1 /* 2 * Copyright (C) 2016 The Android Open Source Project 3 * 4 * Licensed under the Apache License, Version 2.0 (the "License"); 5 * you may not use this file except in compliance with the License. 6 * You may obtain a copy of the License at 7 * 8 * http://www.apache.org/licenses/LICENSE-2.0 9 * 10 * Unless required by applicable law or agreed to in writing, software 11 * distributed under the License is distributed on an "AS IS" BASIS, 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 * See the License for the specific language governing permissions and 14 * limitations under the License. 15 */ 16 17 #ifndef LOCATION_LBS_CONTEXTHUB_NANOAPPS_CALIBRATION_MAGNETOMETER_MAG_CAL_MAG_CAL_H_ 18 #define LOCATION_LBS_CONTEXTHUB_NANOAPPS_CALIBRATION_MAGNETOMETER_MAG_CAL_MAG_CAL_H_ 19 20 #include <stdbool.h> 21 #include <stdint.h> 22 #include <sys/types.h> 23 24 #include "calibration/diversity_checker/diversity_checker.h" 25 #include "common/math/kasa.h" 26 #include "common/math/mat.h" 27 #include "common/math/vec.h" 28 29 #ifdef __cplusplus 30 extern "C" { 31 #endif 32 33 enum MagUpdate { 34 NO_UPDATE = 0x00, 35 UPDATE_BIAS = 0x01, 36 UPDATE_SPHERE_FIT = 0x02, 37 UPDATE_BIAS_MAGGYRO_MEDIUM = 0x04, 38 UPDATE_BIAS_MAGGYRO_HIGH = 0x08, 39 MAGGYRO_TIMEOUT = 0x10, 40 }; 41 42 #ifdef MAG_CAL_DEBUG_ENABLE 43 struct MagDbg { 44 uint32_t mag_trigger_count; 45 uint32_t kasa_count; 46 }; 47 #endif 48 49 // MagCal algorithm parameters (see MagCal for details). 50 struct MagCalParameters { 51 uint32_t min_batch_window_in_micros; 52 float x_bias; // [micro-Tesla] 53 float y_bias; // [micro-Tesla] 54 float z_bias; // [micro-Tesla] 55 float c00; 56 float c01; 57 float c02; 58 float c10; 59 float c11; 60 float c12; 61 float c20; 62 float c21; 63 float c22; 64 }; 65 66 struct MagCal { 67 struct DiversityChecker diversity_checker; 68 struct KasaFit kasa; 69 70 uint64_t start_time; // [micro-seconds] 71 uint64_t update_time; // [micro-seconds] 72 uint32_t min_batch_window_in_micros; 73 float x_bias, y_bias, z_bias; 74 float radius; // [micro-Tesla] 75 bool kasa_batching; 76 float c00, c01, c02, c10, c11, c12, c20, c21, c22; 77 78 #ifdef MAG_CAL_DEBUG_ENABLE 79 struct MagDbg mag_dbg; 80 #endif 81 }; 82 83 void initMagCal(struct MagCal *moc, 84 const struct MagCalParameters *mag_cal_parameters, 85 const struct DiversityCheckerParameters *diverse_parameters); 86 87 void magCalDestroy(struct MagCal *moc); 88 89 enum MagUpdate magCalUpdate(struct MagCal *moc, uint64_t sample_time_us, 90 float x, float y, float z); 91 92 void magCalGetBias(const struct MagCal *moc, float *x, float *y, float *z); 93 94 void magCalAddBias(struct MagCal *moc, float x, float y, float z); 95 96 void magCalRemoveBias(struct MagCal *moc, float xi, float yi, float zi, 97 float *xo, float *yo, float *zo); 98 99 void magCalSetSoftiron(struct MagCal *moc, float c00, float c01, float c02, 100 float c10, float c11, float c12, float c20, float c21, 101 float c22); 102 103 void magCalRemoveSoftiron(struct MagCal *moc, float xi, float yi, float zi, 104 float *xo, float *yo, float *zo); 105 106 void magCalReset(struct MagCal *moc); 107 108 #if defined MAG_CAL_DEBUG_ENABLE 109 void magLogPrint(struct DiversityChecker *moc, float temp); 110 #endif 111 112 #ifdef __cplusplus 113 } 114 #endif 115 116 #endif // LOCATION_LBS_CONTEXTHUB_NANOAPPS_CALIBRATION_MAGNETOMETER_MAG_CAL_MAG_CAL_H_ 117