shoes/motion_script/motion/host_shoes.c

#include "host_shoes.h"


void host_shoes(int time_stamp, float gyr[3], float acc[3], float mag[3], uint16_t h_press, uint16_t s_press,
	int32_t h_pos[3], int16_t h_att[3], int32_t s_pos[3], int16_t s_att[3], int16_t h_zupt, int16_t s_zupt,uint16_t s_rssi)
{
	static int16_t h_pos_offset[3];
	static int16_t s_pos_offset[3];
	static int16_t h_pos_last[3];
	static int16_t s_pos_last[3];
	
	int32_t	left_press  = (((int32_t)h_press & 0x0000ffff)<<8);
	
	int16_t is_down = 0;
	
	int16_t is_jump = 0;
	
	if(!CAL_MODE)
	{
		unsigned char left_tag = footPDR(time_stamp, gyr, acc, mag, left_press, h_pos, h_att, &h_zupt);
		
		if(h_zupt == 1)
		{
			for(int i = 0; i < 3; i ++)
			{
				h_pos_last[i] = h_pos[i];
			}
		}
		
		if(s_zupt == 1)
		{
			for(int i = 0; i < 3; i ++)
			{
				s_pos_last[i] = s_pos[i];
			}
		}
		
		for(int i = 0; i <3; i++)
		{
			h_pos_offset[i] = h_pos[i] - h_pos_last[i];
			s_pos_offset[i] = s_pos[i] - s_pos_last[i];
		}
		
		special_motion(time_stamp, h_press, s_press, h_pos_offset, s_pos_offset, &is_down, &is_jump, acc);
	}
	
	
	send_data_to_com(s_pos, h_pos, s_att, h_att, s_zupt, h_zupt, is_down, is_jump, s_rssi);
	
}