/*
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* Copyright (c) 2019-2023 Beijing Hanwei Innovation Technology Ltd. Co. and
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* its subsidiaries and affiliates (collectly called MKSEMI).
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form, except as embedded into an MKSEMI
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* integrated circuit in a product or a software update for such product,
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* must reproduce the above copyright notice, this list of conditions and
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* the following disclaimer in the documentation and/or other materials
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* provided with the distribution.
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*
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* 3. Neither the name of MKSEMI nor the names of its contributors may be used
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* to endorse or promote products derived from this software without
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* specific prior written permission.
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*
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* 4. This software, with or without modification, must only be used with a
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* MKSEMI integrated circuit.
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*
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* 5. Any software provided in binary form under this license must not be
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* reverse engineered, decompiled, modified and/or disassembled.
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*
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* THIS SOFTWARE IS PROVIDED BY MKSEMI "AS IS" AND ANY EXPRESS OR IMPLIED
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* WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
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* MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL MKSEMI OR CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
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* THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef LIB_KF_H
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#define LIB_KF_H
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#include "mk_common.h"
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enum KF_DATA_TYPE_T
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{
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KF_DATA_TYPE_RANGING = 0,
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KF_DATA_TYPE_AZIMUTH = 1,
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KF_DATA_TYPE_ELEVATION = 2,
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};
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struct KF_MAC_ADDR_T
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{
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uint8_t mac_addr[8];
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uint32_t elapsed_time;
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uint8_t data_type;
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};
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struct MAT_CACHE_T
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{
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int row, col;
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float *element;
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};
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struct KF_MAT_VALUE_CACHE_T
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{
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float float_1_2[1 * 1 * 2];
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float float_2_1[4 * 2 * 1];
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float float_2_2[2 * 2 * 2];
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};
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struct KF_CHANNEL_CACHE_T
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{
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struct MAT_CACHE_T mat_cache[7];
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float float_cache[4];
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uint16_t uint16_t_chache[2];
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};
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/**
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* @addtogroup MK8000_ALGO_KF
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* @{
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*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @brief Configure location post process Kalman filter.
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*
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* @param[in] update_period_ms Ranging result update period, unit: ms
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* @param[in] mac_addr_cache mac address list input
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* @param[in] kf_channel_cache kf channel state data list input
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* @param[in] mat_value_cache kf mat data list input
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* @param[in] cache_len list length(equal to the tag number supported)
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* @param[in] timeout_ms timeout setting for Kalman filter, unit: millisecond
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*/
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void loc_post_kf_config(uint32_t update_period_ms,
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struct KF_MAC_ADDR_T *mac_addr_cache,
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struct KF_CHANNEL_CACHE_T *kf_channel_cache,
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struct KF_MAT_VALUE_CACHE_T *mat_value_cache,
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size_t cache_len,
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uint32_t timeout_ms);
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/**
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* @brief Filter input data.
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* @param[in] data_meas data measurement result
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* @param[out] data_post data filtered result
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* @param[in] channel data type
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*/
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/**
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* @brief Filter input data.
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*
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* @param[in] data_meas data measurement result
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* @param[in] data_type data type
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* @param[in] mac_addr mac address
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* @param[out] data_post data filtered result
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* @return uint8_t
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*/
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uint8_t loc_kf_filter(float data_meas, enum KF_DATA_TYPE_T data_type, uint8_t *mac_addr, float *data_post);
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/**
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* @brief Get KF lib version.
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* @return KF lib version
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*/
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const char *MK8000_get_kflib_version(void);
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#ifdef __cplusplus
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}
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#endif
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/**
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* @}
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*/
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#endif // LIB_KF_H
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