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| | | /* |
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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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| | | |
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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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| | | |
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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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| | | |
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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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| | | |
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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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| | | |
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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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| | | |
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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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| | | /** |
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| | | * @addtogroup MK8000_ALGO_KF |
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| | | * @{ |
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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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| | | /** |
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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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| | | /** |
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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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| | | /** |
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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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| | | /** |
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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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| | | |
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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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| | | */ |
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| | | |
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| | | #endif // LIB_KF_H |
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