86 lines
2.8 KiB
C
86 lines
2.8 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 "pdr_base.h"
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#include "buffer.h"
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#include "pdr_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 *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 : pdr_getDetector
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* Description : <EFBFBD><EFBFBD>ȡPDR<EFBFBD>˶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ľṹ<EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD>
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* Date : 2020/02/16 logzhan &
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*
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*---------------------------------------------------------------------**/
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DETECTOR *pdr_getDetector(void);
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/**---------------------------------------------------------------------
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* Function : pdr_initDetector
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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 : 2020/02/16 logzhan & logzhan
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*---------------------------------------------------------------------**/
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DETECTOR* Detector_Init(void);
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/**---------------------------------------------------------------------
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* Function : pdr_resetDetector
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* Description : <EFBFBD><EFBFBD><EFBFBD><EFBFBD>PDR<EFBFBD>˶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* Date : 2020/02/16 logzhan & logzhan
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*---------------------------------------------------------------------**/
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void pdr_resetDetector(void);
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/**---------------------------------------------------------------------
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* Function : pdr_motionTypeDetect
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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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*---------------------------------------------------------------------**/
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int pdr_motionTypeDetect(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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void mag_calibration(IMU *imu);
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void mag_m_trans(float a[MAG_BUF_LEN][3], float r[3][MAG_BUF_LEN]);
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void mag_min(float a[MAG_BUF_LEN], float *mag_min);
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void mag_max(float a[MAG_BUF_LEN], float *mag_max);
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void mag_rand(float r[6]);
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void updateDetectorImu(imu* imu);
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#ifdef __cplusplus
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}
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#endif
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#endif
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