PDR/1.Software/PDR 1.05/include/pdr_sensor.h

/******************** (C) COPYRIGHT 2021 Geek************************************
* File Name          : pdr_sensor.h
* Department         : Sensor Algorithm Team
* Current Version    : V2.0
* Author             : logzhan
* Date of Issued     : 2021.02.01
* Comments           : PDR<EFBFBD>㷨<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
********************************************************************************/
#ifndef _SENSOR_H_
#define _SENSOR_H_

#ifdef __cplusplus
extern "C" {
#endif

#include <stdint.h>

/* Macro Definition ----------------------------------------------------------*/
#define  IMU_SENSOR_AXIS          3


#ifdef _WIN32					  
#define  PDR_LOGD                 printf
#define  PDR_LOGE                 printf
#else							  
#include <android/log.h>		  
#define LOG_TAG "Loc_PDR"		  
#define PDR_LOGD(...)             __android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, __VA_ARGS__)
#define PDR_LOGE(...)             __android_log_print(ANDROID_LOG_ERROR, LOG_TAG, __VA_ARGS__)
#endif							  
								  
#define ADD_POINT_NUM             10
								  
#define GGA_STR                   "GGA"
#define RMC_STR                   "RMC"
#define GSA_STR                   "GSA"
#define GSV_STR                   "GSV"
								  
#define GNGGA_STR                 "$GNGGA"
#define GPGGA_STR                 "$GPGGA"
#define GNRMC_STR                 "$GNRMC"
#define GPRMC_STR                 "$GPRMC"
#define GNGSA_STR                 "$GNGSA"
#define GPGSA_STR                 "$GPGSA"
#define GAGSA_STR                 "$GAGSA"
#define GLGSA_STR                 "$GLGSA"
#define GPGSV_STR                 "$GPGSV"
#define GAGSV_STR                 "$GAGSV"
#define GLGSV_STR                 "$GLGSV"
				                  
#define NORTH                     "N"
#define SOUTH                     "S"
#define EAST                      "E"
#define WEST                      "W"
#define ITEM_INVALID              (-1)
#define INVAILD_GPS_YAW           (-1)                          // <20><>ЧGPS<50><53><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD>
/* Struct Definition ---------------------------------------------------------*/
typedef enum {
	SENSOR_MIN,
	SENSOR_ACC                    = 1,
	SENSOR_MAG                    = 2,
	SENSOR_GYRO                   = 4,
	SENSOR_LIGHT                  = 5,
	SENSOR_PROXIMITY              = 8,
	SENSOR_GAME_ROTATION_VECTOR   = 15,
	SENSOR_LOCATION_STATELLITE    = 70,
	SENSOR_LOCATION_NETWORK       = 71,
	SENSOR_LOCATION_FUSION        = 72,
	SENSOR_LOCATION_NMEA          = 73,
	SENSOR_LOCATION_NMEA_GNGGA    = 74,
	SENSOR_LOCATION_NMEA_GPGGA    = 75,
	SENSOR_LOCATION_NMEA_GNRMC    = 76,
	SENSOR_LOCATION_NMEA_GPRMC    = 77,
	SENSOR_LOCATION_NMEA_GNGSA    = 78,
	SENSOR_LOCATION_NMEA_GPGSA    = 79,
	SENSOR_LOCATION_NMEA_GPGSV    = 80,
	SENSOR_LOCATION_NMEA_GLGSV    = 81,
	SENSOR_LOCATION_NMEA_GAGSV    = 82,
	SENSOR_LOCATION_NMEA_GLGSA    = 83,
	SENSOR_LOCATION_NMEA_GAGSA    = 84,
	SENSOR_MAX,
} sensor;

typedef enum {
	POSITIONING_N = 0,
	POSITIONING_Y = 1,
}lct_status;

typedef enum {
	POSITIONING_MODE_A = 0,
	POSITIONING_MODE_M = 1,
}lct_mode;

typedef enum PDR_Mode {
	RAW_GPS = 1,
	STOP = 2,
	WALK_PDR = 3,
	WALK_GPS = 4,
	CAR = 5
} PDR_Mode;

typedef enum DIR_Mode {
	GPS_DATASHEET = 0,
	IMU_PCA = 1,
	DELTA_LOCATION = 2
} DIR_Mode;

/*for GSA*/
typedef enum {
	PSTN_GSA_N = 1,
	PSTN_GSA_Y_2D = 2,
	PSTN_GSA_Y_3D = 3,
}lct_type;

typedef enum {
	LATITUDE_N = 0,
	LATITUDE_S = 1,
	LONGITUDINAL_E = 2,
	LONGITUDINAL_W = 3,
}LL_NSEW;

typedef enum {
	MAG_E = 0,
	MAG_W = 1,
}mag_heading;

typedef enum {
	MODE_A = 0,
	MODE_D = 1,
	MODE_E = 2,
	MODE_N = 3,
}gnrmc_mode;

typedef enum {
	invalid = 0,
	fix = 1,
	dgps_fix = 2,
	invalid_pps = 3,
	rtk_fix = 4,
	rtk_float = 5,
	estimating = 6,
}gngga_quality;

typedef struct Sensor {
	unsigned char update;
	int type;
	double time;                      
	float s[IMU_SENSOR_AXIS];
}Sensor_t;

typedef struct imu {
	Sensor_t acc;
	Sensor_t gyr;
	Sensor_t mag;
}IMU_t;

typedef struct NmeaRMC_t {
	unsigned char update;
	char rmc_check_sum[9];
	sensor type;
	lct_status status;
	LL_NSEW rmc_latitude_ns;
	LL_NSEW longitudinal_ew;
	mag_heading mag_h;
	gnrmc_mode mode;
	float speed;
	float cog;
	float utc_ddmmyy;
	float magnetic;
	double rmc_utc;
	double latitude;
	double longitudinal;
	double time;                 //ms
}NmeaRMC_t;

typedef struct NmeaGGA{
	unsigned char update;
	char gga_check_sum[9];
	sensor type;
	LL_NSEW gga_latitude_ns;
	LL_NSEW longitudinal_ew;
	gngga_quality status;
	int satellites_nb;
	int unit_a;
	int unit_h;
	int dgps;
	float hdop;
	float altitude;
	float height;
	double gga_utc;
	double latitude;
	double longitudinal;
	double time;                //ms
}NmeaGGA_t;

typedef struct NmeaGSA {
	unsigned char update;
	char check_sum[9];
	sensor type;
	lct_mode mode;
	lct_type p_type;
	int prnflg;
	int prn[12];
	float pdop;
	float hdop;
	float vdop;
	double time;                 //ms
}NmeaGSA_t;

typedef struct satellite_status {
	int prn;
	int elevation;  // elevation >10
	int azimuth;
	int snr;  //snr >25 good
}satellite_status;

typedef struct NmeaGSV {
	unsigned char update;
	sensor type;
	int sentences;
	int sentence_number;
	int satellites;
	int satellite_number;
	satellite_status satellites_data[20];
	double time;                 //ms
}NmeaGSV_t;

typedef struct Accuracy{
	unsigned char update;
	int status;                   //-1,:Status Unknown; 0: Out of Service; 1: Temporarily Unavailable; 2: Available
	float err;                  // m
	double time;
}Accuracy_t;

typedef struct Nmea_t {
	unsigned char update;
	double        minTime;
	double        maxTime;
	NmeaGGA_t     gga;
	NmeaRMC_t     rmc[2];           // 0 - GNRMC, 1 - GPRMC
	NmeaGSA_t     gsa[3];		    // 0 - GPGSA, 1 - GLGSA, 2 - GAGSA 
	NmeaGSV_t     gsv[3];           // 0 - GPGSV, 1 - GLGSV, 2 - GAGSV
	Accuracy_t    accuracy;
}Nmea_t;

typedef struct lct_fs {
	LL_NSEW latitude_ns;
	LL_NSEW longitudinal_ew;
	double latitude;
	double longitudinal;
	double gpsLat;
	double gpsLon;
	double gpsHeading;
	double pdrHeading;
	double hdop;
	double gpsSpeed;
	double accuracy;
	double time;
	double yaw;
	double lambda;
	double last_lat;
	double last_lon;
	unsigned long step;
	uint8_t motionType;
}LctFs_t;

typedef struct gnss {
	LL_NSEW lat_ns;
	LL_NSEW lon_ew;
	int    minElevation;
	int    satellites_num;                      // <20><>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	int    quality;                                
	float  yaw;                                 // GNSS <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	float  vel;                                 // GNSS <20>ٶ<EFBFBD>
	float  HDOP;                                // GNSS ˮƽ<CBAE><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	float  error;                               // <20><>ǰGPS<50><53>Accuracy
	float  lastError;                           // <20><>һ<EFBFBD><D2BB>GPS<50><53>Accuracy
	int    overVelCount;                        // <20>ٶȹ<D9B6><C8B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͳ<EFBFBD><CDB3>, <20><>¼<EFBFBD>ٶȹ<D9B6><C8B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><D0B6>ֻ<EFBFBD><D6BB>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD>ڳ<EFBFBD><DAB3><EFBFBD>ģʽ
	double timestamps;
	double lat;
	double lon;
	double xNed;
	double yNed;
}GNSS_t;

typedef struct IMU {
	double time;
	float  gyr[3];
	float  acc[3];
	float  mag[3];
} IMU;

typedef struct AHRS {
	uint8_t status;
	uint8_t stable;                             // <20><>ǰAHRS<52>㷨<EFBFBD><E3B7A8><EFBFBD><EFBFBD><EFBFBD>ȶ<EFBFBD><C8B6><EFBFBD>
	float error;
	float q[4];                                 // 
	float gravity[3];
	float x_axis[3];
	float y_axis[3];
	float z_axis[3];
	float Dt;
	float Kp;                                   // mahony kp<6B><70><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD>
	float Yaw;
	float Pitch;
	float Roll;
	float insHeading;
}AHRS_t;

#ifdef __cplusplus
}
#endif
#endif