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‎air_mouse.c

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#include "air_mouse.h"
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#include <furi.h>
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#include <dolphin/dolphin.h>
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#include "tracking/imu/imu.h"
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#define TAG "AirMouseApp"
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enum AirMouseSubmenuIndex {
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AirMouseSubmenuIndexBtMouse,
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AirMouseSubmenuIndexUsbMouse,
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AirMouseSubmenuIndexCalibration,
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};
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void air_mouse_submenu_callback(void* context, uint32_t index) {
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furi_assert(context);
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AirMouse* app = context;
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if (index == AirMouseSubmenuIndexBtMouse) {
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app->view_id = AirMouseViewBtMouse;
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view_dispatcher_switch_to_view(app->view_dispatcher, AirMouseViewBtMouse);
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} else if (index == AirMouseSubmenuIndexUsbMouse) {
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app->view_id = AirMouseViewUsbMouse;
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view_dispatcher_switch_to_view(app->view_dispatcher, AirMouseViewUsbMouse);
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} else if (index == AirMouseSubmenuIndexCalibration) {
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app->view_id = AirMouseViewCalibration;
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view_dispatcher_switch_to_view(app->view_dispatcher, AirMouseViewCalibration);
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}
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}
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void air_mouse_dialog_callback(DialogExResult result, void* context) {
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furi_assert(context);
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AirMouse* app = context;
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if (result == DialogExResultLeft) {
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view_dispatcher_switch_to_view(app->view_dispatcher, VIEW_NONE); // Exit
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} else if (result == DialogExResultRight) {
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view_dispatcher_switch_to_view(app->view_dispatcher, app->view_id); // Show last view
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} else if (result == DialogExResultCenter) {
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view_dispatcher_switch_to_view(app->view_dispatcher, AirMouseViewSubmenu); // Menu
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}
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}
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uint32_t air_mouse_exit_confirm_view(void* context) {
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UNUSED(context);
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return AirMouseViewExitConfirm;
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}
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uint32_t air_mouse_exit(void* context) {
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UNUSED(context);
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return VIEW_NONE;
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}
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AirMouse* air_mouse_app_alloc() {
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AirMouse* app = malloc(sizeof(AirMouse));
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// Gui
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app->gui = furi_record_open(RECORD_GUI);
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// View dispatcher
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app->view_dispatcher = view_dispatcher_alloc();
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view_dispatcher_enable_queue(app->view_dispatcher);
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view_dispatcher_attach_to_gui(app->view_dispatcher, app->gui, ViewDispatcherTypeFullscreen);
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// Submenu view
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app->submenu = submenu_alloc();
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submenu_add_item(app->submenu, "Bluetooth", AirMouseSubmenuIndexBtMouse, air_mouse_submenu_callback, app);
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submenu_add_item(app->submenu, "USB", AirMouseSubmenuIndexUsbMouse, air_mouse_submenu_callback, app);
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submenu_add_item(app->submenu, "Calibration", AirMouseSubmenuIndexCalibration, air_mouse_submenu_callback, app);
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view_set_previous_callback(submenu_get_view(app->submenu), air_mouse_exit);
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view_dispatcher_add_view(app->view_dispatcher, AirMouseViewSubmenu, submenu_get_view(app->submenu));
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// Dialog view
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app->dialog = dialog_ex_alloc();
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dialog_ex_set_result_callback(app->dialog, air_mouse_dialog_callback);
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dialog_ex_set_context(app->dialog, app);
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dialog_ex_set_left_button_text(app->dialog, "Exit");
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dialog_ex_set_right_button_text(app->dialog, "Stay");
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dialog_ex_set_center_button_text(app->dialog, "Menu");
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dialog_ex_set_header(app->dialog, "Close Current App?", 16, 12, AlignLeft, AlignTop);
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view_dispatcher_add_view(app->view_dispatcher, AirMouseViewExitConfirm, dialog_ex_get_view(app->dialog));
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// Bluetooth view
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app->bt_mouse = bt_mouse_alloc(app->view_dispatcher);
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view_set_previous_callback(bt_mouse_get_view(app->bt_mouse), air_mouse_exit_confirm_view);
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view_dispatcher_add_view(app->view_dispatcher, AirMouseViewBtMouse, bt_mouse_get_view(app->bt_mouse));
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// USB view
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app->usb_mouse = usb_mouse_alloc(app->view_dispatcher);
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view_set_previous_callback(usb_mouse_get_view(app->usb_mouse), air_mouse_exit_confirm_view);
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view_dispatcher_add_view(app->view_dispatcher, AirMouseViewUsbMouse, usb_mouse_get_view(app->usb_mouse));
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// Calibration view
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app->calibration = calibration_alloc(app->view_dispatcher);
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view_set_previous_callback(calibration_get_view(app->calibration), air_mouse_exit_confirm_view);
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view_dispatcher_add_view(app->view_dispatcher, AirMouseViewCalibration, calibration_get_view(app->calibration));
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app->view_id = AirMouseViewSubmenu;
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view_dispatcher_switch_to_view(app->view_dispatcher, app->view_id);
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return app;
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}
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void air_mouse_app_free(AirMouse* app) {
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furi_assert(app);
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// Free views
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view_dispatcher_remove_view(app->view_dispatcher, AirMouseViewSubmenu);
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submenu_free(app->submenu);
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view_dispatcher_remove_view(app->view_dispatcher, AirMouseViewExitConfirm);
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dialog_ex_free(app->dialog);
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view_dispatcher_remove_view(app->view_dispatcher, AirMouseViewBtMouse);
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bt_mouse_free(app->bt_mouse);
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view_dispatcher_remove_view(app->view_dispatcher, AirMouseViewUsbMouse);
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usb_mouse_free(app->usb_mouse);
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view_dispatcher_remove_view(app->view_dispatcher, AirMouseViewCalibration);
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calibration_free(app->calibration);
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view_dispatcher_free(app->view_dispatcher);
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// Close records
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furi_record_close(RECORD_GUI);
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app->gui = NULL;
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// Free rest
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free(app);
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}
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int32_t air_mouse_app(void* p) {
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UNUSED(p);
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AirMouse* app = air_mouse_app_alloc();
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if (!imu_begin()) {
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air_mouse_app_free(app);
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return -1;
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}
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DOLPHIN_DEED(DolphinDeedPluginStart);
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view_dispatcher_run(app->view_dispatcher);
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imu_end();
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air_mouse_app_free(app);
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return 0;
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}

‎air_mouse.h

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#pragma once
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#include <gui/gui.h>
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#include <gui/view.h>
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#include <gui/view_dispatcher.h>
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#include <gui/modules/submenu.h>
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#include <gui/modules/dialog_ex.h>
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#include "views/bt_mouse.h"
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#include "views/usb_mouse.h"
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#include "views/calibration.h"
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typedef struct {
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Gui* gui;
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ViewDispatcher* view_dispatcher;
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Submenu* submenu;
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DialogEx* dialog;
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BtMouse* bt_mouse;
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UsbMouse* usb_mouse;
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Calibration* calibration;
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uint32_t view_id;
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} AirMouse;
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typedef enum {
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AirMouseViewSubmenu,
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AirMouseViewBtMouse,
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AirMouseViewUsbMouse,
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AirMouseViewCalibration,
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AirMouseViewExitConfirm,
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} AirMouseView;

‎application.fam

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App(
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appid="air_mouse",
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name="Air Mouse",
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apptype=FlipperAppType.EXTERNAL,
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entry_point="air_mouse_app",
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stack_size=10 * 1024,
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fap_category="Tools",
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icon="A_Plugins_14",
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)

‎tracking/calibration_data.cc

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#include <furi.h>
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#include <furi_hal.h>
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#define TAG "tracker"
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#include "calibration_data.h"
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#include <cmath>
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#include <algorithm>
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// Student's distribution T value for 95% (two-sided) confidence interval.
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static const double Tn = 1.960;
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// Number of samples (degrees of freedom) for the corresponding T values.
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static const int Nn = 200;
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void CalibrationData::reset()
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{
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complete = false;
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count = 0;
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sum = Vector::Zero();
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sumSq = Vector::Zero();
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mean = Vector::Zero();
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median = Vector::Zero();
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sigma = Vector::Zero();
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delta = Vector::Zero();
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xData.clear();
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yData.clear();
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zData.clear();
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}
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bool CalibrationData::add(Vector& data)
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{
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if (complete) {
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return true;
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}
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xData.push_back(data[0]);
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yData.push_back(data[1]);
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zData.push_back(data[2]);
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sum += data;
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sumSq += data * data;
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count++;
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if (count >= Nn) {
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calcDelta();
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complete = true;
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}
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return complete;
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}
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static inline double medianOf(std::vector<double>& list)
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{
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std::sort(list.begin(), list.end());
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int count = list.size();
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int middle = count / 2;
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return (count % 2 == 1) ? list[middle] : (list[middle - 1] + list[middle]) / 2.0l;
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}
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void CalibrationData::calcDelta()
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{
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median.Set(medianOf(xData), medianOf(yData), medianOf(zData));
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mean = sum / count;
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Vector m2 = mean * mean;
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Vector d = sumSq / count - m2;
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Vector s2 = (d * count) / (count - 1);
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sigma = Vector(std::sqrt(d[0]), std::sqrt(d[1]), std::sqrt(d[2]));
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Vector s = Vector(std::sqrt(s2[0]), std::sqrt(s2[1]), std::sqrt(s2[2]));
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delta = s * Tn / std::sqrt((double)count);
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Vector low = mean - delta;
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Vector high = mean + delta;
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FURI_LOG_I(TAG,
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"M[x] = { %f ... %f } // median = %f // avg = %f // delta = %f // sigma = %f",
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low[0], high[0], median[0], mean[0], delta[0], sigma[0]);
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FURI_LOG_I(TAG,
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"M[y] = { %f ... %f } // median = %f // avg = %f // delta = %f // sigma = %f",
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low[1], high[1], median[1], mean[1], delta[1], sigma[1]);
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FURI_LOG_I(TAG,
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"M[z] = { %f ... %f } // median = %f // avg = %f // delta = %f // sigma = %f",
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low[2], high[2], median[2], mean[2], delta[2], sigma[2]);
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}

‎tracking/calibration_data.h

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#pragma once
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#include <toolbox/saved_struct.h>
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#include <storage/storage.h>
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#include <vector>
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#include "util/vector.h"
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#define CALIBRATION_DATA_VER (1)
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#define CALIBRATION_DATA_FILE_NAME ".calibration.data"
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#define CALIBRATION_DATA_PATH INT_PATH(CALIBRATION_DATA_FILE_NAME)
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#define CALIBRATION_DATA_MAGIC (0x23)
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#define CALIBRATION_DATA_SAVE(x) \
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saved_struct_save( \
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CALIBRATION_DATA_PATH, \
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(x), \
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sizeof(CalibrationMedian), \
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CALIBRATION_DATA_MAGIC, \
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CALIBRATION_DATA_VER)
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#define CALIBRATION_DATA_LOAD(x) \
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saved_struct_load( \
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CALIBRATION_DATA_PATH, \
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(x), \
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sizeof(CalibrationMedian), \
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CALIBRATION_DATA_MAGIC, \
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CALIBRATION_DATA_VER)
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typedef struct {
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double x;
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double y;
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double z;
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} CalibrationMedian;
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typedef cardboard::Vector3 Vector;
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/**
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* Helper class to gather some stats and store the calibration data. Right now it calculates a lot
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* more stats than actually needed. Some of them are used for logging the sensors quality (and
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* filing bugs), other may be required in the future, e.g. for bias.
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*/
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class CalibrationData {
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public:
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/**
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* Check if the sensors were calibrated before.
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*
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* @return {@code true} if calibration data is available, or {@code false} otherwise.
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*/
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bool isComplete() { return complete; }
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/** Prepare to collect new calibration data. */
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void reset();
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/**
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* Retrieve the median gyroscope readings.
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*
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* @return Three-axis median vector.
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*/
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Vector getMedian() { return median; }
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/**
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* Retrieve the mean gyroscope readings.
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*
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* @return Three-axis mean vector.
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*/
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Vector getMean() { return mean; }
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/**
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* Retrieve the standard deviation of gyroscope readings.
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*
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* @return Three-axis standard deviation vector.
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*/
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Vector getSigma() { return sigma; }
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/**
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* Retrieve the confidence interval size of gyroscope readings.
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*
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* @return Three-axis confidence interval size vector.
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*/
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Vector getDelta() { return delta; }
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/**
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* Add a new gyroscope reading to the stats.
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*
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* @param data gyroscope values vector.
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* @return {@code true} if we now have enough data for calibration, or {@code false} otherwise.
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*/
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bool add(Vector& data);
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private:
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// Calculates the confidence interval (mean +- delta) and some other related values, like
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// standard deviation, etc. See https://en.wikipedia.org/wiki/Student%27s_t-distribution
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void calcDelta();
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int count;
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bool complete;
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Vector sum;
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Vector sumSq;
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Vector mean;
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Vector median;
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Vector sigma;
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Vector delta;
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std::vector<double> xData;
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std::vector<double> yData;
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std::vector<double> zData;
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};

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