112 lines
4.1 KiB
C
112 lines
4.1 KiB
C
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#ifndef __DETECTOR_H
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#define __DETECTOR_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Header File Including ------------------------------------------------------------------------ */
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#include <stdint.h>
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#include <stdlib.h>
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#include <time.h>
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#include "PDRBase.h"
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#include "buffer.h"
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#include "AHRS.h"
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/* Macro Declaration ---------------------------------------------------------------------------- */
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#define DETECTOR_NO_ERROR 0
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#define DETECTOR_OUT_OF_MEMORY 1
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#define MAG_BUF_LEN 256
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#define MAG_LEN 6
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/* Struct Declaration --------------------------------------------------------------------------- */
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typedef void (*DETECTOR_update_callback)(Detector_t *detector);
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/* Global Variable Declaration ------------------------------------------------------------------ */
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extern BUFFER_SHORT g_acc_frq_buf[3];
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extern BUFFER_SHORT g_acc_amp_buf[3];
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extern BUFFER_SHORT g_gyr_frq_buf[3];
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extern BUFFER_SHORT g_gyr_amp_buf[3];
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/* Function Declaration ------------------------------------------------------------------------- */
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/**---------------------------------------------------------------------
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* Function : GetDetectorObj
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* Description : <EFBFBD><EFBFBD>ȡPDR<EFBFBD>˶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* Date : 2020/02/16 logzhan
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*---------------------------------------------------------------------**/
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Detector_t *GetDetectorObj(void);
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/**---------------------------------------------------------------------
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* Function : Detector_Init
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* Description : <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʶ<EFBFBD><EFBFBD><EFBFBD>û<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD>ģʽ
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* Date : 2022/09/23 logzhan
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*---------------------------------------------------------------------**/
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Detector_t* Detector_Init(void);
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/**---------------------------------------------------------------------
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* Function : DetectorReset
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* Description : <EFBFBD><EFBFBD><EFBFBD><EFBFBD>PDR<EFBFBD>˶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* Date : 2022/09/23 logzhan
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*---------------------------------------------------------------------**/
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void DetectorReset(void);
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/**---------------------------------------------------------------------
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* Function : DetectMotionType
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* Description : pdr<EFBFBD>˶<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD>
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* Date : 2020/7/20
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*---------------------------------------------------------------------**/
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int DetectMotionType(void);
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/**---------------------------------------------------------------------
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* Function : predict
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* Description : <EFBFBD>ж<EFBFBD><EFBFBD>ֻ<EFBFBD>Я<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹ<EFBFBD><EFBFBD><EFBFBD>ֳ֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵȣ<EFBFBD>
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* Date : 2020/7/20 logzhan
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*---------------------------------------------------------------------**/
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int pdr_detectorPredict(float* feature);
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/**----------------------------------------------------------------------
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* Function : DetUserStatic
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* Description : <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD><EFBFBD>Ƿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ھ<EFBFBD>ֹ״̬
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* Date : 2022/10/15 logzhan
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*---------------------------------------------------------------------**/
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int DetUserStatic(PDR_t* g_pdr, GNSS_t* pgnss, unsigned long delSteps);
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/**----------------------------------------------------------------------
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* Function : detIsCarMode
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* Description : ʶ<EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><EFBFBD>dz<EFBFBD><EFBFBD><EFBFBD>ģʽ
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* Input : pgnss<EFBFBD><EFBFBD>GPS<EFBFBD><EFBFBD><EFBFBD>ݽṹ<EFBFBD><EFBFBD>
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g_pdr<EFBFBD><EFBFBD>PDR<EFBFBD>ṹ<EFBFBD><EFBFBD>
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delSteps<EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD>ϴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ȳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ı仯<EFBFBD><EFBFBD>
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time<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* Output : int<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ<EFBFBD><EFBFBD>־λ
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* Date : 2021/01/28 logzhan
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*---------------------------------------------------------------------**/
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int DetectCarMode(GNSS_t* pgnss, PDR_t* g_pdr, unsigned long delSteps, int* time);
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/**----------------------------------------------------------------------
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* Function : detPdrToReset
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* Description : <EFBFBD><EFBFBD><EFBFBD><EFBFBD>PDRϵͳ<EFBFBD>Ƿ<EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>PDR<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʧ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>PDR<EFBFBD><EFBFBD>GPS<EFBFBD><EFBFBD>λ<EFBFBD>á<EFBFBD>
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* Date : 2021/01/28 logzhan
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*---------------------------------------------------------------------**/
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int DetectPdrToReset(double pdr_angle, int* gpscnt, unsigned long deltsteps, PDR_t* g_pdr);
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/**---------------------------------------------------------------------
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* Function : DetectorUpdateIMU
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* Description : <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>imu<EFBFBD><EFBFBD>Ϣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* <EFBFBD>û<EFBFBD><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* Date : 2022/09/23
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*---------------------------------------------------------------------**/
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void DetectorUpdateIMU(IMU_t* imu, PDR_t* pdr);
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#ifdef __cplusplus
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}
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#endif
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#endif
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