY

[หลัง 10 วินาที]
========== Motion Statistics ==========
Total Samples: 100
Stationary: 85 (85.0%)
Light:      10 (10.0%)
Moderate:   4 (4.0%)
Intense:    1 (1.0%)
Min Magnitude: 9.456 m/s² (0.96 g)
Max Magnitude: 15.234 m/s² (1.55 g)
========================================

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จบ Session 2 | ต่อไป: Session 3: LVGL Display