src/main/tracker/gps_estimation.h

   1 /*
   2  * This file is part of u360gts, aka amv-open360tracker 32bits:
   3  * https://github.com/raul-ortega/amv-open360tracker-32bits
   4  *
   5  * u360gts is free software: you can redistribute it and/or modify
   6  * it under the terms of the GNU General Public License as published by
   7  * the Free Software Foundation, either version 3 of the License, or
   8  * (at your option) any later version.
   9  *
  10  * u360gts is distributed in the hope that it will be useful,
  11  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  13  * GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with u360gts.  If not, see <http://www.gnu.org/licenses/>.
  17  *
  18  */
  19
  20 #include <stdint.h>
  21 #include <stdbool.h>
  22
  23 #include "tracker/defines.h"
  24
  25 typedef struct {
  26         float heading;
  27         float speed;
  28         float distance;
  29         int16_t lat_a;
  30         uint32_t lat_b;
  31         int8_t lat_sgn;
  32         int16_t lon_a;
  33         uint32_t lon_b;
  34         int8_t lon_sgn;
  35         uint32_t time;
  36         uint16_t index;
  37         uint8_t type;
  38 } pvQElement_t;
  39
  40 typedef struct {
  41         float heading;
  42         float speed;
  43         float distance;
  44         int32_t lat;
  45         int32_t lon;
  46         int16_t lat_a;
  47         uint32_t lat_b;
  48         int8_t lat_sgn;
  49         int16_t lon_a;
  50         uint32_t lon_b;
  51         int8_t lon_sgn;
  52         uint32_t time;
  53         uint16_t index;
  54 } epsVector_t;
  55
  56
  57
  58 epsVector_t targetLast;
  59 epsVector_t targetCurrent;
  60 epsVector_t targetEstimated;
  61
  62 void pvInit(void);
  63 bool pvFull();
  64 bool pvEmpty();
  65 bool pvPut(epsVector_t *pvector, uint8_t vectorType);
  66 pvQElement_t pvGet(void);
  67 void epsVectorsInit(epsVector_t *last, epsVector_t *current, epsVector_t *esttimated, uint8_t interpolation,uint8_t interpolation_points);
  68 void epsVectorAddPoint(epsVector_t *last, epsVector_t *current);
  69 void epsVectorEstimate(epsVector_t *last, epsVector_t *current, epsVector_t *estimated,epsVectorGain_t gain, uint32_t eps_frequency,uint8_t eps_mode);
  70 void epsVectorLoad(epsVector_t *current,int32_t lat,int32_t lon,float distance, uint32_t last_time, uint32_t currentTime);
  71 void epsVectorCurrentToLast(epsVector_t *current,epsVector_t *last);
  72 void epsVectorDecompose(epsVector_t *pvector);
  73 float epsVectorSpeed(uint32_t last_time,uint32_t currentTime, float distance);
  74 uint16_t getPositionVectorIndex(void);