Re-organized sub-directory by category

Since all the sub-directories were placed in the
first level, created sub-directories, "hal", "module",
and "service" for classification and relocated each component.

Signed-off-by: Tadao Tanikawa <tanikawa.tadao@jp.panasonic.com>
Change-Id: Ifdf743ac0d1893bd8e445455cf0d2c199a011d5c

7 files changed, 1218 insertions, 0 deletions

diff --git a/hal/positioning_hal/inc/GpsCommon/MDev_GpsRecv.h b/hal/positioning_hal/inc/GpsCommon/MDev_GpsRecv.h
new file mode 100755
index 0000000..6ea4787
--- /dev/null
+++ b/hal/positioning_hal/inc/GpsCommon/MDev_GpsRecv.h
@@ -0,0 +1,170 @@
+/*
+ * @copyright Copyright (c) 2016-2020 TOYOTA MOTOR CORPORATION.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+/**
+* @file MDev_GpsRecv.h
+*/
+
+#ifndef INC_GPSCOMMON_MDEV_GPSRECV_H_
+#define INC_GPSCOMMON_MDEV_GPSRECV_H_
+
+/*---------------------------------------------------------------------------*/
+// Include files
+
+#include "gps_hal.h"
+#include "positioning_def.h"
+
+/*---------------------------------------------------------------------------*/
+// Define
+
+/* ++ GPS _CWORD82_ support */
+#define GPS__CWORD82__CMD_LEN_MAX         200
+/* -- GPS _CWORD82_ support */
+
+/* ++ GPS _CWORD82_ support */
+#define GPS__CWORD82__RET_START_SEQ_NONE  0       /* _CWORD82_ Start Sequence Determination Result = None   */
+#define GPS__CWORD82__RET_START_SEQ_NMEA  1       /* _CWORD82_ Start Sequence Determination Result = NMEA  */
+#define GPS__CWORD82__RET_START_SEQ_FULL  2       /* _CWORD82_ Start Sequence Determination Result = Full customization */
+#define GPS__CWORD82__RET_START_SEQ_BIN   3       /* _CWORD82_ Start Sequence Determination Result = Standard binary  #GPF_60_024 */
+
+#define GPS_UBLOX_RET_START_SEQ_UBX 4       /* Ublox Start Sequence Decision Result = UBX Protocol (binary) */
+#define GPS__CWORD82__FULLBINARY_LEN      GPS_CMD_FULLBIN_SZ  /* _CWORD82_ Full Customization Instruction Length     */
+
+#define GPS__CWORD82__NORMALBINARY_LEN    81      /* _CWORD82_ standard binary instruction length       #GPF_60_024 */
+/* -- GPS _CWORD82_ support */
+
+/* Maximum size of serial data read */
+#define GPS_RCV_MAXREADSIZE         (2048)  /* Changed from 256 -> 2048   #01 */
+
+/* Receive data storage buffer size */
+#define GPS_RCV_RCVBUFSIZE          512     /* Maximum size of the command to be received must be larger than the maximum size */
+
+/* Max-size receive commands ID4:(188+8)byte */
+/* Analysis data buffer size */
+#define GPS_RCV_ANADATABUFSIZE      (GPS_RCV_MAXREADSIZE + GPS_RCV_RCVBUFSIZE)
+
+/* Receive frame buffer size */
+#define GPS_RCV_RCVFRAMEBUFSIZE     GPS_RCV_RCVBUFSIZE  /* Maximum size of the command to be received must be larger than the maximum size */
+
+/* Reception notification data buffer size */
+#define GPS_RCV_SNDCMD_SIZE_MAX
+
+/* Common return values */
+#define GPS_RCV_RET_ERR_EXT         (-4)    /* External cause error */
+#define GPS_RCV_RET_ERR_SYSTEM      (-3)    /* System error */
+#define GPS_RCV_RET_ERR             (-1)    /* Abnormality */
+#define GPS_RCV_RET_NML             0       /* Normal */
+
+// Reception thread reception frame detection result
+#define GPS_RCV_FRMSRCH_ERR_FORMAT  (-1)    /* Frame format error */
+#define GPS_RCV_FRMSRCH_FIXED       0       /* Frame determination   */
+#define GPS_RCV_FRMSRCH_NOT_FIXED   1       /* Frame undetermined */
+#define GPS_RCV_FRMSRCH_NO_DATA     2       /* No analysis data */
+
+// Result of receive thread receive frame analysis
+#define GPS_RCV_FRMANA_ERR_PRM      (-3)    /* Parameter error   */
+#define GPS_RCV_FRMANA_ERR_FORMAT   (-2)    /* Frame format error */
+#define GPS_RCV_FRMANA_ERR_CS       (-1)    /* Sumcheck error  */
+#define GPS_RCV_FRMANA_OK           0       /* Normal data    */
+
+/* Serial reception event determination result */
+enum GpsRcvRet {
+  GPS_RCV_REVT_NML = 0,   /* Receiving(Normal)       */
+  GPS_RCV_REVT_ERR,       /* Receiving(Error)       */
+  GPS_RCV_REVT_NUM        /* Number of events received      */
+};
+
+// Error logging
+#define ERLG_SER_FRAMEERR     "Serial Framing Error"
+#define ERLG_SER_OVERRUNERR   "Serial Overrun Error"
+#define ERLG_SER_PARITYERR    "Serial Parity Error"
+#define ERLG_RCVEV_JDGERR     "DEV_Gps_Recv_JdgSerEvt error"
+#define ERLG_RCVDATA_SNDERR   "DEV_Gps_Recv_SndRcvData error"
+#define ERLG_COMEVNT_WAITERR  "WaitCommEvent error"
+
+/*---------------------------------------------------------------------------*/
+// Struct
+
+// Serial receive buffer structure
+typedef struct GPSRecvData {
+  u_int16   us_read_size;                       /* Serial data read data size */
+  u_int8    uc_reserve[2];                      /* Preliminary */
+  u_int8    uc_read_data[GPS_RCV_MAXREADSIZE];  /* Serial read data */
+} TG_GPS_RECV_RcvData;
+
+// Receive data storage buffer structure
+typedef struct GPSRecvBuf {
+  u_int16   r_size;                             /* Received size */
+  u_int8    rsv[2];                             /* Reserved */
+  u_int8    r_buf[GPS_RCV_RCVBUFSIZE];          /* Receive command data */
+} TG_GPS_RECV_RcvBuf;
+
+// Data analysis buffer
+typedef struct GPSRecvAnaDataBuf {
+  u_int16   datsize;                            /* Size of the data */
+  u_int16   offset;                             /* Analysis start offset */
+  u_int8    datbuf[GPS_RCV_ANADATABUFSIZE];     /* Analysis data */
+} TG_GPS_RECV_AnaDataBuf;
+
+// Receive frame buffer
+typedef struct GPSRecvFrameBuf {
+  u_int16   size;                               /* Frame-size */
+  u_int8    rsv[2];                             /* Reserved */
+  u_int8    buf[GPS_RCV_RCVFRAMEBUFSIZE];       /* Command data */
+} TG_GPS_RECV_RcvFrameBuf;
+
+/*---------------------------------------------------------------------------*/
+// External variable
+
+extern TG_GPS_RECV_RcvData      g_gps_rcvdata;      /* Serial receive buffer */
+extern TG_GPS_RECV_RcvBuf       g_gps_rcvbuf;       /* Receive data storage buffer */
+extern TG_GPS_RECV_AnaDataBuf   g_gps_ana_databuf;  /* Analysis data buffer */
+extern TG_GPS_RECV_RcvFrameBuf  g_gps_rcv_framebuf; /* Receive frame buffer */
+extern u_int16                  g_wrecv_err;        /* Number of reception errors */
+
+/*---------------------------------------------------------------------------*/
+// Prototype
+
+/* Initializing process     */
+void        DevGpsRecvInit(void);
+
+/* Buffer clear processing   */
+void        DevGpsRecvClrRcvBuf(void);
+
+/* Receive (normal) receive processing   */
+void        DevGpsRecvRcvNormal(void);
+
+/* Data reception processing */
+int32       DevGpsRecvReadRcvData(TG_GPS_RECV_RcvData* pst_rcv_data);
+
+/* Frame detection processing   */
+int32       DevGpsRecvSearchFrameData(const TG_GPS_RECV_AnaDataBuf *adbuf_p, u_int16 *ana_size);
+
+/* Receive data transmission processing */
+void        DevGpsRecvSndRcvData(const TG_GPS_RECV_RcvFrameBuf *p_frame_buf);
+
+/* Acknowledgement      */
+RET_API     DevRcvData(const TG_GPS_RCV_DATA* ptg_rcv_data);
+
+/* Pos_Gps_Recv Thread Stop Processing */
+void        DevGpsRecvThreadStopProcess(void);
+
+EFrameworkunifiedStatus  DevGpsRecvThread(HANDLE h_app);
+
+/*---------------------------------------------------------------------------*/
+#endif  // INC_GPSCOMMON_MDEV_GPSRECV_H_
+
+/*---------------------------------------------------------------------------*/
+/*EOF*/
diff --git a/hal/positioning_hal/inc/GpsCommon/MDev_GpsRollOver.h b/hal/positioning_hal/inc/GpsCommon/MDev_GpsRollOver.h
new file mode 100755
index 0000000..22da3c9
--- /dev/null
+++ b/hal/positioning_hal/inc/GpsCommon/MDev_GpsRollOver.h
@@ -0,0 +1,34 @@
+/*
+ * @copyright Copyright (c) 2016-2020 TOYOTA MOTOR CORPORATION.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+/**
+* @file MDev_GpsRollOver.h
+*/
+#ifndef INC_GPSCOMMON_MDEV_GPSROLLOVER_H_
+#define INC_GPSCOMMON_MDEV_GPSROLLOVER_H_
+
+#include <vehicle_service/WPF_STD.h>
+
+typedef struct TimRolovrYMD {
+  u_int16 year;
+  u_int16 month;
+  u_int16 day;
+  u_int8  dummy[2];
+} TG_TIM_ROLOVR_YMD;
+
+
+void GPSRollOverConvTime(TG_TIM_ROLOVR_YMD* base_ymd, TG_TIM_ROLOVR_YMD* conv_ymd, u_int8 gpsweekcorcnt);
+
+#endif  // INC_GPSCOMMON_MDEV_GPSROLLOVER_H_
diff --git a/hal/positioning_hal/inc/GpsCommon/MDev_Gps_Common.h b/hal/positioning_hal/inc/GpsCommon/MDev_Gps_Common.h
new file mode 100755
index 0000000..7812858
--- /dev/null
+++ b/hal/positioning_hal/inc/GpsCommon/MDev_Gps_Common.h
@@ -0,0 +1,187 @@
+/*
+ * @copyright Copyright (c) 2016-2020 TOYOTA MOTOR CORPORATION.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+/**
+* @file MDev_Gps_Common.h
+*/
+
+#ifndef  INC_GPSCOMMON_MDEV_GPS_COMMON_H_
+#define  INC_GPSCOMMON_MDEV_GPS_COMMON_H_
+
+/*---------------------------------------------------------------------------*/
+// Include files
+
+#include "positioning_def.h"
+#include "MDev_Gps_Main.h"
+
+/*---------------------------------------------------------------------------*/
+// Define
+
+#define NMEA_CHECKSUM_CHAR            '*'    /* *## (HEX) */
+#define NMEA_DATA_SEPARATOR           ','
+
+#define GPS_NMEA_FIELD_LEN_MAX        (GPS_NMEA_MAX_SZ)
+
+// NMEA GGA Sentence
+/* Fix Status */
+#define GPS_NMEA_GGA_FIX_STATUS_NON   0 /* invalid */
+#define GPS_NMEA_GGA_FIX_STATUS_GPS   1 /* GPS SPS Mode, Fix valid */
+#define GPS_NMEA_GGA_FIX_STATUS_DGPS  2 /* DGPS SPS Mode, Fix valid */
+#define GPS_NMEA_GGA_FIX_STATUS_DR    6 /* Estimated/Dead Reckoning */
+/* Field No */
+#define GPS_NMEA_FNO_GGA_FS           6
+#define GPS_NMEA_FNO_GGA_MSL          9
+
+/* number of SV Fields */
+#define GPS_NMEA_NUM_GSA_SV           12
+/* Fix Status */
+#define GPS_NMEA_GSA_FIX_STS_NON      1
+#define GPS_NMEA_GSA_FIX_STS_2D       2
+#define GPS_NMEA_GSA_FIX_STS_3D       3
+/* Field No */
+#define GPS_NMEA_FNO_GSA_FS           2
+#define GPS_NMEA_FNO_GSA_SV           3
+
+/* number of Satellite Infomation Fields (sv+elv+az+cno) */
+#define GPS_NMEA_NUM_GSV_SINFO        4
+    /* Field No */
+#define GPS_NMEA_FNO_GSV_NOSV         3
+#define GPS_NMEA_FNO_GSV_SV           4
+#define GPS_NMEA_FNO_GSV_ELV          5
+#define GPS_NMEA_FNO_GSV_AZ           6
+#define GPS_NMEA_FNO_GSV_CNO          7
+
+#define GPS_NMEA_RMC_STS_INVALID      'V'
+#define GPS_NMEA_RMC_STS_VALID        'A'
+#define GPS_NMEA_RMC_IND_NORTH        'N'
+#define GPS_NMEA_RMC_IND_EAST         'E'
+
+/* Field No */
+#define GPS_NMEA_FNO_RMC_UTC          1
+#define GPS_NMEA_FNO_RMC_STATUS       2
+#define GPS_NMEA_FNO_RMC_LATITUDE     3
+#define GPS_NMEA_FNO_RMC_NS           4
+#define GPS_NMEA_FNO_RMC_LONGITUDE    5
+#define GPS_NMEA_FNO_RMC_EW           6
+#define GPS_NMEA_FNO_RMC_SPEED        7
+#define GPS_NMEA_FNO_RMC_COG          8
+#define GPS_NMEA_FNO_RMC_DATE         9
+
+// Diag Fix Count
+#define GPS_DIAG_FIX_COUNT_3D         (0x01)
+#define GPS_DIAG_FIX_COUNT_2D         (0x02)
+#define GPS_DIAG_FIX_COUNT_ELSE       (0x04)
+
+/* GPS time setting related */
+#define GPS_SETTIME_RANGE             5   /* 5 seconds : Valid range of GPS time setting */
+#define GPS_TIME_RANGE                10  /* 10 seconds : GPS time change range */
+
+/* NAV-SVINFO logging status */
+#define GPS_NAVSVINFO_STS_INIT        0
+#define GPS_NAVSVINFO_STS_READY       1
+#define GPS_NAVSVINFO_STS_DONE        2
+#define GPS_NAVSVINFO_STS_SETTING     3
+
+/* Time setting information  */
+#define GPS_TIME_RX                   0   /* Time not set */
+#define GPS_TIME_ROLOVR               1   /* First GPS reception(for rollover) */
+#define GPS_TIME_SET                  2   /* Time setting in progress */
+
+/*!
+    @brief Satellite position information
+*/
+typedef struct GpsSatelliteInfoStr {
+  uint8_t  sv;                    /* Satellite number       */
+  uint8_t  elv;                   /* Height 0-99      */
+  uint16_t az;                    /* Orientation 0-359     */
+  uint8_t  cno;                   /* Signal strength       */
+  uint8_t  sts;                   /* Reception status */
+} GpsSatelliteInfo;
+
+/*---------------------------------------------------------------------------*/
+// Global values
+
+extern BOOL g_gps_rcv_thread_stop;
+extern uint8_t g_is_gpstime_sts;
+
+/*---------------------------------------------------------------------------*/
+// Prototype
+
+void                ChangeStatusGpsCommon(u_int32 sts);
+void                RtyResetGpsCommon(void);
+void                SendRtyResetGpsCommon(void);
+void                SendReqGpsCommon(void);
+void                GPSResetReqGpsCommon(void);
+void                CyclDataTimeOutGpsCommon(void);
+RET_API             CheckFrontStringPartGpsCommon(const u_char *p_tartget, const u_char *p_start);
+int32               JudgeFormatGpsCommon(u_char *p_send_data, u_int32 ul_length, TG_GPS_OUTPUT_FORMAT *p_format);
+RET_API             CheckSumGpsCommon(const u_int8 p_uc_data[], u_int32 ul_length, TG_GPS_OUTPUT_FORMAT e_cmd_info);
+u_int8              AtoHGpsCommon(u_int8 ascii);
+RET_API             DevGpsSaveCmd(TG_GPS_SAVECMD *p_send_data);
+void                SendSaveCmdGpsCommon(void);
+void                DeleteSaveCmdGpsCommon(void);
+void                DeleteAllSaveCmdGpsCommon(void);
+void                RcvCyclCmdNmeaGpsCommon(u_int8 *p_uc_data, u_int32 ul_len, TG_GPS_OUTPUT_FORMAT s_output_format);
+int32               CheckSendCmdGpsCommon(const u_char *p_rcv_data, u_int32 ul_length, TG_GPS_OUTPUT_FORMAT *p_format);
+int32_t             GetStringFromNmeaGpsCommon(u_int8 field_number, u_int8 *p_src, char* p_dst, size_t size);
+double              GetNumericFromNmeaGpsCommon(u_int8 field_number, u_int8 *p_src, BOOL *p_valid);
+int32               GetIntegerFromNmeaGpsCommon(u_int8 field_number, u_int8 *p_src);
+int32               GetLonLatFromNmeaGpsCommon(u_int8 field_number, u_int8 *p_src, BOOL *p_valid);
+u_int16             GetHeadingFromNmeaGpsCommon(u_int8 field_number, u_int8 *p_src, BOOL *p_valid);
+int32               GetAltitudeFromNmeaGpsCommon(u_int8 field_number, u_int8 *p_src, BOOL *p_valid);
+u_int16             GetSpeedFromNmeaGpsCommon(u_int8 field_number, u_int8 *p_src, BOOL *p_valid);
+void                StopThreadGpsCommon(void);
+uint8_t             JudgeFormatOrderGpsCommon(TG_GPS_OUTPUT_FORMAT s_format_1, TG_GPS_OUTPUT_FORMAT s_format_2);
+ENUM_GPS_NMEA_INDEX GetNmeaIdxGpsCommon(TG_GPS_OUTPUT_FORMAT s_output_format);
+void                SendResetReqGpsCommon(void);
+
+
+void                WriteGpsTimeToBackup(uint8_t flag, POS_DATETIME* pst_datetime);
+void                DevGpsCommSettingTime(void);
+RET_API             GpsSetPosBaseEvent(uint16_t snd_pno, int32_t event_val);
+uint8_t             HardResetChkGpsCommon(void);
+void                RcvCyclCmdExtGpsCommon(u_int8 *p_data, u_int32 len, TG_GPS_OUTPUT_FORMAT format);
+
+BOOL                DevGpsRcvProcGpsResetResp(TG_GPS_RCV_DATA*);
+void                DevGpsRcvProcTimeSetResp(TG_GPS_RCV_DATA*);
+void                DevGpsRcvProcWknRolloverGetResp(TG_GPS_RCV_DATA* p_data);
+void                DevGpsRcvProcNavSvinfoAddResp(TG_GPS_RCV_DATA* p_data);
+void                DevGpsReadGpsTime(POS_DATETIME* p_st_datetime);
+RET_API             DevGpsRcvProcCmnResp(TG_GPS_RCV_DATA* p_data, uint8_t cmd);
+RET_API             DevGpsResetReq(PNO us_pno, RID uc_rid);
+void                DevGpsSettingTime(POS_DATETIME* p_st_datetime);
+int                 DevGpsYMD2JD(int y, int m, int d);
+BOOL                DevGpsYMD2GPSTIME(const int32 y, const int32 m, const int32 d,
+                                        const int32 hh, const int32 mm, const int32 ss,
+                                        u_int16* gpsw, u_int32* gpsws);
+void                DevGpsSetChkSum(u_int8* uc_buffer, u_int32 ul_length);
+RET_API             DevGpsCatPollReq(uint8_t *p_ublox_data, uint16_t kind);
+void                DevGpsSetGpsweekcorcnt(void);
+RET_API             DevGpsNavTimeUTCAddReq(void);
+RET_API             DevGpsWknRolloverGetReq(void);
+BOOL                DevGpsCheckGpsTime(uint16_t set_gpsw, uint32_t set_gpsws,
+                              uint16_t rcv_gpsw, uint32_t rcv_gpsws, int32_t offset_range);
+
+void                DevGpsCnvLonLatNavi(SENSORLOCATION_LONLATINFO_DAT* p_lonlat,
+                                                  u_int8 fix_sts, int32 lon, int32 lat);
+void                DevGpsCnvAltitudeNavi(SENSORLOCATION_ALTITUDEINFO_DAT* p_altitude,
+                                                  u_int8 fix_sts, int32 alt);
+void                DevGpsCnvHeadingNavi(SENSORMOTION_HEADINGINFO_DAT* p_heading,
+                                                  u_int8 fix_sts, u_int16 heading);
+/*---------------------------------------------------------------------------*/
+#endif  // INC_GPSCOMMON_MDEV_GPS_COMMON_H_
+
+/*---------------------------------------------------------------------------*/
+/*EOF*/
diff --git a/hal/positioning_hal/inc/GpsCommon/MDev_Gps_Main.h b/hal/positioning_hal/inc/GpsCommon/MDev_Gps_Main.h
new file mode 100755
index 0000000..d40cb0c
--- /dev/null
+++ b/hal/positioning_hal/inc/GpsCommon/MDev_Gps_Main.h
@@ -0,0 +1,311 @@
+/*
+ * @copyright Copyright (c) 2016-2020 TOYOTA MOTOR CORPORATION.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+/**
+* @file MDev_Gps_Main.h
+*/
+
+#ifndef  INC_GPSCOMMON_MDEV_GPS_MAIN_H_
+#define  INC_GPSCOMMON_MDEV_GPS_MAIN_H_
+
+/*---------------------------------------------------------------------------*/
+// Include files
+
+#include "gps_hal.h"
+#include "positioning_def.h"
+
+// #include "gps_hal.h"
+// #include "MDev_Gps_Nmea.h"
+// #include "LineSensDrv_Api.h"
+
+/*---------------------------------------------------------------------------*/
+// Value define
+
+#define OFF           0       /* OFF */
+#define ON            1       /* ON */
+#define OK            0       /* Normal */
+#define NG            (-1L)   /* Abnormality */
+#define DAT_END       0xff    /* Exit code */
+
+// State
+typedef enum GpsMatrixSts {
+  GPS_STS_STARTUP = 0,        /* Startup confirmation */
+  GPS_STS_NORMAL,             /* In operation */
+  GPS_STS_SENT,               /* Command sent status */
+  GPS_STS_NUM
+}TG_GPS_MATRIX_STS;
+
+// Event
+typedef enum GpsMatrixEvt {
+  GPS_EVT_SENDREQ = 0,              /* Transmission request              */
+  GPS_EVT_RESETREQ,                 /* GPS reset request        */
+  GPS_EVT_RECVCYCLDAT,              /* Cyclic reception command reception        */
+  GPS_EVT_RECVRSPDAT,               /* Receive response command          */
+  GPS_EVT_TIMEOUT_RSPDAT,           /* Response monitoring timeout        */
+  GPS_EVT_TIMEOUT_CYCLDAT,          /* Periodic reception data monitoring timeout  */
+  GPS_EVT_TIMEOUT_NAVI,             /* Navigation providing data monitoring timeout  */
+  GPS_EVT_TIMEOUT_DIAGCLKGUARD,     /* Diagnosis provision time guard monitoring timeout*/
+  GPS_EVT_ACC_OFF,                  /* In-function ACC-OFF instructions        */
+  GPS_EVT_NAVI_LOCATIONINFO,        /* Providing navigation information            */
+  GPS_EVT_NAVI_SPEEDINFO,           /* Navigation speed information service          */
+  GPS_EVT_TIMESETTING,              /* GPS time setting instruction          */
+  GPS_EVT_TIMEOUT_NMEADATAGUARD,    /* NMEA data-providing guard monitoring timeout*/
+  GPS_EVT_BACKUPDATA_LOAD,          /* Backup data read request       */
+  GPS_EVT_STOPREQ,                  /* Thread stop request                 */
+  GPS_EVT_WEEKCOR_CNT_NOTIFICATIO,  /* GPS Week Adjustment Counter Notification            */
+  GPS_EVT_TIMEOUT_RECOVERY,         /* GPS error monitoring reset timer      */
+  GPS_EVT_TIMEOUT_RECEIVERERR,      /* GPS receiver anomaly detection timeout  */
+  GPS_EVT_NUM
+} TG_GPS_MATRIX_EVT;
+
+typedef enum GpsOutputFormat {
+  GPS_FORMAT_MIN = -1,        /* Minimum Receive Format(Initialization)  */
+  GPS_FORMAT_BINARY,          /* Standard binary            */
+  GPS_FORMAT_FULLBIN,         /* Full binary            */
+  GPS_FORMAT_GGA,             /* GGA                */
+  GPS_FORMAT_DGGA,            /* DGGA                */
+  GPS_FORMAT_VTG,             /* VTG                */
+  GPS_FORMAT_RMC,             /* RMC                */
+  GPS_FORMAT_DRMC,            /* DRMC                */
+  GPS_FORMAT_GLL,             /* GLL                */
+  GPS_FORMAT_DGLL,            /* DGLL                */
+  GPS_FORMAT_GSA,             /* GSA                */
+  GPS_FORMAT_GSV1,            /* GSV(1)              */
+  GPS_FORMAT_GSV2,            /* GSV(2)              */
+  GPS_FORMAT_GSV3,            /* GSV(3)              */
+  GPS_FORMAT_GSV4,            /* GSV(4)              */
+  GPS_FORMAT_GSV5,            /* GSV(5)              */
+  GPS_FORMAT_GST,             /* GST                */
+  GPS_FORMAT__CWORD44__GP3,       /* _CWORD44_,GP,3            */
+  GPS_FORMAT__CWORD44__GP4,       /* _CWORD44_,GP,4            */
+  GPS_FORMAT_P_CWORD82_F_GP0,       /* P_CWORD82_F,GP,0            */
+  GPS_FORMAT_P_CWORD82_J_GP1,       /* P_CWORD82_J,GP,1            */
+  GPS_FORMAT_P_CWORD82_I_GP,        /* P_CWORD82_I,GP              */
+  GPS_FORMAT_P_CWORD82_E_GP0,       /* P_CWORD82_E,GP,0            */
+  GPS_FORMAT_P_CWORD82_J_GP0,       /* P_CWORD82_J,GP,0            */
+  GPS_FORMAT_P_CWORD82_E_GP2,       /* P_CWORD82_E,GP,2            */
+  GPS_FORMAT_P_CWORD82_G_GP0,       /* P_CWORD82_G,GP,0            */
+  GPS_FORMAT_P_CWORD82_J_GP7,       /* P_CWORD82_J,GP,7            */
+  GPS_FORMAT_P_CWORD82_J_GP8,       /* P_CWORD82_J,GP,8            */
+  GPS_FORMAT_MON_VER,         /* MON-VER              */
+  GPS_FORMAT_AID_INI,         /* AID-INI              */
+  GPS_FORMAT_ACK_ACKNACK,     /* ACK-ACKNACK            */
+  GPS_FORMAT_NAV_TIMEUTC,     /* NAV-TIMEUTC            */
+  GPS_FORMAT_NAV_CLOCK,       /* NAV-CLOCK                        */
+  GPS_FORMAT_RXM_RTC5,        /* RXM-RTC5                         */
+  GPS_FORMAT_NAV_SVINFO,      /* NAV-SVINFO                       */
+  GPS_FORMAT_CFG_NAVX5,       /* CFG-NAVX5            */
+  GPS_FORMAT_NMEA,            /* NMEA (Sentence unspecified)      */
+  GPS_FORMAT_UBX,             /* UBX Protocol (binary)      */
+  GPS_FORMAT_MAX              /* Maximum Receive Format        */
+} TG_GPS_OUTPUT_FORMAT;
+
+// Return value
+#define RETRY_OFF       0     /* No retry            */
+#define RETRY_ON        1     /* Retry exists            */
+#define RETRY_OUT       2     /* Retry out          */
+#define NG_RETRYOUT     4     /* Transmission failure retry out      */
+
+#define GPSRET_NOPCMD   (0)   /* Non notification target command  #GPF_60_024 */
+#define GPSRET_SNDCMD   (1)   /* Notification target command    #GPF_60_024 */
+#define GPSRET_CMDERR   (-1)  /* No applicable command    #GPF_60_024 */
+
+// Number of Retries
+#define SRSET_MAX       4     /* Maximum serial reset retry value  */
+#define HRSET_MAX       3     /* Maximum value of hard reset retry    */
+#define SNDNG_MAX       4     /* Maximum retry value of transmission failure      */
+
+/* The actual number of retries is SNDNG_MAX-1. */
+#define GPS_RECV_ERR_MAX 5    /* Maximum number of reception errors  #GPF_60_024  */
+
+// Others
+#define SAV_MAX                   11
+#define GPS_ALTITUDE_INVALID_VAL  (-1000000)  /* Value when fix altitude is invalid */
+#define GPS_HEADING_INVALID_VAL   36100       /* Value when measurement orientation is invalid */
+
+#define GPS_RECVOK                0           /* Normal reception            #13 */
+#define GPS_RECVNG                1           /* Reception error            #13 */
+#define GPS_OVERRUN               2           /* Overrun detection        #13 */
+#define GPS_PARITY                3           /* Parity detection          #13 */
+#define GPS_FRAMING               4           /* Framing detection        #13 */
+
+// For the communication management thread
+#define  GPS_NON_RECV             0           /* Not received              */
+#define  GPS_RECV_ACK             1           /* ACK received            */
+#define  GPS_RECV_DATA            2           /* Receive response command          */
+
+#define GPS_SEND_ERR_MAX          5           /* Maximum number of transmission errors        */
+#define GPS_CNCT_ERR_MAX          5           /* Maximum number of connection errors        */
+
+#define GPS_START_EVT             "GPS_EVT"   /* Interthread synchronization events      */
+#define GPS_EVT_VAL               99          /* Event settings          */
+#define GPS_MSGDAT_BUF_SZ         500         /* Receive message buffer size    */
+
+// Definition for receive command analysis table  #GPF_60_024
+#define SENTENCE_STR_MAX          12      /* Maximum string for judging sentence  */
+
+#define SENSOR_MSG_VSINFO_DSIZE  1904  //!< \~english message body max size
+
+/*---------------------------------------------------------------------------*/
+// Structure
+
+/********************************************************************************
+ * TAG      :TG_GPS_MNG
+ * ABSTRACT :GPS process management information
+ * NOTE     :
+ ********************************************************************************/
+typedef struct GpsMng {
+  u_int32               sts;            /* Matrix state          */
+  u_int32               event;          /* Matrix event code      */
+  u_int32               rcvsts;         /* Response reception status            */
+  u_int32               sndcnt;         /* Number of transmission attempts          */
+  u_int32               hrsetcnt;       /* Number of tries before hard reset  */
+  u_int32               sndngcnt;       /* Number of failed-to-send attempts        */
+  TG_GPS_OUTPUT_FORMAT  rcv_cmd;        /* Types of received GPS commands      */
+  TG_GPS_OUTPUT_FORMAT  resp_cmd;       /* Types of GPS commands during response monitoring  */
+  PNO                   resp_pno;       /* Destination PNO            */
+  RID                   resp_rid;       /* RID to be notified when responding        */
+  u_int8                resp_rst_flag;  /* Response command reset flag    */
+  BOOL                  rcv_err_flag;   /* GPS receiver error detection flag        */
+} TG_GPS_MNG;
+
+/********************************************************************************
+ * TAG      :TG_GPS_SAVECMD
+ * ABSTRACT :GPS process pending command
+ * NOTE     :
+ ********************************************************************************/
+typedef struct GpsSaveCmd {
+  TG_GPS_SND_DATA       sndcmd;       /* Sending commands(_CWORD82_ command)    */
+  PNO                   us_pno;       /* Result notification destination process number(Unused)  */
+  RID                   uc_rid;       /* Result Notification Resource ID(Unused)    */
+  u_int8                uc_rst;       /* Reset flag          */
+  TG_GPS_OUTPUT_FORMAT  e_cmd_info;   /* Command information          */
+} TG_GPS_SAVECMD;
+
+/********************************************************************************
+ * TAG      :TG_GPS_SAVEBUF
+ * ABSTRACT :GPS process pending buffer management information
+ * NOTE     :
+ ********************************************************************************/
+typedef struct GpsSaveBuf {
+  u_int32         saveno;             /* Current pending index number    */
+  u_int32         sendno;             /* Current send index number    */
+  u_int32         bufsav;             /* Number of pending buffers used        */
+  TG_GPS_SAVECMD  savebuf[SAV_MAX];   /* Pending buffer            */
+} TG_GPS_SAVEBUF;
+
+/********************************************************************************
+ * TAG      :TG_GPS_MSGRCV
+ * ABSTRACT :Receive message
+ * NOTE     :
+ ********************************************************************************/
+typedef struct GpsMsgRcv {
+  T_APIMSG_MSGBUF_HEADER  header;     /* Message header          */
+  u_int8                  msgdat[SENSOR_MSG_VSINFO_DSIZE + 12];
+} TG_GPS_MSGRCV;
+
+/********************************************************************************
+ * TAG      :TG_GPS_MSGEVTCHNG
+ * ABSTRACT :GPS message event translation table
+ * NOTE     :
+ ********************************************************************************/
+typedef struct GpsMsgEvtChng {
+  u_int32     cid;            /* Matrix state          */
+  u_int32     event;          /* Matrix event code      */
+} TG_GPS_MSGEVTCHNG;
+
+/********************************************************************************
+ * TAG      :TG_GPS_TIMEVTCHNG
+ * ABSTRACT :GPS timer ID and event translation table
+ * NOTE     :
+ ********************************************************************************/
+typedef struct GpsTimEvtChng {
+  u_int16     tim_id;         /* Timer ID information          */
+  u_int16     reserve;        /* Reserved              */
+  u_int32     event;          /* Matrix event code      */
+} TG_GPS_TIMEVTCHNG;
+
+/********************************************************************************
+ * TAG      :Gps_Jmp_Tbl
+ * ABSTRACT :GPS jump table
+ * NOTE     :
+ ********************************************************************************/
+typedef struct GpsJmpTbl {
+  void        (*func)( void );    /* Jump-to module          */
+} TG_GPS_JMP_TBL;
+
+/********************************************************************************
+ * TAG      :TG_GPS_CMD_ANA_TBL
+ * ABSTRACT :Receive command analysis table structure
+ * NOTE     :
+ ********************************************************************************/
+typedef struct TgGpsCmdAnaTbl {
+  u_char                c_sentence[SENTENCE_STR_MAX];   /* Sentence identifier    */
+  u_int32               ul_length;                      /* Length of the command      */
+  u_int32               ul_rcv_kind;                    /* Receiving type        */
+  BOOL                  b_snd_cmd_flg;                  /* Command notification flag  */
+  TG_GPS_OUTPUT_FORMAT  e_rcv_format;                   /* Receive Format    */
+} TG_GPS_CMD_ANA_TBL;
+
+/********************************************************************************
+ * TAG      :TG_GPS_TIME_BCD
+ * ABSTRACT :Time information (BCD) structure
+ * NOTE     :
+ ********************************************************************************/
+typedef struct GpsTimeBCD {
+  u_int8          uc_year;      /* Year information    */
+  u_int8          uc_month;     /* Month information    */
+  u_int8          uc_day;       /* Day information    */
+  u_int8          uc_hour;      /* Time information    */
+  u_int8          uc_min;       /* Minute information    */
+  u_int8          uc_sec;       /* Second information    */
+} TG_GPS_TIME_BCD;
+
+/*---------------------------------------------------------------------------*/
+// Global values
+
+#define MDEV_GPSMSGCHKC_MAX 10
+#define MDEV_PSTIMCHKC_MAX  11
+extern const TG_GPS_MSGEVTCHNG    kGpsMsgchkC[MDEV_GPSMSGCHKC_MAX];     /* Ignore -> MISRA-C:2004 Rule 8.12 */
+extern const TG_GPS_TIMEVTCHNG    kGpsTimchkC[MDEV_PSTIMCHKC_MAX];      /* Ignore -> MISRA-C:2004 Rule 8.12 */
+extern const TG_GPS_JMP_TBL       kGpsMatxC[GPS_STS_NUM][GPS_EVT_NUM];
+
+#define MDEV_GPSCMDANATBLNMEA_MAX 20
+extern const TG_GPS_CMD_ANA_TBL*  kGpsCmdAnaTbl;
+extern const TG_GPS_CMD_ANA_TBL   kGpsCmdAnaTblUblox[MDEV_GPSCMDANATBLNMEA_MAX];
+
+extern TG_GPS_SAVEBUF             g_gps_save_cmdr;
+extern TG_GPS_MSGRCV              g_gps_msg_rcvr;
+extern TG_GPS_MNG                 g_gps_mngr;
+
+extern u_int16                    g_wsend_err;        /* Number of transmission errors          */
+extern u_int16                    g_wcnct_err;        /* Number of connection errors          */
+extern TG_GPS_OUTPUT_FORMAT       g_rcv_format;       /* Receive Format          */
+
+/*---------------------------------------------------------------------------*/
+// Prototype
+
+EFrameworkunifiedStatus  DevGpsMainThread(HANDLE h_app);
+BOOL        DevGpsInit(void);
+void        DevGpsRcvMsg(void);
+void        DevGpsMsgEventCheck(void);
+void        DevGpsTimEventCheck(void);
+void        DevGpsGpsVersionCheck(void);
+
+/*---------------------------------------------------------------------------*/
+#endif  // INC_GPSCOMMON_MDEV_GPS_MAIN_H_
+
+/*---------------------------------------------------------------------------*/
+/*EOF*/
diff --git a/hal/positioning_hal/inc/GpsCommon/MDev_Gps_Mtrx.h b/hal/positioning_hal/inc/GpsCommon/MDev_Gps_Mtrx.h
new file mode 100755
index 0000000..610b8d4
--- /dev/null
+++ b/hal/positioning_hal/inc/GpsCommon/MDev_Gps_Mtrx.h
@@ -0,0 +1,90 @@
+/*
+ * @copyright Copyright (c) 2016-2020 TOYOTA MOTOR CORPORATION.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+/**
+* @file MDev_Gps_Mtrx.h
+*/
+
+#ifndef  INC_GPSCOMMON_MDEV_GPS_MTRX_H_
+#define  INC_GPSCOMMON_MDEV_GPS_MTRX_H_
+
+/*---------------------------------------------------------------------------*/
+// Include files
+
+/*---------------------------------------------------------------------------*/
+// Prototype
+
+void DevGpsNop(void);
+void DevGpsInitStartSendReq(void);
+void DevGpsInitStartGPSResetReq(void);
+void DevGpsInitStartRcvCyclCmd(void);
+void DevGpsInitStartCyclDataTimeOut(void);
+void DevGpsInitStartNaviDataTimeOut(void);    /* #GPF_60_077 */
+void DevGpsInitStartDiagClkGuardTimeOut(void);  /* #GPF_60_077 */
+void DevGpsInitStartAccOffStart(void);      /* #GPF_60_024 */
+void DevGpsInitStartNaviInfoDeliver(void);    /* #GPF_60_077 */
+void DevGpsInitStartNaviSpeedDeliver(void);    /* #GPF_60_077 */
+void DevGpsInitStartSettingTime(void);      /* #GPF_60_077 */
+void DevGpsInitStartNmeaDataGuardTimeOut(void);  /* #GPF_60_109 */
+
+void DevGpsInitStartBackupDataLoadReq(void);
+void DevGpsInitStartStopReq(void);
+void DevGpsInitStartGpsweekcorcntNtf(void);
+void DevGpsInitStartRecoveryTimeOut(void);
+void DevGpsInitStartGpsReceiverErrTimeOut(void);
+
+void DevGpsNormalSendReq(void);
+void DevGpsNormalGPSResetReq(void);
+void DevGpsNormalRcvCyclCmd(void);
+void DevGpsNormalCyclDataTimeOut(void);
+void DevGpsNormalNaviDataTimeOut(void);      /* #GPF_60_077 */
+void DevGpsNormalDiagClkGuardTimeOut(void);    /* #GPF_60_077 */
+void DevGpsNormalAccOffStart(void);        /* #GPF_60_024 */
+void DevGpsNormalNaviInfoDeliver(void);      /* #GPF_60_077 */
+void DevGpsNormalNaviSpeedDeliver(void);      /* #GPF_60_077 */
+void DevGpsNormalSettingTime(void);        /* #GPF_60_077 */
+void DevGpsNormalNmeaDataGuardTimeOut(void);    /* #GPF_60_109 */
+
+void DevGpsNormalBackupDataLoadReq(void);
+void DevGpsNormalStopReq(void);
+void DevGpsNormalGpsweekcorcntNtf(void);
+void DevGpsNormalRecoveryTimeOut(void);
+void DevGpsNormalGpsReceiverErrTimeOut(void);
+
+void DevGpsSendSendReq(void);
+void DevGpsSendGPSResetReq(void);
+void DevGpsSendRcvCyclCmd(void);
+void DevGpsSendRcvRspCmd(void);          /* #GPF_60_040 */
+void DevGpsSendRspDataTimeOut(void);        /* #GPF_60_040 */
+void DevGpsSendCyclDataTimeOut(void);
+void DevGpsSendNaviDataTimeOut(void);        /* #GPF_60_077 */
+void DevGpsSendDiagClkGuardTimeOut(void);      /* #GPF_60_077 */
+void DevGpsSendAccOffStart(void);          /* #GPF_60_040 */
+void DevGpsSendNaviInfoDeliver(void);        /* #GPF_60_077 */
+void DevGpsSendNaviSpeedDeliver(void);      /* #GPF_60_077 */
+void DevGpsSendSettingTime(void);          /* #GPF_60_077 */
+void DevGpsSendNmeaDataGuardTimeOut(void);    /* #GPF_60_109 */
+
+void DevGpsSendBackupDataLoadReq(void);
+void DevGpsSendStopReq(void);
+void DevGpsSendGpsweekcorcntNtf(void);
+void DevGpsSendRecoveryTimeOut(void);
+void DevGpsSendGpsReceiverErrTimeOut(void);
+
+/*---------------------------------------------------------------------------*/
+#endif  // INC_GPSCOMMON_MDEV_GPS_MTRX_H_
+
+/*---------------------------------------------------------------------------*/
+/*EOF*/
diff --git a/hal/positioning_hal/inc/GpsCommon/MDev_Gps_Nmea.h b/hal/positioning_hal/inc/GpsCommon/MDev_Gps_Nmea.h
new file mode 100755
index 0000000..a19e3d9
--- /dev/null
+++ b/hal/positioning_hal/inc/GpsCommon/MDev_Gps_Nmea.h
@@ -0,0 +1,313 @@
+/*
+ * @copyright Copyright (c) 2017-2020 TOYOTA MOTOR CORPORATION.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+/**
+* @file MDev_GpsUblox.h
+*/
+
+#ifndef INC_GPSCOMMON_MDEV_GPS_NMEA_H_
+#define INC_GPSCOMMON_MDEV_GPS_NMEA_H_
+
+/*---------------------------------------------------------------------------*/
+
+#include "gps_hal.h"
+#include "positioning_def.h"
+
+/*---------------------------------------------------------------------------*/
+// Value define
+
+#define TEST_NMEA                       (0)                 /* 0:Normal mode 1:Testing mode */
+
+#define GPS_MAX_NUM_VISIBLE_SATELLITES  (20)                /* Maximum Number of Visible Satellites  *Assume the GSV1~GSV5 */
+
+/* UBX command *****************************/
+
+/* CFG */
+#define UBX_CMD_SIZE_CFG_RST            (12)  /* size of CFG-RST of UBX sentences       */
+#define UBX_CMD_SIZE_CFG_MSG            (11)  /* size of CFG-MSG of UBX sentences       */
+#define UBX_CMD_SIZE_CFG_NAV5           (44)  /* size of CFG-NAV5 of UBX sentences      */
+#define UBX_CMD_SIZE_CFG_NAV5_POLL      (8)
+#define UBX_CMD_SIZE_CFG_NAV5_PLUS_POLL (UBX_CMD_SIZE_CFG_NAV5 + UBX_CMD_SIZE_CFG_NAV5_POLL)
+#define UBX_CMD_SIZE_CFG_NAVX5_POLL     (8)
+#define UBX_CMD_OFFSET_WKNROLLOVER      (18)  /* offset from the top of 'payload'       */
+
+/* MON */
+#define UBX_CMD_SIZE_MON_VER            (108) /* size of MON-VER of UBX sentences       */
+#define UBX_CMD_SIZE_MON_VER_POLL       (8)
+#define UBX_CMD_SIZE_MON_VER_SW_VER     (30)
+
+/* AID */
+#define UBX_CMD_SIZE_AID_INI            (56)  /* size of AID-INI of UBX sentences       */
+#define UBX_CMD_SIZE_AID_INI_POLL       (8)
+#define UBX_CMD_SIZE_AID_INI_PLUS_POLL  (UBX_CMD_SIZE_AID_INI + UBX_CMD_SIZE_AID_INI_POLL)
+
+/* ACK */
+#define UBX_CMD_OFFSET_ACKNAK           (3)   /* offset to Ack/Nack Infomation          */
+
+/* NAV */
+#define UBX_CMD_MSK_NAV_TIMEUTC_VALID_TOW   (1)     /* mask bit for 'validTow' of NAV-TIMEUTC */
+#define UBX_CMD_MSK_NAV_TIMEUTC_VALID_WKN   (2)     /* mask bit for 'validKwn' of NAV-TIMEUTC */
+#define UBX_CMD_MSK_NAV_TIMEUTC_VALID_UTC   (4)     /* mask bit for 'validUtc' of NAV-TIMEUTC */
+
+/* Common */
+#define UBX_CMD_SIZE_HDR                    (2)     /* size of 'header' of UBX sentence       */
+#define UBX_CMD_SIZE_ID                     (2)     /* size of 'id' of UBX sentence           */
+#define UBX_CMD_SIZE_LEN                    (2)     /* size of 'length' of UBX sentence       */
+#define UBX_CMD_SIZE_MAX                    (400)   /* size of NAV-SVINFO (numCh=32)          */
+#define UBX_CMD_OFFSET_PAYLOAD              (UBX_CMD_SIZE_HDR + UBX_CMD_SIZE_ID + UBX_CMD_SIZE_LEN)
+                                                    /* offset to 'payload' of UBX sentence    */
+
+/* Types of UBX Poll Request Commands ************/
+#define UBX_POLL_CMD_KIND_AID_INI           (1)
+#define UBX_POLL_CMD_KIND_CFG_NAV5          (2)
+
+// GPS-command (_CWORD82_ NMEA) related definitions      #GPF_60_024
+/* Command identification character string */
+#define  GPS_CMD_NMEA_GGA               ("$GPGGA")        /* GGA/double precision GGAs  */
+#define  GPS_CMD_NMEA_VTG               ("$GPVTG")        /* VTG        */
+#define  GPS_CMD_NMEA_RMC               ("$GPRMC")        /* RMC/double precision RMCs  */
+#define  GPS_CMD_NMEA_GLL               ("$GPGLL")        /* GLL/double precision GLL  */
+#define  GPS_CMD_NMEA_GSA               ("$GPGSA")        /* GSA        */
+#define  GPS_CMD_NMEA_GSV_1             ("$GPGSV,*,1")    /* GSV(1)      */
+#define  GPS_CMD_NMEA_GSV_2             ("$GPGSV,*,2")    /* GSV(2)      */
+#define  GPS_CMD_NMEA_GSV_3             ("$GPGSV,*,3")    /* GSV(3)      */
+#define  GPS_CMD_NMEA__CWORD44__GP_3        ("$_CWORD44_,GP,3")   /* _CWORD44_,GP,3    */
+#define  GPS_CMD_NMEA__CWORD44__GP_4        ("$_CWORD44_,GP,4")   /* _CWORD44_,GP,4    */
+#define  GPS_CMD_NMEA_P_CWORD82_F_GP_0        ("$P_CWORD82_F,GP,0")   /* P_CWORD82_F,GP,0    */
+#define  GPS_CMD_NMEA_P_CWORD82_J_GP_1        ("$P_CWORD82_J,GP,1")   /* P_CWORD82_J,GP,1    */
+#define  GPS_CMD_NMEA_P_CWORD82_I_GP          ("$P_CWORD82_I,GP")     /* P_CWORD82_I,GP      */
+#define  GPS_CMD_NMEA_P_CWORD82_E_GP_0        ("$P_CWORD82_E,GP,0")   /* P_CWORD82_E,GP,0    */
+#define  GPS_CMD_NMEA_P_CWORD82_J_GP_0        ("$P_CWORD82_J,GP,0")   /* P_CWORD82_J,GP,0    */
+#define  GPS_CMD_NMEA_P_CWORD82_E_GP_2        ("$P_CWORD82_E,GP,2")   /* P_CWORD82_E,GP,2    */
+#define  GPS_CMD_NMEA_P_CWORD82_G_GP_0        ("$P_CWORD82_G,GP,0")   /* P_CWORD82_G,GP,0    */
+#define  GPS_CMD_NMEA_P_CWORD82_J_GP_7        ("$P_CWORD82_J,GP,7")   /* P_CWORD82_J,GP,7    */
+#define  GPS_CMD_NMEA_P_CWORD82_J_GP_8        ("$P_CWORD82_J,GP,8")   /* P_CWORD82_J,GP,8    */
+#define  GPS_CMD_NMEA_GST               ("$GPGST")        /* GST        */
+#define  GPS_CMD_NMEA_GSV_4             ("$GPGSV,*,4")    /* GSV(4)      */
+#define  GPS_CMD_NMEA_GSV_5             ("$GPGSV,*,5")    /* GSV(5)      */
+
+/*-------------------------------------------------------------------------------
+ * GPS-command (_CWORD82_ Binary) related definitions  #GPF_60_024
+ -------------------------------------------------------------------------------*/
+#define  GPS_CMD_BINARY                 (0xC6)        /* Standard binary    */
+#define  GPS_CMD_FULLBIN                (0xB0)        /* FULL binaries    */
+
+#define ENDMARK                         "ENDENDEND"   /* Table termination        */
+#define GPSCMDANATBL_MAX                25            /* Maximum number of elements in table    */
+#define RCV_CYCLE                       0x01          /* Reception type cycle reception command*/
+#define RCV_RESP                        0x02          /* Reception type response command  */
+
+// Length of FULLBINARY commands
+#define GPS_CMD_FULLBIN1_SZ             30
+#define GPS_CMD_FULLBIN2_SZ             160
+#define GPS_CMD_FULLBIN3_SZ             25
+#define GPS_CMD_FULLBIN4_SZ             26
+#define GPS_CMD_FULLBIN5_SZ             14
+#define GPS_CMD_FULLBIN6_SZ             61
+
+/* Start offset of FULLBINARY command */
+#define GPS_CMD_FULLBIN1_OFFSET         0
+#define GPS_CMD_FULLBIN2_OFFSET         (GPS_CMD_FULLBIN1_OFFSET + GPS_CMD_FULLBIN1_SZ)
+#define GPS_CMD_FULLBIN3_OFFSET         (GPS_CMD_FULLBIN2_OFFSET + GPS_CMD_FULLBIN2_SZ)
+#define GPS_CMD_FULLBIN4_OFFSET         (GPS_CMD_FULLBIN3_OFFSET + GPS_CMD_FULLBIN3_SZ)
+#define GPS_CMD_FULLBIN5_OFFSET         (GPS_CMD_FULLBIN4_OFFSET + GPS_CMD_FULLBIN4_SZ)
+#define GPS_CMD_FULLBIN6_OFFSET         (GPS_CMD_FULLBIN5_OFFSET + GPS_CMD_FULLBIN6_SZ)
+
+
+/* SUM value offset of FULLBINARY commands */
+#define GPS_CMD_FULLBIN1_SUMOFFSET      (GPS_CMD_FULLBIN1_OFFSET + GPS_CMD_FULLBIN1_SZ - 2)
+#define GPS_CMD_FULLBIN2_SUMOFFSET      (GPS_CMD_FULLBIN2_OFFSET + GPS_CMD_FULLBIN2_SZ - 2)
+#define GPS_CMD_FULLBIN3_SUMOFFSET      (GPS_CMD_FULLBIN3_OFFSET + GPS_CMD_FULLBIN3_SZ - 2)
+#define GPS_CMD_FULLBIN4_SUMOFFSET      (GPS_CMD_FULLBIN4_OFFSET + GPS_CMD_FULLBIN4_SZ - 2)
+#define GPS_CMD_FULLBIN5_SUMOFFSET      (GPS_CMD_FULLBIN5_OFFSET + GPS_CMD_FULLBIN5_SZ - 2)
+#define GPS_CMD_FULLBIN6_SUMOFFSET      (GPS_CMD_FULLBIN6_OFFSET + GPS_CMD_FULLBIN6_SZ - 2)
+#define GPS_CMD_FULLBIN_MASK            0x8F
+
+#define GPS_CMD_RESET                   1             /* Reset request command */
+#define GPS_CMD_TIMESET                 2             /* Time setting request command                  */
+#define GPS_CMD_VERSION                 3             /* GPS version request command             */
+#define GPS_CMD_SENTENCEADD_NMEAGST     4             /* Add sentence command NMEA GST       */
+#define GPS_CMD_SENTENCEADD_NAVTIMEUTC  5             /* Add sentence command NAV-TIMEUTC    */
+#define GPS_CMD_SENTENCEADD_NAVCLOCK    6             /* Add sentence command NAV-CLOCK      */
+#define GPS_CMD_SENTENCEADD_RXMRTC5     7             /* Add sentence command RXM-RTC5       */
+#define GPS_CMD_SENTENCEADD_NAVSVINFO   8             /* Add sentence command NAV-SVINFO     */
+#define GPS_CMD_AUTOMOTIVEMODE          9             /* Automatic mode request command    */
+#define GPS_CMD_WKNROLLOVER             10            /* GPS rollover standard week number request command */
+#define GPS_CMD_NOTRST                  0             /* Other request command */
+
+/*---------------------------------------------------------------------------*/
+// Struct
+
+/*!
+    @brief UBX command headers
+*/
+typedef struct GpsUbxPacketHeader {
+  u_int8                  uc_sync_char1;        /* u-blox starts with 2 Bytes 0xB5 0x62 */
+  u_int8                  uc_sync_char2;        /* u-blox starts with 2 Bytes 0xB5 0x62 */
+  u_int8                  uc_class;             /* Class                                */
+  u_int8                  uc_id;                /* ID                                   */
+  u_int16                 us_length;            /* Length                               */
+} TG_GPS_UBX_PACKET_HEADER;
+
+/*!
+    @brief Command-structure without UBX data
+*/
+typedef struct GpsUbxCmdNoData {
+  TG_GPS_UBX_PACKET_HEADER header;
+  u_int8                  uc_cka;               /* Checksum_A                           */
+  u_int8                  uc_ckb;               /* Checksum_B                           */
+} TG_GPS_UBX_COMMAND_NO_DATA;
+
+/*!
+    @brief
+*/
+typedef struct GpsUbxAidIniPolled {
+  u_int8                  uc_sync_char1;        /* u-blox starts with 2 Bytes 0xB5 0x62 */
+  u_int8                  uc_sync_char2;        /* u-blox starts with 2 Bytes 0xB5 0x62 */
+  u_int8                  uc_class;             /* Class                                */
+  u_int8                  uc_id;                /* ID                                   */
+  u_int8                  uc_length[2];         /* Length                               */
+  u_int8                  uc_ecefx_or_lat[4];   /* WGS84 ECEF X coordinate or latitude  */
+  u_int8                  uc_ecefy_or_lon[4];   /* WGS84 ECEF Y coordinate or longitude */
+  u_int8                  uc_ecefz_or_alt[4];   /* WGS84 ECEF Z coordinate or altitude  */
+  u_int8                  uc_pos_acc[4];        /* Position accuracy (stddev)           */
+  u_int8                  uc_tm_cfg[2];         /* Time mark configuration              */
+  u_int8                  wn[2];                /* Actual week number                   */
+  u_int8                  tow[4];               /* Actual time of week                  */
+  u_int8                  uc_tow_ns[4];         /* Sub-millisecond part of time of week */
+  u_int8                  uc_tacc_ms[4];        /* Milliseconds part of time accuracy   */
+  u_int8                  uc_tacc_ns[4];        /* Nanoseconds part of time accuracy    */
+  u_int8                  uc_clk_d_or_freq[4];  /* Clock drift or frequency             */
+  u_int8                  uc_clk_dacc_or_freqacc[4];  /* Accuracy of clock drift or frequency */
+  u_int8                  uc_flags[4];          /* Bitmask with the following flags     */
+  u_int8                  uc_cka;               /* Checksum_A                           */
+  u_int8                  uc_ckb;               /* Checksum_B                           */
+} TG_GPS_UBX_AID_INI_POLLED;
+
+/*!
+    @brief UBX ACK command data structures
+*/
+typedef struct GpsUbxAckData {
+  uint8_t                 uc_msg_class;         /* Message Class             */
+  uint8_t                 uc_msg_id;            /* Message Identifier        */
+} TG_GPS_UBX_ACK_DATA;
+
+/*!
+    @brief UBX NAV-TIMEUTC command data structures
+*/
+typedef struct GpsUbxNavUTC {
+  uint32_t    ul_itow;    /* GPS time of week                     */
+  uint32_t    ul_tacc;    /* Time accuracy estimate (UTC)         */
+  int32_t     nano;       /* Fraction of second                   */
+  uint16_t    year;       /* Year, range 1999..2099 (UTC)         */
+  uint8_t     month;      /* Month, range 1..12 (UTC)             */
+  uint8_t     day;        /* Day of month, range 1..31 (UTC)      */
+  uint8_t     hour;       /* Hour of day, range 0..23 (UTC)       */
+  uint8_t     min;        /* Minute of hour, range 0..59 (UTC)    */
+  uint8_t     sec;        /* Seconds of minute, range 0..60 (UTC) */
+  uint8_t     valid;      /* Validity Flags                       */
+} TG_GPS_UBX_NAV_TIMEUTC_DATA;
+
+/*!
+    @brief   USB NAV-CLOCK command data structures
+*/
+typedef struct GpsUbxNavClock {
+  uint32_t    ul_itow;    /**< GPS Time of week               */
+  int32_t     l_clkb;     /**< Clock bias                     */
+  int32_t     l_clkd;     /**< Clock drift                    */
+  uint32_t    ul_tacc;    /**< Time accuaracy estimate        */
+  uint32_t    ul_facc;    /**< Frequency accuracy estimate    */
+} TG_GPS_UBX_NAV_CLOCK;
+
+/*!
+    @brief   GPS RXM-RTC5 command data structures
+*/
+typedef struct GpsUbxRxmRtc5 {
+  uint32_t    ul_rtag_hw;     /**< RTAG high word                  */
+  uint32_t    ul_rtag_lw;     /**< RTAG low word                   */
+  uint32_t    freq;           /**< Clock frequency                 */
+  uint32_t    ul_freq_frac;   /**< Clock frequency fractional part */
+  uint32_t    ul_tow_frac;    /**< Time of week fractional part    */
+  uint32_t    tow;            /**< Time of week                    */
+  uint16_t    wno;            /**< GPS week number                 */
+  uint8_t     uc_tow_valid;   /**< TOW is valid flag               */
+  uint8_t     uc_freq_valid;  /**< Frequency is valid flag         */
+} TG_GPS_UBX_RXM_RTC5;
+
+/********************************************************************************
+ * TAG      :TG_GPS_RCVDATA_NMEA
+ * ABSTRACT :Cyclic data (NMEA) area
+ * NOTE     :I/F information between communication management thread and vehicle sensor
+ ********************************************************************************/
+typedef struct GpsRcvDataNMEA {
+  u_int8            uc_rcv_flag[GPS_NMEA_INDEX_MAX];  /* Receive flag        */
+  u_int8            u_reserve[3];                     /* Reserved          */
+  TG_GPS_NMEA_DAT   st_nmea[GPS_NMEA_INDEX_MAX];      /* NMEA data area      */
+} TG_GPS_RCVDATA_NMEA;
+
+/********************************************************************************
+ * TAG      :TG_GPS_RCVDATA_BINARY
+ * ABSTRACT :Cyclic data (standard binary) area
+ * NOTE     :I/F information between communication management thread and vehicle sensor
+ ********************************************************************************/
+typedef struct GpsRcvDataBinary {
+  u_int8      uc_rcv_flag;                    /* Receive flag        */
+  u_int8      u_reserve[3];                   /* Reserved          */
+  u_int8      uc_data[GPS_CMD_BINARY_SZ];     /* Standard binary data area  */
+  u_int8      u_reserve2[3];                  /* Reserved          */
+} TG_GPS_RCVDATA_BINARY;
+
+/********************************************************************************
+ * TAG      :TG_GPS_RCVDATA_FULLBIN
+ * ABSTRACT :Cyclic data (full binary) area
+ * NOTE     :I/F information between communication management thread and vehicle sensor
+ ********************************************************************************/
+typedef struct GpsRcvDataFullbin {
+  u_int8      uc_rcv_flag;                    /* Receive flag        */
+  u_int8      u_reserve[3];                   /* Reserved          */
+  u_int8      uc_data[GPS_CMD_FULLBIN_SZ];    /* Full binary data area  */
+  u_int8      u_reserve2;                     /* Reserved          */
+} TG_GPS_RCVDATA_FULLBIN;
+
+/********************************************************************************
+ * TAG      :TG_GPS_RCVDATA
+ * ABSTRACT :Cyclic data storage area
+ * NOTE     :I/F information between communication management thread and vehicle sensor
+ ********************************************************************************/
+typedef struct GpsRcvData {
+  u_int8                    uc_sns_cnt;       /* Sensor counter value      */
+  u_int8                    u_reserve[3];     /* Reserved          */
+  TG_GPS_RCVDATA_NMEA       st_nmea_data;     /* NMEA data area      */
+  TG_GPS_RCVDATA_BINARY     st_binary_data;   /* Standard binary region      */
+  TG_GPS_RCVDATA_FULLBIN    st_fullbin_data;  /* Full binary data area  */
+} TG_GPS_RCVDATA;
+
+/*---------------------------------------------------------------------------*/
+// Prototype
+
+void    DevGpsSndCycleDataNmea(void);
+void    DevGpsRcvCyclCmd(void);
+u_int8  DevGpsGetGpsRcvSts(u_int8 sv);
+void    DevGpsAnalyzeNmea(NAVIINFO_ALL* navilocinfo);
+void    DevGpsCycleDataClear(void);
+void    DevGpsCycleDataSetNmea(const u_int8*, u_int32, ENUM_GPS_NMEA_INDEX);
+BOOL    DevGpsCycleDataGetNmea(u_int8*, u_int32, ENUM_GPS_NMEA_INDEX);
+void    DevGpsCmdEventCheckNmea(void);
+void    DevGpsSetChkSum(u_int8* buffer, u_int32 length);
+/*---------------------------------------------------------------------------*/
+#endif  // INC_GPSCOMMON_MDEV_GPS_NMEA_H_
+
+/*---------------------------------------------------------------------------*/
+/*EOF*/
diff --git a/hal/positioning_hal/inc/GpsCommon/MDev_Gps_TimerCtrl.h b/hal/positioning_hal/inc/GpsCommon/MDev_Gps_TimerCtrl.h
new file mode 100755
index 0000000..96616ef
--- /dev/null
+++ b/hal/positioning_hal/inc/GpsCommon/MDev_Gps_TimerCtrl.h
@@ -0,0 +1,113 @@
+/*
+ * @copyright Copyright (c) 2016-2020 TOYOTA MOTOR CORPORATION.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+/**
+* @file MDev_Gps_TimerCtrl.h
+*/
+
+#ifndef  INC_GPSCOMMON_MDEV_GPS_TIMERCTRL_H_
+#define  INC_GPSCOMMON_MDEV_GPS_TIMERCTRL_H_
+
+/*---------------------------------------------------------------------------*/
+// Include files
+
+#include "positioning_def.h"
+
+/*---------------------------------------------------------------------------*/
+// Value define
+
+/* GPS-related timer value */
+#define TIMVAL_GPS_STARTUP        500     /* 5Sec  Start confirmation monitoring timer              */
+#define TIMVAL_GPS_RCVCYCLDAT     500     /* 5Sec  Periodic reception data monitoring timer       */
+#define TIMVAL_GPS_RCVACK         500     /* 5Sec  ACK reception monitoring timer             */
+#define TIMVAL_GPS_RCVDAT         500     /* 5Sec  Data reception monitoring timer(Unused)    */
+#define TIMVAL_GPS_NAVIFST        3000    /* 30sec Initial navigation monitoring timer              */
+#define TIMVAL_GPS_NAVICYCLE      300     /* 3sec  Navigation monitoring timer                    */
+#define TIMVAL_GPS_NAVIDISRPT     1000    /* 10Sec  Navigation monitoring disruption log output timer */
+#define TIMVAL_GPS_DIAGCLKGUARD   1000    /* 10sec Diagnosis provision time guard monitoring timer   */
+#define TIMVAL_GPS_NMEADATAGUARD  1000    /* 10sec NMEA data-providing guard monitoring timer  */
+#define TIMVAL_GPS_RECOVERY       60000   /* 600sec GPS recovery timer                  */
+#define TIMVAL_GPS_RECEIVERERR    60000   /* 600sec GPS receiver anomaly detection timer     */
+
+/* Sensor-related timer value */
+#define TIMVAL_SNS_RCVFSTDAT      3000    /* 30Sec Initial sensor data reception monitoring timer */
+#define TIMVAL_SNS_RCVCYCLDAT     300     /* 3Sec  Cyclic sensor data reception monitoring timer */
+#define TIMVAL_SNS_RCVDISRPT      1000    /* 10Sec  Cyclic sensor data interruption log output timer */
+
+/* Timer management table */
+#define TIM_NON                   0x00    /* Timer counter initial value                   */
+#define TIM_CNTMIN                0x01    /* Timer counter minimum value                   */
+#define TIM_CNTMAX                0xff    /* Maximum value of timer counter                   */
+#define TIMER_OFF                 0       /* Timer enable flag OFF                  */
+#define TIMER_ON                  1       /* Timer enable flag ON                   */
+
+/*!
+   @brief   Timer type
+ */
+typedef enum GpsTimKind {
+  GPS_STARTUP_TIMER = 0,      /*  0 Start confirmation monitoring timer                       */
+  GPS_CYCL_TIMER,             /*  1 Cyclic GPS data reception monitoring timer                 */
+  GPS_RECV_ACK_TIMER,         /*  2 ACK reception monitoring timer                              */
+  GPS_NAVIFST_TIMER,          /*  3 Initial navigation monitoring timer                       */
+  GPS_NAVICYCLE_TIMER,        /*  4 Navigation monitoring timer                             */
+  GPS_NAVIDISRPT_TIMER,       /*  5 Navigation monitoring disruption log output timer               */
+  GPS_DIAGCLK_GUARDTIMER,     /*  6 Diagnosis provision time guard monitoring timer                */
+  GPS_NMEADATA_GUARDTIMER,    /*  7 NMEA data-providing guard monitoring timer           */
+  GPS_RECOVERY_TIMER,         /*  8 GPS recovery timer                               */
+  GPS_RECEIVERERR_TIMER,      /*  9 GPS receiver anomaly detection timer                   */
+  SNS_FST_TIMER,              /* 10 Initial sensor data reception monitoring timer             */
+  SNS_CYCLE_TIMER,            /* 11 Cyclic sensor data reception monitoring timer             */
+  SNS_DISRPT_TIMER,           /* 12 Cyclic sensor data interruption log output timer       */
+  TIM_NUM                     /* 13 Number of timer types                                  */
+} GPS_TIM_KIND;
+
+/*!
+   @brief   Timer status
+*/
+typedef struct GpsTimSts {
+  u_int8  flag;               /**< Timer flag OFF:Stop,ON:Start */
+  u_int8  cnt;                /**< Start counter                     */
+  int8    rsv[2];             /**< Reserved                           */
+} GPS_TIM_STS;
+
+/*!
+   @brief   Timer status management table
+ */
+typedef struct GpsTimMng {
+  GPS_TIM_STS  sts[TIM_NUM];  /**< Timer status         */
+} GPS_TIM_MNG;
+
+/*!
+   @brief   Timer setting information table
+*/
+typedef struct GpsTimInfo {
+  uint32_t  timer_val;        /**< Timer value                           */
+  PNO       pno;              /**< Event notification destination process number         */
+} GPS_TIM_INFO;
+
+/*---------------------------------------------------------------------------*/
+// Prototype
+
+void    DevGpsTimInit(void);
+BOOL    DevGpsTimeSet(GPS_TIM_KIND tim_kind);
+BOOL    DevGpsTimeStop(GPS_TIM_KIND tim_kind);
+u_int16 DevGpsTimeMakSeqNo(GPS_TIM_KIND tim_kind);
+BOOL    DevGpsTimeJdgKind(u_int16 seqno);
+
+/*---------------------------------------------------------------------------*/
+#endif  // INC_GPSCOMMON_MDEV_GPS_TIMERCTRL_H_
+
+/*---------------------------------------------------------------------------*/
+/*EOF*/