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      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