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Fix bugs and support C++. #1

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Fix bugs and support C++. #1

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42 changes: 19 additions & 23 deletions examples/u_ekal_dynamic.c
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Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
#include "ulapack.h"
#include "ukal.h"
#include <rtthread.h>
#include <stdbool.h>
Expand All @@ -11,6 +10,8 @@
*/
static unsigned int ut_error_counter = 0;

static rt_mutex_t ukal_dynamic_mutex = RT_NULL;

#define INFO(msg) \
fprintf(stderr, "Error: %s:%d: ", __FILE__, __LINE__); \
fprintf(stderr, "%s\n", msg)
Expand Down Expand Up @@ -98,6 +99,7 @@ static Index_t get_sensor_data(Matrix_t * const y) {
ulapack_edit_entry(y, 1, 0, sensor_data[iteration][1]);

iteration++;
iteration %= 45;
return iteration;
}

Expand Down Expand Up @@ -136,29 +138,15 @@ static void get_obs_jacobian(Matrix_t * const Hx,

void ukal_ekal_thread_entry(void* parameters) {

rt_mutex_take(ukal_dynamic_mutex, RT_WAITING_FOREVER);
clock_t start, end;
float cpu_time_used;
start = clock();

/*
* Filter object.
*/
Filter_t filter;
filter.P = RT_NULL;
filter.K = RT_NULL;
filter.eye = RT_NULL;

filter.x = RT_NULL;
filter.fx = RT_NULL;
filter.Phi = RT_NULL;
filter.PhiT = RT_NULL;
filter.gammaQgammaT = RT_NULL;

filter.H = RT_NULL;
filter.Hx = RT_NULL;
filter.HT = RT_NULL;
filter.innovation = RT_NULL;
filter.R = RT_NULL;
Filter_t filter = { 0 };

const Index_t n_states = 4;
const Index_t n_measurements = 2;
Expand Down Expand Up @@ -372,12 +360,7 @@ void ukal_ekal_thread_entry(void* parameters) {
end = clock();
cpu_time_used = ((float) (end - start)) / CLOCKS_PER_SEC;
printf("\n[ukal] Total speed was %f ms\n", cpu_time_used * 1000);

if (ut_error_counter > 0) {
return;
}

return;
rt_mutex_release(ukal_dynamic_mutex);
}

static void ukal_ekal_example(int argc, char *argv[])
Expand All @@ -394,3 +377,16 @@ static void ukal_ekal_example(int argc, char *argv[])
}
}
MSH_CMD_EXPORT(ukal_ekal_example, ulapack extended Kalman filter example);

static int ukal_dynamic_init(void)
{
ukal_dynamic_mutex = rt_mutex_create("ukal_dmutex", RT_IPC_FLAG_FIFO);
if (ukal_dynamic_mutex == RT_NULL)
{
rt_kprintf("[ukal] create dynamic mutex failed.\n");
return -RT_ERROR;
}

return RT_EOK;
}
INIT_APP_EXPORT(ukal_dynamic_init);
9 changes: 9 additions & 0 deletions src/ukal.h
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,10 @@

#include "ulapack.h"

#ifdef __cplusplus
extern "C" {
#endif

/**
* @name ukal_filter_create
* Create a Kalman filter object with all of the necessary state space system
Expand Down Expand Up @@ -352,4 +356,9 @@ FilterError_t ukal_set_obs_noise(Filter_t * const filter,
/*
* End header guard.
*/

#ifdef __cplusplus
}
#endif

#endif