158 lines
5.7 KiB
C
158 lines
5.7 KiB
C
/******************** (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 对外部接口
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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 "pdr_base.h"
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#include "pdr_util.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 : pdr_algorithmInit
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* Description : PDR算法主初始化流程，包括PDR导航初始化、计步器状态初始化以及轨
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* 迹平滑窗口的初始化
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* Date : 2020/7/3 logzhan
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*---------------------------------------------------------------------**/
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void Algorithm_Init(void);
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/**---------------------------------------------------------------------
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* Function : pdr_locationMainLoop
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* Description : PDR定位主循环，主要处理来自上层输入的传感器数据并解算位置
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* 迹平滑窗口的初始化
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* Input : ss_data， 传感器数据
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nmea_data, NMEA数据
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result，定位结果
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* Output : int, 输出标志位
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* Date : 2020/7/3 logzhan
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*---------------------------------------------------------------------**/
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int pdr_locationMainLoop(imu *ss_data, lct_nmea *nmea_data, lct_fs *result,
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FILE *fp_gps);
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/**---------------------------------------------------------------------
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* Function : pdr_locationMainLoopStr
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* Description : PDR定位主循环，主要处理来自上层输入的传感器数据并解算位置
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* 迹平滑窗口的初始化
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* Date : 2020/07/03 logzhan
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* 2020/02/02 logzhan : 增加宏控制是否开启输出平滑
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*---------------------------------------------------------------------**/
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int pdr_locationMainLoopStr(char* line, lct_fs* result);
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/**---------------------------------------------------------------------
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* Function : pdr_initRmc
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* Description : 初始化RMC结构体
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* Input : rmc， RMC结构体
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* Date : 2020/7/3 logzhan
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*---------------------------------------------------------------------**/
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void RMC_Init(lct_nmea_rmc * rmc);
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/**---------------------------------------------------------------------
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* Function : pdr_initNmeaFlg
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* Description : 初始化GPS的NMEA协议的相关标志位
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* Input : ln， NMEA结构体
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* Date : 2020/7/3 logzhan
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*---------------------------------------------------------------------**/
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void NmeaFlag_Init(lct_nmea * ln);
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/**---------------------------------------------------------------------
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* Function : clearNmeaFlg
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* Description : 清空Nmea标志位,功能和init相同
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* Date : 2020/7/4 logzhan
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*---------------------------------------------------------------------**/
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void clearNmeaFlg(lct_nmea * ln);
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/**---------------------------------------------------------------------
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* Function : pdr_saveGnssInfo
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* Description : 保存GPS相关信息
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* Date : 2020/7/3 logzhan
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*---------------------------------------------------------------------**/
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void pdr_saveGnssInfo(lct_nmea* nmea_data, lct_fs* result, FILE* fp_gps);
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/**----------------------------------------------------------------------
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* Function : pdr_libVersion
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* Description : pdr库版本号
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* Date : 2020/8/3 logzhan
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*---------------------------------------------------------------------**/
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const char* pdr_libVersion(void);
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/**----------------------------------------------------------------------
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* Function : pdr_closeAlgorithm
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* Description : 关闭PDR算法,释放资源
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* Date : 2020/8/3 logzhan
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*---------------------------------------------------------------------**/
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void pdr_closeAlgorithm();
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#ifdef _WIN32 // 主要用于支持win32调试使用，用于dll接口导出
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/**----------------------------------------------------------------------
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* Function : LibPDR_Init
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* Description : 初始化PDR算法(DLL调用)
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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 : pdrSumulatorUpdateGpsStep
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* Description : 仿真器按照GPS单步执行(DLL调用)
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* Date : 2020/8/3 logzhan
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*---------------------------------------------------------------------**/
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__declspec(dllexport) PosFusion pdrSumulatorUpdateGpsStep(int useGpsFlg);
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/**----------------------------------------------------------------------
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* Function : setSimulatorFileCsvPath
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* Description : 设置仿真文件的路径(DLL调用)
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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 : closePdrAlgo
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* Description : 关闭pdr算法，释放相关内存，用于dll调用(DLL调用)
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* Date : 2020/8/3 logzhan
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*---------------------------------------------------------------------**/
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__declspec(dllexport) void closePdrAlgo();
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/**----------------------------------------------------------------------
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* Function : setRefGpsYaw
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* Description : 设置GPS参考角度
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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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