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  1. //Adding these comment to describe how knock detection works.
  3. //- First we find average x, y and z accelerometer values for when base unit is in its stable position after calibration.
  4. //- This is the average over (1) second after the filter has been closed.
  5. //- Once average found, we check the tilt of the base unit (we also do some additional calculations to map the xyz to a theoretical flat surface).
  6. //- If base accel xyz value are 0 on any one of the three axis, we use the 'Flat Base' algorithm.
  7. //- If no 0s on all axes, base is tilted on all three axis so we use the 'Tilted Base' algorithm.
  8. //- Flat base algorithm: 1. Checks if accel readings on any axes are greater than a threshold (noisefloor).
  9. //- Flat base algorithm: 2. If greater than threshold, start storing data to array until we read mutiple noisefloor values again.
  10. //- Flat base algorithm: 3. Process this data set- Check it's time-length, average magnitude of x and y compared to z,
  11. //and also the size of x,y. If very short time, assume false positive. if long time but z is greater than x,y by 1.2x
  12. //then assume FP. If long time and z is less, assume knocked. If long time, z is less than x,y by 1.2x but x or y is greater
  13. //than a hard value, assume knocked.
  14. //- Tilted base algorithm: 1. Check if accel readings on any axes are greater than a threshold (noisefloor) like the above.
  15. //- Tilted base algorithm: 2. If greater than threshold, assume a disturbance may have started and check data to know when disturbance has stopped (until noiselfoor is reached again).
  16. //- Tilted base algorithm: 3. If we are not able to return to the same readings as we started after 1 second, assume base has been knocked.
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