152 lines
5.5 KiB
C
152 lines
5.5 KiB
C
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/******************** (C) COPYRIGHT 2020 Geek************************************
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* File Name : pdr_api.h
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* Department : Sensor Algorithm Team
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* Current Version : V2.0(compare QCOM SAP 5.0)
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* Author : logzhan
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* Date of Issued : 2021.01.26
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* Comments : PDR <EFBFBD><EFBFBD><EFBFBD>ⲿ<EFBFBD>ӿ<EFBFBD>
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********************************************************************************/
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#ifndef _PDR_API_H_
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#define _PDR_API_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 <stdio.h>
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#include <math.h>
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#include <string.h>
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#include "pdr_sensor.h"
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#include "PDRBase.h"
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#include "Utils.h"
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/* Macro Definition ----------------------------------------------------------*/
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#define IMU_LAST_COUNT 10
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typedef struct _PosFusion{
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double lat;
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double lon;
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double gpsLat;
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double gpsLon;
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double t;
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int vaild;
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}PosFusion;
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/* Function Declaration ------------------------------------------------------*/
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/**---------------------------------------------------------------------
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* Function : Algorithm_Init
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* Description : PDR<EFBFBD>㷨<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̣<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>PDR<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ʋ<EFBFBD><EFBFBD><EFBFBD>״̬<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD>Լ<EFBFBD><EFBFBD><EFBFBD>
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* <EFBFBD><EFBFBD>ƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵij<EFBFBD>ʼ<EFBFBD><EFBFBD>
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* Date : 2022/10/15 logzhan
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*---------------------------------------------------------------------**/
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void Algorithm_Init(void);
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/**---------------------------------------------------------------------
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* Function : PDRLocationMainLoop
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* Description : PDR<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>ѭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>
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* <EFBFBD><EFBFBD>ƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵij<EFBFBD>ʼ<EFBFBD><EFBFBD>
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* Date : 2022/10/16 logzhan
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*---------------------------------------------------------------------**/
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int PDRLocationMainLoop(IMU_t* ImuData, Nmea_t* NmeaData, LctFs_t* LocFusion);
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/**---------------------------------------------------------------------
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* Function : pdr_locationMainLoopStr
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* Description : PDR<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>ѭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>
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* <EFBFBD><EFBFBD>ƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵij<EFBFBD>ʼ<EFBFBD><EFBFBD>
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* Date : 2020/07/03 logzhan
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* 2020/02/02 logzhan : <EFBFBD><EFBFBD><EFBFBD>Ӻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƽ<EFBFBD><EFBFBD>
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*---------------------------------------------------------------------**/
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int ParseDataAndUpdate(char* line, LctFs_t* result);
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/**---------------------------------------------------------------------
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* Function : pdr_initRmc
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* Description : <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>RMC<EFBFBD>ṹ<EFBFBD><EFBFBD>
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* Input : rmc<EFBFBD><EFBFBD> RMC<EFBFBD>ṹ<EFBFBD><EFBFBD>
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* Date : 2020/7/3 logzhan
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*---------------------------------------------------------------------**/
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void RMC_Init(NmeaRMC_t * rmc);
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/**---------------------------------------------------------------------
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* Function : pdr_initNmeaFlg
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* Description : <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>GPS<EFBFBD><EFBFBD>NMEAЭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ر<EFBFBD>־λ
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* Input : ln<EFBFBD><EFBFBD> NMEA<EFBFBD>ṹ<EFBFBD><EFBFBD>
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* Date : 2020/7/3 logzhan
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*---------------------------------------------------------------------**/
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void NmeaFlag_Init(Nmea_t * ln);
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/**---------------------------------------------------------------------
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* Function : clearNmeaFlg
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* Description : <EFBFBD><EFBFBD><EFBFBD><EFBFBD>Nmea<EFBFBD><EFBFBD>־λ,<EFBFBD><EFBFBD><EFBFBD>ܺ<EFBFBD>init<EFBFBD><EFBFBD>ͬ
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* Date : 2020/7/4 logzhan
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*---------------------------------------------------------------------**/
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void ClearNmeaFlg(Nmea_t * ln);
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/**---------------------------------------------------------------------
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* Function : pdr_saveGnssInfo
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* Description : <EFBFBD><EFBFBD><EFBFBD><EFBFBD>GPS<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
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* Date : 2020/7/3 logzhan
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*---------------------------------------------------------------------**/
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void SaveGnssInfo(Nmea_t* nmea_data, LctFs_t* result, FILE* fp_gps);
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/**----------------------------------------------------------------------
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* Function : GetPDRVersion
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* Description : <EFBFBD><EFBFBD>ȡpdr<EFBFBD>汾<EFBFBD><EFBFBD>
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* Date : 2022/10/15 logzhan
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*---------------------------------------------------------------------**/
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const char* GetPDRVersion(void);
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/**----------------------------------------------------------------------
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* Function : pdr_closeAlgorithm
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* Description : <EFBFBD>ر<EFBFBD>PDR<EFBFBD>㷨,<EFBFBD>ͷ<EFBFBD><EFBFBD><EFBFBD>Դ
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* Date : 2020/8/3 logzhan
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*---------------------------------------------------------------------**/
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void Algorithm_DeInit();
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#ifdef _WIN32 // <20><>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>֧<EFBFBD><D6A7>win32<33><32><EFBFBD><EFBFBD>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD>dll<6C>ӿڵ<D3BF><DAB5><EFBFBD>
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/**----------------------------------------------------------------------
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* Function : LibPDR_Init
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* Description : <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>PDR<EFBFBD>㷨(DLL<EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
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* Date : 2020/8/3 logzhan
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*---------------------------------------------------------------------**/
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__declspec(dllexport) void LibPDR_Init();
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/**----------------------------------------------------------------------
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* Function : PDR_StepUpdateGPS
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* Description : <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>GPS<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ִ<EFBFBD><EFBFBD>(DLL<EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
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* Date : 2022/9/16 logzhan
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*---------------------------------------------------------------------**/
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__declspec(dllexport) PosFusion LibPDR_StepUpdateGPS(int useGpsFlg);
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/**----------------------------------------------------------------------
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* Function : setSimulatorFileCsvPath
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* Description : <EFBFBD><EFBFBD><EFBFBD>÷<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><EFBFBD>(DLL<EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
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* Date : 2020/8/3 logzhan
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*---------------------------------------------------------------------**/
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__declspec(dllexport) void setSimulatorFileCsvPath(char* path);
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/**----------------------------------------------------------------------
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* Function : LibPDR_DeInit
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* Description : <EFBFBD>ر<EFBFBD>pdr<EFBFBD>㷨<EFBFBD><EFBFBD><EFBFBD>ͷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ棬<EFBFBD><EFBFBD><EFBFBD><EFBFBD>dll<EFBFBD><EFBFBD><EFBFBD><EFBFBD>(DLL<EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
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* Date : 2020/8/3 logzhan
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*---------------------------------------------------------------------**/
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__declspec(dllexport) void LibPDR_DeInit();
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/**----------------------------------------------------------------------
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* Function : setRefGpsYaw
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* Description : <EFBFBD><EFBFBD><EFBFBD><EFBFBD>GPS<EFBFBD>ο<EFBFBD><EFBFBD>Ƕ<EFBFBD>
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* Date : 2020/8/3 logzhan
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*---------------------------------------------------------------------**/
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__declspec(dllexport) void setRefGpsYaw();
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#endif
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#ifdef __cplusplus
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}
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#endif
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#endif
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