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 #ifndef LOCATION_LBS_CONTEXTHUB_NANOAPPS_CALIBRATION_MAGNETOMETER_MAG_CAL_H_ 17 #define LOCATION_LBS_CONTEXTHUB_NANOAPPS_CALIBRATION_MAGNETOMETER_MAG_CAL_H_ 18 19 #include <stdbool.h> 20 #include <stdint.h> 21 #include <sys/types.h> 22 #ifdef DIVERSITY_CHECK_ENABLED 23 #include "calibration/common/diversity_checker.h" 24 #endif 25 #include "common/math/mat.h" 26 #include "common/math/vec.h" 27 28 #ifdef __cplusplus 29 extern "C" { 30 #endif 31 32 struct KasaFit { 33 float acc_x, acc_y, acc_z, acc_w; 34 float acc_xx, acc_xy, acc_xz, acc_xw; 35 float acc_yy, acc_yz, acc_yw, acc_zz, acc_zw; 36 size_t nsamples; 37 }; 38 39 struct MagCal { 40 #ifdef DIVERSITY_CHECK_ENABLED 41 struct DiversityChecker diversity_checker; 42 #endif 43 struct KasaFit kasa; 44 45 uint64_t start_time; 46 uint64_t update_time; 47 48 float x_bias, y_bias, z_bias; 49 float radius; 50 51 float c00, c01, c02, c10, c11, c12, c20, c21, c22; 52 }; 53 54 void initKasa(struct KasaFit *kasa); 55 56 #ifdef DIVERSITY_CHECK_ENABLED 57 void initMagCal(struct MagCal *moc, float x_bias, float y_bias, float z_bias, 58 float c00, float c01, float c02, float c10, float c11, 59 float c12, float c20, float c21, float c22, 60 size_t min_num_diverse_vectors, size_t max_num_max_distance, 61 float var_threshold, float max_min_threshold, float local_field, 62 float threshold_tuning_param, float max_distance_tuning_param); 63 #else 64 void initMagCal(struct MagCal *moc, float x_bias, float y_bias, float z_bias, 65 float c00, float c01, float c02, float c10, float c11, 66 float c12, float c20, float c21, float c22); 67 #endif 68 69 void magCalDestroy(struct MagCal *moc); 70 71 bool magCalUpdate(struct MagCal *moc, uint64_t sample_time_us, float x, float y, 72 float z); 73 74 void magCalGetBias(struct MagCal *moc, float *x, float *y, float *z); 75 76 void magCalAddBias(struct MagCal *moc, float x, float y, float z); 77 78 void magCalRemoveBias(struct MagCal *moc, float xi, float yi, float zi, 79 float *xo, float *yo, float *zo); 80 81 void magCalSetSoftiron(struct MagCal *moc, float c00, float c01, float c02, 82 float c10, float c11, float c12, float c20, float c21, 83 float c22); 84 85 void magCalRemoveSoftiron(struct MagCal *moc, float xi, float yi, float zi, 86 float *xo, float *yo, float *zo); 87 88 void magKasaReset(struct KasaFit *kasa); 89 90 void magCalReset(struct MagCal *moc); 91 92 int magKasaFit(struct KasaFit *kasa, struct Vec3 *bias, float *radius); 93 94 #ifdef __cplusplus 95 } 96 #endif 97 98 #endif // LOCATION_LBS_CONTEXTHUB_NANOAPPS_CALIBRATION_MAGNETOMETER_MAG_CAL_H_ 99