diff options
| author |   Tadao Tanikawa <tanikawa.tadao@jp.panasonic.com> | 2020-11-20 23:36:23 +0900 |
|---|---|---|
| committer | Tadao Tanikawa <tanikawa.tadao@jp.panasonic.com> | 2020-11-22 09:02:55 +0900 |
| commit | 17cf21bcf8a2e29d2cbcf0a313474d2a4ee44f5d (patch) | |
| tree | 582a9768558d9eaf261ca5df6136e9de54c95816 /hal | |
| parent | 9e86046cdb356913ae026f616e5bf17f6f238aa5 (diff) | |
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
Diffstat (limited to 'hal')
123 files changed, 26781 insertions, 0 deletions
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+ * 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. + */ + +#ifndef HAL_API_BOOT_HAL_H_ +#define HAL_API_BOOT_HAL_H_ + +#include <stdint.h> +#include <native_service/frameworkunified_types.h> + +/** + * @file boot_hal.h + * @brief This file provides API for get boot info from boot device, set boot info to boot device, + * set next boot mode to coldstart and get current boot mode + */ + +/** @addtogroup reproservice + * @{ + */ +/** @addtogroup boot_hal + * @ingroup reprogramming_service + * @{ + */ + +/** + * \~english BootHalBootMode + */ +enum BootHalBootMode{ + /** + * \~english cold start + */ + COLD_START = 0, + /** + * \~english hot start + */ + HOT_START = 1, +}; + +/** + * \~english BootHalUpTableID + */ +enum BootHalUpTableID{ + /** + * \~english UBOOT + */ + BOOTHAL_SIDE_IDX_UBOOT = 0, + /** + * \~english Secure loader + */ + BOOTHAL_SIDE_IDX_SECURE = 1, + /** + * \~english MAIN software + */ + BOOTHAL_SIDE_IDX_MAINSOFT = 2, + /** + * \~english Max num of modules(include reserves) + */ + BOOTHAL_NUMTARGS = 20 +}; + +/** + * \~english BootHalStatus + */ +typedef enum BootHalStatus { +/** + * \~english Success + */ + BOOTHAL_RET_SUCCESS = 0, +/** + * \~english No permission to operate + */ + BOOTHAL_RET_ERR_PERMISSION = 1, +/** + * \~english Time out + */ + BOOTHAL_RET_ERR_TIMEOUT = 2, +/** + * \~english Status error + */ + BOOTHAL_RET_ERR_STATUS = 3, +/** + * \~english Write error + */ + BOOTHAL_RET_ERR_WRITE = 4, +/** + * \~english Paramater error + */ + BOOTHAL_RET_ERR_PARAM = 5, +/** + * \~english Internal IO error(open, read, write, strstr, close) + */ + BOOTHAL_RET_ERR_FAIL = 6, +} BootHalStatus; + +/** + * \~english Not rewrite. + */ +#define BOOTHAL_SIDE_NONE 0 +/** + * \~english Rewrites side A. + */ +#define BOOTHAL_SIDE_A 1 +/** + * \~english Rewrites side B. + */ +#define BOOTHAL_SIDE_B 2 +/** + * \~english Max parameter num + */ +#define BOOTHAL_NUMSIDE_MAX 3 + +/**\ingroup setSide + * \~english @par Brief + * This API set boot info to boot device, the caller control this API not be called at the + * same time + * \~english @param [in] upTableID + * unsigned int - Boot info + * \~english @retval BOOTHAL_RET_SUCCESS OK + * \~english @retval BOOTHAL_RET_ERR_PARAM Parameter error + * \~english @retval BOOTHAL_RET_ERR_WRITE Write error + * \~english @retval BOOTHAL_RET_ERR_FAIL Internal IO error + * \~english @par Preconditions + * - There is no preconditions for this API. + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - If the parameter upTableId is NULL. [BOOTHAL_RET_ERR_PARAM] + * - If write /dev/mmcblk0boot1 return -1. [BOOTHAL_RET_ERR_WRITE] + * - Internal IO error(open, read, lseek). [BOOTHAL_RET_ERR_FAIL] + * \~english @par Detail + * - This API set boot info. + * - The API can only be used by 1 process. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see getSide + */ +BootHalStatus setSide(unsigned int upTableID[]); + +/**\ingroup getSide + * \~english @par Brief + * Get boot info from boot device + * \~english @param [out] upTableID + * unsigned int - boot info + * \~english @retval BOOTHAL_RET_SUCCESS OK + * \~english @retval BOOTHAL_RET_ERR_PARAM Parameter error + * \~english @retval BOOTHAL_RET_ERR_FAIL Internal IO error + * \~english @par Preconditions + * - There is no preconditions for this API. + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - If the parameter upTableId is NULL. [BOOTHAL_RET_ERR_PARAM] + * - Internal IO error.[BOOTHAL_RET_ERR_FAIL] + * \~english @par Detail + * - This API get boot info from boot device. + * - The API can only be used by 1 process. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see setSide + */ +BootHalStatus getSide(unsigned int upTableID[]); + +/**\ingroup setBootColdStart + * \~english @par Brief + * Set next boot to ColdStart mode. + * \~english @retval BOOTHAL_RET_SUCCESS OK + * \~english @retval BOOTHAL_RET_ERR_FAIL set next boot start mode failed + * \~english @par Preconditions + * - There is no preconditions for this API. + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - Internal IO error.[BOOTHAL_RET_ERR_FAIL] + * \~english @par Detail + * - This API Set next boot to ColdStart mode. + * - The API can only be used by 1 process. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see getBootMode + */ +BootHalStatus setBootColdStart(void); + +/**\ingroup getBootMode + * \~english @par Brief + * Get boot mode. + * \~english @param [out] mode + * unsigned int - boot mode(COLD_START or HOT_START) + * \~english @retval BOOTHAL_RET_SUCCESS OK + * \~english @retval BOOTHAL_RET_ERR_PARAM Parameter error + * \~english @par Preconditions + * - There is no preconditions for this API. + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - If the parameter mode is NULL. [BOOTHAL_RET_ERR_PARAM] + * \~english @par Detail + * - This API get boot mode. + * - The API can only be used by 1 process. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see setBootColdStart + */ +BootHalStatus getBootMode(uint32_t *mode); + +/** @}*/ // end of boot_hal +/** @}*/ // end of reprogramming_service + +#endif // HAL_API_BOOT_HAL_H_ diff --git a/hal/boot_hal/inc/boot_hal_boothallog.h b/hal/boot_hal/inc/boot_hal_boothallog.h new file mode 100755 index 0000000..4a037ee --- /dev/null +++ b/hal/boot_hal/inc/boot_hal_boothallog.h @@ -0,0 +1,76 @@ +/* + * @copyright Copyright (c) 2018-2020 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. + */ +#ifndef INC_BOOT_HAL_BOOTHALLOG_H_ +#define INC_BOOT_HAL_BOOTHALLOG_H_ + +#include <native_service/ns_logger_if.h> + +#define ZONE_INIT ZONEMASK(10) +#define ZONE_FUNC ZONEMASK(11) +#define ZONE_MEM ZONEMASK(12) +#define ZONE_13 ZONEMASK(13) +#define ZONE_14 ZONEMASK(14) +#define ZONE_15 ZONEMASK(15) +#define ZONE_16 ZONEMASK(16) +#define ZONE_17 ZONEMASK(17) +#define ZONE_18 ZONEMASK(18) +#define ZONE_19 ZONEMASK(19) +#define ZONE_20 ZONEMASK(20) +#define ZONE_21 ZONEMASK(21) +#define ZONE_22 ZONEMASK(22) +#define ZONE_23 ZONEMASK(23) +#define ZONE_24 ZONEMASK(24) +#define ZONE_25 ZONEMASK(25) +#define ZONE_26 ZONEMASK(26) +#define ZONE_27 ZONEMASK(27) +#define ZONE_28 ZONEMASK(28) +#define ZONE_INFO ZONEMASK(29) +#define ZONE_WARN ZONEMASK(30) +#define ZONE_ERR ZONEMASK(31) + +#define ZONE_TEXT_10 "Init" +#define ZONE_TEXT_11 "Function" +#define ZONE_TEXT_12 "Memory" +#define ZONE_TEXT_13 "" +#define ZONE_TEXT_14 "" +#define ZONE_TEXT_15 "" +#define ZONE_TEXT_16 "" +#define ZONE_TEXT_17 "" +#define ZONE_TEXT_18 "" +#define ZONE_TEXT_19 "" +#define ZONE_TEXT_20 "" +#define ZONE_TEXT_21 "" +#define ZONE_TEXT_22 "" +#define ZONE_TEXT_23 "" +#define ZONE_TEXT_24 "" +#define ZONE_TEXT_25 "" +#define ZONE_TEXT_26 "" +#define ZONE_TEXT_27 "" +#define ZONE_TEXT_28 "" +#define ZONE_TEXT_29 "Info" +#define ZONE_TEXT_30 "Warning" +#define ZONE_TEXT_31 "Error" + +#ifndef FRAMEWORKUNIFIEDLOGOPTIONS +#define FRAMEWORKUNIFIEDLOGOPTIONS (LSHAREDMEM) // LPRINT , LMSGQ, LSLOGGER +#endif + +#ifndef FRAMEWORKUNIFIEDLOGAPPZONES +#define FRAMEWORKUNIFIEDLOGAPPZONES ZONE_ERR, ZONE_WARN, ZONE_INFO +#endif + +extern const CHAR AppName[]; // NOLINT (defind outside) +#endif // INC_BOOT_HAL_BOOTHALLOG_H_ diff --git a/hal/boot_hal/src/boot_hal.cpp b/hal/boot_hal/src/boot_hal.cpp new file mode 100755 index 0000000..d4d5581 --- /dev/null +++ b/hal/boot_hal/src/boot_hal.cpp @@ -0,0 +1,313 @@ +/* + * @copyright Copyright (c) 2018-2020 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. + */ + +#include <boot_hal.h> + +#include <unistd.h> +#include <fcntl.h> +#include <stdlib.h> +#include <string.h> +#include <sys/types.h> +#include <sys/mman.h> +#include <sys/vfs.h> + +#include <cstdio> +#include <cerrno> +#include <cstring> + +#include "boot_hal_boothallog.h" + +#define BOOT_PARTATION "/dev/mmcblk0boot1" +#define BOOTINFO_FILEA "/repro/mmcblk0boot1-launch_a.bin" +#define BOOTINFO_FILEB "/repro/mmcblk0boot1-launch_b.bin" + +#define MMCBLK0BOOT1_FORCE_RO "/sys/class/block/mmcblk0boot1/force_ro" +#define MMCBLK0BOOT1_SIZE_PATH "/sys/class/block/mmcblk0boot1/size" +#define MMCBLK0BOOT1_SIZE_DEF (0x1000000) +#define BOOTINFO_SIZE (0x20000) +#define SECTOR_SIZE (512) +#define FILEPATH_MAX (256) + +#define BOOT_CMDLINE "/proc/cmdline" +#define CMDLINE_MAX_SIZE (256) +#define BOOT_ROOTFS_A "/dev/mmcblk0p1" +#define BOOT_ROOTFS_B "/dev/mmcblk0p2" +#define BOOTARGS_LST_ROOT "root=" + + +#define BOOT_COPYBUF_SIZE (64 * 1024) + +static int EnableMmcBlk(const char *path) { + int fd; + char enable[] = "0"; + + if ((fd = open(path, O_RDWR)) < 0) { + return -1; + } + + if (write(fd, enable, sizeof(enable)) < 0) { + close(fd); + return -1; + } + + close(fd); + return 0; +} + +static int GetMmcBlkCount(const char *path) { + int fd; + char block_size[16] = {0}; + + if ((fd = open(path, O_RDONLY)) < 0) { + return -1; + } + + if (read(fd, block_size, sizeof(block_size)) < 0) { + close(fd); + return -1; + } + + close(fd); + return strtol(block_size, NULL, 10); +} + +static ssize_t BootReadN(int fd, void *buffer, size_t n) { + size_t tot_read; + char *buf; + + buf = reinterpret_cast<char *>(buffer); + for (tot_read = 0; tot_read < n;) { + ssize_t num_read; + num_read = read(fd, buf, n - tot_read); + + if (num_read == 0) { + return tot_read; + } + if (num_read == -1) { + if (errno == EINTR) { + continue; + } else { + return -1; + } + } + tot_read += num_read; + buf += num_read; + } + return tot_read; +} + +static ssize_t BootWriteN(int fd, const void *buffer, size_t n) { + size_t tot_written; + const char *buf; + + buf = (const char *)buffer; + for (tot_written = 0; tot_written < n;) { + ssize_t num_written; + num_written = write(fd, buf, n - tot_written); + + if (num_written <= 0) { + if (num_written == -1 && errno == EINTR) { + continue; + } else { + return -1; + } + } + tot_written += num_written; + buf += num_written; + } + return tot_written; +} + +BootHalStatus setSide(unsigned int upTableID[]) { + BootHalStatus ret = BOOTHAL_RET_ERR_FAIL; + int binfo_fd = -1; + int mmc_fd = -1; + int sector_count = 0; + char *buf = NULL; + char binfo_file[FILEPATH_MAX] = {0}; + off_t mmc_offset; + + if (NULL == upTableID) { + return BOOTHAL_RET_ERR_PARAM; + } + + if (upTableID[BOOTHAL_SIDE_IDX_MAINSOFT] == BOOTHAL_SIDE_A) { + snprintf(binfo_file, FILEPATH_MAX, "%s", BOOTINFO_FILEA); + } else if (upTableID[BOOTHAL_SIDE_IDX_MAINSOFT] == BOOTHAL_SIDE_B) { + snprintf(binfo_file, FILEPATH_MAX, "%s", BOOTINFO_FILEB); + } else { + ret = BOOTHAL_RET_ERR_PARAM; + goto exit; + } + + binfo_fd = open(binfo_file, O_RDONLY); + if (binfo_fd < 0) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __func__, "open %s:%s", binfo_file, strerror(errno)); + ret = BOOTHAL_RET_ERR_FAIL; + goto exit; + } + + mmc_fd = open(BOOT_PARTATION, O_WRONLY); + if (mmc_fd < 0) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __func__, "open %s:%s", BOOT_PARTATION, strerror(errno)); + ret = BOOTHAL_RET_ERR_FAIL; + goto exit; + } + + /* + * enable mmcblk0boot1 for write + */ + if (EnableMmcBlk(MMCBLK0BOOT1_FORCE_RO) < 0) { + ret = BOOTHAL_RET_ERR_FAIL; + goto exit; + } + + /* + * Get sector count of mmcblk0boot1 block from sys-file, every sector size is 512byte. + * The mmcblk0boot1 block default size is 16M. + */ + if ((sector_count = GetMmcBlkCount(MMCBLK0BOOT1_SIZE_PATH)) < 0) { + mmc_offset = MMCBLK0BOOT1_SIZE_DEF - BOOTINFO_SIZE; + } else { + mmc_offset = sector_count * SECTOR_SIZE - BOOTINFO_SIZE; + } + + /* + * The environment should be write to the latest 128K of mmcblk0boot1. + */ + if (lseek(mmc_fd, mmc_offset, SEEK_SET) < 0) { + ret = BOOTHAL_RET_ERR_FAIL; + goto exit; + } + + buf = reinterpret_cast<char *>(mmap(NULL, BOOT_COPYBUF_SIZE, PROT_READ | PROT_WRITE, MAP_PRIVATE | MAP_ANON, -1, 0)); + if (buf == MAP_FAILED) { + ret = BOOTHAL_RET_ERR_FAIL; + goto exit; + } + + while (1) { + ssize_t rd, wr; + + rd = BootReadN(binfo_fd, buf, BOOT_COPYBUF_SIZE); + if (!rd) { + // EOF + break; + } + if (rd < 0) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __func__, "read:%s", strerror(errno)); + ret = BOOTHAL_RET_ERR_FAIL; + goto exit; + } + + wr = BootWriteN(mmc_fd, buf, rd); + if (wr < rd) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __func__, "write(%s):%s", BOOT_PARTATION, strerror(errno)); + ret = BOOTHAL_RET_ERR_WRITE; + goto exit; + } + } + + if (fsync(mmc_fd) < 0) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __func__, "fsync:%s", strerror(errno)); + } + ret = BOOTHAL_RET_SUCCESS; + +exit: + if (binfo_fd >= 0) { + if (close(binfo_fd) < 0) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __func__, "close:%s", strerror(errno)); + } + } + + if (mmc_fd >= 0) { + if (close(mmc_fd) < 0) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __func__, "close:%s", strerror(errno)); + } + } + + if (buf) { + munmap(buf, BOOT_COPYBUF_SIZE); + } + + return ret; +} + +BootHalStatus getSide(unsigned int upTableID[]) { + BootHalStatus ret = BOOTHAL_RET_SUCCESS; + int fd; + int rd_size; + char buf[CMDLINE_MAX_SIZE] = {0}; + char *rootfs = NULL; + + if (NULL == upTableID) { + return BOOTHAL_RET_ERR_PARAM; + } + + if ((fd = open(BOOT_CMDLINE, O_RDONLY)) < 0) { + ret = BOOTHAL_RET_ERR_FAIL; + goto exit; + } + + if ((rd_size = BootReadN(fd, buf, CMDLINE_MAX_SIZE)) < 0) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __func__, "read %s error:%s", BOOT_CMDLINE, strerror(errno)); + ret = BOOTHAL_RET_ERR_FAIL; + goto exit; + } + + rootfs = strstr(buf, BOOTARGS_LST_ROOT); + if (!rootfs) { + ret = BOOTHAL_RET_ERR_FAIL; + goto exit; + } + + rootfs += strlen(BOOTARGS_LST_ROOT); + if (strncmp(rootfs, BOOT_ROOTFS_A, strlen(BOOT_ROOTFS_A)) == 0 && + (rootfs[strlen(BOOT_ROOTFS_A)] == ' ' || rootfs[strlen(BOOT_ROOTFS_A)] == '\0')) { + upTableID[BOOTHAL_SIDE_IDX_MAINSOFT] = BOOTHAL_SIDE_A; + } else if (strncmp(rootfs, BOOT_ROOTFS_B, strlen(BOOT_ROOTFS_B)) == 0 && + (rootfs[strlen(BOOT_ROOTFS_B)] == ' ' || rootfs[strlen(BOOT_ROOTFS_B)] == '\0')) { + upTableID[BOOTHAL_SIDE_IDX_MAINSOFT] = BOOTHAL_SIDE_B; + } else { + ret = BOOTHAL_RET_ERR_FAIL; + } + +exit: + if (fd >= 0) { + if (close(fd) < 0) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __func__, "close:%s", strerror(errno)); + } + } + + return ret; +} + +BootHalStatus setBootColdStart(void) { + /* + * Note. + * This feature needs to be implemented by the vendor. + */ + return BOOTHAL_RET_SUCCESS; +} + +BootHalStatus getBootMode(uint32_t *mode) { + if (NULL == mode) { + return BOOTHAL_RET_ERR_PARAM; + } + + *mode = COLD_START; + return BOOTHAL_RET_SUCCESS; +} diff --git a/hal/can_hal/LICENSE b/hal/can_hal/LICENSE new file mode 100755 index 0000000..f433b1a --- /dev/null +++ b/hal/can_hal/LICENSE @@ -0,0 +1,177 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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+# 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. +# + +CURRENT_DIR := $(dir $(lastword $(MAKEFILE_LIST))) + +############################################################# +# COMPONENT_NAME must not be blank and be named snake_case + +COMPONENT_NAME ?= can_hal + +############################################################# + +############################################################# +# You can add several flags and libraries. +# When you add -I or -L path, DO NOT USE relative path. +# Instead, use $(CURRENT_DIR) variable +# that indicates the path this .mk file is stored. + +COMPONENT_CFLAGS := +COMPONENT_CXXFLAGS := +COMPONENT_LDLIBS := +COMPONENT_LDFLAGS := + +############################################################## + +include $(SDKTARGETSYSROOT)/usr/agl/share/agl.mk diff --git a/hal/can_hal/hal_api/can_hal.h b/hal/can_hal/hal_api/can_hal.h new file mode 100755 index 0000000..5f3ef4f --- /dev/null +++ b/hal/can_hal/hal_api/can_hal.h @@ -0,0 +1,303 @@ +/* + * @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. + */ +#ifndef HAL_API_CAN_HAL_H_ +#define HAL_API_CAN_HAL_H_ +/** + * @file can_hal.h + */ + +/** @addtogroup communication + * @{ + */ +/** @addtogroup can_hal + * @ingroup communication + * @{ + */ + +#include <native_service/frameworkunified_types.h> +#include <string> + +/** + * \~english Max data length of nomarl can send + */ +#define CAN_NORMAL_MESSAGE_LEN (8) + +/** + * \~english Maximum data length + */ +#define CAN_MESSAGE_LEN (2048) + +/** + * \~english Maximum CAN_ID data length + */ +#define CAN_NUM_MAX (125) + +/** + * l_eStatus = FrameworkUnifiedAttachCallbackToDispatcher(hApp, FRAMEWORKUNIFIED_ANY_SOURCE, CID_CANHAL_CMD_CAN_SEND_STATUS, CANHalSndStsProcess); + * @endcode + * \~english Command ID to send CAN data and get the send status + */ +#define CID_CANHAL_CMD_CAN_SEND_STATUS (0x0A03) + +/** + * l_eStatus = FrameworkUnifiedAttachCallbackToDispatcher(hApp, FRAMEWORKUNIFIED_ANY_SOURCE, CID_CANHAL_CMD_CAN_RECV, CANHalRcvProcess); + * @endcode + * \~english Command ID to receive the CAN data + */ +#define CID_CANHAL_CMD_CAN_RECV (0x0A04) + +/** + * l_eStatus = FrameworkUnifiedAttachCallbackToDispatcher(hApp, FRAMEWORKUNIFIED_ANY_SOURCE, CID_CANHAL_CMD_CAN_READY, AnyCallback); + * @endcode + * \~english Command ID to receive Global CAN is ready. + */ +#define CID_CANHAL_CMD_CAN_READY (0x0A0C) + +/** + * l_eStatus = FrameworkUnifiedAttachCallbackToDispatcher(hApp, FRAMEWORKUNIFIED_ANY_SOURCE, CID_CANHAL_CMD_ERROR_NOTIFY, AnyCallback); + * @endcode + * \~english Command ID to receive can hal error. + */ +#define CID_CANHAL_CMD_ERROR_NOTIFY (0x0A10) + +/** + * \~english No target address + */ +#define CAN_NTA_NONE (0x00) + +/** + * \~english Size of error message. + */ +#define CANHAL_ERROR_MESSAGE_LEN (2048) + +/** + * \~english Return type of the API + */ +enum CANHAL_RET_API { + CANHAL_RET_NORMAL = 0, //!< \~english API Success + CANHAL_RET_ERR_ERR, //!< \~english API Failed + CANHAL_RET_ERR_PARAM, //!< \~english Parameter error + CANHAL_RET_ERR_STATE, //!< \~english Uninitialized(not called CanOpen) +}; + +/** + * \~english CAN type + */ +enum CanHalType { + CAN_HAL_TYPE_CAN = 0, //!< \~english CAN + NR_CAN_HAL_TYPES //!< \~english Number of CAN type +}; + +/** + * \~english device State + */ +enum DEVICE_STATE { + DEVICE_STATE_UNAVAILABLE, //!< \~english device unavailable + DEVICE_STATE_AVAILABLE, //!< \~english device available +}; + +/** + * \~english CAN Send Result + */ +enum CAN_SEND_RESULT { + CAN_SEND_RESULT_FAILURE = 0, //!< \~english Send failure + CAN_SEND_RESULT_SUCCESS, //!< \~english Send success +}; + +/** + * \~english structure of can data + */ +typedef struct CanMessageT { + uint32_t can_id; //!< \~english Target CAN ID + uint32_t dlc; //!< \~english Data length(1~2048) + uint8_t rid; //!< \~english Replay ID + uint8_t data[CAN_MESSAGE_LEN]; //!< \~english Data buffer +} CanMessage; + +/** + * \~english structure of can send result + */ +typedef struct CanSendResultT { + uint32_t can_id; //!< \~english CAN ID + uint8_t rid; //!< \~english RID + CAN_SEND_RESULT result; //!< \~english Send result +} CanSendResult; + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * \ingroup CanOpen + * \~english @par Brief + * API to start the can_hal service + * \~english @param [in] h_app + * HANDLE - Application handle + * \~english @param [in] type + * CanHalType - CAN type + * \~english @retval CANHAL_RET_NORMAL : API return OK + * \~english @retval CANHAL_RET_ERR_PARAM : Paramter error + * \~english @retval CANHAL_RET_ERR_ERR : Failed + * \~english @par Prerequisite + * None + * \~english @par Change of internal state + * - When calling of this API succeeds, the requested channel state is set to open. + * \~english @par Conditions of processing failure + * - Input paramter is invalid. + * - Internal processing failure. + * \~english @par Classification + * Public + * \~english @par Type + * Method + * \~english @par Detail + * - Perform device use preparation processing of the requested communication path. + * - Up to one process can use this library. + * \~english @see + * Nothing + */ +CANHAL_RET_API CanOpen(HANDLE h_app, CanHalType type); + +/** + * \ingroup CanClose + * \~english @par Brief + * API to stop the can_hal service + * \~english @param [in] h_app + * HANDLE - Application handle + * \~english @param [in] type + * CanHalType - CAN type + * \~english @retval CANHAL_RET_NORMAL : API return OK + * \~english @retval CANHAL_RET_ERR_PARAM : Paramter error + * \~english @retval CANHAL_RET_ERR_ERR : Failed + * \~english @retval CANHAL_RET_ERR_STATE : Failed because CanOpen is not called + * \~english @par Prerequisite + * Communication path status is open + * \~english @par Change of internal state + * - In the case of normal termination, the requested channel state is close. + * \~english @par Conditions of processing failure + * - CanOpen is not called. + * - Input paramter is invalid. + * - Internal processing failure. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @par Detail + * - Perform device use finalize processing of the requested communication path. + * - Up to one process can use this library. + * \~english @see + * None + */ +CANHAL_RET_API CanClose(HANDLE h_app, CanHalType type); + +/** + * \ingroup CanSend + * \~english @par Brief + * API to send the Can data + * \~english @param [in] h_app + * HANDLE - Application handle + * \~english @param [in] message + * const CanMessage * - Pointer to the structure of + * the data which is sent to the CAN + * \~english @param [in] type + * CanHalType - CAN type + * \~english @retval CANHAL_RET_NORMAL : API return OK + * \~english @retval CANHAL_RET_ERR_ERR : Failed + * \~english @retval CANHAL_RET_ERR_PARAM : Paramter error + * \~english @retval CANHAL_RET_ERR_STATE : Failed because CanOpen is not called + * \~english @par Prerequisite + * - can_hal start successfully + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - Input paramter is invalid. + * - CanOpen is not called. + * - Send data to the sending thread failed. + * \~english @par Classification + * Public + * \~english @par Type + * Method + * \~english @par Detail + * - Check the sending data, if data is valid, then send the data + * to the sending thread; If data if invalid, then return error. + * - The API can only be used by 1 process. + * \~english @see + * \ref CanSendResult + */ +CANHAL_RET_API CanSend(HANDLE h_app, const CanMessage *message, CanHalType type); + +/** + * \ingroup CanGetVersion + * \~english @par Brief + * API to get the CAN micon version + * \~english @param [in] h_app + * HANDLE - Application handle + * \~english @param [out] p_version + * std::string * - Pointer to the version buffer + * \~english @retval CANHAL_RET_NORMAL : API return OK + * \~english @retval CANHAL_RET_ERR_STATE : Failed because CanOpen is not called + * \~english @retval CANHAL_RET_ERR_PARAM : Paramter error + * \~english @retval CANHAL_RET_ERR_ERR : Failed + * \~english @par Prerequisite + * - can_hal start successfully + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - Input paramter is invalid. + * - CanOpen is not called. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @par Detail + * - This API gets the CAN version. + * - The API can only be used by 1 process. + * - p_version detail\n + * Information on the following pink shaded part 4 BYTE in the version information \n + * of the CAN microcomputer is stored in string and returned.\n + * <table> + * <tr> + * <th></th><th>7bit-0bit</th> + * </tr> + * <tr> + * <td>1BYTE</td><td>7bit:M/S 6-0bit:Message kind</td> + * </tr> + * <tr> + * <td>2BYTE</td><td>7bit-0bit Operation Code</td> + * </tr> + * <tr> + * <td>3BYTE</td><td bgcolor="pink">7bit-0bit Software kind</td> + * </tr> + * <tr> + * <td>4BYTE</td><td bgcolor="pink">7bit-0bit version(Higher order)</td> + * </tr> + * <tr> + * <td>5BYTE</td><td bgcolor="pink">7bit-0bit version(middle order)</td> + * </tr> + * <tr> + * <td>6BYTE</td><td bgcolor="pink">7bit-0bit version(lower order)</td> + * </tr> + * </table> + * \~english @see + * None + */ +CANHAL_RET_API CanGetVersion(HANDLE h_app, std::string *p_version); + +/** @}*/ // end of can_hal +/** @}*/ // end of communication +#ifdef __cplusplus +} +#endif +#endif // HAL_API_CAN_HAL_H_ diff --git a/hal/can_hal/src/Makefile b/hal/can_hal/src/Makefile new file mode 100755 index 0000000..f34eb75 --- /dev/null +++ b/hal/can_hal/src/Makefile @@ -0,0 +1,52 @@ +# +# @copyright Copyright (c) 2019-2020 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. +# + +######### installed shared library(*.so) ############# +INST_SHLIBS = libcan_hal + +######### installed static library(*.a) ############# + +######### install headers(*.h) ############# +INST_HEADERS = ../hal_api/can_hal.h + +######### compiled sources ############# +libcan_hal_SRCS = can_hal_core.cpp can_hal_stm.cpp can_hal_api.cpp +libcan_hal_SRCS += driver_can__CWORD31_.c + +######### include paths/files ################### +CPPFLAGS += -I./inc/ +CPPFLAGS += -I../hal_api/ + +######### compile options ####################### +CPPFLAGS += -Wall -fPIC + +######### link options ########################## +LDFLAGS += -shared +LDFLAGS += -Wl,--gc-sections +LDFLAGS += -Wl,--no-as-needed +LDFLAGS += -Wl,--no-undefined +LDFLAGS += -L$(SDKTARGETSYSROOT)/usr/agl/lib + +RPATH := /usr/lib:/usr/agl/lib + +######### linked library ######################## +LDLIBS += -Wl,-Bdynamic -lstdc++ +LDLIBS += -Wl,-Bdynamic -lpthread +LDLIBS += -Wl,-Bdynamic -lNS_FrameworkUnified + +COMPONENT_NAME = +AGL_TOPDIR ?= $(DESTDIR)/usr +include ../can_hal.mk diff --git a/hal/can_hal/src/can_hal_api.cpp b/hal/can_hal/src/can_hal_api.cpp new file mode 100755 index 0000000..86a0104 --- /dev/null +++ b/hal/can_hal/src/can_hal_api.cpp @@ -0,0 +1,166 @@ +/* + * @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. + */ + +/* + * Information. + * This source code is a sample source code . + * Implementation of the function must be performed by the vendor. + */ + +#include "can_hal_core.h" +#include "can_hal_stm.h" +#include <stdio.h> +#include <pthread.h> +#include <string.h> +#include <assert.h> + +CANHAL_RET_API CanOpen(HANDLE h_app, CanHalType type) { + CANHAL_RET_API ret = CANHAL_RET_ERR_ERR; + + if (!TypeIsValid(type)) { + return CANHAL_RET_ERR_PARAM; + } + + if (!h_app) { + return CANHAL_RET_ERR_PARAM; + } + + if (IsCanHalOpened(type)) { + return CANHAL_RET_NORMAL; + } + + if (IsDeviceEnabled(type)) { + return CANHAL_RET_NORMAL; + } + + ret = CanOpenCore(type); + if (CANHAL_RET_NORMAL != ret) { + return ret; + } + + ret = CanHalCreateInternalThread(h_app, type); + if (CANHAL_RET_NORMAL != ret) { + CanCloseCore(type); + return ret; + } + + SetDeviceStateEnable(type); + SetCanHalStateOpen(type); + InvokeStateCallback(type); + return ret; +} + +CANHAL_RET_API CanClose(HANDLE h_app, CanHalType type) { + CANHAL_RET_API ret = CANHAL_RET_ERR_ERR; + if (!TypeIsValid(type)) { + return CANHAL_RET_ERR_PARAM; + } + + if (!h_app) { + return CANHAL_RET_ERR_PARAM; + } + + if (!IsCanHalOpened(type)) { + return CANHAL_RET_NORMAL; + } + + if (IsDeviceEnabled(type)) { + ret = CanCloseCore(type); + if (CANHAL_RET_NORMAL != ret) + return ret; + } + + ret = CanHalDestroyInternalThread(h_app, type); + if (CANHAL_RET_NORMAL != ret) + return ret; + + SetDeviceStateDisable(type); + SetCanHalStateClose(type); + InvokeErrorCallback(h_app, type); + + return ret; +} + +static CANHAL_RET_API CanSendCommonCheck(const void *message, + enum CanHalType type) { + if (!TypeIsValid(type)) { + return CANHAL_RET_ERR_PARAM; + } + + if (!message) { + return CANHAL_RET_ERR_PARAM; + } + + if (!IsCanHalOpened(type)) { + return CANHAL_RET_ERR_STATE; + } + + if (!IsDeviceEnabled(type)) { + return CANHAL_RET_ERR_STATE; + } + + return CANHAL_RET_NORMAL; +} + +CANHAL_RET_API CanSend(HANDLE h_app, + const CanMessage *message, enum CanHalType type) { + CANHAL_RET_API ret = CANHAL_RET_ERR_ERR; + void *_message = NULL; + ssize_t sz = 0; + + ret = CanSendCommonCheck(message, type); + if (ret != CANHAL_RET_NORMAL) + return ret; + + if (!h_app) { + return CANHAL_RET_ERR_PARAM; + } + + if (CAN_NORMAL_MESSAGE_LEN < message->dlc) { + return CANHAL_RET_ERR_PARAM; + } + + _message = CanHalPackMessage(h_app, (const void *)message, + sizeof(CanMessage), &sz); + if (!_message) + return CANHAL_RET_ERR_ERR; + + ret = CanHalInternalSend(type, _message, sz); + CanHalDestroyPackedMessage(_message); + return ret; +} + +CANHAL_RET_API CanGetVersion(HANDLE h_app, std::string *p_version) { + CanHalType type = CAN_HAL_TYPE_CAN; + if (!h_app) { + return CANHAL_RET_ERR_PARAM; + } + + if (!IsCanHalOpened(type)) { + return CANHAL_RET_ERR_STATE; + } + + if (!IsDeviceEnabled(type)) { + return CANHAL_RET_ERR_STATE; + } + + if (NULL == p_version) { + return CANHAL_RET_ERR_PARAM; + } + + *p_version = "FFFF"; + return CANHAL_RET_NORMAL; +} diff --git a/hal/can_hal/src/can_hal_core.cpp b/hal/can_hal/src/can_hal_core.cpp new file mode 100755 index 0000000..bdbdbbc --- /dev/null +++ b/hal/can_hal/src/can_hal_core.cpp @@ -0,0 +1,372 @@ +/* + * @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. + */ + +#include "can_hal.h" +#include "can_hal_core.h" +#include "can_hal_internal.h" +#include "can_hal_frameworkunifiedlog.h" +#include "can_hal_stm.h" +extern "C" { + #include "can_mng_api.h" +} +#include <native_service/ns_message_center_if.h> +#include <native_service/frameworkunified_framework_if.h> +#include <native_service/frameworkunified_multithreading.h> +#include <stdio.h> +#include <pthread.h> +#include <string> + +static CanCtlApiObj g_driver_obj; // can driver handler + +typedef struct MessageWrapper { + HANDLE h_app; + void *message; +} MessageWrapper; + +// define frame +enum CANHAL_FRAME { + CANHAL_FRAME_SF = 0x00, + CANHAL_FRAME_FF, + CANHAL_FRAME_CF, + CANHAL_FRAME_NONE = 0xFF, +}; + +// Declaration of the local functions +static EFrameworkunifiedStatus CanSendData(HANDLE h_app); +static UINT8 PackageSendData(const CanMessage *send_msg, + UINT8 *send_cmd); +static UINT8 PackageRecvData(const UINT8 *recv_data, CanMessage *message); +static uint32_t GetCanId(const UINT8 *recv_data); + +#define CANHAL_VALID_NUM_INDEX 0x00 +#define CANHAL_CANID_HI_INDEX 0x00 +#define CANHAL_CANID_LO_INDEX 0x01 +#define CANHAL_DLC_INDEX 0x02 +#define CANHAL_DATA_START_INDEX 0x03 + +#define CANHAL_RECV_DATA_LENGTH_INVALID 0xFF + +#define CANHAL_RECV_DATABLOCK_SIZE (0x0B) +#define CANHAL_RECV_NTA_INDEX (0x03) + +// Register table for framework callback +static const FrameworkunifiedProtocolCallbackHandler kCanHalPcbhs[] = { + { TX_INTERNAL, CanSendData }, +}; + +void *CanHalPackMessage(HANDLE h_app, const void *msg, ssize_t msg_sz, + ssize_t *packed_sz) { + *packed_sz = msg_sz + sizeof(ssize_t) + sizeof(HANDLE); + void *p = malloc(*packed_sz); + if (p) { + char *_p = (char *)p; + // Set HANDLE to new buffer. + memcpy(_p, &h_app, sizeof(HANDLE)); + // Set message size to new buffer + _p += sizeof(HANDLE); + *(ssize_t *)_p = msg_sz; + // Set message body to new buffer + _p += (sizeof(ssize_t)); + memcpy(_p, msg, msg_sz); + } + return p; +} + +void CanHalUnPackMessage(void *packed, HANDLE *h_app, void **msg, + ssize_t *msg_sz) { + char *_p = (char *)packed; + *h_app = *(HANDLE *)_p; + _p += sizeof(HANDLE); + *msg_sz = *((ssize_t *)_p); + _p += sizeof(ssize_t); + *msg = _p; +} + +void CanHalDestroyPackedMessage(void *packed) { + free(packed); +} + +// Start function of the receive thread +void *CanRecvRun(void *arg) { + UINT8 data_start_index = 0; + UINT8 loop_num = 0; + UINT32 ret = 0; + CanCtlApiCmd recv_cmd; + memset(&recv_cmd, 0x00, sizeof(CanCtlApiCmd)); + CanMessage recv_data_can; + memset(&recv_data_can, 0x00, sizeof(recv_data_can)); + enum CanHalType *type = (enum CanHalType *)arg; + + while (1) { + // call driver API to receive the can data + ret = CanCtlApiRcvCmd(&g_driver_obj, &recv_cmd); + if (CAN_CTL_RET_SUCCESS != ret) { + continue; + } + + /** + * Receive data in the following structure: + * ----------------- + * BYTE 01 | num of can data | + * ----------------- + * BYTE 02 | CAN ID (Hi) | + * ----------------- + * BYTE 03 | CAN ID (Lo) | + * ----------------- + * BYTE 04 | DLC | + * ----------------- + * BYTE 05 | DATA #1 | + * ----------------- + * | ... | + * ----------------- + * BYTE 12 | DATA #8 | + * ----------------- + * BYTE 13 | CAN ID (Hi) | + * ----------------- + * BYTE 14 | CAN ID (Lo) | + * ----------------- + * BYTE 15 | DLC | + * ----------------- + * BYTE 16 | DATA #1 | + * ----------------- + * | ... | + * ----------------- + * BYTE 23 | DATA #8 | + * ----------------- + * | ... | + * ----------------- + * BYTE 255 | | + * ----------------- + * + * BYTE 0 for the invalid number of the can data + * CAN ID (Hi) and (Lo) combine for the CAN ID + * CAN ID (Hi) byte's low 7 bits is the high 7 bits of the CAN ID + * CAN ID (Lo) byte's high 4 bits is the low 4 bits of the CAN ID + * DLC for the length of the following data + * DATA #1 ~ #8 for the receive data, its actual length changes + * according to the previous DLC byte + */ + UINT8 total_data_num = recv_cmd.data[CANHAL_VALID_NUM_INDEX]; + data_start_index = 1; + + for (loop_num = 0; loop_num < total_data_num; loop_num++) { + uint32_t can_id; + can_id = GetCanId(&(recv_cmd.data[data_start_index])); + + // normal can + // Return value of the PackageRecvData is the total length + // of one can data package, so add to the data_start_index + // for the next can data package. + ret = PackageRecvData(&(recv_cmd.data[data_start_index]), + &recv_data_can); + if (CANHAL_RECV_DATA_LENGTH_INVALID == ret) { + continue; + } + data_start_index += ret; + CanHalReceiveNotify(*type, &(recv_data_can), sizeof(recv_data_can)); + } + + // reset buffer + memset(&recv_cmd, 0x00, sizeof(CanCtlApiCmd)); + usleep(1000); + } + + return NULL; +} + +// get can id from recive buffer +static uint32_t GetCanId(const UINT8 *recv_data) { + uint32_t can_id; + can_id = (recv_data[CANHAL_CANID_HI_INDEX] & 0x7F); + can_id <<= 4; + can_id |= ((recv_data[CANHAL_CANID_LO_INDEX] & 0xF0) >> 4); + return can_id; +} + +static CANHAL_RET_API CanOpenCoreCAN(void) { + CanCtlRcvId recv_can_id; + memset(recv_can_id.id, 0xFF, sizeof(recv_can_id.id)); + if (CAN_CTL_RET_SUCCESS != CanCtlApiOpen(&g_driver_obj)) + return CANHAL_RET_ERR_ERR; + + if (CAN_CTL_RET_SUCCESS != CanCtlApiSetRcvId(&g_driver_obj, &recv_can_id)) { + return CANHAL_RET_ERR_ERR; + } + + return CANHAL_RET_NORMAL; +} + +CANHAL_RET_API CanOpenCore(CanHalType type) { + CANHAL_RET_API ret = CANHAL_RET_ERR_ERR; + switch (type) { + case CAN_HAL_TYPE_CAN: + ret = CanOpenCoreCAN(); + break; + default: + // Do nothing + break; + } + return ret; +} + +// Initialize the sending thread +EFrameworkunifiedStatus CanSendThreadStart(HANDLE h_app) { + EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK; + intptr_t ptr; + e_status = FrameworkunifiedAttachCallbacksToDispatcher(h_app, + FRAMEWORKUNIFIED_ANY_SOURCE, + kCanHalPcbhs, + _countof(kCanHalPcbhs)); + if (e_status != eFrameworkunifiedStatusOK) + goto finish; + + e_status = FrameworkunifiedGetMsgDataOfSize(h_app, &ptr, sizeof(ptr)); + if (e_status != eFrameworkunifiedStatusOK) + goto finish; + + *((HANDLE *)ptr) = FrameworkunifiedMcOpenSender(h_app, FrameworkunifiedGetAppName(h_app)); + if (!(*(HANDLE *)ptr)) + e_status = eFrameworkunifiedStatusFail; + +finish: + return e_status; +} + +// Clean the sending thread +EFrameworkunifiedStatus CanSendThreadStop(HANDLE h_app) { + EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK; + intptr_t ptr; + e_status = FrameworkunifiedGetMsgDataOfSize(h_app, &ptr, sizeof(ptr)); + if (e_status != eFrameworkunifiedStatusOK) + goto finish; + + FrameworkunifiedMcClose(*((HANDLE*)ptr)); +finish: + return e_status; +} + +static CANHAL_RET_API CanCloseCoreCAN(void) { + CanCtlApiClose(&g_driver_obj); + return CANHAL_RET_NORMAL; +} + +// Stop the can hal +CANHAL_RET_API CanCloseCore(CanHalType type) { + CANHAL_RET_API ret = CANHAL_RET_NORMAL; + switch (type) { + case CAN_HAL_TYPE_CAN: + ret = CanCloseCoreCAN(); + if (ret != CANHAL_RET_NORMAL) + goto finish; + break; + default: + goto finish; + break; + } +finish: + return ret; +} + +// Callback for the sending thread to send the can data +static EFrameworkunifiedStatus CanSendData(HANDLE h_app) { + UINT8 ret = 0; + EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK; + HANDLE hb = NULL; + CanMessage mb; + ssize_t sz = 0; + void *send_msg = NULL; + HANDLE unpacked_h_app; + CanMessage *unpacked_msg; + ssize_t unpacked_sz; + + send_msg = CanHalPackMessage(hb, (const void *)&mb, sizeof(mb), &sz); + if (!send_msg) + return eFrameworkunifiedStatusFail; + + e_status = FrameworkunifiedGetMsgDataOfSize(h_app, send_msg, sz, eSMRRelease); + if (eFrameworkunifiedStatusOK != e_status) { + if (eFrameworkunifiedStatusInvldBufSize == e_status) { + FrameworkunifiedClearMsgData(h_app); + } + return eFrameworkunifiedStatusFail; + } + + CanHalUnPackMessage(send_msg, &unpacked_h_app, + (void **)&unpacked_msg, &unpacked_sz); + + CanCtlApiCmd send_can_data; + memset(&send_can_data, 0, sizeof(CanCtlApiCmd)); + send_can_data.data[CANHAL_VALID_NUM_INDEX] = 1; + ret = PackageSendData(unpacked_msg, &(send_can_data.data[1])); + send_can_data.len = ret + 1; + CanSendResult send_result; + send_result.can_id = unpacked_msg->can_id; + send_result.rid = unpacked_msg->rid; + + if (CAN_CTL_RET_SUCCESS == CanCtlApiSndCmd(&g_driver_obj, &send_can_data)) { + send_result.result = CAN_SEND_RESULT_SUCCESS; + } else { + send_result.result = CAN_SEND_RESULT_FAILURE; + } + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "Send status is %d.", send_result.result); + + if (CANHAL_RET_NORMAL != CanHalSendStatus(CAN_HAL_TYPE_CAN, + unpacked_h_app, &send_result, sizeof(send_result))) { + CanHalDestroyPackedMessage(send_msg); + return eFrameworkunifiedStatusFail; + } + + CanHalDestroyPackedMessage(send_msg); + return eFrameworkunifiedStatusOK; +} + +/** + * param [in] send_msg + * param [out] send_can_data + */ +static UINT8 PackageSendData(const CanMessage *send_msg, + UINT8 *send_can_data) { + // package according to the rule of the data structure, + // refer to the line 108 and 109 + send_can_data[CANHAL_CANID_HI_INDEX] = (send_msg->can_id & 0x7F0) >> 4; + send_can_data[CANHAL_CANID_LO_INDEX] = (send_msg->can_id & 0x0F) << 4; + send_can_data[CANHAL_DLC_INDEX] = send_msg->dlc; + memcpy(&(send_can_data[CANHAL_DATA_START_INDEX]), + send_msg->data, + send_msg->dlc); + return (send_msg->dlc + CANHAL_DATA_START_INDEX); +} + +/** + * param [in] recv_data + * param [out] message + */ +static UINT8 PackageRecvData(const UINT8 *recv_data, CanMessage *message) { + if (CAN_NORMAL_MESSAGE_LEN < recv_data[CANHAL_DLC_INDEX]) { + // receive data's length is invalid + return CANHAL_RECV_DATA_LENGTH_INVALID; + } + // package according to the rule of the data structure, + // refer to the line 108 and 109 + message->can_id = recv_data[CANHAL_CANID_HI_INDEX] & 0x7F; + message->can_id <<= 4; + message->can_id |= (recv_data[CANHAL_CANID_LO_INDEX] & 0xF0) >> 4; + message->dlc = recv_data[CANHAL_DLC_INDEX]; + memcpy(message->data, &(recv_data[CANHAL_DATA_START_INDEX]), CAN_NORMAL_MESSAGE_LEN); + + return CANHAL_RECV_DATABLOCK_SIZE; +} + diff --git a/hal/can_hal/src/can_hal_stm.cpp b/hal/can_hal/src/can_hal_stm.cpp new file mode 100755 index 0000000..fc24964 --- /dev/null +++ b/hal/can_hal/src/can_hal_stm.cpp @@ -0,0 +1,243 @@ +/* + * @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. + */ + +#include "can_hal_stm.h" +#include "can_hal_core.h" +#include "can_hal_internal.h" +#include <native_service/ns_message_center_if.h> +#include <native_service/frameworkunified_framework_if.h> +#include <native_service/frameworkunified_multithreading.h> +#include <string> +#include <stdbool.h> +#include <stdint.h> +#include <assert.h> +#include <pthread.h> + +// BSS section would be initialized to all 0. +struct CanHalStateMachine { + CanHalType type; + HANDLE h_app; + bool can_hal_is_opened; + bool device_is_enabled; + struct { + HANDLE tx; + HANDLE tx_sender; + uint32_t tx_cmd; + const char *tx_name; + bool rx_initialized; + pthread_t rx; + pthread_attr_t rx_attr; + } internal; +} can_hal_stm[NR_CAN_HAL_TYPES]; + +bool TypeIsValid(enum CanHalType type) { + if (CAN_HAL_TYPE_CAN == type) + return true; + + return false; +} + +bool IsCanHalOpened(enum CanHalType type) { + return can_hal_stm[type].can_hal_is_opened; +} + +void SetCanHalStateOpen(enum CanHalType type) { + can_hal_stm[type].can_hal_is_opened = true; +} + +void SetCanHalStateClose(enum CanHalType type) { + can_hal_stm[type].can_hal_is_opened = false; +} + +bool IsDeviceEnabled(enum CanHalType type) { + return can_hal_stm[type].device_is_enabled; +} + +void SetDeviceStateEnable(enum CanHalType type) { + can_hal_stm[type].device_is_enabled = true; +} + +void SetDeviceStateDisable(enum CanHalType type) { + can_hal_stm[type].device_is_enabled = false; +} + +CANHAL_RET_API CanHalDestroyInternalThread(HANDLE h_app, enum CanHalType type) { + intptr_t ptr = (intptr_t)&(can_hal_stm[type].internal.tx_sender); + + if (can_hal_stm[type].internal.tx) { + FrameworkunifiedStopChildThread(h_app, can_hal_stm[type].internal.tx, sizeof(ptr), &ptr); + FrameworkunifiedDestroyChildThread(h_app, can_hal_stm[type].internal.tx); + can_hal_stm[type].internal.tx = NULL; + } + + if (can_hal_stm[type].internal.rx_initialized) { + pthread_cancel(can_hal_stm[type].internal.rx); + pthread_join(can_hal_stm[type].internal.rx, NULL); + can_hal_stm[type].internal.rx_initialized = false; + } + can_hal_stm[type].h_app = NULL; + return CANHAL_RET_NORMAL; +} + +CANHAL_RET_API CanHalCreateInternalThread(HANDLE h_app, enum CanHalType type) { + enum CANHAL_RET_API ret = CANHAL_RET_ERR_PARAM; + EFrameworkunifiedStatus err = eFrameworkunifiedStatusOK; + intptr_t ptr = (intptr_t)&(can_hal_stm[type].internal.tx_sender); + + can_hal_stm[type].h_app = h_app; + can_hal_stm[type].internal.tx_name = CANHAL_CAN_SEND_THREAD; + can_hal_stm[type].internal.tx = FrameworkunifiedCreateChildThread(h_app, + can_hal_stm[type].internal.tx_name, + CanSendThreadStart, CanSendThreadStop); + if (!can_hal_stm[type].internal.tx) + goto cleanup; + + err = FrameworkunifiedStartChildThread(h_app, + can_hal_stm[type].internal.tx, + sizeof(ptr), &ptr); + if (err != eFrameworkunifiedStatusOK) + goto cleanup; + + if (0 != pthread_attr_init(&(can_hal_stm[type].internal.rx_attr))) + goto cleanup; + + if (0 != pthread_create(&(can_hal_stm[type].internal.rx), + &(can_hal_stm[type].internal.rx_attr), CanRecvRun, + (void *)&(can_hal_stm[type].type))) + goto cleanup; + + can_hal_stm[type].internal.rx_initialized = true; + ret = CANHAL_RET_NORMAL; + return ret; +cleanup: + if (can_hal_stm[type].internal.tx) { + FrameworkunifiedStopChildThread(h_app, can_hal_stm[type].internal.tx, sizeof(ptr), &ptr); + FrameworkunifiedDestroyChildThread(h_app, can_hal_stm[type].internal.tx); + can_hal_stm[type].internal.tx = NULL; + } + + return ret; +} + +CANHAL_RET_API CanHalInternalSend_CWORD118_(enum CanHalType type, + const void *msg, ssize_t sz) { + EFrameworkunifiedStatus e_status = FrameworkunifiedSendMsg(can_hal_stm[type].internal.tx_sender, + TX_INTERNAL__CWORD118_, sz, msg); + if (e_status != eFrameworkunifiedStatusOK) { + return CANHAL_RET_ERR_ERR; + } + return CANHAL_RET_NORMAL; +} + +static EFrameworkunifiedStatus FrameworkunifiedSendMsgOneshot(HANDLE h_app, UI_32 cmd, + UI_32 l, PCVOID d) { + HANDLE h_client = NULL; + EFrameworkunifiedStatus err = eFrameworkunifiedStatusFail; + + h_client = FrameworkunifiedMcOpenSender(h_app, FrameworkunifiedGetAppName(h_app)); + if (!h_client) + return err; + + err = FrameworkunifiedSendMsg(h_client, cmd, l, d); + FrameworkunifiedMcClose(h_client); + return err; +} + +CANHAL_RET_API CanHalInternalSend(enum CanHalType type, + const void *msg, ssize_t sz) { + EFrameworkunifiedStatus e_status = FrameworkunifiedSendMsg(can_hal_stm[type].internal.tx_sender, + TX_INTERNAL, sz, msg); + if (e_status != eFrameworkunifiedStatusOK) { + return CANHAL_RET_ERR_ERR; + } + return CANHAL_RET_NORMAL; +} + + +CANHAL_RET_API InvokeStateCallback(enum CanHalType type) { + HANDLE sender = can_hal_stm[type].h_app; + uint32_t cmd = 0; + EFrameworkunifiedStatus err = eFrameworkunifiedStatusOK; + bool send = true; + + switch (type) { + case CAN_HAL_TYPE_CAN: + cmd = CID_CANHAL_CMD_CAN_READY; + break; + default: + assert(0); + break; + } + + err = FrameworkunifiedSendMsgOneshot(sender, cmd, sizeof(send), &send); + if (err != eFrameworkunifiedStatusOK) + return CANHAL_RET_ERR_ERR; + return CANHAL_RET_NORMAL; +} + +CANHAL_RET_API InvokeErrorCallback(HANDLE h_app, enum CanHalType type) { + HANDLE sender = h_app; + uint32_t cmd = CID_CANHAL_CMD_ERROR_NOTIFY; + char msg[CANHAL_ERROR_MESSAGE_LEN] = {0}; + ssize_t sz = sizeof(msg); + EFrameworkunifiedStatus err = eFrameworkunifiedStatusOK; + + switch (type) { + case CAN_HAL_TYPE_CAN: + sprintf(msg, "Global CAN Stop"); + break; + default: + assert(0); + break; + } + + err = FrameworkunifiedSendMsgOneshot(sender, cmd, sz, msg); + if (err != eFrameworkunifiedStatusOK) + return CANHAL_RET_ERR_ERR; + return CANHAL_RET_NORMAL; +} + +CANHAL_RET_API CanHalSendStatus(enum CanHalType type, HANDLE h_app, + const void *msg, ssize_t sz) { + EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK; + e_status = FrameworkunifiedSendMsgOneshot(h_app, CID_CANHAL_CMD_CAN_SEND_STATUS, sz, msg); + if (e_status != eFrameworkunifiedStatusOK) { + return CANHAL_RET_ERR_ERR; + } + return CANHAL_RET_NORMAL; +} + +CANHAL_RET_API CanHalReceiveNotify(enum CanHalType type, + const void *msg, ssize_t sz) { + EFrameworkunifiedStatus e_status; + uint32_t cmd = 0; + + switch (type) { + case CAN_HAL_TYPE_CAN: + cmd = CID_CANHAL_CMD_CAN_RECV; + break; + default: + assert(0); + break; + } + + e_status = FrameworkunifiedSendMsgOneshot(can_hal_stm[type].h_app, cmd, sz, msg); + if (e_status != eFrameworkunifiedStatusOK) { + return CANHAL_RET_ERR_ERR; + } + + return CANHAL_RET_NORMAL; +} diff --git a/hal/can_hal/src/driver_can__CWORD31_.c b/hal/can_hal/src/driver_can__CWORD31_.c new file mode 100755 index 0000000..bd9cb29 --- /dev/null +++ b/hal/can_hal/src/driver_can__CWORD31_.c @@ -0,0 +1,472 @@ +/* + * @copyright Copyright (c) 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. + */ + + +#include <stdio.h> +#include <string.h> +#include "can_mng_api.h" + +#include <poll.h> +#include <sys/types.h> +#include <sys/stat.h> +#include <fcntl.h> +#include <sys/ioctl.h> +#include <unistd.h> +#include <errno.h> +#include <stdio.h> +#include <string.h> + +#include <linux/can/raw.h> +#include <net/if.h> + + +#define DUMP_DIR "/nv/driver-can" +#define DUMP_RCVID "/nv/driver-can/dump_rcvid" +#define CAN_DATA_SIZE (sizeof(CanData)) + +static int fd_can = -1; +static struct sockaddr_can tx_address; +static CanCtlRcvId RcvId; +const char* device_name = "vcan0"; + +static UINT32 getData(CanCtlRcvId*, CanCtlApiCmd*); +static UINT32 getCanData(unsigned char*); +static UINT32 copyEnableCandata(UINT16* , unsigned char*, unsigned char*); +static UINT32 isOpendDriver(void); + +UINT32 CanCtlApiOpen(CanCtlApiObj* pClientObj) +{ + int err_no; + int ret; + + CAN_MNG_API_LOGT("FUNC IN"); + + /*----------------------------------------------------------------------*/ + /* Clear Object */ + /*----------------------------------------------------------------------*/ + if (pClientObj != NULL) { + memset(pClientObj, 0, sizeof(*pClientObj)); + } + + if (fd_can != -1) { + CAN_MNG_API_LOGT("Already Opened"); + CAN_MNG_API_LOGT("FUNC OUT"); + return CAN_CTL_RET_SUCCESS; + } + + // open socket + CAN_MNG_API_LOGT("open socket start"); + struct ifreq ifr = {0}; + fd_can = socket(PF_CAN, SOCK_RAW, CAN_RAW); + err_no = errno; + CAN_MNG_API_LOGT("open socket end"); + if (fd_can == -1) { + CAN_MNG_API_LOGE("Socket Open Error."); + CAN_MNG_API_LOGE("(errno[%d]).", err_no); + return CAN_CTL_RET_ERR_ERR; + } + + // ioctl(SIOCGIFINDEX) + strcpy(ifr.ifr_name, device_name); + ret = ioctl(fd_can, SIOCGIFINDEX, &ifr); + err_no = errno; + if (ret < 0) { + CAN_MNG_API_LOGE("ioctl(SIOCGIFINDEX) Error."); + CAN_MNG_API_LOGE("(errno[%d]).", err_no); + (void)close(fd_can); + fd_can = -1; + return CAN_CTL_RET_ERR_ERR; + } + + // bind + tx_address.can_family = AF_CAN; + tx_address.can_ifindex = ifr.ifr_ifindex; + + ret = bind(fd_can, (struct sockaddr *)&tx_address, sizeof(tx_address)); + err_no = errno; + if (ret < 0) { + CAN_MNG_API_LOGE("Socket Bind Error."); + CAN_MNG_API_LOGE("(errno[%d]).", err_no); + (void)close(fd_can); + fd_can = -1; + return -1; + } + + // Initialize RcvId Map + memset(&RcvId, 0, sizeof(RcvId)); + + CAN_MNG_API_LOGT("FUNC OUT"); + + return CAN_CTL_RET_SUCCESS; +} + +UINT32 CanCtlApiClose(CanCtlApiObj* pClientObj) +{ + /*----------------------------------------------------------------------*/ + /* Clear Object */ + /*----------------------------------------------------------------------*/ + if (pClientObj != NULL) { + memset(pClientObj, 0, sizeof(*pClientObj)); + } + + if (fd_can != -1) { + (void)close(fd_can); + } + + // Initialize fd info + fd_can = -1; + + CAN_MNG_API_LOGT("FUNC OUT"); + + return CAN_CTL_RET_SUCCESS; +} + +UINT32 CanCtlApiSndCmd(CanCtlApiObj* pClientObj, CanCtlApiCmd* pSndCmd) +{ + int i; + printf("%s: call_id=0x%x len=%d\n", + __func__, pClientObj->call_id, pSndCmd->len); + for (i = 0; i < pSndCmd->len; i++) { + printf("[%d]0x%x ", i, pSndCmd->data[i]); + if ((i != 0) && ((i % 7) == 0)) + printf("\n"); + } + printf("\n"); + + + int ret; + int err_no; + + CAN_MNG_API_LOGT("FUNC IN"); + /*----------------------------------------------------------------------*/ + /* Check Input Value */ + /*----------------------------------------------------------------------*/ + if (NULL == pSndCmd) + { + CAN_MNG_API_LOGE("%s(%p) invalid parameter.", __func__, pSndCmd); + return CAN_CTL_RET_ERR_PARAM; + } + + ret = isOpendDriver(); + if (ret != CAN_CTL_RET_SUCCESS) { + CAN_MNG_API_LOGE("Not Open Driver."); + return CAN_CTL_RET_ERR_ERR; + } + + struct can_frame frame = {0}; + + frame.can_id = pSndCmd->data[1] & 0x7F; + frame.can_id <<= 4; + frame.can_id |= (pSndCmd->data[2] & 0xF0) >> 4; + frame.can_dlc = pSndCmd->data[3]; + frame.data[0] = pSndCmd->data[4]; + frame.data[1] = pSndCmd->data[5]; + frame.data[2] = pSndCmd->data[6]; + frame.data[3] = pSndCmd->data[7]; + frame.data[4] = pSndCmd->data[8]; + frame.data[5] = pSndCmd->data[9]; + frame.data[6] = pSndCmd->data[10]; + frame.data[7] = pSndCmd->data[11]; + + CAN_MNG_API_LOGT("write() CanDataExtSendNotif start size = %d", (int)sizeof(frame)); + ret = write(fd_can, &frame, sizeof(frame)); + err_no = errno; + CAN_MNG_API_LOGE("write() ret = %d).", ret); + + CAN_MNG_API_LOGT("write() CanDataExtSendNotif end"); + if (ret == -1) { + CAN_MNG_API_LOGE("write() error(errno[%d]).", err_no); + return CAN_CTL_RET_ERR_ERR; + } + + CAN_MNG_API_LOGT("FUNC OUT"); + + return CAN_CTL_RET_SUCCESS; +} + +UINT32 CanCtlApiSetRcvId(CanCtlApiObj* pClientObj, CanCtlRcvId* pRcvId) +{ + FILE* fp; + size_t nmemb; + + CAN_MNG_API_LOGT("FUNC IN"); + /*----------------------------------------------------------------------*/ + /* Check Input Value */ + /*----------------------------------------------------------------------*/ + if (NULL == pRcvId) + { + CAN_MNG_API_LOGE("%s(%p) invalid parameter.", __func__, pRcvId); + return CAN_CTL_RET_ERR_PARAM; + } + + struct stat st; + int ret = 0; + if (stat(DUMP_DIR, &st) != 0) { + ret = mkdir(DUMP_DIR, 0755); + } + if (ret != 0) { + CAN_MNG_API_LOGE("Can not Created RcvId Dump dir."); + return CAN_CTL_RET_ERR_ERR; + } + CAN_MNG_API_LOGT("fopen(DUMP_RCVID) start"); + fp = fopen(DUMP_RCVID, "wb"); + CAN_MNG_API_LOGT("fopen(DUMP_RCVID) end"); + if (fp == NULL) { + CAN_MNG_API_LOGE("Can not Opened RcvId Dump file."); + return CAN_CTL_RET_ERR_ERR; + } + + CAN_MNG_API_LOGT("fwrite(pRcvId) start"); + nmemb = fwrite(pRcvId, sizeof(CanCtlRcvId), 1, fp); + CAN_MNG_API_LOGT("fwrite(pRcvId) end"); + if (nmemb != 1) { + CAN_MNG_API_LOGE("RcvId Dump file write error."); + (void)fclose(fp); + return CAN_CTL_RET_ERR_ERR; + } + + CAN_MNG_API_LOGT("fclose() start"); + (void)fclose(fp); + CAN_MNG_API_LOGT("fclose() end"); + + CAN_MNG_API_LOGT("FUNC OUT"); + + return CAN_CTL_RET_SUCCESS; +} + +UINT32 CanCtlApiRcvCmd(CanCtlApiObj* pClientObj, CanCtlApiCmd* pRcvCmd) +{ + int ret; + int enable_ret; + + CanCtlRcvId InitialRcvId; + CanCtlRcvId RcvId; + FILE* fp; + size_t nmemb; + + CAN_MNG_API_LOGT("FUNC IN"); + /*----------------------------------------------------------------------*/ + /* Check Input Value */ + /*----------------------------------------------------------------------*/ + if (NULL == pRcvCmd) + { + CAN_MNG_API_LOGE("%s(%p) invalid parameter.", __func__, pRcvCmd); + return CAN_CTL_RET_ERR_PARAM; + } + + ret = isOpendDriver(); + if (ret != CAN_CTL_RET_SUCCESS) { + CAN_MNG_API_LOGE("Not Open Driver."); + return CAN_CTL_RET_ERR_ERR; + } + + // Restore RcvId + CAN_MNG_API_LOGT("fopen(DUMP_RCVID) start"); + fp = fopen(DUMP_RCVID, "rb"); + CAN_MNG_API_LOGT("fopen(DUMP_RCVID) end"); + if (fp == NULL) { + CAN_MNG_API_LOGE("Can not Opened RcvId Dump file."); + return CAN_CTL_RET_ERR_ERR; + } + + CAN_MNG_API_LOGT("fread(RcvId) start"); + nmemb = fread(&RcvId, sizeof(CanCtlRcvId), 1, fp); + CAN_MNG_API_LOGT("fread(RcvId) end"); + if (nmemb != 1) { + CAN_MNG_API_LOGE("RcvId Dump file read error."); + (void)fclose(fp); + return CAN_CTL_RET_ERR_ERR; + } + + CAN_MNG_API_LOGT("fclose() start"); + (void)fclose(fp); + CAN_MNG_API_LOGT("fclose() end"); + + memset(&InitialRcvId.id, 0, sizeof(InitialRcvId.id)); + + if (memcmp(InitialRcvId.id, RcvId.id, sizeof(RcvId.id)) == 0) { + CAN_MNG_API_LOGE("No RecvId Maps."); + return CAN_CTL_RET_ERR_ERR; + } + + enable_ret = getData(&RcvId, pRcvCmd); + + if (enable_ret != CAN_CTL_RET_SUCCESS) { + CAN_MNG_API_LOGE("No data founds."); + return enable_ret; + } + + CAN_MNG_API_LOGT("FUNC OUT"); + + return CAN_CTL_RET_SUCCESS; +} + +static UINT32 getData(CanCtlRcvId* pRcvId, CanCtlApiCmd* pRcvCmd) { + int ret; + int total_cnt = 0; + int copy_cnt = 0; + int i; + unsigned char can_data[CAN_CTL_CMD_LEN_MAX+1]; + unsigned char enable_can_data[CAN_CTL_CMD_LEN_MAX]; + unsigned char store_can_data[CAN_CTL_CMD_LEN_MAX]; + unsigned char* scd; + + + UINT16 id_map[CAN_CTL_CMD_ID_HI_NUM]; + + CAN_MNG_API_LOGT("FUNC IN"); + + memcpy(id_map, pRcvId->id, sizeof(id_map)); + + memset(store_can_data, 0, sizeof(store_can_data)); + scd = store_can_data; + + while(1) { + memset(can_data, 0, sizeof(can_data)); + memset(enable_can_data, 0, sizeof(enable_can_data)); + ret = getCanData(can_data); + if (ret != CAN_CTL_RET_SUCCESS) { + // In case of error, read next data + CAN_MNG_API_LOGE("getCanData error."); + continue; + } + + // Extract data of "CAN data extended reception notification 4" + copy_cnt = copyEnableCandata(id_map, can_data, enable_can_data); + if( copy_cnt == 0 ){ + continue; + } + + // Store in work buffer + for (i = 0; i < copy_cnt; i++) { + if (total_cnt >= CAN_CTL_MAX_RCV_CAN_SIZE) { + CAN_MNG_API_LOGE("buffer over"); + break; + } + memcpy(scd, &enable_can_data[CAN_DATA_SIZE * i], CAN_DATA_SIZE); + scd = scd + CAN_DATA_SIZE; + total_cnt++; + } + + // Check work buffer overflow + if (total_cnt >= CAN_CTL_MAX_RCV_CAN_SIZE) { + CAN_MNG_API_LOGE("buffer over"); + break; + } + } + + // If data exists, set and return + if (total_cnt != 0) { + pRcvCmd->len = 1 + (total_cnt * CAN_DATA_SIZE); + pRcvCmd->data[0] = total_cnt; + memcpy( &(pRcvCmd->data[1]), store_can_data, (total_cnt * CAN_DATA_SIZE)); + } else { + // If there is no data, return with length 0 + pRcvCmd->len = 0; + memset( &(pRcvCmd->data[0]), 0, sizeof(UINT8) * CAN_DAT_LEN_MAX ); + CAN_MNG_API_LOGE("data not found"); + } + + CAN_MNG_API_LOGT("FUNC OUT"); + + return CAN_CTL_RET_SUCCESS; +} + +static UINT32 getCanData(unsigned char *can_data) { + int err_no; + int i; + + CAN_MNG_API_LOGT("FUNC IN"); + + CAN_MNG_API_LOGE("recvfrom start"); + + int nbytes = 0; + struct can_frame frame = {0}; + socklen_t addrlen = sizeof(struct sockaddr_can); + nbytes = recvfrom(fd_can, &frame, sizeof(frame), 0, (struct sockaddr*)&tx_address, &addrlen); + err_no = errno; + CAN_MNG_API_LOGE("recvfrom end ret = %d",nbytes); + if (nbytes == -1) { + CAN_MNG_API_LOGE("Not Read CAN Driver(errno[%d]).", err_no); + return CAN_CTL_RET_ERR_ERR; + } else if (nbytes != CAN_MTU) { + CAN_MNG_API_LOGE("Receive Error size: %d.", nbytes); + return CAN_CTL_RET_ERR_ERR; + } + + CAN_MNG_API_LOGT("Recvfrom CAN Data(start)"); + can_data[0] = (frame.can_id & 0x7F0) >> 4; + can_data[1] = (frame.can_id & 0x0F) << 4; + can_data[2] = frame.can_dlc; + for (i = 0; i < frame.can_dlc; i++) { + can_data[3+i] = frame.data[i]; + CAN_MNG_API_LOGE(" 0x%02x", frame.data[i]); + } + CAN_MNG_API_LOGT(""); + CAN_MNG_API_LOGT("Recvfrom Data(end)"); + + CAN_MNG_API_LOGT("FUNC OUT"); + return CAN_CTL_RET_SUCCESS; +} + +static UINT32 copyEnableCandata(UINT16* id_map, unsigned char* can_data, unsigned char* enable_can_data) { + int id; + UINT16 val; + unsigned char* ecd = enable_can_data; + UINT32 count = 0; + + CAN_MNG_API_LOGT("FUNC IN"); + // Search data of "CAN data extended reception notification 4" + id = can_data[0]; + val = can_data[1] >> 4; // Shift right 4 bits and determine search position + + CAN_MNG_API_LOGE("data id =%x", id); + CAN_MNG_API_LOGE("data val=%x", val); + CAN_MNG_API_LOGE("file val=%x", id_map[id]); + + // If the target data is found (If the bit is on ?) + if ((id_map[id] & (0x01 << val)) != 0) { + CAN_MNG_API_LOGT("matched."); + CAN_MNG_API_LOGE("id_map[%u]", id_map[id]); + + // Store data in work buffer + memcpy(ecd, &can_data[0], CAN_DATA_SIZE); + count++; + } + + CAN_MNG_API_LOGT("FUNC OUT"); + return count; +} + +UINT32 CanCtlApiRcvSpd(CanCtlApiObj* pClientObj, CanCtlApiCmd* pRcvCmd) +{ + // Note. + // If vendor needs the special implementation about receiving the vehicle speed, + // it should be implemented by vendor. + return CAN_CTL_RET_SUCCESS; +} + +static UINT32 isOpendDriver() { + CAN_MNG_API_LOGT("FUNC IN"); + + if (fd_can == -1) { + CAN_MNG_API_LOGE("Not Open CAN Driver."); + return CAN_CTL_RET_ERR_ERR; + } + + CAN_MNG_API_LOGT("FUNC OUT"); + return CAN_CTL_RET_SUCCESS; +} diff --git a/hal/can_hal/src/inc/can_hal_core.h b/hal/can_hal/src/inc/can_hal_core.h new file mode 100755 index 0000000..57a9c9d --- /dev/null +++ b/hal/can_hal/src/inc/can_hal_core.h @@ -0,0 +1,37 @@ +/* + * @copyright Copyright (c) 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. + */ + +#ifndef _CAN_HAL_CORE_H_ +#define _CAN_HAL_CORE_H_ +#include <stdint.h> +#include "can_hal.h" +#ifdef __cplusplus +extern "C" { +#endif +CANHAL_RET_API CanOpenCore(CanHalType type); +CANHAL_RET_API CanCloseCore(CanHalType type); +EFrameworkunifiedStatus CanSendThreadStart(HANDLE h_app); +EFrameworkunifiedStatus CanSendThreadStop(HANDLE h_app); +void *CanRecvRun(void *arg); +void *CanHalPackMessage(HANDLE h_app, const void *msg, ssize_t msg_sz, + ssize_t *packed_sz); +void CanHalUnPackMessage(void *packed, HANDLE *h_app, void **msg, + ssize_t *msg_sz); +void CanHalDestroyPackedMessage(void *packed); +#ifdef __cplusplus +} +#endif +#endif diff --git a/hal/can_hal/src/inc/can_hal_frameworkunifiedlog.h b/hal/can_hal/src/inc/can_hal_frameworkunifiedlog.h new file mode 100755 index 0000000..f3a5f50 --- /dev/null +++ b/hal/can_hal/src/inc/can_hal_frameworkunifiedlog.h @@ -0,0 +1,76 @@ +/* + * @copyright Copyright (c) 2018-2020 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. + */ + +#ifndef INC_CAN_HAL_FRAMEWORKUNIFIEDLOG_H_ +#define INC_CAN_HAL_FRAMEWORKUNIFIEDLOG_H_ + +#include <native_service/ns_logger_if.h> + +#define ZONE_INIT ZONEMASK(10) +#define ZONE_FUNC ZONEMASK(11) +#define ZONE_MEM ZONEMASK(12) +#define ZONE_13 ZONEMASK(13) +#define ZONE_14 ZONEMASK(14) +#define ZONE_15 ZONEMASK(15) +#define ZONE_16 ZONEMASK(16) +#define ZONE_17 ZONEMASK(17) +#define ZONE_18 ZONEMASK(18) +#define ZONE_19 ZONEMASK(19) +#define ZONE_20 ZONEMASK(20) +#define ZONE_21 ZONEMASK(21) +#define ZONE_22 ZONEMASK(22) +#define ZONE_23 ZONEMASK(23) +#define ZONE_24 ZONEMASK(24) +#define ZONE_25 ZONEMASK(25) +#define ZONE_26 ZONEMASK(26) +#define ZONE_27 ZONEMASK(27) +#define ZONE_28 ZONEMASK(28) +#define ZONE_INFO ZONEMASK(29) +#define ZONE_WARN ZONEMASK(30) +#define ZONE_ERR ZONEMASK(31) + +#define ZONE_TEXT_10 "Init" +#define ZONE_TEXT_11 "Function" +#define ZONE_TEXT_12 "Memory" +#define ZONE_TEXT_13 "" +#define ZONE_TEXT_14 "" +#define ZONE_TEXT_15 "" +#define ZONE_TEXT_16 "" +#define ZONE_TEXT_17 "" +#define ZONE_TEXT_18 "" +#define ZONE_TEXT_19 "" +#define ZONE_TEXT_20 "" +#define ZONE_TEXT_21 "" +#define ZONE_TEXT_22 "" +#define ZONE_TEXT_23 "" +#define ZONE_TEXT_24 "" +#define ZONE_TEXT_25 "" +#define ZONE_TEXT_26 "" +#define ZONE_TEXT_27 "" +#define ZONE_TEXT_28 "" +#define ZONE_TEXT_29 "Info" +#define ZONE_TEXT_30 "Warning" +#define ZONE_TEXT_31 "Error" + +#ifndef FRAMEWORKUNIFIEDLOGOPTIONS +#define FRAMEWORKUNIFIEDLOGOPTIONS (LSHAREDMEM) // LPRINT , LMSGQ, LSLOGGER +#endif + +#ifndef FRAMEWORKUNIFIEDLOGAPPZONES +#define FRAMEWORKUNIFIEDLOGAPPZONES ZONE_ERR, ZONE_WARN, ZONE_INFO +#endif + +#endif // INC_CAN_HAL_FRAMEWORKUNIFIEDLOG_H_ diff --git a/hal/can_hal/src/inc/can_hal_internal.h b/hal/can_hal/src/inc/can_hal_internal.h new file mode 100755 index 0000000..f42a73f --- /dev/null +++ b/hal/can_hal/src/inc/can_hal_internal.h @@ -0,0 +1,31 @@ +/* + * @copyright Copyright (c) 2018-2020 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. + */ + +#ifndef INC_CAN_HAL_INTERNAL_H_ +#define INC_CAN_HAL_INTERNAL_H_ + +/** + * \~english Name of the CAN send thread + */ +#define CANHAL_CAN_SEND_THREAD "HalCANSend" + +enum CanHalInternalCmd { + INVALID_CMD = 0, + TX_INTERNAL, + TX_INTERNAL__CWORD118_ +}; + +#endif // INC_CAN_HAL_INTERNAL_H_ diff --git a/hal/can_hal/src/inc/can_hal_stm.h b/hal/can_hal/src/inc/can_hal_stm.h new file mode 100755 index 0000000..cd07814 --- /dev/null +++ b/hal/can_hal/src/inc/can_hal_stm.h @@ -0,0 +1,45 @@ +/* + * @copyright Copyright (c) 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. + */ + +#ifndef _CAN_HAL_STM_H_ +#define _CAN_HAL_STM_H_ +#include "can_hal.h" +#ifdef __cplusplus +extern "C" { +#endif +bool TypeIsValid(enum CanHalType type); +bool IsCanHalOpened(enum CanHalType type); +void SetCanHalStateOpen(enum CanHalType type); +void SetCanHalStateClose(enum CanHalType type); +bool IsDeviceEnabled(enum CanHalType type); +void SetDeviceStateEnable(enum CanHalType type); +void SetDeviceStateDisable(enum CanHalType type); +CANHAL_RET_API InvokeStateCallback(enum CanHalType type); +CANHAL_RET_API InvokeErrorCallback(HANDLE h_app, enum CanHalType type); +CANHAL_RET_API CanHalInternalSend(enum CanHalType type, + const void *msg, ssize_t sz); +CANHAL_RET_API CanHalInternalSend_CWORD118_(enum CanHalType type, + const void *msg, ssize_t sz); +CANHAL_RET_API CanHalSendStatus(enum CanHalType type, HANDLE h_app, + const void *msg, ssize_t sz); +CANHAL_RET_API CanHalReceiveNotify(enum CanHalType type, + const void *msg, ssize_t sz); +CANHAL_RET_API CanHalCreateInternalThread(HANDLE h_app, enum CanHalType type); +CANHAL_RET_API CanHalDestroyInternalThread(HANDLE h_app, enum CanHalType type); +#ifdef __cplusplus +} +#endif +#endif diff --git a/hal/can_hal/src/inc/can_mng_api.h b/hal/can_hal/src/inc/can_mng_api.h new file mode 100755 index 0000000..ef03750 --- /dev/null +++ b/hal/can_hal/src/inc/can_mng_api.h @@ -0,0 +1,120 @@ +/* + * @copyright Copyright (c) 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. + */ + +#ifndef __CAN_MNG_API_H__ +#define __CAN_MNG_API_H__ + +/** @includes + * + */ + +/** @define + * + */ +#ifndef UINT8 +#define UINT8 unsigned char +#endif +#ifndef UINT16 +#define UINT16 unsigned short +#endif +#ifndef INT32 +#define INT32 int +#endif +#ifndef UINT32 +#define UINT32 unsigned int +#endif + +/*------------------------------------------*/ +/* Log */ +/*------------------------------------------*/ +#if defined(CAN_MNG_API_FORCE_DEBUG) + #define CAN_MNG_API_LOGT(fmt,...) fprintf(stderr, "[T][CAN_API] %s(%s)(%d):" fmt "\n", __FILE__, __func__, __LINE__, ## __VA_ARGS__) + #define CAN_MNG_API_LOGD(fmt,...) fprintf(stderr, "[D][CAN_API] %s(%s)(%d):" fmt "\n", __FILE__, __func__, __LINE__, ## __VA_ARGS__) + #define CAN_MNG_API_LOGE(fmt,...) fprintf(stderr, "[E][CAN_API] %s(%s)(%d):" fmt "\n", __FILE__, __func__, __LINE__, ## __VA_ARGS__) +#else + #define CAN_MNG_API_LOGT(fmt,...) + #define CAN_MNG_API_LOGD(fmt,...) + #define CAN_MNG_API_LOGE(fmt,...) +#endif +/*------------------------------------------*/ +/* API return value */ +/*------------------------------------------*/ +#define CAN_CTL_RET_SUCCESS 0 /* Normal end */ +#define CAN_CTL_RET_ERR_PARAM -1 /* Parameter error */ +#define CAN_CTL_RET_ERR_NOSVC -2 /* Service not open error */ +#define CAN_CTL_RET_ERR_ERR -3 /* Other error */ + +/*------------------------------------------*/ +/* Received command information */ +/*------------------------------------------*/ +#define CAN_CTL_CMD_LEN_MAX 255 /* Maximum data length */ +#define CAN_DAT_LEN_MAX CAN_CTL_CMD_LEN_MAX /* Maximum data length */ +#define CAN_CTL_CMD_ID_HI_NUM 128 /* Number of higher CAN-ID(8bit) (00 to 7F) */ + +#define CAN_CTL_MAX_RCV_CAN_SIZE 23 + +/** @typedefs + * + */ +/* Object for CAN communication control API */ +typedef struct _CanCtlApiObj { + /* ID assigned to the command reception notification callback */ + INT32 call_id; +} CanCtlApiObj ; + +/* CAN command structure */ +typedef struct _CanCtlApiCmd { + UINT8 len; /* Data length */ + UINT8 data[CAN_DAT_LEN_MAX]; /* Data */ +} CanCtlApiCmd; + +/* Received ID MAP information */ +typedef struct _CanCtlRcvId { + UINT16 id[CAN_CTL_CMD_ID_HI_NUM]; /* CAN ID MAP(000~7FF) */ +} CanCtlRcvId; + + +/* CAN Frame structure */ +typedef union { + UINT8 Data[2]; +} CanId; + +#define LCN_SRV_MSB_FRAME_DAT_SIZE (8) /* MSB send/receive frame data size */ + +typedef struct _CanData { + CanId id; /* CAN Frame structure */ + UINT8 dlc; /* Valid bytes of DATA#1~#8. DLC is 1 to 8. */ + UINT8 Data[LCN_SRV_MSB_FRAME_DAT_SIZE]; /* Receive data */ + /* Data of DLC size is valid, otherwise set to 0 as invalid value. */ +} CanData; + +/** @forward declarations + * + */ +/* API prototype */ +#ifdef __cplusplus +extern "C" { +#endif +UINT32 CanCtlApiOpen(CanCtlApiObj* pClientObj); +UINT32 CanCtlApiClose(CanCtlApiObj* pClientObj); +UINT32 CanCtlApiSndCmd(CanCtlApiObj* pClientObj, CanCtlApiCmd* pSndCmd); +UINT32 CanCtlApiSetRcvId(CanCtlApiObj* pClientObj, CanCtlRcvId* pRcvId); +UINT32 CanCtlApiRcvCmd(CanCtlApiObj* pClientObj, CanCtlApiCmd* pRcvCmd); +UINT32 CanCtlApiRcvSpd(CanCtlApiObj* pClientObj, CanCtlApiCmd* pRcvCmd); +#ifdef __cplusplus +} +#endif +#endif /* __CAN_MNG_API_H__ */ diff --git a/hal/clock_hal/LICENSE b/hal/clock_hal/LICENSE new file mode 100755 index 0000000..f433b1a --- /dev/null +++ b/hal/clock_hal/LICENSE @@ -0,0 +1,177 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS diff --git a/hal/clock_hal/Makefile b/hal/clock_hal/Makefile new file mode 100755 index 0000000..e417a15 --- /dev/null +++ b/hal/clock_hal/Makefile @@ -0,0 +1,67 @@ +# +# @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. +# + +######### installed program/file ################ +TARGET := libclock_hal.so + +HEADER := hal_api/clock_hal.h + +######### include paths/files ################### +CXXFLAGS := -I./inc/ +CXXFLAGS += -I./hal_api/ +CXXFLAGS += -I$(SDKTARGETSYSROOT)/usr/agl/include +CXXFLAGS += -include $(SDKTARGETSYSROOT)/usr/agl/include/agl_types_obsoluted.h + +######### compile options ####################### +CXXFLAGS += -Wall -fPIC +CXXFLAGS += -DAGL_REFHW + +######### link options ########################## +LDFLAGS += -shared +LDFLAGS += -Wl,--no-as-needed +LDFLAGS += -Wl,--no-undefined +LDFLAGS += -L$(SDKTARGETSYSROOT)/usr/agl/lib + +RPATH := + +######### linked library ######################## +LIBS += -Wl,-Bdynamic -lstdc++ +LIBS += -Wl,-Bdynamic -lNS_FrameworkUnified + +######### source files ########################## +VPATH := src +OBJS := clock_hal.o + +######### make targets ########################## +all: $(TARGET) + @echo $@ done. + +$(TARGET): $(OBJS) + $(CC) $(LDFLAGS) -Wl,-rpath=$(RPATH) $(OBJS) $(LIBS) -o $(TARGET) + @echo $@ done. + +######### make cleans ########################### +GCNO_FILES := $(filter %.gcno,$(OBJS:%.o=%.gcno)) + +clean: + rm -f $(OBJS) $(TARGET) $(GCNO_FILES) + @echo $@ done. + +######### make installs ######################### +install: + install -d -m 0755 $(DESTDIR)/usr/lib + install -m 0755 $(TARGET) $(DESTDIR)/usr/lib + @echo $@ done. diff --git a/hal/clock_hal/README.md b/hal/clock_hal/README.md new file mode 100755 index 0000000..0443f95 --- /dev/null +++ b/hal/clock_hal/README.md @@ -0,0 +1,3 @@ +clock_hal library +================== +Clock HAL implementation library for AGL Reference Board. diff --git a/hal/clock_hal/hal_api/clock_hal.h b/hal/clock_hal/hal_api/clock_hal.h new file mode 100755 index 0000000..8006b32 --- /dev/null +++ b/hal/clock_hal/hal_api/clock_hal.h @@ -0,0 +1,67 @@ +/* + * @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. + */ +#ifndef HAL_API_CLOCK_HAL_H_ +#define HAL_API_CLOCK_HAL_H_ +/** + * @file clock_hal.h + */ +#include <time.h> + +#include <native_service/frameworkunified_types.h> +/** @addtogroup clock + * @{ + */ +/** @addtogroup clock_hal + * @ingroup clock + * @{ + */ +/** + * \ingroup SetHardwareClock + * \~english @par Brief + * API to set the RTC. + * \~english @param [in] h_app + * HANDLE - Handle for Application + * \~english @param [in] l_tm + * const struct tm * - pointer to the time will be set + * \~english @retval eFrameworkunifiedStatusOK : Ok + * \~english @retval eFrameworkunifiedStatusFail : Failed + * \~english @retval eFrameworkunifiedStatusInvldHandle : parameter "h_app" is NULL + * \~english @retval eFrameworkunifiedStatusNullPointer : parameter "l_tm" is NULL + * \~english @par Prerequisite + * - /dev/rtc node is exist, rtc driver is availability. + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - Set time to RTC failed. [eFrameworkunifiedStatusFail] + * - The parameter "l_tm" is NULL. [eFrameworkunifiedStatusNullPointer] + * - The parameter "h_app" is NULL. [eFrameworkunifiedStatusInvldHandle] + * \~english @par Detail + * - Set time to RTC. + * - The API can be used by 1 process. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * None + */ +EFrameworkunifiedStatus SetHardwareClock(HANDLE h_app, const struct tm *l_tm); + + +/**@}*/ // end of clock_hal +/**@}*/ // end of clock + +#endif // HAL_API_CLOCK_HAL_H_ diff --git a/hal/clock_hal/inc/clock_hal_clockhallog.h b/hal/clock_hal/inc/clock_hal_clockhallog.h new file mode 100755 index 0000000..6ed5de5 --- /dev/null +++ b/hal/clock_hal/inc/clock_hal_clockhallog.h @@ -0,0 +1,76 @@ +/* + * @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. + */ +#ifndef INC_CLOCK_HAL_CLOCKHALLOG_H_ +#define INC_CLOCK_HAL_CLOCKHALLOG_H_ + +#include <native_service/ns_logger_if.h> + +#define ZONE_INIT ZONEMASK(10) +#define ZONE_FUNC ZONEMASK(11) +#define ZONE_MEM ZONEMASK(12) +#define ZONE_13 ZONEMASK(13) +#define ZONE_14 ZONEMASK(14) +#define ZONE_15 ZONEMASK(15) +#define ZONE_16 ZONEMASK(16) +#define ZONE_17 ZONEMASK(17) +#define ZONE_18 ZONEMASK(18) +#define ZONE_19 ZONEMASK(19) +#define ZONE_20 ZONEMASK(20) +#define ZONE_21 ZONEMASK(21) +#define ZONE_22 ZONEMASK(22) +#define ZONE_23 ZONEMASK(23) +#define ZONE_24 ZONEMASK(24) +#define ZONE_25 ZONEMASK(25) +#define ZONE_26 ZONEMASK(26) +#define ZONE_27 ZONEMASK(27) +#define ZONE_28 ZONEMASK(28) +#define ZONE_INFO ZONEMASK(29) +#define ZONE_WARN ZONEMASK(30) +#define ZONE_ERR ZONEMASK(31) + +#define ZONE_TEXT_10 "Init" +#define ZONE_TEXT_11 "Function" +#define ZONE_TEXT_12 "Memory" +#define ZONE_TEXT_13 "" +#define ZONE_TEXT_14 "" +#define ZONE_TEXT_15 "" +#define ZONE_TEXT_16 "" +#define ZONE_TEXT_17 "" +#define ZONE_TEXT_18 "" +#define ZONE_TEXT_19 "" +#define ZONE_TEXT_20 "" +#define ZONE_TEXT_21 "" +#define ZONE_TEXT_22 "" +#define ZONE_TEXT_23 "" +#define ZONE_TEXT_24 "" +#define ZONE_TEXT_25 "" +#define ZONE_TEXT_26 "" +#define ZONE_TEXT_27 "" +#define ZONE_TEXT_28 "" +#define ZONE_TEXT_29 "Info" +#define ZONE_TEXT_30 "Warning" +#define ZONE_TEXT_31 "Error" + +#ifndef FRAMEWORKUNIFIEDLOGOPTIONS +#define FRAMEWORKUNIFIEDLOGOPTIONS (LSHAREDMEM) // LPRINT , LMSGQ, LSLOGGER +#endif + +#ifndef FRAMEWORKUNIFIEDLOGAPPZONES +#define FRAMEWORKUNIFIEDLOGAPPZONES ZONE_ERR, ZONE_WARN, ZONE_INFO +#endif + +extern const CHAR AppName[]; // NOLINT (defind outside) +#endif // INC_CLOCK_HAL_CLOCKHALLOG_H_ diff --git a/hal/clock_hal/src/clock_hal.cpp b/hal/clock_hal/src/clock_hal.cpp new file mode 100755 index 0000000..cccbd5b --- /dev/null +++ b/hal/clock_hal/src/clock_hal.cpp @@ -0,0 +1,91 @@ +/* + * @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. + */ +#include "clock_hal.h" + +#include <assert.h> +#include <dirent.h> +#include <errno.h> +#include <fcntl.h> +#include <linux/rtc.h> +#include <stdio.h> +#include <string.h> +#include <sys/ioctl.h> +#include <unistd.h> + +#include "clock_hal_clockhallog.h" + +#define RTC_NODE_PATH_DEPTH 64 +#define RTC_NODE_PERANT_PATH "/dev" + +// set time to hardware +EFrameworkunifiedStatus SetHardwareClock(HANDLE h_app, const struct tm *l_tm) { + if (NULL == h_app) { + return eFrameworkunifiedStatusInvldHandle; + } + if (NULL == l_tm) { + return eFrameworkunifiedStatusNullPointer; + } + + EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK; + struct rtc_time hal_rtc_time; + hal_rtc_time.tm_year = l_tm->tm_year; + hal_rtc_time.tm_mon = l_tm->tm_mon; + hal_rtc_time.tm_mday = l_tm->tm_mday; + hal_rtc_time.tm_hour = l_tm->tm_hour; + hal_rtc_time.tm_min = l_tm->tm_min; + hal_rtc_time.tm_sec = l_tm->tm_sec; + hal_rtc_time.tm_wday = l_tm->tm_wday; + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, + "setting time : %d-%02d/%02d %02d:%02d:%02d\n", + 1900 + l_tm->tm_year, l_tm->tm_mon + 1, l_tm->tm_mday, + l_tm->tm_hour, l_tm->tm_min, l_tm->tm_sec); + + // Search RTC node + DIR *dir = ::opendir(RTC_NODE_PERANT_PATH); + char rtc_path[RTC_NODE_PATH_DEPTH] = { '\0' }; + for (struct dirent *dp = readdir(dir); dp != NULL; dp = readdir(dir)) { + if (strstr(dp->d_name, "rtc") != NULL) { + snprintf(rtc_path, sizeof(rtc_path), "/dev/%s", dp->d_name); + break; + } + } + closedir(dir); + if (strlen(rtc_path) == 0) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "/dev/rtcX not found.\n"); + e_status = eFrameworkunifiedStatusFail; + return e_status; + } + + // Set time to /dev/rtcX + int fd = ::open(rtc_path, O_WRONLY); + if (-1 == fd) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "Error open(/dev/rtc)=[%d] errno=%d\n", + fd, errno); + return eFrameworkunifiedStatusFail; + } + int ret = ::ioctl(fd, RTC_SET_TIME, &hal_rtc_time); + if (0 != ret) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, + "Error ioctl(fd, RTC_SET_TIME, hal_rtc_time)=[%d] errno=%d\n", + ret, errno); + e_status = eFrameworkunifiedStatusFail; + } else { + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, + "Success ioctl(fd, RTC_SET_TIME, hal_rtc_time)=[%d]\n", ret); + } + ::close(fd); + return e_status; +} diff --git a/hal/deck_hal/LICENSE b/hal/deck_hal/LICENSE new file mode 100755 index 0000000..f433b1a --- /dev/null +++ b/hal/deck_hal/LICENSE @@ -0,0 +1,177 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS diff --git a/hal/deck_hal/Makefile b/hal/deck_hal/Makefile new file mode 100755 index 0000000..fbe4ddf --- /dev/null +++ b/hal/deck_hal/Makefile @@ -0,0 +1,67 @@ +# +# @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. +# + +######### installed program/file ################ +TARGET := libdeck_hal.so + +HEADER := hal_api/deck_hal.h + +######### include paths/files ################### +CXXFLAGS += -I./inc/ +CXXFLAGS += -I./hal_api/ +CXXFLAGS += -I$(SDKTARGETSYSROOT)/usr/agl/include +CXXFLAGS += -include $(SDKTARGETSYSROOT)/usr/agl/include/agl_types_obsoluted.h + +######### compile options ####################### +CXXFLAGS += -Wall -fPIC + +######### link options ########################## +LDFLAGS += -shared +LDFLAGS += -Wl,--no-as-needed +LDFLAGS += -Wl,--no-undefined +LDFLAGS += -L$(SDKTARGETSYSROOT)/usr/agl/lib + +RPATH := /usr/lib + +######### linked library ######################## +LIBS += -Wl,-Bdynamic -lstdc++ +LIBS += -Wl,-Bdynamic -lNS_FrameworkUnified + + +######### source files ########################## +VPATH += src +OBJS := deck_hal.o + +######### make targets ########################## +all: $(TARGET) + @echo $@ done. + +$(TARGET): $(OBJS) + $(CC) $(LDFLAGS) -Wl,-rpath=:$(RPATH) $(OBJS) $(LIBS) -o $(TARGET) + @echo $@ done. + +######### make cleans ########################### +GCNO_FILES := $(filter %.gcno,$(OBJS:%.o=%.gcno)) + +clean: + rm -f $(OBJS) $(TARGET) $(GCNO_FILES) + @echo $@ done. + +######### make installs ######################### +install: + install -d -m 0755 $(DESTDIR)/usr/lib + install -m 0755 $(TARGET) $(DESTDIR)/usr/lib + @echo $@ done. diff --git a/hal/deck_hal/hal_api/deck_hal.h b/hal/deck_hal/hal_api/deck_hal.h new file mode 100755 index 0000000..74aa19a --- /dev/null +++ b/hal/deck_hal/hal_api/deck_hal.h @@ -0,0 +1,322 @@ +/* + * @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 deck_hal.h + * @~english + * @brief deck_hal API head + * + */ + +#ifndef HAL_API_DECK_HAL_H_ +#define HAL_API_DECK_HAL_H_ + +#include <native_service/frameworkunified_types.h> + +/** + * @file deck_hal.h + */ + +/** @addtogroup interface_unified + * @{ + */ +/** @addtogroup deck_hal + * @ingroup interface_unified + * @{ + */ +#ifdef __cplusplus +extern "C" { +#endif /*__cplusplus*/ + +/*! @~english Maximum length of command data division */ +#define DECK_CMD_SIZE_CMDDATA_MAX 252 +/*! @~english Maximum length of notification destination */ +#define NOTIFY_NAME_MAX_SIZE 15 + +// CID_DECK_SYS_DELIVERY is for deck_hal to report correspinding message to vehicle, +// the value 0x40 can be changed in the future +/** + * \~english @brief DECK SYS Command-Delivery Notification + * \~english @brief If you want to receive this DECK SYS command-delivery notification, use the NSFW IF as follows: + * \~english @code + * l_eStatus = FrameworkunifiedAttachCallbackToDispatcher(hApp, DECKHAL_THREAD, CID_DECK_SYS_DELIVERY, LineSensDrvRcvDeckHal); + * @endcode + */ +#define CID_DECK_SYS_DELIVERY 0x40 + +/*! + * @~english + * @brief Disc eject mode +*/ +typedef enum { + /*! @~english normal eject */ + DECK_EJECT_NORMAL, + /*! @~english forced eject */ + DECK_EJECT_FORCED +} DeckEjectMode; + +/*! + * @~english + * @brief Disc mode +*/ +typedef enum { + /*! @~english CD */ + DECK_KIND_CD, + /*! @~english DVD */ + DECK_KIND_DVD, + /*! @~english Blue-lay disc */ + DECK_KIND_BD +} DeckKind; + +/*------------------------------------------------------------------------------ + * typedefs + *----------------------------------------------------------------------------*/ +/** + * \~english Deck-Sys command header structure + */ +typedef struct { + /*! @~english Source logical address */ + uint8_t lgadr_from; + /*! @~english Forwarding destination logical address */ + uint8_t lgadr_to; + /*! @~english OP code */ + uint8_t opc; + /*! @~english Reserve */ + uint8_t reserve; +} DeckCmdhdr; + +/** + * \~english Deck-Sys command body structure + */ +typedef struct DeckCmd { + /*! @~english Deck-Sys command header */ + DeckCmdhdr cmdhdr; + /*! @~english Data length */ + uint16_t data_length; + /*! @~english Reserve */ + uint16_t reserve; + /*! @~english Command data */ + uint8_t data[DECK_CMD_SIZE_CMDDATA_MAX]; +} DeckCmd; + +/*! + * @~english + * @brief Structure for message header + */ +typedef struct { + uint16_t replyid; //!< \~english Send Result ID + uint16_t sndpno; //!< \~english Send process No + uint16_t respno; //!< \~english Response No + uint16_t cid; //!< \~english Command ID + uint16_t msgbodysize; //!< \~english Message body size + uint8_t rid; //!< \~english Resource ID + uint8_t reserve; //!< \~english Reserve + uint8_t filler[2]; //!< \~english filler +} DECK_HEADER_COMM; + +/*! + * @~english + * @brief Structure for buffer message header + */ +typedef struct { + uint32_t signo; //!< \~english Signal No + DECK_HEADER_COMM hdr; //!< \~english Message Header +} DECK_MSGBUF_HEADER_COMM; + +/** + * \~english Delivery message structure + */ +typedef struct { + /*! @~english Header part */ + DECK_MSGBUF_HEADER_COMM hdr; + /*! @~english Physical address */ + uint16_t phyadr_from; + /*! @~english Communication type */ + uint8_t service_type; + /*! @~english Reserve */ + uint8_t reserve; + /*! @~english Data section */ + DeckCmd cmd; +} DECK_MSG_DELIVERY; + +/*! + * @~english + * @brief Structure for send command data + */ +typedef struct { + /*! @~english Physical address */ + uint16_t phyadr_from; + /*! @~english Communication type */ + uint8_t service_type; + /*! @~english Forwarding former logic address */ + uint8_t lgadr_from; + /*! @~english Forwarding site logic address */ + uint8_t lgadr_to; + /*! @~english Operation code */ + uint8_t opc; + /*! @~english Data length (size in command data */ + uint8_t d_length; + /*! @~english Command data */ + uint8_t data[DECK_CMD_SIZE_CMDDATA_MAX]; + /*! @~english reserve */ + uint8_t reserve; +} DECK_CMD_DATA; + +/*! + * @~english + * @brief Structure for send command + */ +typedef struct { + /*! @~english Command information */ + DECK_CMD_DATA cmd_data; +} DECK_CMD; + +/*------------------------------------------------------------------------------ + * function declaration + *----------------------------------------------------------------------------*/ +//////////////////////////////////////////////////////////////////////////////////////////// +/// \ingroup StopDiscRotation +/// \~english @par Brief +/// Stop disc rotation +/// \~english @param [in] - +/// \~english @param [out] - +/// \~english @retval eFrameworkunifiedStatusOK OK +/// \~english @retval eFrameworkunifiedStatusFail Abnormal Error +/// \~english @par Prerequisite +/// - Disc was inserted +/// \~english @par Change of internal state +/// - Change of internal state according to the API does not occur. +/// \~english @par Conditions of processing failure +/// - Error occurs when call open or ioctl function.[eFrameworkunifiedStatusFail] +/// \~english @par Classification +/// Public +/// \~english @par Type +/// Sync +/// \~english @par Detail +/// - Stop disc rotation +/// - Whatever disc is rotating or stoped, return successed. +/// - The API can be used by multi-process. +/// \~english @see None +//////////////////////////////////////////////////////////////////////////////////////////// + +EFrameworkunifiedStatus StopDiscRotation(); + +//////////////////////////////////////////////////////////////////////////////////////////// +/// \ingroup EjectDisc +/// \~english @par Brief +/// Eject disc +/// \~english @param [in] kind +/// DeckKind - kind of deck. +/// \~english @param [in] mode +/// DeckEjectMode - eject mode(normal/forcedly) +/// \~english @param [out] - +/// \~english @retval eFrameworkunifiedStatusOK OK +/// \~english @retval eFrameworkunifiedStatusFail Abnormal Error +/// \~english @par Prerequisite +/// - None +/// \~english @par Change of internal state +/// - Change of internal state according to the API does not occur. +/// \~english @par Conditions of processing failure +/// - Error occurs when call open or ioctl function.[eFrameworkunifiedStatusFail] +/// \~english @par Classification +/// Public +/// \~english @par Type +/// Sync +/// \~english @par Detail +/// - Eject disc +/// - Whatever disc is Ejecting or Unejected, return successed. +/// - The API can be used by multi-process. +/// \~english @see None +//////////////////////////////////////////////////////////////////////////////////////////// +EFrameworkunifiedStatus EjectDisc(DeckKind kind, DeckEjectMode mode); + +//////////////////////////////////////////////////////////////////////////////////////////// +/// \ingroup DeckHalSysSend +/// \~english @par Brief +/// Send Disc Sys-Command to MICON +/// \~english @param [in] h_app +/// HANDLE - Handle of caller (Handle to get in Dispatcher generation +/// (FrameworkunifiedCreateDispatcherWithoutLoop etc.)) +/// \~english @param [in] name +/// PCSTR - Name to notification of send result destination thread name +/// \~english @param [in] cmd +/// DECK_CMD - Send command pointer +/// \~english @param [in] req_id +/// uint8_t - Resource ID +/// \~english @param [out] - +/// \~english @retval eFrameworkunifiedStatusOK Normal termination +/// \~english @retval eFrameworkunifiedStatusInvldParam Abnormal parameter +/// \~english @par Prerequisite +/// - None +/// \~english @par Change of internal state +/// - Change of internal state according to the API does not occur. +/// \~english @par Conditions of processing failure +/// - h_app is NULL.[eFrameworkunifiedStatusInvldParam] +/// - name is NULL or the length of name is longer than 15 bytes. +/// [eFrameworkunifiedStatusInvldParam] +/// - Send command pointer(cmd) is null.[eFrameworkunifiedStatusInvldParam] +/// \~english @par Classification +/// Public +/// \~english @par Type +/// Sync +/// \~english @par Detail +/// - Send SYS command to MICON +/// - Now only usb disc exists,MICON disc is stub now. +/// - The API can only be used by 1 process. +/// \~english @see None +//////////////////////////////////////////////////////////////////////////////////////////// +EFrameworkunifiedStatus DeckHalSysSend(HANDLE h_app, PCSTR name, const DECK_CMD* cmd, uint8_t req_id); + +//////////////////////////////////////////////////////////////////////////////////////////// +/// \ingroup DeckHalRegister +/// \~english @par Brief +/// Register the deck_hal command to receive from MICON +/// \~english @param [in] h_app +/// HANDLE - Handle of caller (Handle to get in Dispatcher generation +/// (FrameworkunifiedCreateDispatcherWithoutLoop etc.)) +/// \~english @param [in] notify_name +/// PCSTR - Name to notification destination thread name +/// \~english @param [out] - +/// \~english @retval eFrameworkunifiedStatusOK Normal termination +/// \~english @retval eFrameworkunifiedStatusInvldParam Abnormal parameter +/// \~english @par Prerequisite +/// - None +/// \~english @par Change of internal state +/// - Change of internal state according to the API does not occur. +/// \~english @par Conditions of processing failure +/// - h_app is NULL.[eFrameworkunifiedStatusInvldParam] +/// - notify_name is NULL or the length of notify_name is longer than 15 bytes. +/// [eFrameworkunifiedStatusInvldParam] +/// \~english @par Classification +/// Public +/// \~english @par Type +/// Sync +/// \~english @par Detail +/// - After call this API, the user can received dech_hal command from MICON. +/// - Now MICON is stub,so that deck_hal won't register to MICON. +/// - The API can only be used by 1 process. +/// \~english @see None +//////////////////////////////////////////////////////////////////////////////////////////// +EFrameworkunifiedStatus DeckHalRegister(HANDLE h_app, PCSTR notify_name); + +#ifdef __cplusplus +} +#endif /*__cplusplus */ + +/** @}*/ // end of deck_hal +/** @}*/ // end of interface_unified + +#endif // HAL_API_DECK_HAL_H_ diff --git a/hal/deck_hal/inc/deck_hal_deckhallog.h b/hal/deck_hal/inc/deck_hal_deckhallog.h new file mode 100755 index 0000000..9aa4624 --- /dev/null +++ b/hal/deck_hal/inc/deck_hal_deckhallog.h @@ -0,0 +1,76 @@ +/* + * @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. + */ +#ifndef INC_DECK_HAL_DECKHALLOG_H_ +#define INC_DECK_HAL_DECKHALLOG_H_ + +#include <native_service/ns_logger_if.h> + +#define ZONE_INIT ZONEMASK(10) +#define ZONE_FUNC ZONEMASK(11) +#define ZONE_MEM ZONEMASK(12) +#define ZONE_13 ZONEMASK(13) +#define ZONE_14 ZONEMASK(14) +#define ZONE_15 ZONEMASK(15) +#define ZONE_16 ZONEMASK(16) +#define ZONE_17 ZONEMASK(17) +#define ZONE_18 ZONEMASK(18) +#define ZONE_19 ZONEMASK(19) +#define ZONE_20 ZONEMASK(20) +#define ZONE_21 ZONEMASK(21) +#define ZONE_22 ZONEMASK(22) +#define ZONE_23 ZONEMASK(23) +#define ZONE_24 ZONEMASK(24) +#define ZONE_25 ZONEMASK(25) +#define ZONE_26 ZONEMASK(26) +#define ZONE_27 ZONEMASK(27) +#define ZONE_28 ZONEMASK(28) +#define ZONE_INFO ZONEMASK(29) +#define ZONE_WARN ZONEMASK(30) +#define ZONE_ERR ZONEMASK(31) + +#define ZONE_TEXT_10 "Init" +#define ZONE_TEXT_11 "Function" +#define ZONE_TEXT_12 "Memory" +#define ZONE_TEXT_13 "" +#define ZONE_TEXT_14 "" +#define ZONE_TEXT_15 "" +#define ZONE_TEXT_16 "" +#define ZONE_TEXT_17 "" +#define ZONE_TEXT_18 "" +#define ZONE_TEXT_19 "" +#define ZONE_TEXT_20 "" +#define ZONE_TEXT_21 "" +#define ZONE_TEXT_22 "" +#define ZONE_TEXT_23 "" +#define ZONE_TEXT_24 "" +#define ZONE_TEXT_25 "" +#define ZONE_TEXT_26 "" +#define ZONE_TEXT_27 "" +#define ZONE_TEXT_28 "" +#define ZONE_TEXT_29 "Info" +#define ZONE_TEXT_30 "Warning" +#define ZONE_TEXT_31 "Error" + +#ifndef FRAMEWORKUNIFIEDLOGOPTIONS +#define FRAMEWORKUNIFIEDLOGOPTIONS (LSHAREDMEM) // LPRINT , LMSGQ, LSLOGGER +#endif + +#ifndef FRAMEWORKUNIFIEDLOGAPPZONES +#define FRAMEWORKUNIFIEDLOGAPPZONES ZONE_ERR, ZONE_WARN, ZONE_INFO +#endif + +extern const CHAR AppName[]; // NOLINT (defind outside) +#endif // INC_DECK_HAL_DECKHALLOG_H_ diff --git a/hal/deck_hal/src/deck_hal.cpp b/hal/deck_hal/src/deck_hal.cpp new file mode 100755 index 0000000..a116e6c --- /dev/null +++ b/hal/deck_hal/src/deck_hal.cpp @@ -0,0 +1,159 @@ +/* + * @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. + */ +#include <fcntl.h> +#include <unistd.h> +#include <linux/cdrom.h> +#include <sys/ioctl.h> +#include <deck_hal.h> +#include <native_service/frameworkunified_types.h> +#include <native_service/frameworkunified_framework_if.h> +#include <stdio.h> +#include <string.h> +#include "deck_hal_deckhallog.h" + +#define DECKHAL_THREAD "DeckHal" +#define DISC_PATH "/dev/sr0" +// static variables +static char g_notify_name[NOTIFY_NAME_MAX_SIZE + 1] = {0}; +static bool g_register_status = false; // deck_hal register status + +// functions +EFrameworkunifiedStatus DeckNotifyInfo(const DECK_MSG_DELIVERY &DeliveryData); + +EFrameworkunifiedStatus StopDiscRotation() { + int fd; + int ret; + fd = open(DISC_PATH, O_RDONLY); + if (fd < 0) { + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "open failed."); + return eFrameworkunifiedStatusFail; + } + ret = ioctl(fd, CDROMSTOP); + close(fd); + if (ret != 0) { + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "ioctl failed."); + return eFrameworkunifiedStatusFail; + } + return eFrameworkunifiedStatusOK; +} + +EFrameworkunifiedStatus EjectDisc(DeckKind kind, DeckEjectMode mode) { + int fd; + int ret; + fd = open(DISC_PATH, O_RDONLY); + if (fd < 0) { + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "open failed."); + return eFrameworkunifiedStatusFail; + } + ret = ioctl(fd, CDROM_LOCKDOOR); + if (ret != 0) { + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "unlock disc failed."); + close(fd); + return eFrameworkunifiedStatusFail; + } + ret = ioctl(fd, CDROMEJECT); + close(fd); + if (ret != 0) { + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "eject disc failed."); + return eFrameworkunifiedStatusFail; + } + return eFrameworkunifiedStatusOK; +} + +EFrameworkunifiedStatus DeckHalSysSend(HANDLE h_app, PCSTR name, const DECK_CMD* cmd, uint8_t req_id) { + EFrameworkunifiedStatus ret = eFrameworkunifiedStatusOK; + + if (NULL == h_app || NULL == name || NULL == cmd) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __func__, "Input param is NULL\n"); + return eFrameworkunifiedStatusInvldParam; + } + + if (NOTIFY_NAME_MAX_SIZE < strlen(name)) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __func__, "Input name length is overlapped\n"); + return eFrameworkunifiedStatusInvldParam; + } + // DeckHalSysSend aims to send command to micon, + // since micon is stub now,so DeckHalSysSend is stub either. + + // deck_hal should notify chande mode status after received mode change info + // from micon,since now micon is stub,notify change mode status to vehicle + // immediately. + // the data notify to vehile is just a example. + DECK_MSG_DELIVERY data; + data.cmd.cmdhdr.lgadr_from = 0x44; // vehile:LSDRV_ADR_DVD_P + data.cmd.cmdhdr.lgadr_to = 0xC8; // vehicle:LSDRV_OPC_DRV_M_CH_A_DVD + data.cmd.cmdhdr.opc = 0xC8; // vehicle:LSDRV_OPC_DRV_M_CH_A_DVD + DeckNotifyInfo(data); + + return ret; +} + +EFrameworkunifiedStatus DeckHalRegister(HANDLE h_app, PCSTR notify_name) { + if (NULL == h_app) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __func__, "Input h_app is NULL\n"); + return eFrameworkunifiedStatusInvldParam; + } + + if (NULL == notify_name) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __func__, "Input notify_name is NULL\n"); + return eFrameworkunifiedStatusInvldParam; + } + + if (strlen(notify_name) > NOTIFY_NAME_MAX_SIZE) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __func__, "Input notify_name length is overlapped\n"); + return eFrameworkunifiedStatusInvldParam; + } + + strncpy(g_notify_name, notify_name, NOTIFY_NAME_MAX_SIZE); + + // now micon is stub,in the future,should register to micon + + g_register_status = true; + + return eFrameworkunifiedStatusOK; +} + +// DeckNotifyInfo aims to send deck infos to vehicle +// if micon is not stub in the future,after received meesage from micon +// or any other ways triggered by micon,deck_hal should call this function +// with different input data to send these data to vehicle. +EFrameworkunifiedStatus DeckNotifyInfo(const DECK_MSG_DELIVERY &DeliveryData) { + EFrameworkunifiedStatus ret = eFrameworkunifiedStatusOK; + HANDLE send_handle = NULL; + + if (g_register_status == true) { + send_handle = McOpenSender(g_notify_name); + if (send_handle == NULL) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __func__, "FrameworkunifiedMcOpenSender to _CWORD121_Shadow Failed."); + return eFrameworkunifiedStatusFail; + } + + ret = McSend(send_handle, DECKHAL_THREAD, CID_DECK_SYS_DELIVERY, + sizeof(DECK_MSG_DELIVERY), &DeliveryData); + + if (eFrameworkunifiedStatusOK != ret) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __func__, "Failed to send CID_DECK_SYS_DELIVERY."); + ret = eFrameworkunifiedStatusFail; + } + + if (send_handle != NULL) { + McClose(send_handle); + send_handle = NULL; + } + } + + return ret; +} diff --git a/hal/input_hal/LICENSE b/hal/input_hal/LICENSE new file mode 100755 index 0000000..f433b1a --- /dev/null +++ b/hal/input_hal/LICENSE @@ -0,0 +1,177 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS diff --git a/hal/input_hal/Makefile b/hal/input_hal/Makefile new file mode 100755 index 0000000..35dfefd --- /dev/null +++ b/hal/input_hal/Makefile @@ -0,0 +1,81 @@ +# +# @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. +# + +COMPONENT_NAME := peripheral_service + +######### installed program/file ################ +TARGET := libinput_hal.so + +HEADER := ./hal_api/input_hal.h + +######### include paths/files ################### +CXXFLAGS := -I./inc/ +CXXFLAGS += -I./hal_api/ +CXXFLAGS += -I$(SDKTARGETSYSROOT)/usr/agl/include +CXXFLAGS += -I$(SDKTARGETSYSROOT)/usr/include/libdrm +CXXFLAGS += -include $(SDKTARGETSYSROOT)/usr/agl/include/agl_types_obsoluted.h + +######### compile options ####################### +CXXFLAGS += -Wall -fPIC +CXXFLAGS += -D_USE_DRM + +######### link options ########################## +LDFLAGS := -shared +LDFLAGS += -Wl,--no-as-needed +LDFLAGS += -Wl,--no-undefined +LDFLAGS += -L$(SDKTARGETSYSROOT)/usr/agl/lib + +######### linked library ######################## +LIBS := -Wl,-Bdynamic -lstdc++ +LIBS += -Wl,-Bdynamic -lNS_FrameworkUnified +LIBS += -Wl,-Bdynamic -ludev +LIBS += -Wl,-Bdynamic -lpthread +LIBS += -Wl,-Bdynamic -ldrm + +######### source files ########################## +VPATH := src +OBJS := input_hal.o +OBJS += input_touch_ilitek.o +OBJS += input_util.o +OBJS += input_udev_monitor.o +OBJS += input_drm.o + +######### make targets ########################## +all: $(TARGET) + @echo $@ done. + +$(TARGET): $(OBJS) + $(CC) $(LDFLAGS) $(OBJS) $(LIBS) -o $(TARGET) + @echo $@ done. + +######### make cleans ########################### +GCNO_FILES := $(filter %.gcno,$(OBJS:%.o=%.gcno)) + +clean: + rm -f $(OBJS) $(TARGET) $(GCNO_FILES) + @echo $@ done. + +######### make installs ######################### +install: install-input +install: + install -d -m 0755 $(DESTDIR)/usr/lib + install -m 0755 $(TARGET) $(DESTDIR)/usr/lib + @echo $@ done. + +install-input: + install -m 0755 -d $(DESTDIR)/usr/agl/include/$(COMPONENT_NAME)/ + install -m 0644 ./hal_api/$(COMPONENT_NAME)/aglinput.h $(DESTDIR)/usr/agl/include/$(COMPONENT_NAME)/ + install -m 0644 ./hal_api/$(COMPONENT_NAME)/extinput.h $(DESTDIR)/usr/agl/include/$(COMPONENT_NAME)/ diff --git a/hal/input_hal/README.md b/hal/input_hal/README.md new file mode 100755 index 0000000..4a69113 --- /dev/null +++ b/hal/input_hal/README.md @@ -0,0 +1,3 @@ +input_hal library +================== +Input HAL implementation library for AGL Reference Board. diff --git a/hal/input_hal/hal_api/input_hal.h b/hal/input_hal/hal_api/input_hal.h new file mode 100755 index 0000000..bfc9d59 --- /dev/null +++ b/hal/input_hal/hal_api/input_hal.h @@ -0,0 +1,696 @@ +/* + * @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. + */ + +#ifndef HAL_API_INPUT_HAL_H_ +#define HAL_API_INPUT_HAL_H_ + +#include <native_service/frameworkunified_types.h> + +#include "peripheral_service/aglinput.h" + +/** + * @file input_hal.h + */ + +/** @addtogroup switchhandler + * @{ + */ +/** @addtogroup input_hal + * @ingroup switchhandler + * @{ + */ + +/************************************************************************ +* Macro definitions * +************************************************************************/ +/** + * \~english Return value type + */ +enum HalInputRetType { + /** + * \~english Success + */ + HAL_INPUT_RET_NORMAL = 0, + /** + * \~english Process abnormality + */ + HAL_INPUT_RET_ERROR, + /** + * \~english Not support + */ + HAL_INPUT_RET_NOT_SUPPORT, +}; +/** + * \~english Touch panel IC type + */ +enum HalInputTouchDeviceType { + /** + * \~english Touch panel IC is invalid + */ + HAL_INPUT_TOUCH_DEVICE_INVALID = 0, + /** + * \~english Touch panel IC is ILITEK + */ + HAL_INPUT_TOUCH_DEVICE_ILITEK, +}; + +/** + * \~english Radio band type + */ +enum HalInputBandType { + /** + * \~english Radio band is AM + */ + HAL_INPUT_BAND_TYPE_AM = 0, + /** + * \~english Radio band isn't AM + */ + HAL_INPUT_BAND_TYPE_NOT_AM, +}; + +/** + * \~english Radio reception status + */ +enum HalInputTuneStatus { + /** + * \~english Radio is in normal state + */ + HAL_INPUT_TUNE_STATUS_NORMAL = 0, + /** + * \~english Radio is in search state + */ + HAL_INPUT_TUNE_STATUS_SERACH, +}; + +/** + * \~english Sensitivity Level + */ +enum HalInputTouchSensitivityLevel { + /** + * \~english Sensitivity level low + */ + HAL_INPUT_TOUCH_SENSITIVITY_LEVEL_LOW = 1, + /** + * \~english Sensitivity level middle + */ + HAL_INPUT_TOUCH_SENSITIVITY_LEVEL_MIDDLE, + /** + * \~english Sensitivity level high + */ + HAL_INPUT_TOUCH_SENSITIVITY_LEVEL_HIGH, + /** + * \~english Sensitivity level none + */ + HAL_INPUT_TOUCH_SENSITIVITY_LEVEL_NONE, +}; + +/** + * \~english input device type + */ +enum HalInputDeviceType { + /** + * \~english The device type invalid + */ + HAL_INPUT_DEVICE_INVALID, + /** + * \~english The device is keyboard + */ + HAL_INPUT_DEVICE_KEYBOARD, + /** + * \~english The device is touch + */ + HAL_INPUT_DEVICE_TOUCH, + /** + * \~english The device is ESC-KEY + */ + HAL_INPUT_DEVICE_TOUCH_ESCKEY, + /** + * \~english The device is steering SW + */ + HAL_INPUT_DEVICE_STEERING, + /** + * \~english The device is tablet finger + */ + HAL_INPUT_DEVICE_TABLET_FINGER, + /** + * \~english The device is rotary key + */ + HAL_INPUT_DEVICE_ROTARY_KEY, +}; + +/** + * \~english Don't need to config touch panel + */ +#define HAL_INPUT_TOUCH_CONFIG_OFF (0) +/** + * \~english Touch panel configed + */ +#define HAL_INPUT_TOUCH_CONFIG_ON (1) + +/** + * \~english Touch panel touch press + */ +#define HAL_INPUT_TOUCH_PRESS (0) +/** + * \~english Touch panel touch release + */ +#define HAL_INPUT_TOUCH_RELEASE (1) + +/** + * \~english Don't report touch panel's touch event + */ +#define HAL_INPUT_TOUCH_UNREPORT (0) +/** + * \~english Report touch panel's touch event + */ +#define HAL_INPUT_TOUCH_REPORT (1) + +/** + * \~english Test all case + */ +#define HAL_INPUT_TOUCH_SELFTEST_ID_ALL (0xFE) +/** + * \~english Selftest data length + */ +#define HAL_INPUT_TOUCH_SELFTEST_DATA_LEN (5) +/** + * \~english Selftest mode not support + */ +#define HAL_INPUT_TOUCH_SELFTEST_NOT_SUPPORT (0xEE) + +/** + * \~english max number of input_event per package. + */ +#define HAL_INPUT_EVENT_COUNT 64 + +/** + * \~english Thread name defined + */ +#define HAL_INPUT_SOURCE_NAME "input_hal_mon" + +/** + * \~english Notify input event from touch panel, + * The data of the notification please refer the following two type.\n + * @ref HAL_INPUT_TOUCH_PRESS \n + * @ref HAL_INPUT_TOUCH_RELEASE \n + * Please use IF of NSFW as follows to receive this event. + * \~ @code + * l_eStatus = FrameworkunifiedAttachCallbackToDispatcher(happ, HAL_INPUT_SOURCE_NAME, HAL_INPUT_NOTIFY_TOUCH, fpOnCmd); + * @endcode + * \~english note:FrameworkunifiedAttachCallbacksToDispatcher is available, too. + */ +#define HAL_INPUT_NOTIFY_TOUCH 100 +/** + * \~english Notify input event from touch panel ESC-KEY, + * The data format of the notification please refer to @ref EventsPackageInput.\n + * Please use IF of NSFW as follows to receive this event. + * \~ @code + * l_eStatus = FrameworkunifiedAttachCallbackToDispatcher(happ, HAL_INPUT_SOURCE_NAME, HAL_INPUT_NOTIFY_ESC_KEY, fpOnCmd) + * @endcode + * \~english note:FrameworkunifiedAttachCallbacksToDispatcher is available, too. + */ +#define HAL_INPUT_NOTIFY_ESC_KEY 101 +/** + * \~english Notify input event from key board, + * The data format of the notification please refer to @ref EventsPackageInput.\n + * Please use IF of NSFW as follows to receive this event. + * \~ @code + * l_eStatus = FrameworkunifiedAttachCallbackToDispatcher(happ, HAL_INPUT_SOURCE_NAME, HAL_INPUT_NOTIFY_KEY_BOARD, fpOnCmd) + * @endcode + * \~english note:FrameworkunifiedAttachCallbacksToDispatcher is available, too. + */ +#define HAL_INPUT_NOTIFY_KEY_BOARD 102 +/** + * \~english Notify input event from steering, + * The data format of the notification please refer to @ref EventsPackageInput.\n + * Please use IF of NSFW as follows to receive this event. + * \~ @code + * l_eStatus = FrameworkunifiedAttachCallbackToDispatcher(happ, HAL_INPUT_SOURCE_NAME, HAL_INPUT_NOTIFY_STEERING, fpOnCmd) + * @endcode + * \~english note:FrameworkunifiedAttachCallbacksToDispatcher is available, too. + */ +#define HAL_INPUT_NOTIFY_STEERING 104 +/** + * \~english Notify input event from tablet finger, + * The data format of the notification please refer to @ref EventsPackageInput.\n + * Please use IF of NSFW as follows to receive this event. + * \~ @code + * l_eStatus = FrameworkunifiedAttachCallbackToDispatcher(happ, HAL_INPUT_SOURCE_NAME, HAL_INPUT_NOTIFY_TABLET_FINGER, fpOnCmd) + * @endcode + * \~english note:FrameworkunifiedAttachCallbacksToDispatcher is available, too. + */ +#define HAL_INPUT_NOTIFY_TABLET_FINGER 105 +/** + * \~english Notify input event from rotary-key, + * The data format of the notification please refer to @ref EventsPackageInput.\n + * Please use IF of NSFW as follows to receive this event. + * \~ @code + * l_eStatus = FrameworkunifiedAttachCallbackToDispatcher(happ, HAL_INPUT_SOURCE_NAME, HAL_INPUT_NOTIFY_ROTARY_KEY, fpOnCmd) + * @endcode + * \~english note:FrameworkunifiedAttachCallbacksToDispatcher is available, too. + */ +#define HAL_INPUT_NOTIFY_ROTARY_KEY 106 + +/** + * \~english Initialzing touch result notify, + * The data format of the notification please refer to @ref TouchInitFinishInput.\n + * Please use IF of NSFW as follows to receive this event. + * \~ @code + * l_eStatus = FrameworkunifiedAttachCallbackToDispatcher(happ, HAL_INPUT_SOURCE_NAME, HAL_INPUT_NOTIFY_TOUCH_INIT_FINISH, fpOnCmd) + * @endcode + * \~english note:FrameworkunifiedAttachCallbacksToDispatcher is available, too. + */ +#define HAL_INPUT_NOTIFY_TOUCH_INIT_FINISH 120 + +/** + * @struct RadioInfoTouch + * \~english @par Brief + * Radio information + */ +struct RadioInfoTouch { + /** + * \~english Radio band type + * \~english Please ref to @ref HalInputBandType + */ + int16_t band; + /** + * \~english Frequency of the tuner[kHz] + * (Use only at the time of AM reception) + */ + uint16_t freq; + /** + * \~english Reception status (Use only at the time of AM reception) + * \~english Please refer to @ref HalInputBandType + */ + int32_t status; +}; + +/** + * @struct SelftestTouch + * \~english @par Brief + * Touch panel selftest mode result + */ +struct SelftestTouch { + /** + * \~english Touch panel selftest mode result + */ + unsigned char r_code; + /** + * \~english Touch panel selftest mode data. + * The datail info is depend on hardware spec. + */ + unsigned char r_data[HAL_INPUT_TOUCH_SELFTEST_DATA_LEN]; +}; + +/** + * @struct EventsPackageInput + * \~english @par Brief + * Input event package defined + */ +struct EventsPackageInput { + /** + * \~english device type + */ + int device_type; + /** + * \~english event count + */ + int count; + /** + * \~english input event data. + */ + struct input_event event[HAL_INPUT_EVENT_COUNT]; +}; + +/** + * @struct TouchInitFinishInput + * \~english @par Brief + * The result of initializing touch + */ +struct TouchInitFinishInput { + /** + * \~english If initializing the touch successful, the result was set HAL_INPUT_RET_NORMAL. + * If an error occurred, the result was set HAL_INPUT_RET_ERROR. + */ + int result; +}; +/************************************************************************ +* Function prototype * +************************************************************************/ + +//////////////////////////////////////////////////////////////////////////////// +/// \ingroup input_hal +/// \~english @par Brief +/// initializing input_hal. +/// \~english @param [in] app_name +/// const char* - the app name for receive input event. +/// \~english @retval HAL_INPUT_RET_NORMAL : Success +/// \~english @retval HAL_INPUT_RET_ERROR : Process abnormality +/// \~english @par Prerequisite +/// - Have called @ref InitTouch() +/// \~english @par Change of internal state +/// - Change of internal state according to the API does not occur +/// \~english @par Conditions of processing failure +/// - None +/// \~english @par Classification +/// Public +/// \~english @par Type +/// Sync +/// \~english @par Detail +/// - Listen input devices and send input event. +/// - After initializing touch panel, the event(@ref HAL_INPUT_NOTIFY_TOUCH_INIT_FINISH) will be sent. +/// - The API can be used by 1 process. +/// \~english @see None. +//////////////////////////////////////////////////////////////////////////////// +int InitInput(const char* app_name); + +//////////////////////////////////////////////////////////////////////////////// +/// \ingroup input_hal +/// \~english @par Brief +/// finalize input_hal +/// \~english @param none +/// \~english @retval HAL_INPUT_RET_NORMAL : Success +/// \~english @par Prerequisite +/// - None +/// \~english @par Change of internal state +/// - Change of internal state according to the API does not occur +/// \~english @par Conditions of processing failure +/// - None +/// \~english @par Classification +/// Public +/// \~english @par Type +/// Sync +/// \~english @par Detail +/// - This API is to finalize input_hal. +/// - The API can be used by 1 process. +/// \~english @see None +//////////////////////////////////////////////////////////////////////////////// +int DeInitInput(); + +//////////////////////////////////////////////////////////////////////////////// +/// \ingroup input_hal +/// \~english @par Brief +/// Init those operating function of touch panel driver +/// \~english @param none +/// \~english @retval HAL_INPUT_RET_NORMAL : Success +/// \~english @par Prerequisite +/// - Touch panel function exist +/// \~english @par Change of internal state +/// - Change of internal state according to the API does not occur +/// \~english @par Conditions of processing failure +/// - None +/// \~english @par Classification +/// Public +/// \~english @par Type +/// Sync +/// \~english @par Detail +/// - The API is a block I/F which initializes those operating functions of touch panel driver. +/// - The API can be used by 1 process. +/// \~english @see None +//////////////////////////////////////////////////////////////////////////////// +int InitTouch(); + +//////////////////////////////////////////////////////////////////////////////// +/// \ingroup input_hal +/// \~english @par Brief +/// Make touch panel start work +/// \~english @param none +/// \~english @retval HAL_INPUT_RET_NORMAL : Success +/// \~english @retval HAL_INPUT_RET_ERROR : Process abnormality +/// \~english @par Prerequisite +/// - Have called @ref InitTouch() +/// \~english @par Change of internal state +/// - Change of internal state according to the API does not occur +/// \~english @par Conditions of processing failure +/// - Haven't called @ref InitTouch() +/// - @ref HAL_INPUT_RET_ERROR +/// - Inner io error +/// - @ref HAL_INPUT_RET_ERROR +/// \~english @par Classification +/// Public +/// \~english @par Type +/// Sync +/// \~english @par Detail +/// - This API is to prepare touch panel and make it start work. +/// - The API can be used by 1 process. +/// \~english @see None +//////////////////////////////////////////////////////////////////////////////// +int StartTouch(); + +//////////////////////////////////////////////////////////////////////////////// +/// \ingroup input_hal +/// \~english @par Brief +/// Execute touch panel self test +/// \~english @param [in] id +/// int - selftest id(Pass HAL_INPUT_TOUCH_SELFTEST_ID_ALL : +/// Execute all test(disconnection check)) +/// \~english @param [out] result +/// void* - Touch panel selftest mode check result +/// \~english @note Result struct SelftestTouch depend on hardware spec +/// \~english @retval HAL_INPUT_RET_NORMAL : Success +/// \~english @retval HAL_INPUT_RET_ERROR : Process abnormality +/// \~english @retval HAL_INPUT_RET_NOT_SUPPORT : Not support +/// \~english @par Prerequisite +/// - Have called @ref InitTouch() +/// \~english @par Change of internal state +/// - Change of internal state according to the API does not occur +/// \~english @par Conditions of processing failure +/// - Haven't called @ref InitTouch() +/// - @ref HAL_INPUT_RET_ERROR +/// - Not support this function +/// - @ref HAL_INPUT_RET_NOT_SUPPORT +/// - Param result is NULL +/// - @ref HAL_INPUT_RET_ERROR +/// - Inner io error +/// - @ref HAL_INPUT_RET_ERROR +/// \~english @par Classification +/// Public +/// \~english @par Type +/// Sync +/// \~english @par Detail +/// - This API is to execute touch panel self test and get test result. +/// - The API can be used by 1 process. +/// \~english @see None +//////////////////////////////////////////////////////////////////////////////// +int SelfTestTouch(int id, void *result); + +//////////////////////////////////////////////////////////////////////////////// +/// \ingroup input_hal +/// \~english @par Brief +/// Set whether the driver sends touch panel data or not. +/// \~english @param [in] status +/// int - Touch panel whether report/unreport event\n +/// HAL_INPUT_TOUCH_REPORT : Report touch panel's touch event\n +/// HAL_INPUT_TOUCH_UNREPORT : Don't report touch panel's touch event\n +/// \~english @retval HAL_INPUT_RET_NORMAL : Success +/// \~english @retval HAL_INPUT_RET_ERROR : Process abnormality +/// \~english @retval HAL_INPUT_RET_NOT_SUPPORT : Not support +/// \~english @note It means this API isn't support when return +/// @ref HAL_INPUT_RET_NOT_SUPPORT. +/// The user need to implement it +/// if don't need to report touch event. +/// \~english @par Prerequisite +/// - Have called @ref InitTouch() +/// \~english @par Change of internal state +/// - Change of internal state according to the API does not occur +/// \~english @par Conditions of processing failure +/// - Haven't called @ref InitTouch() +/// - @ref HAL_INPUT_RET_ERROR +/// - Not support this function +/// - @ref HAL_INPUT_RET_NOT_SUPPORT +/// - Status is none of @ref HAL_INPUT_TOUCH_REPORT / +/// @ref HAL_INPUT_TOUCH_UNREPORT +/// - @ref HAL_INPUT_RET_ERROR +/// - Inner io error +/// - @ref HAL_INPUT_RET_ERROR +/// \~english @par Classification +/// Public +/// \~english @par Type +/// Sync +/// \~english @par Detail +/// - This API is to set whether the driver sends touch panel data or not. +/// - The API can be used by 1 process. +/// \~english @see None +//////////////////////////////////////////////////////////////////////////////// +int LockTouch(int status); + +//////////////////////////////////////////////////////////////////////////////// +/// \ingroup input_hal +/// \~english @par Brief +/// Suspend touch panel +/// \~english @param none +/// \~english @retval HAL_INPUT_RET_NORMAL : Success +/// \~english @retval HAL_INPUT_RET_ERROR : Process abnormality +/// \~english @retval HAL_INPUT_RET_NOT_SUPPORT : Not support +/// \~english @note It means this API isn't support when return +/// @ref HAL_INPUT_RET_NOT_SUPPORT. +/// The user need to implement it +/// if don't need to report touch event. +/// \~english @par Prerequisite +/// - Have called @ref InitTouch() +/// \~english @par Change of internal state +/// - Change of internal state according to the API does not occur +/// \~english @par Conditions of processing failure +/// - Haven't called @ref InitTouch() +/// - @ref HAL_INPUT_RET_ERROR +/// - Not support this function +/// - @ref HAL_INPUT_RET_NOT_SUPPORT +/// - Inner io error +/// - @ref HAL_INPUT_RET_ERROR +/// \~english @par Classification +/// Public +/// \~english @par Type +/// Sync +/// \~english @par Detail +/// - This API is to suspend touch panel. +/// - The API can be used by 1 process. +/// \~english @see None +//////////////////////////////////////////////////////////////////////////////// +int SuspendTouch(); + +//////////////////////////////////////////////////////////////////////////////// +/// \ingroup input_hal +/// \~english @par Brief +/// Set touch panel sensitivity level +/// \~english @param [in] level +/// int - Sensitivity level. +/// \~english @retval HAL_INPUT_RET_NORMAL : Success +/// \~english @retval HAL_INPUT_RET_ERROR : Process abnormality +/// \~english @retval HAL_INPUT_RET_NOT_SUPPORT : Not support +/// \~english @par Prerequisite +/// - Have called @ref InitTouch() +/// \~english @par Change of internal state +/// - Change of internal state according to the API does not occur +/// \~english @par Conditions of processing failure +/// - Haven't called @ref InitTouch() +/// - @ref HAL_INPUT_RET_ERROR +/// - Not support this function +/// - @ref HAL_INPUT_RET_NOT_SUPPORT +/// - Sensitivity level is none of @ref HalInputTouchSensitivityLevel +/// - @ref HAL_INPUT_RET_ERROR +/// - Inner io error +/// - @ref HAL_INPUT_RET_ERROR +/// \~english @par Classification +/// Public +/// \~english @par Type +/// Sync +/// \~english @par Detail +/// - This API is to set touch panel sensitivity level. +/// - The API can be used by 1 process. +/// \~english @see None +//////////////////////////////////////////////////////////////////////////////// +int SetSensitivityLevelTouch(int level); + +//////////////////////////////////////////////////////////////////////////////// +/// \ingroup input_hal +/// \~english @par Brief +/// Get touch panel sensitivity level +/// \~english @param [out] level +/// int* - Sensitivity level. +/// \~english @retval HAL_INPUT_RET_NORMAL : Success +/// \~english @retval HAL_INPUT_RET_ERROR : Process abnormality +/// \~english @retval HAL_INPUT_RET_NOT_SUPPORT : Not support +/// \~english @par Prerequisite +/// - Have called @ref InitTouch() +/// \~english @par Change of internal state +/// - Change of internal state according to the API does not occur +/// \~english @par Conditions of processing failure +/// - Haven't called @ref InitTouch() +/// - @ref HAL_INPUT_RET_ERROR +/// - Not support this function +/// - @ref HAL_INPUT_RET_NOT_SUPPORT +/// - Param level is NULL +/// - @ref HAL_INPUT_RET_ERROR +/// - Inner io error +/// - @ref HAL_INPUT_RET_ERROR +/// \~english @par Classification +/// Public +/// \~english @par Type +/// Sync +/// \~english @par Detail +/// - This API is to get touch panel sensitivity level. +/// - The API can be used by 1 process. +/// \~english @see None +//////////////////////////////////////////////////////////////////////////////// +int GetSensitivityLevelTouch(int *level); + +//////////////////////////////////////////////////////////////////////////////// +/// \ingroup input_hal +/// \~english @par Brief +/// Notify radio scan frequency +/// \~english @param [in] info +/// RadioInfoTouch* - SCAN frequence info +/// \~english @retval HAL_INPUT_RET_NORMAL : Success +/// \~english @retval HAL_INPUT_RET_ERROR : Process abnormality +/// \~english @retval HAL_INPUT_RET_NOT_SUPPORT : Not support +/// \~english @par Prerequisite +/// - Have called @ref InitTouch() +/// \~english @par Change of internal state +/// - Change of internal state according to the API does not occur +/// \~english @par Conditions of processing failure +/// - Haven't called @ref InitTouch() +/// - @ref HAL_INPUT_RET_ERROR +/// - Not support this function +/// - @ref HAL_INPUT_RET_NOT_SUPPORT +/// - Param info is NULL +/// - @ref HAL_INPUT_RET_ERROR +/// - Inner io error +/// - @ref HAL_INPUT_RET_ERROR +/// \~english @par Classification +/// Public +/// \~english @par Type +/// Sync +/// \~english @par Detail +/// - This API is to notify radio scan frequency. +/// - The API can be used by 1 process. +/// \~english @see None +//////////////////////////////////////////////////////////////////////////////// +int NotifyRadioScanFreqTouch(struct RadioInfoTouch *info); + +//////////////////////////////////////////////////////////////////////////////// +/// \ingroup input_hal +/// \~english @par Brief +/// Get panel resolution +/// \~english @param [in] reso_h +/// int* - horizontal resolution +/// \~english @param [in] reso_v +/// int* - vertical resolution +/// \~english @retval HAL_INPUT_RET_NORMAL : Success +/// \~english @retval HAL_INPUT_RET_ERROR : Process abnormality +/// \~english @par Prerequisite +/// - Have called @ref InitTouch() +/// \~english @par Change of internal state +/// - Change of internal state according to the API does not occur +/// \~english @par Conditions of processing failure +/// - Param reso_h or reso_v is NULL +/// - @ref HAL_INPUT_RET_ERROR +/// - Inner io error +/// - @ref HAL_INPUT_RET_ERROR +/// \~english @par Classification +/// Public +/// \~english @par Type +/// Sync +/// \~english @par Detail +/// - This API is to get horizontal and vertical resolution. +/// - The API can be used by 1 process. +/// \~english @see None +//////////////////////////////////////////////////////////////////////////////// +int GetPanelSpecResolutionInput(int *reso_h, int *reso_v); + +/** @}*/ // end of input_hal +/** @}*/ // end of switchhandler + +#endif // HAL_API_INPUT_HAL_H_ diff --git a/hal/input_hal/hal_api/peripheral_service/aglinput.h b/hal/input_hal/hal_api/peripheral_service/aglinput.h new file mode 100755 index 0000000..aa5f6ed --- /dev/null +++ b/hal/input_hal/hal_api/peripheral_service/aglinput.h @@ -0,0 +1,536 @@ +/* + * @copyright Copyright (c) 2019-2020 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. + */ +#ifndef HAL_API_PERIPHERAL_SERVICE_AGLINPUT_H_ +#define HAL_API_PERIPHERAL_SERVICE_AGLINPUT_H_ + +#include <peripheral_service/extinput.h> + +/* + * Extended Area for AGL + * In this file the Key definition based on the specification + * Redefine with '#undef/#define + */ +enum{ + /** + * FP Switch : 0x0001 - 0x0064 + * */ + KEY_FP_TOP = 0x001, + KEY_FP_SW1 = KEY_FP_TOP, + KEY_FP_SW2 , + KEY_FP_SW3 , + KEY_FP_SW4 , + KEY_FP_SW5 , + KEY_FP_SW6 , + KEY_FP_SW7 , + KEY_FP_SW8 , + KEY_FP_SW9 , + KEY_FP_SW10 , + KEY_FP_SW11 , + KEY_FP_SW12 , + KEY_FP_SW13 , + KEY_FP_SW14 , + KEY_FP_SW15 , + KEY_FP_SW16 , + KEY_FP_SW17 , + KEY_FP_SW18 , + KEY_FP_SW19 , + KEY_FP_SW20 , + KEY_FP_SW21 , + KEY_FP_SW22 , + KEY_FP_SW23 , + KEY_FP_SW24 , + KEY_FP_SW25 , + KEY_FP_SW26 , + KEY_FP_SW27 , + KEY_FP_SW28 , + KEY_FP_SW29 , + KEY_FP_SW30 , + KEY_FP_SW31 , + KEY_FP_SW32 , + KEY_FP_SW33 , + KEY_FP_SW34 , + KEY_FP_SW35 , + KEY_FP_SW36 , + KEY_FP_SW37 , + KEY_FP_SW38 , + KEY_FP_SW39 , + KEY_FP_SW40 , + KEY_FP_SW41 , + KEY_FP_SW42 , + KEY_FP_SW43 , + KEY_FP_SW44 , + KEY_FP_SW45 , + KEY_FP_SW46 , + KEY_FP_SW47 , + KEY_FP_SW48 , + KEY_FP_SW49 , + KEY_FP_SW50 , + KEY_FP_SW51 , + KEY_FP_SW52 , + KEY_FP_SW53 , + KEY_FP_SW54 , + KEY_FP_SW55 , + KEY_FP_SW56 , + KEY_FP_SW57 , + KEY_FP_SW58 , + KEY_FP_SW59 , + KEY_FP_SW60 , + KEY_FP_SW61 , + KEY_FP_SW62 , + KEY_FP_SW63 , + KEY_FP_SW64 , + KEY_FP_SW65 , + KEY_FP_SW66 , + KEY_FP_SW67 , + KEY_FP_SW68 , + KEY_FP_SW69 , + KEY_FP_SW70 , + KEY_FP_SW71 , + KEY_FP_SW72 , + KEY_FP_SW73 , + KEY_FP_SW74 , + KEY_FP_SW75 , + KEY_FP_SW76 , + KEY_FP_SW77 , + KEY_FP_SW78 , + KEY_FP_SW79 , + KEY_FP_SW80 , + KEY_FP_SW81 , + KEY_FP_SW82 , + KEY_FP_SW83 , + KEY_FP_SW84 , + KEY_FP_SW85 , + KEY_FP_SW86 , + KEY_FP_SW87 , + KEY_FP_SW88 , + KEY_FP_SW89 , + KEY_FP_SW90 , + KEY_FP_SW91 , + KEY_FP_SW92 , + KEY_FP_SW93 , + KEY_FP_SW94 , + KEY_FP_SW95 , + KEY_FP_SW96 , + KEY_FP_SW97 , + KEY_FP_SW98 , + KEY_FP_SW99 , + KEY_FP_SW100 , + KEY_FP_BOTTOM = KEY_FP_SW100, + + /** + * RC Switch : 0x065 - 0x094 + * */ + KEY_RC_TOP = 0x0065, + KEY_RC_SW1 = KEY_RC_TOP, + KEY_RC_SW2 , + KEY_RC_SW3 , + KEY_RC_SW4 , + KEY_RC_SW5 , + KEY_RC_SW6 , + KEY_RC_SW7 , + KEY_RC_SW8 , + KEY_RC_SW9 , + KEY_RC_SW10 , + KEY_RC_SW11 , + KEY_RC_SW12 , + KEY_RC_SW13 , + KEY_RC_SW14 , + KEY_RC_SW15 , + KEY_RC_SW16 , + KEY_RC_SW17 , + KEY_RC_SW18 , + KEY_RC_SW19 , + KEY_RC_SW20 , + KEY_RC_SW21 , + KEY_RC_SW22 , + KEY_RC_SW23 , + KEY_RC_SW24 , + KEY_RC_SW25 , + KEY_RC_SW26 , + KEY_RC_SW27 , + KEY_RC_SW28 , + KEY_RC_SW29 , + KEY_RC_SW30 , + KEY_RC_SW31 , + KEY_RC_SW32 , + KEY_RC_SW33 , + KEY_RC_SW34 , + KEY_RC_SW35 , + KEY_RC_SW36 , + KEY_RC_SW37 , + KEY_RC_SW38 , + KEY_RC_SW39 , + KEY_RC_SW40 , + KEY_RC_SW41 , + KEY_RC_SW42 , + KEY_RC_SW43 , + KEY_RC_SW44 , + KEY_RC_SW45 , + KEY_RC_SW46 , + KEY_RC_SW47 , + KEY_RC_SW48 , + KEY_RC_BOTTOM = KEY_RC_SW48, + + /** + * R Switch : 0x0095 - 0x0096 + * */ + KEY_ROT_TOP = 0x0095, + KEY_ROT_SW1 = KEY_ROT_TOP, + KEY_ROT_SW2 , + KEY_ROT_BOTTOM = KEY_ROT_SW2, + + /** + * FSAC Switch : 0x0097 - 0x00D2 + * */ + KEY_FSAC_TOP = 0x0097, + KEY_FSAC_SW1 = KEY_FSAC_TOP, + KEY_FSAC_SW2 , + KEY_FSAC_SW3 , + KEY_FSAC_SW4 , + KEY_FSAC_SW5 , + KEY_FSAC_SW6 , + KEY_FSAC_SW7 , + KEY_FSAC_SW8 , + KEY_FSAC_SW9 , + KEY_FSAC_SW10 , + KEY_FSAC_SW11 , + KEY_FSAC_SW12 , + KEY_FSAC_SW13 , + KEY_FSAC_SW14 , + KEY_FSAC_SW15 , + KEY_FSAC_SW16 , + KEY_FSAC_SW17 , + KEY_FSAC_SW18 , + KEY_FSAC_SW19 , + KEY_FSAC_SW20 , + KEY_FSAC_SW21 , + KEY_FSAC_SW22 , + KEY_FSAC_SW23 , + KEY_FSAC_SW24 , + KEY_FSAC_SW25 , + KEY_FSAC_SW26 , + KEY_FSAC_SW27 , + KEY_FSAC_SW28 , + KEY_FSAC_SW29 , + KEY_FSAC_SW30 , + KEY_FSAC_SW31 , + KEY_FSAC_SW32 , + KEY_FSAC_SW33 , + KEY_FSAC_SW34 , + KEY_FSAC_SW35 , + KEY_FSAC_SW36 , + KEY_FSAC_SW37 , + KEY_FSAC_SW38 , + KEY_FSAC_SW39 , + KEY_FSAC_SW40 , + KEY_FSAC_SW41 , + KEY_FSAC_SW42 , + KEY_FSAC_SW43 , + KEY_FSAC_SW44 , + KEY_FSAC_SW45 , + KEY_FSAC_SW46 , + KEY_FSAC_SW47 , + KEY_FSAC_SW48 , + KEY_FSAC_SW49 , + KEY_FSAC_SW50 , + KEY_FSAC_SW51 , + KEY_FSAC_SW52 , + KEY_FSAC_SW53 , + KEY_FSAC_SW54 , + KEY_FSAC_SW55 , + KEY_FSAC_SW56 , + KEY_FSAC_SW57 , + KEY_FSAC_SW58 , + KEY_FSAC_SW59 , + KEY_FSAC_BOTTOM = KEY_FSAC_SW59, + + /** + * Ste Switch : 0x00D3 - 0x00E6 + * */ + KEY_STE_TOP = 0x00D3, + KEY_STE_SW1 = KEY_STE_TOP, + KEY_STE_SW2 , + KEY_STE_SW3 , + KEY_STE_SW4 , + KEY_STE_SW5 , + KEY_STE_SW6 , + KEY_STE_SW7 , + KEY_STE_SW8 , + KEY_STE_SW9 , + KEY_STE_SW10 , + KEY_STE_SW11 , + KEY_STE_SW12 , + KEY_STE_SW13 , + KEY_STE_SW14 , + KEY_STE_SW15 , + KEY_STE_SW16 , + KEY_STE_SW18 , + KEY_STE_SW19 , + KEY_STE_BOTTOM = KEY_STE_SW19, + + /** + * RCP Switch : 0x00F0 - 0x00F8 + * */ + KEY_RCP_TOP = 0x00F0, + KEY_RCP_SW1 = KEY_RCP_TOP, + KEY_RCP_SW2 , + KEY_RCP_SW3 , + KEY_RCP_SW4 , + KEY_RCP_SW5 , + KEY_RCP_SW6 , + KEY_RCP_SW7 , + KEY_RCP_SW8 , + KEY_RCP_BOTTOM = KEY_RCP_SW8, + + /** + * RSE_RC Switch : 0x0160 - 0x01CF + * */ + KEY_RSE_RC_TOP = 0x0160, + KEY_RSE_RC_SW1 = KEY_RSE_RC_TOP, + KEY_RSE_RC_SW2 , + KEY_RSE_RC_SW3 , + KEY_RSE_RC_SW4 , + KEY_RSE_RC_SW5 , + KEY_RSE_RC_SW6 , + KEY_RSE_RC_SW7 , + KEY_RSE_RC_SW8 , + KEY_RSE_RC_SW9 , + KEY_RSE_RC_SW10 , + KEY_RSE_RC_SW11 , + KEY_RSE_RC_SW12 , + KEY_RSE_RC_SW13 , + KEY_RSE_RC_SW14 , + KEY_RSE_RC_SW15 , + KEY_RSE_RC_SW16 , + KEY_RSE_RC_SW17 , + KEY_RSE_RC_SW18 , + KEY_RSE_RC_SW19 , + KEY_RSE_RC_SW20 , + KEY_RSE_RC_SW21 , + KEY_RSE_RC_SW22 , + KEY_RSE_RC_SW23 , + KEY_RSE_RC_SW24 , + KEY_RSE_RC_SW25 , + KEY_RSE_RC_SW26 , + KEY_RSE_RC_SW27 , + KEY_RSE_RC_SW28 , + KEY_RSE_RC_SW29 , + KEY_RSE_RC_SW30 , + KEY_RSE_RC_SW31 , + KEY_RSE_RC_SW32 , + KEY_RSE_RC_SW33 , + KEY_RSE_RC_SW34 , + KEY_RSE_RC_SW35 , + KEY_RSE_RC_SW36 , + KEY_RSE_RC_SW37 , + KEY_RSE_RC_SW38 , + KEY_RSE_RC_SW39 , + KEY_RSE_RC_SW40 , + KEY_RSE_RC_SW41 , + KEY_RSE_RC_SW42 , + KEY_RSE_RC_SW43 , + KEY_RSE_RC_SW44 , + KEY_RSE_RC_SW45 , + KEY_RSE_RC_SW46 , + KEY_RSE_RC_SW47 , + KEY_RSE_RC_SW48 , + KEY_RSE_RC_SW49 , + KEY_RSE_RC_SW50 , + KEY_RSE_RC_SW51 , + KEY_RSE_RC_SW52 , + KEY_RSE_RC_SW53 , + KEY_RSE_RC_SW54 , + KEY_RSE_RC_SW55 , + KEY_RSE_RC_SW56 , + KEY_RSE_RC_SW57 , + KEY_RSE_RC_SW58 , + KEY_RSE_RC_SW59 , + KEY_RSE_RC_SW60 , + KEY_RSE_RC_SW61 , + KEY_RSE_RC_SW65 , + KEY_RSE_RC_SW66 , + KEY_RSE_RC_SW67 , + KEY_RSE_RC_SW68 , + KEY_RSE_RC_SW69 , + KEY_RSE_RC_SW70 , + KEY_RSE_RC_SW71 , + KEY_RSE_RC_SW72 , + KEY_RSE_RC_SW73 , + KEY_RSE_RC_SW74 , + KEY_RSE_RC_SW75 , + KEY_RSE_RC_SW76 , + KEY_RSE_RC_SW77 , + KEY_RSE_RC_SW78 , + KEY_RSE_RC_SW79 , + KEY_RSE_RC_SW80 , + KEY_RSE_RC_SW81 , + KEY_RSE_RC_SW82 , + KEY_RSE_RC_SW83 , + KEY_RSE_RC_SW84 , + KEY_RSE_RC_SW85 , + KEY_RSE_RC_SW86 , + KEY_RSE_RC_SW87 , + KEY_RSE_RC_SW88 , + KEY_RSE_RC_SW89 , + KEY_RSE_RC_SW90 , + KEY_RSE_RC_SW91 , + KEY_RSE_RC_SW92 , + KEY_RSE_RC_SW93 , + KEY_RSE_RC_SW94 , + KEY_RSE_RC_SW95 , + KEY_RSE_RC_SW96 , + KEY_RSE_RC_SW97 , + KEY_RSE_RC_SW98 , + KEY_RSE_RC_SW99 , + KEY_RSE_RC_SW100 , + KEY_RSE_RC_SW101 , + KEY_RSE_RC_SW102 , + KEY_RSE_RC_SW62 , + KEY_RSE_RC_SW63 , + KEY_RSE_RC_SW64 , + KEY_RSE_RC_SW103 , + KEY_RSE_RC_SW104 , + KEY_RSE_RC_SW105 , + KEY_RSE_RC_SW106 , + KEY_RSE_RC_SW107 , + KEY_RSE_RC_SW108 , + KEY_RSE_RC_SW109 , + KEY_RSE_RC_SW110 , + KEY_RSE_RC_SW111 , + KEY_RSE_RC_SW112 , + KEY_RSE_RC_BOTTOM = KEY_RSE_RC_SW112, + + /** + * RTP Switch : 0x01D6 - 0x01DE + * */ + KEY_RTP_TOP = 0x01D6, + KEY_RTP_SW1 = KEY_RTP_TOP, + KEY_RTP_SW2 , + KEY_RTP_SW3 , + KEY_RTP_SW4 , + KEY_RTP_SW5 , + KEY_RTP_SW6 , + KEY_RTP_SW7 , + KEY_RTP_SW8 , + KEY_RTP_SW9 , + KEY_RTP_BOTTOM = KEY_RTP_SW9, + + /** + * RSP Switch : 0x01E0 - 0x0208 + * */ + KEY_RSP_TOP = 0x01E0, + KEY_RSP_SW1 = KEY_RSP_TOP, + KEY_RSP_SW2 , + KEY_RSP_SW3 , + KEY_RSP_SW4 , + KEY_RSP_SW5 , + KEY_RSP_SW6 , + KEY_RSP_SW7 , + KEY_RSP_SW8 , + KEY_RSP_SW9 , + KEY_RSP_SW10 , + KEY_RSP_SW11 , + KEY_RSP_SW12 , + KEY_RSP_SW13 , + KEY_RSP_SW14 , + KEY_RSP_SW15 , + KEY_RSP_SW16 , + KEY_RSP_SW17 , + KEY_RSP_SW18 , + KEY_RSP_SW19 , + KEY_RSP_SW20 , + KEY_RSP_SW21 , + KEY_RSP_SW22 , + KEY_RSP_SW23 , + KEY_RSP_SW24 , + KEY_RSP_SW25 , + KEY_RSP_SW26 , + KEY_RSP_SW27 , + KEY_RSP_SW28 , + KEY_RSP_SW29 , + KEY_RSP_SW30 , + KEY_RSP_SW31 , + KEY_RSP_SW32 , + KEY_RSP_SW33 , + KEY_RSP_SW34 , + KEY_RSP_SW35 , + KEY_RSP_SW36 , + KEY_RSP_SW37 , + KEY_RSP_SW38 , + KEY_RSP_SW39 , + KEY_RSP_SW40 , + KEY_RSP_SW41 , + KEY_RSP_BOTTOM = KEY_RSP_SW41, + + /** + * Original Define : 0x02A0 - 0x02CF + * */ + KEY_INPUTHAL_TOP = 0x02A0, + KEY_INPUTHAL_SW1 = KEY_INPUTHAL_TOP, + KEY_INPUTHAL_BTN_RIGHT, + KEY_INPUTHAL_BTN_MIDDLE, + KEY_INPUTHAL_BTN_SIDE, + KEY_INPUTHAL_BTN_EXTRA, + KEY_INPUTHAL_BTN_FORWARD, + KEY_INPUTHAL_BTN_BACK, + KEY_INPUTHAL_BTN_TASK, + KEY_INPUTHAL_SW9, + KEY_INPUTHAL_SW10, + KEY_INPUTHAL_BTN_JOYSTICK, + KEY_INPUTHAL_TOUCH, + KEY_INPUTHAL_SINGLE_TAP_UP, + KEY_INPUTHAL_DOUBLE_TOUCH_DOWN, + KEY_INPUTHAL_TOUCHPAD_DUMMY1, + KEY_INPUTHAL_TOUCHPAD_DUMMY2, + KEY_INPUTHAL_TOUCHPAD_DUMMY3, + KEY_INPUTHAL_TOUCHPAD_DUMMY4, + KEY_INPUTHAL_TOUCHPAD_DUMMY5, + KEY_INPUTHAL_TOUCHPAD_DUMMY6, + KEY_INPUTHAL_TOUCHPAD_DUMMY7, + KEY_INPUTHAL_TOUCHPAD_DUMMY8, + KEY_INPUTHAL_TOUCHPAD_DUMMY9, + KEY_INPUTHAL_TOUCHPAD_DUMMY10, + KEY_INPUTHAL_TOUCHPAD_DUMMY11, + KEY_INPUTHAL_TOUCHPAD_DUMMY12, + KEY_INPUTHAL_TOUCH_POINT_3, + KEY_INPUTHAL_TOUCH_POINT_2, + KEY_INPUTHAL_PUSH, + KEY_INPUTHAL_TAP_SINGLE, + KEY_INPUTHAL_TAP_DOUBLE, + KEY_INPUTHAL_SW16, + KEY_INPUTHAL_NAVI, + KEY_INPUTHAL_HOME, + KEY_INPUTHAL_MEM1, + KEY_INPUTHAL_MEM2, + KEY_INPUTHAL_RECENT_JP, + KEY_INPUTHAL_WEB, + KEY_INPUTHAL_DEST_ERACE, + KEY_INPUTHAL_MENU_SEARCH, + KEY_INPUTHAL_MENU_GO_HOME, + KEY_INPUTHAL_MENU_RECENT_NA, + KEY_INPUTHAL_MENU_FAVORITE, + KEY_INPUTHAL_MENU_CONTACT, + KEY_INPUTHAL_MENU_OTHERS, + KEY_INPUTHAL_MENU_SUBSCREEN_NAVI, + KEY_INPUTHAL_INVALID_SW , + KEY_INPUTHAL_BOTTOM = KEY_INPUTHAL_INVALID_SW, +}; + +#define BTN_TAP_DOUBLE KEY_INPUTHAL_SW10 + +#define REL_PINCH 0x0a + +#endif // HAL_API_PERIPHERAL_SERVICE_AGLINPUT_H_ diff --git a/hal/input_hal/hal_api/peripheral_service/extinput.h b/hal/input_hal/hal_api/peripheral_service/extinput.h new file mode 100755 index 0000000..0265a2d --- /dev/null +++ b/hal/input_hal/hal_api/peripheral_service/extinput.h @@ -0,0 +1,27 @@ +/* + * @copyright Copyright (c) 2019-2020 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. + */ +#ifndef HAL_API_PERIPHERAL_SERVICE_EXTINPUT_H_ +#define HAL_API_PERIPHERAL_SERVICE_EXTINPUT_H_ + +#include <linux/input.h> + +/* + * Extended fields for each supplier + * If you want to modify the key definition at the supplier, + * redefine with '#undef/#define in this file. + */ + +#endif // HAL_API_PERIPHERAL_SERVICE_EXTINPUT_H_ diff --git a/hal/input_hal/inc/input_drm.h b/hal/input_hal/inc/input_drm.h new file mode 100755 index 0000000..11ffc32 --- /dev/null +++ b/hal/input_hal/inc/input_drm.h @@ -0,0 +1,22 @@ +/* + * @copyright Copyright (c) 2018-2020 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. + */ + +#ifndef INC_INPUT_DRM_H_ +#define INC_INPUT_DRM_H_ + +int GetPanelSpecResolutionInput(int *reso_h, int *reso_v); + +#endif // INC_INPUT_DRM_H_ diff --git a/hal/input_hal/inc/input_hal_debug.h b/hal/input_hal/inc/input_hal_debug.h new file mode 100755 index 0000000..2fb7d86 --- /dev/null +++ b/hal/input_hal/inc/input_hal_debug.h @@ -0,0 +1,57 @@ +/* + * @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. + */ + +#ifndef INC_INPUT_HAL_DEBUG_H_ +#define INC_INPUT_HAL_DEBUG_H_ + +#include "input_hal_frameworkunifiedlog.h" + +// #define INPUT_DEBUG + +#ifdef INPUT_DEBUG +#define INPUT_DBG_LOG(zone_index, fmt, ...) \ + FRAMEWORKUNIFIEDLOG(zone_index, __FUNCTION__, fmt, ## __VA_ARGS__); +#else +#define INPUT_DBG_LOG(zone_index, fmt, ...) +#endif + +/* Log output control flag */ +#define INPUT_LOG_ENABLE_TRACE /* Normal log(Trace) */ +#define INPUT_LOG_ENABLE_ERROR /* Error log */ +#define INPUT_LOG_ENABLE_RETAIL /* Debug log */ + +#ifdef INPUT_LOG_ENABLE_TRACE +#define INPUT_LOG_TRACE(fmt, ...) \ + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, fmt, ## __VA_ARGS__); +#else +#define INPUT_LOG_TRACE(fmt, ...) +#endif + +#ifdef INPUT_LOG_ENABLE_ERROR +#define INPUT_ERROR_LOG(fmt, ...) \ + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, fmt, ## __VA_ARGS__); +#else +#define INPUT_ERROR_LOG(fmt, ...) +#endif + +#ifdef INPUT_LOG_ENABLE_RETAIL +#define INPUT_RETAIL_LOG(fmt, ...) \ + FRAMEWORKUNIFIEDLOG(ZONE_HMI_DBG, __FUNCTION__, fmt, ## __VA_ARGS__); +#else +#define INPUT_RETAIL_LOG(fmt, ...) +#endif + +#endif // INC_INPUT_HAL_DEBUG_H_ diff --git a/hal/input_hal/inc/input_hal_frameworkunifiedlog.h b/hal/input_hal/inc/input_hal_frameworkunifiedlog.h new file mode 100755 index 0000000..c54f16a --- /dev/null +++ b/hal/input_hal/inc/input_hal_frameworkunifiedlog.h @@ -0,0 +1,76 @@ +/* + * @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. + */ +#ifndef INC_INPUT_HAL_FRAMEWORKUNIFIEDLOG_H_ +#define INC_INPUT_HAL_FRAMEWORKUNIFIEDLOG_H_ + +#include <native_service/ns_logger_if.h> + +#define ZONE_INIT ZONEMASK(10) +#define ZONE_FUNC ZONEMASK(11) +#define ZONE_MEM ZONEMASK(12) +#define ZONE_13 ZONEMASK(13) +#define ZONE_14 ZONEMASK(14) +#define ZONE_15 ZONEMASK(15) +#define ZONE_16 ZONEMASK(16) +#define ZONE_17 ZONEMASK(17) +#define ZONE_18 ZONEMASK(18) +#define ZONE_19 ZONEMASK(19) +#define ZONE_20 ZONEMASK(20) +#define ZONE_21 ZONEMASK(21) +#define ZONE_22 ZONEMASK(22) +#define ZONE_23 ZONEMASK(23) +#define ZONE_24 ZONEMASK(24) +#define ZONE_25 ZONEMASK(25) +#define ZONE_26 ZONEMASK(26) +#define ZONE_27 ZONEMASK(27) +#define ZONE_28 ZONEMASK(28) +#define ZONE_INFO ZONEMASK(29) +#define ZONE_WARN ZONEMASK(30) +#define ZONE_ERR ZONEMASK(31) + +#define ZONE_TEXT_10 "Init" +#define ZONE_TEXT_11 "Function" +#define ZONE_TEXT_12 "Memory" +#define ZONE_TEXT_13 "" +#define ZONE_TEXT_14 "" +#define ZONE_TEXT_15 "" +#define ZONE_TEXT_16 "" +#define ZONE_TEXT_17 "" +#define ZONE_TEXT_18 "" +#define ZONE_TEXT_19 "" +#define ZONE_TEXT_20 "" +#define ZONE_TEXT_21 "" +#define ZONE_TEXT_22 "" +#define ZONE_TEXT_23 "" +#define ZONE_TEXT_24 "" +#define ZONE_TEXT_25 "" +#define ZONE_TEXT_26 "" +#define ZONE_TEXT_27 "" +#define ZONE_TEXT_28 "" +#define ZONE_TEXT_29 "Info" +#define ZONE_TEXT_30 "Warning" +#define ZONE_TEXT_31 "Error" + +#ifndef FRAMEWORKUNIFIEDLOGOPTIONS +#define FRAMEWORKUNIFIEDLOGOPTIONS (LSHAREDMEM) // LPRINT , LMSGQ, LSLOGGER +#endif + +#ifndef FRAMEWORKUNIFIEDLOGAPPZONES +#define FRAMEWORKUNIFIEDLOGAPPZONES ZONE_ERR, ZONE_WARN, ZONE_INFO +#endif + +extern const CHAR AppName[]; // NOLINT (defind outside) +#endif // INC_INPUT_HAL_FRAMEWORKUNIFIEDLOG_H_ diff --git a/hal/input_hal/inc/input_hal_internal.h b/hal/input_hal/inc/input_hal_internal.h new file mode 100755 index 0000000..4e57aed --- /dev/null +++ b/hal/input_hal/inc/input_hal_internal.h @@ -0,0 +1,107 @@ +/* + * @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. + */ + +#ifndef INC_INPUT_HAL_INTERNAL_H_ +#define INC_INPUT_HAL_INTERNAL_H_ + +/* + * Touch panel operation function info + */ +struct TouchHal { + /** + * \~english Make touch panel start work. + */ + int (* start)(void); + /** + * \~english Get touch panel device horizontal resolution. + */ + int (* get_reso_h)(int *); + /** + * \~english Get touch panel device vertical resolution. + */ + int (* get_reso_v)(int *); + /** + * \~english Get whether X axis is inversion. + */ + int (* get_reverse_axis_x)(bool *); + /** + * \~english Get whether Y axis is inversion. + */ + int (* get_reverse_axis_y)(bool *); + /** + * \~english Config touch panel. + */ + int (* config)(const char *, int, int); + /** + * \~english Get touch panel device name. + */ + int (* get_touch_devicename)(char*, size_t); + /** + * \~english Get touch panel key device name. + */ + int (* get_key_devicename)(char*, size_t); + /** + * \~english Execute touch panel self test. + */ + int (* selftest)(int, void *); + /** + * \~english Get touch panel config status. + */ + int (* get_config_status)(int *); + /** + * \~english Set whether the driver sends touch panel data or not. + */ + int (* set_touch_lock)(int); + /** + * \~english Request touch panel touch suspend. + */ + int (* set_touch_suspend)(void); + /** + * \~english Set touch panel sensitivity level. + */ + int (* set_sensitivity_level)(int); + /** + * \~english Get touch panel sensitivity level. + */ + int (* get_sensitivity_level)(int *); + /** + * \~english Notify radio scan frequency. + */ + int (* notify_radio_scan_frequency)(struct RadioInfoTouch *); +}; + + +/** + * Config touch panel + */ +int ConfigTouch(const char *path , int resolution_h, int resolution_v); + +/** + * Get touch panel device name + */ +int GetPanelNameTouch(char* name, size_t buf_length); + +/** + * Get touch panel key device name + */ +int GetKeyNameTouch(char* name, size_t buf_length); + +/** + * Get touch panel config status + */ +int GetConfigStatusTouch(int *status); + +#endif // INC_INPUT_HAL_INTERNAL_H_ diff --git a/hal/input_hal/inc/input_touch_ilitek.h b/hal/input_hal/inc/input_touch_ilitek.h new file mode 100755 index 0000000..6d76d83 --- /dev/null +++ b/hal/input_hal/inc/input_touch_ilitek.h @@ -0,0 +1,27 @@ +/* + * @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. + */ + +#ifndef INC_INPUT_TOUCH_ILITEK_H_ +#define INC_INPUT_TOUCH_ILITEK_H_ + +#include "input_hal_internal.h" + +/* + * Init ilitek touch panel operation function + */ +int InputTouchIlitekInit(struct TouchHal *touch); + +#endif // INC_INPUT_TOUCH_ILITEK_H_ diff --git a/hal/input_hal/inc/input_udev_monitor.h b/hal/input_hal/inc/input_udev_monitor.h new file mode 100755 index 0000000..0391f6f --- /dev/null +++ b/hal/input_hal/inc/input_udev_monitor.h @@ -0,0 +1,40 @@ +/* + * @copyright Copyright (c) 2018-2020 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. + */ +#ifndef INC_INPUT_UDEV_MONITOR_H_ +#define INC_INPUT_UDEV_MONITOR_H_ + +#include <peripheral_service/aglinput.h> + +#include "input_util.h" + +#define INPUT_DEVICE_NODE_LENGTH_MAX (32) + +struct InputInputDeviceList{ + int fd; + int device_assort; + char device_node[INPUT_DEVICE_NODE_LENGTH_MAX]; + struct InputUtilList list; +}; + +struct InputUdevMonitorInfo { + struct udev *udev; + struct udev_monitor *monitor; + struct InputInputDeviceList dev_list; +}; + +int32_t InputUdevMonitorThreadCreate(void); + +#endif // INC_INPUT_UDEV_MONITOR_H_ diff --git a/hal/input_hal/inc/input_util.h b/hal/input_hal/inc/input_util.h new file mode 100755 index 0000000..6d6a400 --- /dev/null +++ b/hal/input_hal/inc/input_util.h @@ -0,0 +1,46 @@ +/* + * @copyright Copyright (c) 2018-2020 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. + */ + +#ifndef INC_INPUT_UTIL_H_ +#define INC_INPUT_UTIL_H_ + +#include <native_service/frameworkunified_types.h> + +struct InputUtilList { + struct InputUtilList *next; + struct InputUtilList *prev; +}; + +#define INPUT_INIT_LIST_HEAD(ptr) \ + (ptr)->next = (ptr); (ptr)->prev = (ptr); + +#define input_list_entry(ptr, type, member) \ + (reinterpret_cast<type *>( \ + reinterpret_cast<char *>(ptr) - (size_t)(&(reinterpret_cast<type *>(0))->member))) + +#define input_list_for_each(pos, head) \ + for (pos = (head)->next; pos != (head); pos = pos->next) + +#define input_list_for_each_safe(pos, n, head) \ + for (pos = (head)->next, n = pos->next; pos != (head); \ + pos = n, n = pos->next) + +void InputUtilListAdd(struct InputUtilList *node_new, struct InputUtilList *node_head); +void InputUtilListDelete(struct InputUtilList *node); +int InputUtilMCSend(HANDLE h_message, PCSTR source, UI_32 cmd, UI_32 length, PCVOID data); +int InputUtilSleep(int usec); + +#endif // INC_INPUT_UTIL_H_ diff --git a/hal/input_hal/src/input_drm.cpp b/hal/input_hal/src/input_drm.cpp new file mode 100755 index 0000000..20adf79 --- /dev/null +++ b/hal/input_hal/src/input_drm.cpp @@ -0,0 +1,128 @@ +/* + * @copyright Copyright (c) 2018-2020 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. + */ +#include "input_drm.h" + +#include <fcntl.h> +#include <sys/stat.h> +#include <sys/types.h> +#include <unistd.h> + +#if defined(_USE_DRM) +#include <xf86drm.h> +#include <xf86drmMode.h> +#endif + +#include "input_hal.h" +#include "input_hal_debug.h" + +#define DIR_PATH "/dev/dri/card0" +#define DEFAULT_RESOLUTION_HORIZONTAL 1280 /* Horizontal resolution default value */ +#define DEFAULT_RESOLUTION_VERTICAL 800 /* Vertical resolution default value */ +/** + * Panel resolution acquisition / GetPanelSpecResolutionInput + */ +int GetPanelSpecResolutionInput(int *reso_h, int *reso_v) { + if ((NULL == reso_h) || (NULL == reso_v)) { + return HAL_INPUT_RET_ERROR; + } + +#if defined(_USE_DRM) + int fd; + drmModeRes *resources = NULL; + drmModeConnector *connector = NULL; + drmModeEncoder *encoder = NULL; + drmModeCrtc *crtc = NULL; + + fd = open(DIR_PATH, O_RDWR); + if (fd < 0) { + INPUT_ERROR_LOG("DRI Open Error=%s\n", DIR_PATH); + goto err_rtn; + } + + resources = drmModeGetResources(fd); + if (!resources) { + INPUT_ERROR_LOG("No resources\n"); + goto err_rtn; + } + if (2 > resources->count_connectors) { + INPUT_ERROR_LOG("DRI Connect Num Error connectors=%d\n", + resources->count_connectors); + goto err_rtn; + } + + connector = drmModeGetConnector(fd, resources->connectors[1]); + if (!connector) { + INPUT_ERROR_LOG("No Connector\n"); + goto err_rtn; + } + + if ((DRM_MODE_CONNECTED == connector->connection) &&(connector->count_modes > 0)) { + } else { + INPUT_ERROR_LOG("Not found connected connector\n"); + goto err_rtn; + } + + encoder = drmModeGetEncoder(fd, connector->encoder_id); + if (!encoder) { + INPUT_ERROR_LOG("drmModeGetEncoder null\n"); + goto err_rtn; + } + + crtc = drmModeGetCrtc(fd, encoder->crtc_id); + if (!crtc) { + INPUT_ERROR_LOG("drmModeGetCrtc null\n"); + goto err_rtn; + } + + *reso_h = crtc->mode.hdisplay; + *reso_v = crtc->mode.vdisplay; + + drmModeFreeCrtc(crtc); + drmModeFreeEncoder(encoder); + drmModeFreeConnector(connector); + drmModeFreeResources(resources); + close(fd); + + INPUT_LOG_TRACE("width=%d height=%d\n", *reso_h, *reso_v); + return HAL_INPUT_RET_NORMAL; + +err_rtn: + + if (encoder) { + drmModeFreeEncoder(encoder); + } + if (connector) { + drmModeFreeConnector(connector); + } + if (resources) { + drmModeFreeResources(resources); + } + if (fd >= 0) { + close(fd); + } + + INPUT_ERROR_LOG("Use Default Resolution\n"); + *reso_h = DEFAULT_RESOLUTION_HORIZONTAL; + *reso_v = DEFAULT_RESOLUTION_VERTICAL; + + return HAL_INPUT_RET_ERROR; +#else + *reso_h = DEFAULT_RESOLUTION_HORIZONTAL; + *reso_v = DEFAULT_RESOLUTION_VERTICAL; + + return HAL_INPUT_RET_NORMAL; +#endif +} diff --git a/hal/input_hal/src/input_hal.cpp b/hal/input_hal/src/input_hal.cpp new file mode 100755 index 0000000..b5f4916 --- /dev/null +++ b/hal/input_hal/src/input_hal.cpp @@ -0,0 +1,267 @@ +/* + * @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. + */ + +#include "input_hal.h" + +#include <pthread.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> + +#include "input_hal_debug.h" +#include "input_hal_internal.h" +#include "input_touch_ilitek.h" +#include "input_udev_monitor.h" + +// Touch panel operation function info +static struct TouchHal g_input_touch_info = { 0 }; + +char* g_app_name = NULL; +static bool g_touch_inited = false; +static bool g_input_inited = false; + +extern bool g_break_from_watch; +extern pthread_t g_udev_monitor_thread; + +// Environment key name +#define HAL_INPUT_TARGET_BOARD "TARGET_BOARD" +// Reference board environment value of HAL_INPUT_TARGET_BOARD +#define HAL_INPUT_REF_BOARD_NAME "agl_reference" +// Invalid status of report touch panel's touch event +#define HAL_INPUT_TOUCH_REPORT_INVALID (-1) + +/* + * Input device init. + */ +int InitInput(const char* app_name) { + if (NULL == app_name) { + INPUT_ERROR_LOG("param is error"); + return HAL_INPUT_RET_ERROR; + } + + if (!g_touch_inited) { + INPUT_ERROR_LOG("call InitTouch first."); + return HAL_INPUT_RET_ERROR; + } + + if (g_input_inited) { + INPUT_ERROR_LOG("input inited."); + return HAL_INPUT_RET_ERROR; + } + + g_break_from_watch = false; + if (NULL != g_app_name) { + delete[] g_app_name; + } + + g_app_name = new char[strlen(app_name) + 1]; + snprintf(g_app_name, strlen(app_name) + 1, "%s", app_name); + if (HAL_INPUT_RET_ERROR == InputUdevMonitorThreadCreate()) { + delete[] g_app_name; + g_app_name = NULL; + return HAL_INPUT_RET_ERROR; + } + + g_input_inited = true; + return HAL_INPUT_RET_NORMAL; +} + +/* + * Deinit input device + */ +int DeInitInput() { + g_break_from_watch = true; + void* ret_val = NULL; + if (NULL != g_app_name) { + delete[] g_app_name; + g_app_name = NULL; + } + if (g_udev_monitor_thread != static_cast<pthread_t>(-1)) { + pthread_join(g_udev_monitor_thread, &ret_val); + } + g_input_inited = false; + return HAL_INPUT_RET_NORMAL; +} + +/* + * Init those operating function of touch panel driver + */ +int InitTouch() { + int ret = InputTouchIlitekInit(&g_input_touch_info); + g_touch_inited = true; + return ret; +} + +/* + * Make touch panel start work + */ +int StartTouch() { + int ret = HAL_INPUT_RET_ERROR; + + if (NULL != g_input_touch_info.start) { + ret = g_input_touch_info.start(); + } + + return ret; +} + +/* + * Config touch panel + */ +int ConfigTouch(const char *path , int reso_h, int reso_v) { + int ret = HAL_INPUT_RET_ERROR; + + if (NULL != g_input_touch_info.config) { + ret = g_input_touch_info.config(path, reso_h, reso_v); + } + + return ret; +} + +/* + * Get touch panel device name + */ +int GetPanelNameTouch(char* name, size_t buf_length) { + int ret = HAL_INPUT_RET_ERROR; + + if (NULL != g_input_touch_info.get_touch_devicename) { + ret = g_input_touch_info.get_touch_devicename(name, buf_length); + } + + return ret; +} + +/* + * Get touch panel key device name + */ +int GetKeyNameTouch(char* name, size_t buf_length) { + int ret = HAL_INPUT_RET_ERROR; + + if (NULL != g_input_touch_info.get_key_devicename) { + ret = g_input_touch_info.get_key_devicename(name, buf_length); + } + + return ret; +} + +/* + * Execute touch panel self test + */ +int SelfTestTouch(int id, void *result) { + int ret = HAL_INPUT_RET_ERROR; + + if (NULL != g_input_touch_info.selftest) { + ret = g_input_touch_info.selftest(id, result); + } + + return ret; +} + +/* + * Get touch panel config status + */ +int GetConfigStatusTouch(int *status) { + int ret = HAL_INPUT_RET_ERROR; + + if (NULL != g_input_touch_info.get_config_status) { + ret = g_input_touch_info.get_config_status(status); + } + + return ret; +} + +/* + * Set whether the driver sends touch panel data or not + */ +int LockTouch(int status) { + static int input_touch_lock_status = HAL_INPUT_TOUCH_REPORT_INVALID; + + if (input_touch_lock_status == status) { + return HAL_INPUT_RET_NORMAL; + } + + int ret = HAL_INPUT_RET_ERROR; + if (NULL != g_input_touch_info.set_touch_lock) { + ret = g_input_touch_info.set_touch_lock(status); + if (HAL_INPUT_RET_NORMAL == ret) { + input_touch_lock_status = status; + } + } + + return ret; +} + +/* + * Suspend touch panel + */ +int SuspendTouch() { + int ret = HAL_INPUT_RET_ERROR; + + if (NULL != g_input_touch_info.set_touch_suspend) { + ret = g_input_touch_info.set_touch_suspend(); + } + + return ret; +} + +/* + * Set touch panel sensitivity level + */ +int SetSensitivityLevelTouch(int level) { + int cur = HAL_INPUT_TOUCH_SENSITIVITY_LEVEL_NONE; + + int ret = GetSensitivityLevelTouch(&cur); + if (HAL_INPUT_RET_NORMAL == ret) { + if (cur == level) { + // Don't need to update sensitivity level + INPUT_LOG_TRACE("already set level=%d", level); + } else { + if (NULL != g_input_touch_info.set_sensitivity_level) { + ret = g_input_touch_info.set_sensitivity_level(level); + } else { + ret = HAL_INPUT_RET_ERROR; + } + } + } + + return ret; +} + +/* + * Get touch panel sensitivity level + */ +int GetSensitivityLevelTouch(int *level) { + int ret = HAL_INPUT_RET_ERROR; + + if (NULL != g_input_touch_info.get_sensitivity_level) { + ret = g_input_touch_info.get_sensitivity_level(level); + } + + return ret; +} + +/* + * Notify radio scan frequency + */ +int NotifyRadioScanFreqTouch(struct RadioInfoTouch *info) { + int ret = HAL_INPUT_RET_ERROR; + + if (NULL != g_input_touch_info.notify_radio_scan_frequency) { + ret = g_input_touch_info.notify_radio_scan_frequency(info); + } + + return ret; +} diff --git a/hal/input_hal/src/input_touch_ilitek.cpp b/hal/input_hal/src/input_touch_ilitek.cpp new file mode 100755 index 0000000..9d1822a --- /dev/null +++ b/hal/input_hal/src/input_touch_ilitek.cpp @@ -0,0 +1,226 @@ +/* + * @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. + */ +#include "input_touch_ilitek.h" + +#include <unistd.h> +#include <stdio.h> +#include <string.h> + +#include "input_hal.h" + +// Touch panel device name +#define HAL_INPUT_ILITEK_TOUCH_DEVICE_NAME "ILITEK ILITEK Multi-Touch" +// Touch panel key device name +#define HAL_INPUT_ILITEK_KEY_DEVICE_NAME "" + +// Touch panel horizontal resolution value +#define HAL_INPUT_TOUCH_RESOLUTION_HORIZONTAL 4816 + +// Touch panel vertical resolution value +#define HAL_INPUT_TOUCH_RESOLUTION_VERTICAL 2992 + +/* + * Make touch panel start work + */ +static int InputTouchStart() { + return HAL_INPUT_RET_NORMAL; +} + +/* + * Config touch panel + */ +static int InputTouchConfig(const char *path, + int resolution_h, int resolution_v) { + if (NULL == path) { + return HAL_INPUT_RET_ERROR; + } + + if (-1 == ::access(path, F_OK)) { + return HAL_INPUT_RET_ERROR; + } + return HAL_INPUT_RET_NORMAL; +} + +/* + * Get touch panel device name + */ +static int InputTouchGetDeviceName(char* name, size_t buf_length) { + if (NULL == name) { + return HAL_INPUT_RET_ERROR; + } + + if (buf_length < (strlen(HAL_INPUT_ILITEK_TOUCH_DEVICE_NAME) + 1)) { + return HAL_INPUT_RET_ERROR; + } + + snprintf(name, buf_length, "%s", HAL_INPUT_ILITEK_TOUCH_DEVICE_NAME); + return HAL_INPUT_RET_NORMAL; +} + +/* + * Get touch panel key device name + */ +static int InputTouchGetKeyName(char* name, size_t buf_length) { + if (NULL == name) { + return HAL_INPUT_RET_ERROR; + } + + if (buf_length < (strlen(HAL_INPUT_ILITEK_KEY_DEVICE_NAME) + 1)) { + return HAL_INPUT_RET_ERROR; + } + + snprintf(name, buf_length, "%s", HAL_INPUT_ILITEK_KEY_DEVICE_NAME); + return HAL_INPUT_RET_NORMAL; +} + +/* + * Get touch panel device horizontal resolution + */ +static int InputTouchGetDeviceHResolution(int *resolution) { + if (NULL == resolution) { + return HAL_INPUT_RET_ERROR; + } + *resolution = HAL_INPUT_TOUCH_RESOLUTION_HORIZONTAL; + return HAL_INPUT_RET_NORMAL; +} + +/* + * Get touch panel device vertical resolution + */ +static int InputTouchGetDeviceVResolution(int *resolution) { + if (NULL == resolution) { + return HAL_INPUT_RET_ERROR; + } + *resolution = HAL_INPUT_TOUCH_RESOLUTION_VERTICAL; + return HAL_INPUT_RET_NORMAL; +} + +/* + * Get whether X axis is inversion + */ +static int InputTouchGetXAxisReverse(bool* is_reverse) { + if (NULL == is_reverse) { + return HAL_INPUT_RET_ERROR; + } + *is_reverse = false; + return HAL_INPUT_RET_NORMAL; +} + +/* + * Get whether Y axis is inversion + */ +static int InputTouchGetYAxisReverse(bool* is_reverse) { + if (NULL == is_reverse) { + return HAL_INPUT_RET_ERROR; + } + *is_reverse = false; + return HAL_INPUT_RET_NORMAL; +} + +/* + * Execute touch panel self test + */ +static int InputTouchSelftest(int id, void *result) { + if (NULL == result) { + return HAL_INPUT_RET_ERROR; + } + return HAL_INPUT_RET_NOT_SUPPORT; +} + +/* + * Get touch panel config status + */ +static int InputTouchGetConfigStatus(int *status) { + if (NULL == status) { + return HAL_INPUT_RET_ERROR; + } + *status = HAL_INPUT_TOUCH_CONFIG_OFF; + return HAL_INPUT_RET_NORMAL; +} + +/* + * Set whether the driver sends touch panel data or not + */ +static int InputTouchSetTouchLock(int lock) { + if ((HAL_INPUT_TOUCH_UNREPORT == lock) || + (HAL_INPUT_TOUCH_REPORT == lock)) { + return HAL_INPUT_RET_NOT_SUPPORT; + } + return HAL_INPUT_RET_ERROR; +} + +/* + * Suspend touch panel + */ +static int InputTouchSetTouchSuspend() { + return HAL_INPUT_RET_NOT_SUPPORT; +} + +/* + * Set touch panel sensitivity level + */ +static int InputTouchSetSensitivityLevel(int level) { + if ((HAL_INPUT_TOUCH_SENSITIVITY_LEVEL_LOW == level) || + (HAL_INPUT_TOUCH_SENSITIVITY_LEVEL_MIDDLE == level) || + (HAL_INPUT_TOUCH_SENSITIVITY_LEVEL_HIGH == level) || + (HAL_INPUT_TOUCH_SENSITIVITY_LEVEL_NONE == level) ) { + return HAL_INPUT_RET_NOT_SUPPORT; + } + return HAL_INPUT_RET_ERROR; +} + +/* + * Get touch panel sensitivity level + */ +static int InputTouchGetSensitivityLevel(int *level) { + if (NULL == level) { + return HAL_INPUT_RET_ERROR; + } + + return HAL_INPUT_RET_NOT_SUPPORT; +} + +/* + * Notify radio scan frequency + */ +static int InputTouchNotifyRadioScanFrequency(struct RadioInfoTouch *info) { + if (NULL == info) { + return HAL_INPUT_RET_ERROR; + } + return HAL_INPUT_RET_NOT_SUPPORT; +} + +/* + * Init touch panel operation function + */ +int InputTouchIlitekInit(struct TouchHal *touch) { + touch->start = InputTouchStart; + touch->config = InputTouchConfig; + touch->get_touch_devicename = InputTouchGetDeviceName; + touch->get_key_devicename = InputTouchGetKeyName; + touch->get_reso_h = InputTouchGetDeviceHResolution; + touch->get_reso_v = InputTouchGetDeviceVResolution; + touch->get_reverse_axis_x = InputTouchGetXAxisReverse; + touch->get_reverse_axis_y = InputTouchGetYAxisReverse; + touch->selftest = InputTouchSelftest; + touch->get_config_status = InputTouchGetConfigStatus; + touch->set_touch_lock = InputTouchSetTouchLock; + touch->set_touch_suspend = InputTouchSetTouchSuspend; + touch->set_sensitivity_level = InputTouchSetSensitivityLevel; + touch->get_sensitivity_level = InputTouchGetSensitivityLevel; + touch->notify_radio_scan_frequency = InputTouchNotifyRadioScanFrequency; + return HAL_INPUT_RET_NORMAL; +} diff --git a/hal/input_hal/src/input_udev_monitor.cpp b/hal/input_hal/src/input_udev_monitor.cpp new file mode 100755 index 0000000..5d8cc6b --- /dev/null +++ b/hal/input_hal/src/input_udev_monitor.cpp @@ -0,0 +1,566 @@ +/* + * @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. + */ + +#include <errno.h> +#include <fcntl.h> +#include <pthread.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <sys/prctl.h> +#include <sys/stat.h> +#include <sys/types.h> +#include <unistd.h> + +#include <libudev.h> +#include <native_service/ns_message_center_if.h> + +#include "input_hal.h" +#include "input_hal_debug.h" +#include "input_hal_internal.h" +#include "input_drm.h" +#include "input_udev_monitor.h" + +#define HAL_INPUT_UDEVMONITOR_THREADNAME "input_hal_udevm" +#define max_value(x, y) ((x) > (y) ? (x) : (y)) + +#define INPUT_VIRTUAL_INPUTDEVICE_NAME "/devices/virtual" /* Virtual device name created by SwitchManager */ + +// Enough name length to contain node name +#define INPUT_NODE_NAME_LENGTH 256 + +#define TRACKING_ID_NONE -1 + +static struct InputUdevMonitorInfo g_input_udevmonitor_info; +static HANDLE g_sender_handle; +static bool g_input_touch_init_notify = false; +extern char* g_app_name; /* app name */ +bool g_break_from_watch = false; /* watch thread loop break flag */ +pthread_t g_udev_monitor_thread = -1; /* udev monitor thread */ + +static void InputUdevMonitorTouchInitFinEventSend(int result) { + struct TouchInitFinishInput msg; + + if (g_input_touch_init_notify) { + return; + } + + if (NULL == g_sender_handle) { + g_sender_handle = McOpenSender(g_app_name); + } + msg.result = result; + + InputUtilMCSend( + g_sender_handle, HAL_INPUT_SOURCE_NAME, + HAL_INPUT_NOTIFY_TOUCH_INIT_FINISH, sizeof(msg), &msg); + g_input_touch_init_notify = true; +} + +static void InputUdevMonitorInputEventHandle(int fd, int device_type, int notify_id) { + ssize_t read_size; + struct EventsPackageInput events = {0}; + + read_size = read(fd, events.event, sizeof(events.event)); + if (read_size > 0) { + events.count = read_size / sizeof(struct input_event); + events.device_type = device_type; + + if (NULL == g_sender_handle) { + g_sender_handle = McOpenSender(g_app_name); + } + + InputUtilMCSend( + g_sender_handle, HAL_INPUT_SOURCE_NAME, + notify_id, sizeof(events), &events); + } +} + +static void InputUdevMonitorTouchEventHandle(int fd, int notify_id) { + ssize_t read_size; + struct input_event event[HAL_INPUT_EVENT_COUNT] = {0}; + int touch_status; + + read_size = read(fd, event, sizeof(event)); + + if (read_size > 0) { + if (NULL == g_sender_handle) { + g_sender_handle = McOpenSender(g_app_name); + } + + int event_num = read_size / sizeof(struct input_event); + + for (int index = 0; index < event_num; ++index) { + if (EV_ABS == event[index].type) { + if (event[index].code == ABS_MT_TRACKING_ID) { + if (TRACKING_ID_NONE == event[index].value) { + touch_status = HAL_INPUT_TOUCH_RELEASE; + } else { + touch_status = HAL_INPUT_TOUCH_PRESS; + } + InputUtilMCSend( + g_sender_handle, HAL_INPUT_SOURCE_NAME, + notify_id, sizeof(touch_status), &touch_status); + } + } + } + } +} + +static int InputUdevMonitorDeviceAssort(struct udev_device *dev) { + const char *property; + + char touch_key_device_name[INPUT_NODE_NAME_LENGTH] = { 0 }; + GetKeyNameTouch(touch_key_device_name, sizeof(touch_key_device_name)); + const char *sysattr_name = udev_device_get_sysattr_value(dev, "name"); + if ((sysattr_name) && + (0 == strcmp(touch_key_device_name, sysattr_name))) { + INPUT_LOG_TRACE("DeviceAssort : ESC_SW\n"); + return HAL_INPUT_DEVICE_TOUCH_ESCKEY; + } + + char touch_device_name[INPUT_NODE_NAME_LENGTH] = { 0 }; + GetPanelNameTouch(touch_device_name, sizeof(touch_device_name)); + sysattr_name = udev_device_get_sysattr_value(dev, "name"); + if ((sysattr_name) && + (0 == strcmp(touch_device_name, sysattr_name))) { + INPUT_LOG_TRACE("DeviceAssort : Touch\n"); + return HAL_INPUT_DEVICE_TOUCH; + } + + property = udev_device_get_property_value(dev, "ID_INPUT_KEYBOARD"); + if ((property) && (strcmp("1", property) == 0)) { + INPUT_LOG_TRACE("DeviceAssort : KeyBoard\n"); + return HAL_INPUT_DEVICE_KEYBOARD; + } + + property = udev_device_get_property_value(dev, "ID_INPUT_TABLET"); + if ((property) && (strcmp("1", property) == 0)) { + INPUT_LOG_TRACE("DeviceAssort : Tablet\n"); + return HAL_INPUT_DEVICE_INVALID; + } + + property = udev_device_get_property_value(dev, "ID_INPUT_TOUCHPAD"); + if ((property) && (strcmp("1", property) == 0)) { + INPUT_LOG_TRACE("DeviceAssort : Touch pad\n"); + return HAL_INPUT_DEVICE_TABLET_FINGER; + } + + return HAL_INPUT_DEVICE_INVALID; +} + +static void InputUdevMonitorDeviceListOutput(void) { + struct InputUtilList *p; + + INPUT_LOG_TRACE("OutputList >> start ======================\n"); + input_list_for_each(p, &g_input_udevmonitor_info.dev_list.list) { + struct InputInputDeviceList *entry = input_list_entry(p, struct InputInputDeviceList, list); + if (NULL != entry) { + INPUT_LOG_TRACE("FD: %d Device=%s Assort=%d\n", + entry->fd, entry->device_node, entry->device_assort); + } + } + INPUT_LOG_TRACE("OutputList << end ======================\n"); +} + +static void InputUdevMonitorDeviceListDelete(const char *node) { + struct InputUtilList *p; + + input_list_for_each(p, &g_input_udevmonitor_info.dev_list.list) { + struct InputInputDeviceList *entry = input_list_entry(p, struct InputInputDeviceList, list); + if (strcmp(node, entry->device_node) == 0) { + close(entry->fd); + InputUtilListDelete(p); + free(entry); + break; + } + } + InputUdevMonitorDeviceListOutput(); +} + +static int InputUdevMonitorDeviceListAdd(int fd, int device_assort, const char *node) { + int ret = HAL_INPUT_RET_NORMAL; + struct InputInputDeviceList *p; + + p = (struct InputInputDeviceList *) malloc(sizeof(struct InputInputDeviceList)); + if (p) { + p->fd = fd; + p->device_assort = device_assort; + + if (strlen(node) < INPUT_DEVICE_NODE_LENGTH_MAX) { + strncpy(p->device_node, node, sizeof(p->device_node) - 1); + InputUdevMonitorDeviceListDelete(node); + InputUtilListAdd(&p->list, &g_input_udevmonitor_info.dev_list.list); + } else { + ret = HAL_INPUT_RET_ERROR; + } + } else { + ret = HAL_INPUT_RET_ERROR; + } + + InputUdevMonitorDeviceListOutput(); + + return ret; +} + +static int InputUdevMonitorInputEventGrab(const char *node, struct udev_device *dev) { + int fd, rtn; + + InputUdevMonitorDeviceListDelete(node); + + fd = open(node, O_RDONLY); + + if (fd < 0) { + INPUT_ERROR_LOG("ERR: open %s errno=%d \n", node, errno); + goto err_rtn; + } + + rtn = ioctl(fd, EVIOCGRAB, 1); + if (rtn) { + INPUT_ERROR_LOG("ERR: ioctl grab %s \n", node); + goto err_rtn_close; + } + INPUT_LOG_TRACE("%s Grab \n", node); + + /* Backup FD */ + rtn = InputUdevMonitorDeviceListAdd(fd, InputUdevMonitorDeviceAssort(dev), node); + if (rtn) { + goto err_rtn_close; + } + + return HAL_INPUT_RET_NORMAL; + +err_rtn_close: + close(fd); +err_rtn: + INPUT_LOG_TRACE("%s Grab impossible \n", node); + return HAL_INPUT_RET_ERROR; +} + +static void InputUdevMonitorFDSet(int *nfds, fd_set *fds) { + struct InputUtilList *p; + + input_list_for_each(p, &g_input_udevmonitor_info.dev_list.list) { + struct InputInputDeviceList *entry = input_list_entry(p, struct InputInputDeviceList, list); + + switch (entry->device_assort) { + case HAL_INPUT_DEVICE_TOUCH_ESCKEY: + case HAL_INPUT_DEVICE_TOUCH: + case HAL_INPUT_DEVICE_KEYBOARD: + case HAL_INPUT_DEVICE_TABLET_FINGER: + FD_SET(entry->fd, fds); + *nfds = max_value(*nfds, entry->fd); + break; + default: + break; + } + } +} + +static void InputUdevMonitorFDHandle(fd_set *fds) { + struct InputUtilList *p; + + input_list_for_each(p, &g_input_udevmonitor_info.dev_list.list) { + struct InputInputDeviceList *entry = input_list_entry(p, struct InputInputDeviceList, list); + if (FD_ISSET(entry->fd, fds)) { + int notify_id = 0; + switch (entry->device_assort) { + case HAL_INPUT_DEVICE_TOUCH_ESCKEY: + notify_id = HAL_INPUT_NOTIFY_ESC_KEY; + break; + case HAL_INPUT_DEVICE_TOUCH: + notify_id = HAL_INPUT_NOTIFY_TOUCH; + break; + case HAL_INPUT_DEVICE_KEYBOARD: + notify_id = HAL_INPUT_NOTIFY_KEY_BOARD; + break; + case HAL_INPUT_DEVICE_TABLET_FINGER: + notify_id = HAL_INPUT_NOTIFY_TABLET_FINGER; + break; + default: + return; + } + if (notify_id == HAL_INPUT_NOTIFY_TOUCH) { + InputUdevMonitorTouchEventHandle(entry->fd, notify_id); + } else { + InputUdevMonitorInputEventHandle(entry->fd, entry->device_assort, notify_id); + } + } + } +} + +static int InputUdevMonitorInit(void) { + g_input_udevmonitor_info.udev = udev_new(); + if (NULL == g_input_udevmonitor_info.udev) { + INPUT_ERROR_LOG("ERR: udev_new ret=%d \n", errno); + return HAL_INPUT_RET_ERROR; + } + + // create the udev monitor + g_input_udevmonitor_info.monitor = udev_monitor_new_from_netlink(g_input_udevmonitor_info.udev, "udev"); + udev_monitor_filter_add_match_subsystem_devtype(g_input_udevmonitor_info.monitor, "input", NULL); + + // start receiving hotplug events + udev_monitor_enable_receiving(g_input_udevmonitor_info.monitor); + + INPUT_INIT_LIST_HEAD(&g_input_udevmonitor_info.dev_list.list) + + return HAL_INPUT_RET_NORMAL; +} + +static void InputUdevMonitorDeinit(void) { + // destroy the udev monitor + udev_monitor_unref(g_input_udevmonitor_info.monitor); + // destroy the udev object + udev_unref(g_input_udevmonitor_info.udev); + + if (g_sender_handle != NULL) { + McClose(g_sender_handle); + g_sender_handle = NULL; + } + + g_input_touch_init_notify = false; +} + +static int InputUdevMonitorDevicesGet(void) { + int ret; + struct udev_enumerate *enumerate; + struct udev_list_entry *devices, *dev_list_entry; + char touch_device_name[INPUT_NODE_NAME_LENGTH] = { 0}; + const char* sysattr_name; + bool input_touch_device_found = false; + + // Create a list of the devices in the 'usb_device' subsystem. + enumerate = udev_enumerate_new(g_input_udevmonitor_info.udev); + udev_enumerate_add_match_subsystem(enumerate, "input"); + udev_enumerate_scan_devices(enumerate); + devices = udev_enumerate_get_list_entry(enumerate); + GetPanelNameTouch(touch_device_name, sizeof(touch_device_name)); + + // Enumerate device list + udev_list_entry_foreach(dev_list_entry, devices) { + const char *path, *node; + + // Get the filename of the /sys entry for the device and create a udev_device object (dev) representing it + path = udev_list_entry_get_name(dev_list_entry); + struct udev_device* dev = udev_device_new_from_syspath(g_input_udevmonitor_info.udev, path); + if (NULL == dev) continue; + + // usb_device_get_devnode() returns the path to the device node itself in /dev. + node = udev_device_get_devnode(dev); + if (!node) { + udev_device_unref(dev); + continue; + } + + // Filter device name is eventX + if (strncmp("event", udev_device_get_sysname(dev), sizeof("event") -1) != 0) { + udev_device_unref(dev); + continue; + } + + // virtual device + if (strncmp(INPUT_VIRTUAL_INPUTDEVICE_NAME, udev_device_get_devpath(dev), + sizeof(INPUT_VIRTUAL_INPUTDEVICE_NAME) - 1) == 0) { + INPUT_LOG_TRACE("Found Virtual Device : %s \n", node); + udev_device_unref(dev); + continue; + } + + // check parent is input + struct udev_device* input_dev = udev_device_get_parent_with_subsystem_devtype(dev, "input", NULL); + if (NULL == input_dev) { + udev_device_unref(dev); + continue; + } + + sysattr_name = udev_device_get_sysattr_value(input_dev, "name"); + if (NULL == sysattr_name) { + INPUT_ERROR_LOG("ERR: Unable to find sysattr \n"); + udev_device_unref(dev); + continue; + } + + // touchpanel device + if (0 == strcmp(touch_device_name, sysattr_name)) { + INPUT_LOG_TRACE("Found %s : %s \n", touch_device_name, path); + int spec_reso_h; + int spec_reso_v; + GetPanelSpecResolutionInput(&spec_reso_h, &spec_reso_v); + ret = ConfigTouch(udev_device_get_syspath(input_dev), + spec_reso_h, spec_reso_v); + + if (HAL_INPUT_RET_NORMAL == ret) { + int status; + ret = GetConfigStatusTouch(&status); + if (HAL_INPUT_RET_NORMAL == ret) { + if (HAL_INPUT_TOUCH_CONFIG_OFF == status) { + InputUdevMonitorTouchInitFinEventSend(HAL_INPUT_RET_NORMAL); + } + } else { + INPUT_ERROR_LOG("GetConfigStatusTouch fail\n"); + InputUdevMonitorTouchInitFinEventSend(HAL_INPUT_RET_ERROR); + } + } else { + INPUT_ERROR_LOG("ConfigTouch fail\n"); + InputUdevMonitorTouchInitFinEventSend(HAL_INPUT_RET_ERROR); + } + + input_touch_device_found = true; + } + + INPUT_LOG_TRACE("Found Device : %s \n", node); + + /* Modified not to notify input events to other processes */ + InputUdevMonitorInputEventGrab(node, input_dev); + + udev_device_unref(dev); + } // end foreach + + if (!input_touch_device_found) { + INPUT_ERROR_LOG("ERR: Dummy Device Create"); + InputUdevMonitorTouchInitFinEventSend(HAL_INPUT_RET_NORMAL); + } + + // Free the enumerator object + udev_enumerate_unref(enumerate); + + return HAL_INPUT_RET_NORMAL; +} + +static void InputUdevMonitorDeviceStatusChange(int fd, fd_set *fds) { + if (FD_ISSET(fd, fds)) { + // receive the relevant device + struct udev_device* dev = udev_monitor_receive_device(g_input_udevmonitor_info.monitor); + if (NULL == dev) return; + + // input_udev_DevicesGet(udm); + const char* action = udev_device_get_action(dev); + const char* node = udev_device_get_devnode(dev); + if ((!action) || (!node)) { + udev_device_unref(dev); + return; + } + + if (strncmp("event", udev_device_get_sysname(dev), sizeof("event") -1) != 0) { + INPUT_LOG_TRACE("not event device %s \n", udev_device_get_sysname(dev)); + udev_device_unref(dev); + return; + } + + if (strncmp(INPUT_VIRTUAL_INPUTDEVICE_NAME, udev_device_get_devpath(dev), + sizeof(INPUT_VIRTUAL_INPUTDEVICE_NAME) - 1) == 0) { + udev_device_unref(dev); + return; + } + + if (strcmp(action, "remove") == 0) { + InputUdevMonitorDeviceListDelete(node); + } + + struct udev_device* input_dev = udev_device_get_parent_with_subsystem_devtype(dev, "input", NULL); + if (NULL == input_dev) { + udev_device_unref(dev); + return; + } + char touch_device_name[INPUT_NODE_NAME_LENGTH] = { 0}; + GetPanelNameTouch(touch_device_name, sizeof(touch_device_name)); + const char *sysattr_name = udev_device_get_sysattr_value(input_dev, "name"); + if (NULL == sysattr_name) { + INPUT_ERROR_LOG("ERR: Unable to find sysattr \n"); + udev_device_unref(dev); + return; + } + + if (0 == strcmp(touch_device_name, sysattr_name)) { + if (strcmp(action, "remove") == 0) { + } else { + INPUT_LOG_TRACE("Found %s \n", touch_device_name); + InputUdevMonitorTouchInitFinEventSend(HAL_INPUT_RET_NORMAL); + } + } + + INPUT_LOG_TRACE("%s : %s \n", node, action); + if (strcmp(action, "remove") == 0) { + } else { + /* Modified not to notify input events to other processes */ + InputUdevMonitorInputEventGrab(node, input_dev); + } + udev_device_unref(dev); + } +} + +static void InputUdevMonitorWatch(void) { + fd_set fds; + int fd = udev_monitor_get_fd(g_input_udevmonitor_info.monitor); + + if (fd != -1) { + while (!g_break_from_watch) { + FD_ZERO(&fds); + FD_SET(fd, &fds); + int nfds = max_value(0, fd); + + InputUdevMonitorFDSet(&nfds, &fds); + + struct timeval timeout; + timeout.tv_sec = 0; + timeout.tv_usec = 100 * 1000; + int ret = select(nfds + 1, &fds, NULL, NULL, &timeout); + if (ret > 0) { + InputUdevMonitorDeviceStatusChange(fd, &fds); + + InputUdevMonitorFDHandle(&fds); + } + } + } else { + INPUT_ERROR_LOG("ERR: udev_monitor_get_fd"); + } +} + +static void *InputUdevMonitorMain(void * arg) { + int rtn; + prctl(PR_SET_NAME, HAL_INPUT_UDEVMONITOR_THREADNAME); + + rtn = InputUdevMonitorInit(); + if (rtn != HAL_INPUT_RET_NORMAL) { + goto err_rtn; + } + + /* Get input device */ + InputUdevMonitorDevicesGet(); + + /* Input device monitoring (basically never get out from here) */ + InputUdevMonitorWatch(); + + InputUdevMonitorDeinit(); + + return NULL; + +err_rtn: + INPUT_LOG_TRACE("pthread_detach\n"); + return NULL; +} + +int32_t InputUdevMonitorThreadCreate(void) { + int ret; + + ret = pthread_create(&g_udev_monitor_thread, NULL, InputUdevMonitorMain, NULL); + if (ret != 0) { + INPUT_ERROR_LOG("ERR: pthread_create =%d\n", errno); + return HAL_INPUT_RET_ERROR; + } + + return HAL_INPUT_RET_NORMAL; +} diff --git a/hal/input_hal/src/input_util.cpp b/hal/input_hal/src/input_util.cpp new file mode 100755 index 0000000..bb349eb --- /dev/null +++ b/hal/input_hal/src/input_util.cpp @@ -0,0 +1,77 @@ +/* + * @copyright Copyright (c) 2018-2020 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. + */ +#include "input_util.h" + +#include <native_service/ns_message_center_if.h> +#include <stdio.h> + +#include "input_hal.h" +#include "input_hal_debug.h" + +#define INPUT_UTIL_MESSAGE_SEND_RETRY 3 +#define INPUT_UTIL_MESSAGE_SEND_WAIT 10000 /* RetryWait:10ms */ +/* + * InputUtilListAdd + */ +void InputUtilListAdd(struct InputUtilList *node_new, struct InputUtilList *node_head) { + node_new->prev = node_head; + node_new->next = node_head->next; + node_head->next = node_new; + node_new->next->prev = node_new; +} + +/* + * InputUtilListDelete + */ +void InputUtilListDelete(struct InputUtilList *node) { + node->prev->next = node->next; + node->next->prev = node->prev; +} + +/* + * InputUtilMCSend + */ +int InputUtilMCSend(HANDLE h_message, PCSTR source, UI_32 cmd, UI_32 length, PCVOID data) { + int i = 0; + EFrameworkunifiedStatus e_status; /* return value */ + + do { + e_status = McSend(h_message, source, cmd, length, data); + if (eFrameworkunifiedStatusOK == e_status) { + break; + } + InputUtilSleep(INPUT_UTIL_MESSAGE_SEND_WAIT); + } while (i++ < INPUT_UTIL_MESSAGE_SEND_RETRY); + + if (e_status != eFrameworkunifiedStatusOK) { + INPUT_ERROR_LOG("ERR: MessageSend=%d \n", e_status); + } + + return e_status; +} + +/* + * InputUtilSleep + */ +int InputUtilSleep(int usec) { + struct timespec req; + + req.tv_sec = 0; + req.tv_nsec = usec * 1000; + nanosleep(&req, NULL); + + return HAL_INPUT_RET_NORMAL; +} diff --git a/hal/nv_hal/LICENSE b/hal/nv_hal/LICENSE new file mode 100755 index 0000000..f433b1a --- /dev/null +++ b/hal/nv_hal/LICENSE @@ -0,0 +1,177 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS diff --git a/hal/nv_hal/Makefile b/hal/nv_hal/Makefile new file mode 100755 index 0000000..2f2d89f --- /dev/null +++ b/hal/nv_hal/Makefile @@ -0,0 +1,65 @@ +# +# @copyright Copyright (c) 2018-2020 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. +# + +######### installed program/file ################ +TARGET := libnv_hal.so + +HEADER := hal_api/nv_hal.h + +######### include paths/files ################### +CXXFLAGS := -I./inc/ +CXXFLAGS += -I./hal_api/ +CXXFLAGS += -I$(SDKTARGETSYSROOT)/usr/agl/include +CXXFLAGS += -include $(SDKTARGETSYSROOT)/usr/agl/include/agl_types_obsoluted.h + +######### compile options ####################### +CXXFLAGS += -Wall -fPIC + +######### link options ########################## +LDFLAGS += -L$(SDKTARGETSYSROOT)/usr/agl/lib +LDFLAGS += -shared +LDFLAGS += -Wl,--no-as-needed +LDFLAGS += -Wl,--no-undefined + +RPATH := + +######### linked library ######################## +LIBS += -Wl,-Bdynamic -lNS_FrameworkUnified + +######### source files ########################## +VPATH := src +OBJS := nv_hal.o + +######### make targets ########################## +all: $(TARGET) + @echo $@ done. + +$(TARGET): $(OBJS) + $(CC) $(LDFLAGS) -Wl,-rpath=$(RPATH) $(OBJS) $(LIBS) -o $(TARGET) + @echo $@ done. + +######### make cleans ########################### +GCNO_FILES := $(filter %.gcno,$(OBJS:%.o=%.gcno)) + +clean: + rm -f $(OBJS) $(TARGET) $(GCNO_FILES) + @echo $@ done. + +######### make installs ######################### +install: + install -d -m 0755 $(DESTDIR)/usr/lib + install -m 0755 $(TARGET) $(DESTDIR)/usr/lib + @echo $@ done. diff --git a/hal/nv_hal/hal_api/nv_hal.h b/hal/nv_hal/hal_api/nv_hal.h new file mode 100755 index 0000000..2014754 --- /dev/null +++ b/hal/nv_hal/hal_api/nv_hal.h @@ -0,0 +1,245 @@ +/* + * @copyright Copyright(c) 2018-2020 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. + */ + +#ifndef HAL_API_NV_HAL_H_ +#define HAL_API_NV_HAL_H_ + +#include <stdint.h> +#include <native_service/frameworkunified_types.h> + +/** + * @file nv_hal.h + * @brief This file provides API for accessing storage device. + */ + +/** @addtogroup backup_manager + * @{ + */ +/** @addtogroup nv_hal + * @ingroup backup_manager + * @{ + */ + +/** + * \~english NvHalMedia + */ +enum NvHalMedia { + /** + * \~english CacheDram + */ + NVHALMEDIA_CACHEDRAM = 0, + /** + * \~english BackupDram + */ + NVHALMEDIA_BACKUPDRAM, + /** + * \~english nand + */ + NVHALMEDIA_NAND, + /** + * \~english Max + */ + NVHALMEDIA_MAX +}; + +/**\ingroup InitNv + * \~english @par Brief + * Initialize Nv hal library. + * \~english @retval eFrameworkunifiedStatusOK : succsess initialize. + * \~english @retval eFrameworkunifiedStatusFail : fail initialize + * \~english @par Preconditions + * - There is no preconditions for this API. + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - Initialization processing failure.[eFrameworkunifiedStatusFail] + * \~english @par Detail + * - Perform Nv_hal library initialization. + * - This process also performs deletion of temporary files accompanying system reset\n + * during write processing. + * - The API can only be used by 1 process. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * - None + */ +EFrameworkunifiedStatus InitNv(void); + +/**\ingroup GetSizeNv + * \~english @par Brief + * This API get data size which is stored in storage device. + * \~english @param [in] media + * enum NvHalMedia - Media type + * \~english @param [in] filename + * const char* - file name(Concatenated[category name/item name]) + * \~english @param [out] size + * uint32_t - Data size + * \~english @par + * - Get decrypted data size as encryption data when item name in the argument of filename (file name) is added Prefix "ENC_". + * - Non encryption data : D_BK_CA_GID_D/D_BK_ID_GID_D + * - Encryption data : D_BK_CA_GID_D/ENC_D_BK_ID_GID_D + * \~english @retval eFrameworkunifiedStatusOK OK + * \~english @retval eFrameworkunifiedStatusFileLoadError File not exists + * \~english @retval eFrameworkunifiedStatusInvldParam Parameter error + * \~english @par Preconditions + * - There is no preconditions for this API. + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - If the parameter media is less than NVHALMEDIA_CACHEDRAM or greater than\n + * NVHALMEDIA_NAND. [eFrameworkunifiedStatusInvldParam] + * - Parameter id is NULL. [eFrameworkunifiedStatusInvldParam] + * - Value of parameter size is 0. [eFrameworkunifiedStatusInvldParam] + * - Internal IO error(lstat).[eFrameworkunifiedStatusFileLoadError] + * \~english @par Detail + * - This API get the data size according to specified media and ID. + * - The API can only be used by 1 process. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see WriteNv ReadNv + */ +EFrameworkunifiedStatus GetSizeNv(enum NvHalMedia media, const char *filename, uint32_t* size); + + + +/**\ingroup ReadNv + * \~english @par Brief + * Read data from storage device. + * \~english @param [in] media + * enum NvHalMedia - Media type + * \~english @param [in] filename + * const char* - file name(Concatenated[category name/item name]) + * \~english @param [out] buffer + * uint8_t* - Buffer for storing read data + * \~english @param [in] size + * uint32_t - Data size + * \~english @par + * - Decrypt and read data as encryption data when item name in the argument of filename (file name) is added Prefix "ENC_". + * - Non encryption data : D_BK_CA_GID_D/D_BK_ID_GID_D + * - Encryption data : D_BK_CA_GID_D/ENC_D_BK_ID_GID_D + * \~english @retval eFrameworkunifiedStatusOK OK + * \~english @retval eFrameworkunifiedStatusInvldParam Parameter error + * \~english @retval eFrameworkunifiedStatusFail Read data failed + * \~english @par Preconditions + * - There is no preconditions for this API. + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - If the parameter media is less than NVHALMEDIA_CACHEDRAM or greater than\n + * NVHALMEDIA_NAND. [eFrameworkunifiedStatusInvldParam] + * - Parameter id is NULL. [eFrameworkunifiedStatusInvldParam] + * - Parameter buffer is NULL. [eFrameworkunifiedStatusInvldParam] + * - Value of parameter size is 0. [eFrameworkunifiedStatusInvldParam] + * - Internal IO error(open, pread, lstat, close).[eFrameworkunifiedStatusFail] + * - The value of parameter size is not equal to the file size specified by id. + * [eFrameworkunifiedStatusFail] + * \~english @par Detail + * - This API reads data according to specified media and ID. + * - ID is managed by backup_manager.For details, refer to "Details about XML file" in external specification of backup_manager. + * - The API can only be used by 1 process. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see CheckNv WriteNv + */ +EFrameworkunifiedStatus ReadNv(enum NvHalMedia media, const char *filename, uint8_t *buffer, uint32_t size); + +/**\ingroup WriteNv + * \~english @par Brief + * Write data to storage device. + * \~english @param [in] media + * enum NvHalMedia - Media type + * \~english @param [in] filename + * const char* - filename(Concatenated[category name/item name]) + * \~english @param [in] buffer + * uint8_t* - Buffer for storing written data + * \~english @param [in] size + * uint32_t - Data size + * \~english @par + * - Encrypt and write data as encryption data when item name in the argument of filename (file name) is added Prefix "ENC_". + * - Non encryption data : D_BK_CA_GID_D/D_BK_ID_GID_D + * - Encryption data : D_BK_CA_GID_D/ENC_D_BK_ID_GID_D + * \~english @retval eFrameworkunifiedStatusOK OK + * \~english @retval eFrameworkunifiedStatusInvldParam Parameter error + * \~english @retval eFrameworkunifiedStatusFail Write data failed + * \~english @par Preconditions + * - There is no preconditions for this API. + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - If the parameter media is less than NVHALMEDIA_CACHEDRAM or greater than\n + * NVHALMEDIA_NAND. [eFrameworkunifiedStatusInvldParam] + * - Parameter id is NULL. [eFrameworkunifiedStatusInvldParam] + * - Parameter buffer is NULL. [eFrameworkunifiedStatusInvldParam] + * - Value of parameter size is 0. [eFrameworkunifiedStatusInvldParam] + * - Internal IO error(open, pwrite, close, mkdir).[eFrameworkunifiedStatusFail] + * \~english @par Detail + * - This API writes data according to specified media and ID. + * - filename is managed by backup_manager.For details, refer to "Details about XML file" in external specification of backup_manager. + * - The API can only be used by 1 process. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see CheckNv ReadNv + */ +EFrameworkunifiedStatus WriteNv(enum NvHalMedia media, const char *filename, uint8_t *buffer, uint32_t size); + +/**\ingroup DeleteNv + * \~english @par Brief + * Delete data which is stored in storage device. + * \~english @param [in] media + * enum \ref NvHalMedia - Media type + * \~english @param [in] filename + * const char* - filename(Concatenated[category name/item name]) + * \~english @par + * - Delete data as encryption data when item name in the argument of filename (file name) is added Prefix "ENC_". + * - Non encryption data : D_BK_CA_GID_D/D_BK_ID_GID_D + * - Encryption data : D_BK_CA_GID_D/ENC_D_BK_ID_GID_D + * \~english @retval eFrameworkunifiedStatusOK OK + * \~english @retval eFrameworkunifiedStatusInvldParam Parameter error + * \~english @retval eFrameworkunifiedStatusFail Delete data failed + * \~english @par Preconditions + * - There is no preconditions for this API. + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - If the parameter media is less than \ref NVHALMEDIA_CACHEDRAM or greater than\n + * \ref NVHALMEDIA_NAND . [eFrameworkunifiedStatusInvldParam] + * - Parameter filename (filename) is NULL. [eFrameworkunifiedStatusInvldParam] + * - Internal IO error.[eFrameworkunifiedStatusFail] + * \~english @par Detail + * - This API delete data according to specified media and filename. + * - This API delete encryption key if data is encrypted. + * - filename is managed by backup_manager.For details, refer to "Details about XML file" in external specification of backup_manager. + * - The API can only be used by 1 process. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see GetSizeNv ReadNv WriteNv + */ +EFrameworkunifiedStatus DeleteNv(enum NvHalMedia media, const char *filename); + +/** @}*/ // end of nv_hal +/** @}*/ // end of backup_manager + +#endif // HAL_API_NV_HAL_H_ diff --git a/hal/nv_hal/inc/nv_hal_nvhallog.h b/hal/nv_hal/inc/nv_hal_nvhallog.h new file mode 100755 index 0000000..d62bd88 --- /dev/null +++ b/hal/nv_hal/inc/nv_hal_nvhallog.h @@ -0,0 +1,76 @@ +/* + * @copyright Copyright (c) 2018-2020 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. + */ +#ifndef INC_NV_HAL_NVHALLOG_H_ +#define INC_NV_HAL_NVHALLOG_H_ + +#include <native_service/ns_logger_if.h> + +#define ZONE_INIT ZONEMASK(10) +#define ZONE_FUNC ZONEMASK(11) +#define ZONE_MEM ZONEMASK(12) +#define ZONE_13 ZONEMASK(13) +#define ZONE_14 ZONEMASK(14) +#define ZONE_15 ZONEMASK(15) +#define ZONE_16 ZONEMASK(16) +#define ZONE_17 ZONEMASK(17) +#define ZONE_18 ZONEMASK(18) +#define ZONE_19 ZONEMASK(19) +#define ZONE_20 ZONEMASK(20) +#define ZONE_21 ZONEMASK(21) +#define ZONE_22 ZONEMASK(22) +#define ZONE_23 ZONEMASK(23) +#define ZONE_24 ZONEMASK(24) +#define ZONE_25 ZONEMASK(25) +#define ZONE_26 ZONEMASK(26) +#define ZONE_27 ZONEMASK(27) +#define ZONE_28 ZONEMASK(28) +#define ZONE_INFO ZONEMASK(29) +#define ZONE_WARN ZONEMASK(30) +#define ZONE_ERR ZONEMASK(31) + +#define ZONE_TEXT_10 "Init" +#define ZONE_TEXT_11 "Function" +#define ZONE_TEXT_12 "Memory" +#define ZONE_TEXT_13 "" +#define ZONE_TEXT_14 "" +#define ZONE_TEXT_15 "" +#define ZONE_TEXT_16 "" +#define ZONE_TEXT_17 "" +#define ZONE_TEXT_18 "" +#define ZONE_TEXT_19 "" +#define ZONE_TEXT_20 "" +#define ZONE_TEXT_21 "" +#define ZONE_TEXT_22 "" +#define ZONE_TEXT_23 "" +#define ZONE_TEXT_24 "" +#define ZONE_TEXT_25 "" +#define ZONE_TEXT_26 "" +#define ZONE_TEXT_27 "" +#define ZONE_TEXT_28 "" +#define ZONE_TEXT_29 "Info" +#define ZONE_TEXT_30 "Warning" +#define ZONE_TEXT_31 "Error" + +#ifndef FRAMEWORKUNIFIEDLOGOPTIONS +#define FRAMEWORKUNIFIEDLOGOPTIONS (LSHAREDMEM) // LPRINT , LMSGQ, LSLOGGER +#endif + +#ifndef FRAMEWORKUNIFIEDLOGAPPZONES +#define FRAMEWORKUNIFIEDLOGAPPZONES ZONE_ERR, ZONE_WARN, ZONE_INFO +#endif + +extern const CHAR AppName[]; // NOLINT (defind outside) +#endif // INC_NV_HAL_NVHALLOG_H_ diff --git a/hal/nv_hal/src/nv_hal.cpp b/hal/nv_hal/src/nv_hal.cpp new file mode 100755 index 0000000..d746ea0 --- /dev/null +++ b/hal/nv_hal/src/nv_hal.cpp @@ -0,0 +1,242 @@ +/* + * @copyright Copyright(c) 2018-2020 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. + */ +#include "nv_hal.h" +#include <errno.h> +#include <fcntl.h> +#include <aglpath.h> +#include <sys/syscall.h> +#include <stdio.h> +#include <string.h> +#include <sys/stat.h> +#include <unistd.h> + +#include "nv_hal_nvhallog.h" + +/** + * Media type difine. + */ +const char *kMediaType[NVHALMEDIA_MAX] = { + "/tmp/bkup/", + "/ramd/BS/ns/backup_manager/rwdata/", + "/nv/BS/ns/backup_manager/rwdata/", +}; + +const int kMaxPath = 127; // Max length of path + +/** + * Initialize Nv hal + */ +EFrameworkunifiedStatus InitNv(void) { + return eFrameworkunifiedStatusOK; +} + +/** + * Get data size. + */ +EFrameworkunifiedStatus GetSizeNv(enum NvHalMedia media, const char *filename, uint32_t *size) { + if ((media < NVHALMEDIA_CACHEDRAM) || (media > NVHALMEDIA_NAND)) { // Argument range checking + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "invalid media type:%d\n", media); + return eFrameworkunifiedStatusInvldParam; + } + if (NULL == filename) { // NULL checking of arguments + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "filename is NULL.\n"); + return eFrameworkunifiedStatusInvldParam; + } + if (NULL == size) { // NULL checking of arguments + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "size is NULL.\n"); + return eFrameworkunifiedStatusInvldParam; + } + char path[kMaxPath]; + memset(path, '\0', kMaxPath); + snprintf(path, kMaxPath, "%s%s", kMediaType[media], filename); + // Geting the file size + struct stat file_stat; + if (0 > lstat(path, &file_stat)) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "lstat() error, errno=%d\n", errno); + return eFrameworkunifiedStatusFileLoadError; + } + *size = file_stat.st_size; + return eFrameworkunifiedStatusOK; +} + + + +/** + * Reading data from memory device. + */ +EFrameworkunifiedStatus ReadNv(enum NvHalMedia media, const char *filename, uint8_t *buffer, uint32_t size) { + if ((media < NVHALMEDIA_CACHEDRAM) || (media > NVHALMEDIA_NAND)) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "invalid media type:%d\n", media); + return eFrameworkunifiedStatusInvldParam; + } + if (NULL == filename) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "filename is NULL.\n"); + return eFrameworkunifiedStatusInvldParam; + } + if (NULL == buffer) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "buffer is NULL.\n"); + return eFrameworkunifiedStatusInvldParam; + } + if (0 == size) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "invalid size:%d\n", size); + return eFrameworkunifiedStatusInvldParam; + } + char path[kMaxPath]; + memset(path, '\0', kMaxPath); + snprintf(path, kMaxPath, "%s%s", kMediaType[media], filename); + struct stat file_stat; + if (0 > lstat(path, &file_stat)) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "lstat() error, errno=%d\n", errno); + return eFrameworkunifiedStatusFail; + } + if (file_stat.st_size != size) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "size error:%ld != %d\n", file_stat.st_size, size); + return eFrameworkunifiedStatusFail; + } + int fd = open(path, O_RDONLY); + if (-1 == fd) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "open(%s) error, errno=%d\n", path, errno); + return eFrameworkunifiedStatusFail; + } else { + size_t tot_read; + // Read data by support EINTR + for (tot_read = 0; tot_read < static_cast<size_t>(size);) { + ssize_t read_size = pread(fd, &buffer[tot_read], static_cast<size_t>(size) - tot_read, tot_read); + if (-1 == read_size) { + if (errno == EINTR) { + continue; + } else { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "pread() error, errno=%d\n", errno); + if (0 != close(fd)) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "close() error, errno=%d\n", errno); + } + return eFrameworkunifiedStatusFail; + } + } + tot_read += read_size; + } + if (0 != close(fd)) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "close() error, errno=%d\n", errno); + return eFrameworkunifiedStatusFail; + } + } + return eFrameworkunifiedStatusOK; +} + +/** + * Writing data to memory device. + */ +EFrameworkunifiedStatus WriteNv(enum NvHalMedia media, const char *filename, uint8_t *buffer, uint32_t size) { + if ((media < NVHALMEDIA_CACHEDRAM) || (media > NVHALMEDIA_NAND)) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "invalid media type:%d\n", media); + return eFrameworkunifiedStatusInvldParam; + } + if (NULL == filename) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "filename is NULL.\n"); + return eFrameworkunifiedStatusInvldParam; + } + if (NULL == buffer) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "buffer is NULL.\n"); + return eFrameworkunifiedStatusInvldParam; + } + if (0 == size) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "invalid size:%d\n", size); + return eFrameworkunifiedStatusInvldParam; + } + char path[kMaxPath]; + memset(path, '\0', kMaxPath); + snprintf(path, kMaxPath, "%s%s", kMediaType[media], filename); + struct stat file_stat; + // Check file exists or not, mkdir first if file no exists. + if (0 > lstat(path, &file_stat)) { + char *dir_point = path; + char dir_buff[kMaxPath]; + dir_point++; + while ((dir_point = strchr(dir_point, '/'))) { + memset(dir_buff, '\0', kMaxPath); + memcpy(dir_buff, path, dir_point - path); + if (0 > mkdir(dir_buff, 0770)) { + if (EEXIST != errno) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "mkdir() error, errno=%d\n", errno); + return eFrameworkunifiedStatusFail; + } else { + dir_point++; + continue; + } + } + dir_point++; + } + } + int fd = open(path, O_WRONLY | O_CREAT | O_TRUNC, 0660); + if (-1 == fd) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "open(%s) error, errno=%d\n", path, errno); + return eFrameworkunifiedStatusFail; + } else { + size_t tot_written; + // Write data by support EINTR + for (tot_written = 0; tot_written < static_cast<size_t>(size);) { + ssize_t write_size = pwrite(fd, &buffer[tot_written], static_cast<size_t>(size) - tot_written, tot_written); + if (0 >= write_size) { + if (-1 == write_size && errno == EINTR) { + continue; + } else { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "pwrite() error, errno=%d\n", errno); + if (0 != close(fd)) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "close() error, errno=%d\n", errno); + } + return eFrameworkunifiedStatusFail; + } + } + tot_written += write_size; + } + if (0 != close(fd)) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "close() error, errno=%d\n", errno); + return eFrameworkunifiedStatusFail; + } + } + return eFrameworkunifiedStatusOK; +} + +/** + * Delete data. + */ +EFrameworkunifiedStatus DeleteNv(enum NvHalMedia media, const char *filename) { + if ((media < NVHALMEDIA_CACHEDRAM) || (media > NVHALMEDIA_NAND)) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "invalid media type:%d\n", media); + return eFrameworkunifiedStatusInvldParam; + } + if (NULL == filename) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "filename is NULL.\n"); + return eFrameworkunifiedStatusInvldParam; + } + + char path[kMaxPath]; + memset(path, '\0', kMaxPath); + snprintf(path, kMaxPath, "%s%s", kMediaType[media], filename); + struct stat file_stat; + + if (0 > lstat(path, &file_stat)) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "lstat() error, errno=%d\n", errno); + return eFrameworkunifiedStatusFail; + } + + if (0 != unlink(path)) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "unlink() error, errno=%d\n", errno); + return eFrameworkunifiedStatusFail; + } + + return eFrameworkunifiedStatusOK; +} diff --git a/hal/positioning_hal/LICENSE b/hal/positioning_hal/LICENSE new file mode 100755 index 0000000..f433b1a --- /dev/null +++ b/hal/positioning_hal/LICENSE @@ -0,0 +1,177 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. 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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. +# + +######### installed program/file ################ +TARGET := libpositioning_hal.so + +HEADER := hal_api/gps_hal.h hal_api/positioning_hal.h + +######### include paths/files ################### +CXXFLAGS += -I. +CXXFLAGS += -I./inc/Common +CXXFLAGS += -I./inc/GpsCommon +CXXFLAGS += -I./inc/LineSensDrv +CXXFLAGS += -I./hal_api/ +CXXFLAGS += -I$(SDKTARGETSYSROOT)/usr/agl/include/ +CXXFLAGS += -include $(SDKTARGETSYSROOT)/usr/agl/include/agl_types_obsoluted.h + + +######### compile options ####################### +CXXFLAGS += -Wall -fPIC +CXXFLAGS += -DLINUX -D__CWORD71__VEHICLE_ -D__CWORD71_ + +######### link options ########################## +LDFLAGS += -shared +LDFLAGS += -Wl,--no-as-needed +LDFLAGS += -Wl,--no-undefined +LDFLAGS += -L$(SDKTARGETSYSROOT)/usr/agl/lib + +RPATH := /usr/lib + +######### linked library ######################## +LIBS += -Wl,-Bdynamic -lstdc++ +LIBS += -Wl,-Bdynamic -lNS_FrameworkUnified +#LIBS += -Wl,-Bdynamic -lgps_mng +LIBS += -Wl,-Bdynamic -lPOS_base_API +LIBS += -Wl,-Bdynamic -lns_backup + +######### source files ########################## +VPATH := src/Common +VPATH += src/GpsCommon +VPATH += src/LineSensDrv + +OBJS += positioning_common.o +OBJS += positioning_hal.o +OBJS += MDev_Gps_API.o +OBJS += MDev_Gps_Main.o +OBJS += MDev_GpsRecv.o +OBJS += MDev_Gps_Nmea.o +OBJS += MDev_Gps_Common.o +OBJS += MDev_Gps_Mtrx.o +OBJS += MDev_Gps_TimerCtrl.o +OBJS += LineSensDrv_Sensor.o +OBJS += LineSensDrv_Thread.o +OBJS += LineSensDrv_Api.o +OBJS += MDev_GpsRollOver.o + +######### make targets ########################## +all: $(TARGET) + @echo $@ done. + +$(TARGET): $(OBJS) + $(CC) $(LDFLAGS) -Wl,-rpath=:$(RPATH) $(OBJS) $(LIBS) -o $(TARGET) + @echo $@ done. + +######### make cleans ########################### +GCNO_FILES := $(filter %.gcno,$(OBJS:%.o=%.gcno)) + +clean: + rm -f $(OBJS) $(TARGET) $(GCNO_FILES) + @echo $@ done. + +######### make installs ######################### +install: + install -d -m 0755 $(DESTDIR)/usr/lib + install -m 0755 $(TARGET) $(DESTDIR)/usr/lib + @echo $@ done. + + diff --git a/hal/positioning_hal/README.md b/hal/positioning_hal/README.md new file mode 100755 index 0000000..2d46d42 --- /dev/null +++ b/hal/positioning_hal/README.md @@ -0,0 +1,3 @@ +positioning_hal library +================== +Positioning HAL implementation library for AGL Reference Board. diff --git a/hal/positioning_hal/hal_api/gps_hal.h b/hal/positioning_hal/hal_api/gps_hal.h new file mode 100755 index 0000000..3321275 --- /dev/null +++ b/hal/positioning_hal/hal_api/gps_hal.h @@ -0,0 +1,932 @@ +/* + * @copyright Copyright (c) 2018-2020 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. + */ + +#ifndef HAL_API_GPS_HAL_H_ +#define HAL_API_GPS_HAL_H_ + +/** + * @file gps_hal.h + */ + +/** @addtogroup positioning + * @{ + */ +/** @addtogroup positioning_hal + * @ingroup positioning + * @{ + */ + +/*---------------------------------------------------------------------------*/ +// Include files + +#include <native_service/frameworkunified_types.h> +#include <vehicle_service/pos_message_header.h> +#include <vehicle_service/std_types.h> + +/*---------------------------------------------------------------------------*/ +// Value define + +typedef int32 RET_API; +typedef uint32_t DID; + +/************************************************************************* + * RET_API define + *************************************************************************/ +/*--- for message ---*/ +#define POS_TIMESTS_NG 0x00 +//!< \~english time has not been adjusted after GPS receiver reset(time input or master reset or CSF start) +#define POS_TIMESTS_RTC 0x01 +//!< \~english time output from RTC Backup(have time adjustment) +#define POS_TIMESTS_OK 0x02 //!< \~english time adjustment completed + +/* command ID */ +#define CID_POSIF_REGISTER_LISTENER_GPS_TIME 0x0201 +//!< \~english GPS time delivery command ID + +#define POS_DID_GPS__CWORD82__SETINITIAL 0x80000033 +//!< \~english data ID of setting initial location and time to GPS + +#define POS_DID_GPS__CWORD82__SETRMODEEX 0x80000035 +//!< \~english data ID of setting GPS receiver mode(pull extension sentence) + +#define POS_DID_GPS__CWORD82__SELSENT 0x80000036 +//!< \~english data ID of setting command to GPS that output any sentence + +/* NAVIINFO_RET_API */ +#define NAVIINFO_RET_NORMAL (0) //!< \~english normal finish +#define NAVIINFO_RET_ERROR_PARAM (-1) //!< \~english parameter error +#define NAVIINFO_RET_ERROR_INNER (-2) //!< \~english internal error +#define NAVIINFO_RET_ERROR_BUFFULL (-3) //!< \~english buffer full +#define NAVIINFO_RET_ERROR_NOSUPPORT (-4) //!< \~english no support +#define NAVIINFO_RET_ERROR_RESOURCE (-5) //!< \~english lack of resource + +/* Positioning Level/GPS Information Positioning Status Information Definition */ +#define NAVIINFO_DIAG_GPS_FIX_STS_NON (0) //!< \~english position not fix +#define NAVIINFO_DIAG_GPS_FIX_STS_2D (1) //!< \~english 2D position fix +#define NAVIINFO_DIAG_GPS_FIX_STS_3D (2) //!< \~english 3D position fix + +/* Reception status definition */ +#define NAVIINFO_DIAG_GPS_RCV_STS_NOTUSE (0) //!< \~english not used +#define NAVIINFO_DIAG_GPS_RCV_STS_SEARCHING (1) //!< \~english searching +#define NAVIINFO_DIAG_GPS_RCV_STS_TRACHING (2) //!< \~english tracking +#define NAVIINFO_DIAG_GPS_RCV_STS_NOTUSEFIX (3) //!< \~english not used for position fix +#define NAVIINFO_DIAG_GPS_RCV_STS_USEFIX (4) //!< \~english used for position fix + +/* GPS Response Status Definition */ +#define GPS_SENDOK 0 //!< \~english send result OK +#define GPS_SENDNG 1 //!< \~english send result NG + +/* GPS reset request mode definition */ +#define GPS_RST_COLDSTART 0xff +//!< \~english GPS reset request(cold start) + +#define RET_NORMAL 0 //!< \~english normally end + +#define RET_RCVMSG 1 //!< \~english receive message only +#define RET_RCVSIG 2 //!< \~english receive signal only +#define RET_RCVBOTH 3 //!< \~english receive message and signal +#define RET_NOMSG 4 //!< \~english receive no message + +#define RET_QUE 5 //!< \~english insert signal +#define RET_NOTQUE 6 //!< \~english do not insert signal +#define RET_PROCDOWN 7 //!< \~english sub process down found +#define RET_SLEEP 100 //!< \~english sleep time + + +#define RET_OSERROR (-127) //!< \~english OS system call error + +#define RET_ERROR (-1) +//!< \~english abnormally end(do not know reason) +#define RET_ERRPARAM (-2) //!< \~english parameter error +#define RET_ERRNOTRDY (-3) +//!< \~english port or semphore ID is not created +#define RET_ERRPROC (-4) //!< \~english error occurs in API process +#define RET_ERRTIMEOUT (-5) +//!< \~english timeout occurs but process unfinished +#define RET_ERRMSGFULL (-6) //!< \~english message table full + + +#define RET_ERROVERFLW (-7) +//!< \~english message size exceeds receive buffer size + +#define RET_ERRINIT (-8) //!< \~english abnormally initialization + +#define RET_EV_NONE (-20) //!< \~english event does not exist +#define RET_EV_MAX (-21) //!< \~english event value exceeds max value +#define RET_EV_MIN (-22) +//!< \~english event value is lower than min value + +/* POS_RET_API */ +#define POS_RET_NORMAL 0 //!< \~english normal finish +#define POS_RET_ERROR (-1) //!< \~english error occured +#define POS_RET_ERROR_DID (-2) //!< \~english data ID error +#define POS_RET_ERROR_INNER (-3) //!< \~english internal error +#define POS_RET_ERROR_PARAM (-4) //!< \~english parameter error +#define POS_RET_ERROR_BUFFULL (-5) //!< \~english buffer full error +#define POS_RET_ERROR_CREATE_EVENT (-6) //!< \~english create event error +#define POS_RET_ERROR_OUTOF_MEMORY (-8) +//!< \~english share memory allocation size error + +#define POS_RET_ERROR_SIZE (-9) //!< \~english memory size error +#define POS_RET_ERROR_TIMEOUT (-10) //!< \~english timeout error +#define POS_RET_ERROR_NOSUPPORT (-11) //!< \~english no support +#define POS_RET_ERROR_BUSY (-12) //!< \~english busy +#define POS_RET_ERROR_RESOURCE (-13) //!< \~english lack of resources +#define POS_RET_ERROR_MIN (-13) //!< \~english min value of error + + +#define NUM_OF_100msData (10) +//!< \~english number of gyro data every 100ms + + +#define CID_GPS_SERIAL1 (CID)0x0101 +//!< \~english Defination of notification about Gps Data has been receiced + +#define CID_GPS_SERIAL2 (CID)0x0102 //!< \~english notification about 1PPS interupt + + +#define CID_GPS_SERIAL3 (CID)0x0103 +//!< \~english Defination of SIF2 Data + +#define CID_GPS_SERIAL4 (CID)0x0104 +//!< \~english Defination of _CWORD82_ command send + +#define CID_GPS_SERIAL5 (CID)0x0105 +//!< \~english Defination of _CWORD82_ command send + +#define CID_GPS_SERIAL6 (CID)0x0106 +//!< \~english Defination of u-blox request data + +#define CID_GPS_SERIAL7 (CID)0x0107 +//!< \~english Defination of u-blox ack data + +#define CID_GPS_RECVDATA (CID)(CID_GPS_BASE | CID_GPS_SERIAL1) +//!< \~english gps data receiced CID + +#define CID_GPS_1PPSINT (CID)(CID_GPS_BASE | CID_GPS_SERIAL2) +//!< \~english 1PPS interupt CID + +#define CID_GPS_SIF2DATA (CID)(CID_GPS_BASE | CID_GPS_SERIAL3) +//!< \~english SIF2 Data CID + +/** + * \~english @brief _CWORD82_ command send CID + * \~english @brief Message structure\n + * \~english @brief Message buffer header structure @ref T_APIMSG_MSGBUF_HEADER\n + * \~english @brief Message header structure @ref T_APIMSG_HEADER\n + * \~english @brief Message main structure @ref TgGpsSndData\n + * \~english @brief Message data(Vehicle sensor information setting message) structure @ref VEHICLE_MSG_SEND_DAT\n + */ +#define CID_GPS__CWORD82__REQUEST (CID)(CID_GPS_BASE | CID_GPS_SERIAL4) + +#define CID_GPS_CYCLEDATA_PROV (CID)(CID_GPS_BASE | CID_GPS_SERIAL5) +//!< \~english Gps cycle data CID + +#define CID_GPS_RCV_REQUESTDATA (CID)(CID_GPS_BASE | CID_GPS_SERIAL6) +//!< \~english u-blox request data CID + +#define CID_GPS_RCV_ACKDATA (CID)(CID_GPS_BASE | CID_GPS_SERIAL7) +//!< \~english u-blox ack data CID + +#define CID_GPS_SERIAL8 (CID)0x0108 +//!< \~english Defination of Time Setting request + +#define CID_GPS_SERIAL9 (CID)0x0109 +//!< \~english Defination of Time Setting ack + +#define CID_GPS_SERIAL10 (CID)0x010A +//!< \~english Defination of back up data read request + +#define CID_GPS_SERIAL11 (CID)0x010B +//!< \~english Defination gps of week count request + +/** + * \~english @brief Defination of Time Setting request + * \~english @brief Message structure\n + * \~english @brief Message header structure @ref T_APIMSG_MSGBUF_HEADER\n + * \~english @brief Message body structure @ref TgGpsSndData\n + * \~english @brief Positioning information structure @ref POS_MSGINFO\n + * */ +#define CID_GPS_TIMESETTING (CID)(CID_GPS_BASE | CID_GPS_SERIAL8) + +/** + * \~english @brief Defination of Time Setting ack + * \~english @brief Message structure\n + * \~english @brief Message body structure @ref TG_GPS_RET_TIMESET_MSG\n + */ +#define CID_GPS_RETTIMESETTING (CID)(CID_GPS_BASE | CID_GPS_SERIAL9) + +/** + * \~english @brief Read backup data request CID + * \~english @brief When this command is received, the backup data is read.\n + * \~english @brief Message-Related Structures\n + * \~english @brief Message buffer header structure @ref T_APIMSG_MSGBUF_HEADER + */ +#define CID_GPS_BACKUPDATA_LOAD (CID)(CID_GPS_BASE | CID_GPS_SERIAL10) + +/** + * \~english @brief Gps Week count request CID + * \~english @brief Message structure\n + * \~english @brief Message buffer header structure @ref T_APIMSG_MSGBUF_HEADER\n + * \~english @brief Message header structure @ref T_APIMSG_HEADER\n + * \~english @brief Message data(Gps Week correction count notify message) structure @ref GpsWeekCorCntMsg\n + */ +#define CID_GPSWEEKCOR_CNT_NOTIFICATION (CID)(CID_GPS_BASE | CID_GPS_SERIAL11) + + + +/** + * \~english @brief GPS reset result delivery command ID + * \~english @brief If you want to catch above envents, use NSFW like below. + * \~english @code + * l_eStatus = FrameworkunifiedAttachCallbackToDispatcher(hThread, TN_POSITIONING_GPS, CID_POSIF_REQ_GPS_RESET, OnRecivePosResetMsg); + * @endcode + */ +#define CID_POSIF_REQ_GPS_RESET 0x0784 + +#define POSHAL_DID_GPS_CONNECT_ERROR 0x800000B5U +//!< \~english GPS receive error DID + +#define GPS_READ_LEN 316 +//!< \~english Gps NMEA FULLBINARY max length + +#define GPS_CMD_NMEA_GGA_SZ (71U) //!< \~english GGA +#define GPS_CMD_NMEA_DGGA_SZ (75U) //!< \~english double precison GGA +#define GPS_CMD_NMEA_VTG_SZ (37U) //!< \~english VTG +#define GPS_CMD_NMEA_RMC_SZ (61U) //!< \~english RMC +#define GPS_CMD_NMEA_DRMC_SZ (67U) //!< \~english double precison RMC +#define GPS_CMD_NMEA_GLL_SZ (44U) //!< \~english GLL +#define GPS_CMD_NMEA_DGLL_SZ (50U) //!< \~english double precison GLL +#define GPS_CMD_NMEA_GSA_SZ (66U) //!< \~english GSA +#define GPS_CMD_NMEA_GSV_SZ (70U) //!< \~english GSV +#define GPS_CMD_NMEA__CWORD44__GP_3_SZ (78U) //!< \~english _CWORD44_,GP,3 +#define GPS_CMD_NMEA__CWORD44__GP_4_SZ (25U) //!< \~english _CWORD44_,GP,4 +#define GPS_CMD_NMEA_P_CWORD82_F_GP_0_SZ (50U) //!< \~english _CWORD44_,GP,0 +#define GPS_CMD_NMEA_P_CWORD82_J_GP_1_SZ (31U) //!< \~english _CWORD44_,GP,1 +#define GPS_CMD_NMEA_P_CWORD82_I_GP_SZ (71U) //!< \~english P_CWORD82_I,GP +#define GPS_CMD_NMEA_P_CWORD82_E_GP_0_SZ (50U) //!< \~english P_CWORD82_E,GP,0 +#define GPS_CMD_NMEA_P_CWORD82_J_GP_0_SZ (63U) //!< \~english P_CWORD82_J,GP,0 +#define GPS_CMD_NMEA_P_CWORD82_E_GP_2_SZ (21U) //!< \~english P_CWORD82_E,GP,2 +#define GPS_CMD_NMEA_P_CWORD82_G_GP_0_SZ (34U) //!< \~english P_CWORD82_G,GP,0 +#define GPS_CMD_NMEA_P_CWORD82_J_GP_7_SZ (37U) //!< \~english P_CWORD82_J,GP,7 +#define GPS_CMD_NMEA_P_CWORD82_J_GP_8_SZ (45U) //!< \~english P_CWORD82_J,GP,8 +#define GPS_CMD_BINARY_SZ (81U) //!< \~english standard binary + +#define GPS_CMD_FULLBIN_SZ (316U) +//!< \~english FULL binary(GPS10 format) + +#define GPS_CMD_FULLBIN_VINFO (30U + 160U + 25U + 8U) +//!< \~english FULL bianry version + +#define GPS_NMEA_MAX_SZ (255U) //!< \~english NMEA max size +#define GPS_DATASIZE_RTC (13U) //!< \~english RTC Data size +#define GPS_NMEARCVSTS_SZ (1U) //!< \~english received NMEA size + +#define GPS_GPSANT_SZ (1U) //!< \~english gps antenna status size +#define GPS_SNSCNT_SZ (1U) //!< \~english Sensor Count value size + + +#define GPS_CMD_NMEA_PROV_SZ (GPS_CMD_NMEA_DRMC_SZ + GPS_CMD_NMEA_GSA_SZ + \ + (GPS_CMD_NMEA_GSV_SZ*3) + GPS_CMD_NMEA__CWORD44__GP_3_SZ) +//!< \~english NMEA size + +#define GPS_NMEA_SZ (GPS_NMEARCVSTS_SZ + GPS_GPSANT_SZ + GPS_SNSCNT_SZ + GPS_CMD_NMEA_PROV_SZ) +//!< \~english NEMA size + +#define GPS_FULLBIN_SZ (GPS_GPSANT_SZ + GPS_SNSCNT_SZ + GPS_CMD_FULLBIN_SZ) +//!< \~english FULLBIN size + +#define GPS__CWORD44_GP4_SZ (GPS_GPSANT_SZ + GPS_SNSCNT_SZ + GPS_CMD_NMEA__CWORD44__GP_4_SZ) +//!< \~english _CWORD44_GP4 size + +#define GPS_MSGDATA_SZ_MAX (512U) //!< \~english message maximum data size +#define GPS_TLGRM_LEN 253 //!< \~english message data length +#define GPS_MSG_VSINFO_DSIZE 1904 //!< \~english message body size + +#define POS_MSG_INFO_DSIZE 1028 //!< \~english message body maximum size + +/** + * @enum MdevGpsDataKind + * \~english enumeration of gps data kind + */ +typedef enum MdevGpsDataKind { + MDEV_GPS_DATA_RAWDATA_NMEA = 0, //!< \~english raw NMEA data of GPS + MDEV_GPS_DATA_RAWDATA_FULLBIN, //!< \~english raw binary data of GPS + MDEV_GPS_DATA_RAWDATA__CWORD44_GP4, //!< \~english raw _CWORD44_ data of GPS + MDEV_GPS_DATA_NAVISPEED, //!< \~english speed data + MDEV_GPS_DATA_CUSTOMDATA, //!< \~english position information + MDEV_GPS_DATA_GPSTIME, //!< \~english GPS time + MDEV_GPS_DATA_GPSTIME_RAW, //!< \~english raw time of GPS + MDEV_GPS_DATA_INITIAL //!< \~english initialize data +} MDEV_GPS_DATA_KIND; + +/** + * @struct NAVIINFO_UTCTIME + * \~english UTC time information structure + */ +typedef struct { + uint16_t year; //!< \~english year + uint8_t month; //!< \~english month + uint8_t date; //!< \~english day + uint8_t hour; //!< \~english hour + uint8_t minute; //!< \~english minute + uint8_t second; //!< \~english second + uint8_t reserved; //!< \~english reserve +} NAVIINFO_UTCTIME; + +/** + * @struct SENSORLOCATION_LONLATINFO_DAT + * \~english longitude and latitude information data + * - Get method(getMethod) + * - SENSOR_GET_METHOD_GPS - longitude and latitude from GPS + * - SENSOR_GET_METHOD_NAVI - longitude and latitude from Navigation + * - Synchrony count(SyncCnt) + * - Count for position data synchronous \n + * When delivery altitude and heading data, position data can be synchronized by SyncCnt.\n + * But the data of different method can not be synchronized by SyncCnt.\n + * Example 1: [LonLat from GPS] and [Heading from GPS] can be synchronized by SyncCnt.\n + * Example 2: [LonLat from GPS] and [LonLat from Navi] can not be synchronized by SyncCnt.\n + * Caution: The sensor count in sensor data delivery is another data. + * - Enable or not(isEnable) \n + * To describe this delivery message is whether can be used or not + * - 0 - not avaliable + * - not 0 - avaliable + * - when GPS data is specified,longitude and latitude is invalid at following condition:\n + * so [not avaliable] provieded + * - After system start, GPS unit has not received current location data and GPS unit \n + * status is not positioning fixed. + * - If it is not initialized status, certainly provide [avaliable] when Navigation data specified + * - If the status is [not avaliable], data following can not be guaranteed. + * - Position status(posSts) + * - It is valid only when "Get method is Navigation" and "evironment is _CWORD80_".(otherwise it will be set as 0) + * - Bit0 : GPS data used result(1:used, 0:not used, definition of maskbit:POS_LOC_INFO_USE_GSP) + * - Bit1 : DGPS data used result(1:used, 0:not used, definition of maskbit:POS_LOC_INFO_USE_DGPS) + * - Bit3 : MapMatching data used result(1:used, 0:not used, definition of \n + * maskbit:POS_LOC_INFO_USE_MAPMATCHING) + * - Position accuracy(posAcc) + * - Detected accruray of current position:1LSB=1m \n + * - It is valid only when "Get method is Navigation" and "evironment is _CWORD80_".(otherwise it will be set as 0)\n + * 0000H:0m \n + * 0001H:1m \n + * :\n + * FFFDH:65533m \n + * FFFEH:65534m and larger than 65534m \n + * FFFFH:no data + * - Longitude : (WGS-84)(10^ -7degree as 1) \n + * East longitude is positive value and west longitude is negative value. + * - Latitude : (WGS-84)(10^ -7degree as 1) \n + * North latitude positive value and south latitude is negative value. + */ +typedef struct { + uint8_t getMethod; //!< \~english get method + uint8_t SyncCnt; //!< \~english Synchrony count + uint8_t isEnable; //!< \~english enable or not + uint8_t posSts; //!< \~english position status + uint16_t posAcc; //!< \~english position accuracy + int32_t Longitude; //!< \~english longitude(10^-7degree) + //!< \~english max: +180.0000000degree[east longitude] + //!< \~english min: -170.9999999degree[west longitude] + int32_t Latitude; //!< \~english latitude(10^-7degree) + //!< \~english max: +90.0000000degree[north Latitude] + //!< \~english min: -90.0000000degree[south Latitude] +} SENSORLOCATION_LONLATINFO_DAT; + + +/** + * @struct SENSORLOCATION_ALTITUDEINFO_DAT + * \~english altitude information data + * - Get method(getMethod) + * - SENSOR_GET_METHOD_GPS - altitude from GPS + * - SENSOR_GET_METHOD_NAVI - altitude from Navigation + * - Synchrony count(SyncCnt) + * - Count for position data synchronous \n + * When delivery altitude and heading data, position data can be synchronized by SyncCnt. \n + * But the data of different method can not be synchronized by SyncCnt.\n + * example 1: [longitude and latitude from GPS] and [heading from GPS] can be synchronized by SyncCnt.\n + * example 2: [longitude and latitude from GPS] and [longitude and latitude from Navi] can not be + * synchronized by SyncCnt. \n + * Caution: The sensor count in sensor data delivery is another data. + * - Enable or not(isEnable) \n + * To describe this delivery message is whether can be used or not. + * - 0 - not avaliable + * - not 0 - avaliable + * - when GPS data specified, Altitude is invalid at following condition(so [not avaliable] provieded): + * - Immediately after system start, GPS unit has not received current location data and GPS unit status \n + * is not positioning fix + * - If it is not initialization status, certainly provide [avaliable] when Navi data specified + * - If the status is [not avaliable], data following can not be guaranteed. + * - Altitude + * - altitude data(unit 0.01m) + */ +typedef struct { + uint8_t getMethod; //!< \~english get method + uint8_t SyncCnt; //!< \~english Synchrony count + uint8_t isEnable; //!< \~english enable or not + uint8_t Reserved[3]; //!< \~english reserve + int32_t Altitude; //!< \~english altitude(0.01m) +} SENSORLOCATION_ALTITUDEINFO_DAT; + + +/** + * @struct SENSORMOTION_HEADINGINFO_DAT + * \~english heading information data + * - Get method(getMethod) + * - SENSOR_GET_METHOD_GPS - Heading from GPS + * - SENSOR_GET_METHOD_NAVI - Heading from Navi + * - Synchrony count(SyncCnt) + * - Count for position data synchronous \n + * When delivery altitude and heading data, position data can be synchronized by this count. \n + * But the data of different method can not be synchronized by this count.\n + * example 1: [longitude and latitude from GPS] and [heading from GPS] can be synchronized by the count. \n + * example 2: [longitude and latitude from GPS] and [longitude and latitude from Navi] can not be \n + * synchronized by the count. \n + * Caution: The sensor count in sensor data delivery is another data. + * - Enable or not(isEnable) \n + * To describe this data is whether enable or not + * - 0 - not avaliable + * - not 0 - avaliable + * - Heading is invalid at following condition when GPS data specified, so [not avaliable] provieded \n + * - Immediately after system start, GPS unit has not received current location data and GPS unit status \n + * is not positioning fix + * - If it is not initialization status, certainly provide [avaliable] when Navi data specified + * - If the status is [not avaliable], data following can not be guaranteed. + * - Position status(posSts) + * - It is valid only when "Get method is Navi" and "evironment is _CWORD80_".(otherwise it will be set as 0) + * - Bit0 : GPS data used result(1:used, 0:not used, definition of maskbit:POS_LOC_INFO_USE_GSP) + * - Bit1 : DGPS data used result(1:used, 0:not used, definition of maskbit:POS_LOC_INFO_USE_DGPS) + * - Bit3 : MapMatching data used result(1:used, 0:not used, definition of \n + * maskbit:POS_LOC_INFO_USE_MAPMATCHING) + * - Heading + * - Heading data(0.01degree as 1, based on north and clockwise count)\n + * But in environment _CWORD95_/_CWORD101___CWORD84_,the heading from Navi is a approximate that separate 360 degree \n + * into 16 part. \n + * example: 0, 2300, 4500, ..., 31500, 33800 + */ +typedef struct { + uint8_t getMethod; //!< \~english get method + uint8_t SyncCnt; //!< \~english Synchrony count + uint8_t isEnable; //!< \~english enable or not + uint8_t posSts; //!< \~english position status + uint8_t Reserved1[2]; //!< \~english reserve + uint16_t Heading; //!< \~english heading(0.01degree) + //!< \~english max: 359.99 degree + //!< \~english min: 0.00 degree + uint8_t Reserved2[2]; //!< \~english reserve +} SENSORMOTION_HEADINGINFO_DAT; + +/** + * @struct NAVIINFO_DIAG_GPS_FIX_CNT + * \~english position fix count data structure + */ +typedef struct { + uint32_t ulCnt3d; //!< \~english position fix count:3D + uint32_t ulCnt2d; //!< \~english position fix count:2D + uint32_t ulCntElse; //!< \~english position fix count:not fix +} NAVIINFO_DIAG_GPS_FIX_CNT; + +/** + * @struct NAVIINFO_DIAG_GPS_FIX_XYZ + * \~english longitude and latitude data structure + */ +typedef struct { + int32_t lLat; //!< \~english GPS latitude + int32_t lLon; //!< \~english GPS longitude +} NAVIINFO_DIAG_GPS_FIX_XYZ; + +/** + * @struct NAVIINFO_DIAG_GPS_FIX + * \~english position fix information structure + */ +typedef struct { + uint8_t ucFixSts; //!< \~english fix status + uint8_t ucReserve[3]; //!< \~english reserve + NAVIINFO_DIAG_GPS_FIX_CNT stCnt; //!< \~english fix count data + NAVIINFO_DIAG_GPS_FIX_XYZ stWgs84; //!< \~english longitude and latitude data +} NAVIINFO_DIAG_GPS_FIX; + +/** + * @struct NAVIINFO_DIAG_GPS_PRN + * \~english satellite information structure + * - reception status(ucRcvSts) + * - NAVIINFO_DIAG_GPS_RCV_STS_NOTUSE : not used + * - NAVIINFO_DIAG_GPS_RCV_STS_SEARCHING : searching + * - NAVIINFO_DIAG_GPS_RCV_STS_TRACHING : tracking + * - NAVIINFO_DIAG_GPS_RCV_STS_NOTUSEFIX : not used for position fix + * - NAVIINFO_DIAG_GPS_RCV_STS_USEFIX : used for position fix + */ +typedef struct { + uint8_t ucRcvSts; //!< \~english reception status + uint8_t ucPrn; //!< \~english satellite No. + uint8_t ucelv; //!< \~english satellite dramatic angle + uint8_t ucLv; //!< \~english satellite signal level + uint16_t usAzm; //!< \~english satellite azimuth + uint8_t ucReserve[2]; //!< \~english reserve +} NAVIINFO_DIAG_GPS_PRN; + +/** + * @struct NAVIINFO_DIAG_GPS_SAT + * \~english all satellite information structure + */ +typedef struct { + NAVIINFO_DIAG_GPS_PRN stPrn[12]; //!< \~english all satellite information +} NAVIINFO_DIAG_GPS_SAT; + +/** + * @struct NAVIINFO_DIAG_GPS + * \~english position fixed and satellite information structure + */ +typedef struct { + NAVIINFO_DIAG_GPS_FIX stFix; //!< \~english position fixed information + NAVIINFO_DIAG_GPS_SAT stSat; //!< \~english all satellite information +} NAVIINFO_DIAG_GPS; + +/** + * @struct NAVIINFO_NAVI_GPS + * \~english other GPS related information structure + * - altitude(altitude) \n + * As the altitude is used as unit [0.01m] in internal, \n + * the altitude data range is (-21,474,839~21,474,839). + * - UTC(utc) + * - The time set after rollover. + * - date and time status(tdsts) + * - 0= time has not been adjusted after GPS receiver reset(time input or master reset or CSF start) + * - 1= time output from RTC Backup(have time adjustment result) + * - 2= time adjustment completed + */ +typedef struct { + int32_t altitude; //!< \~english altitude + uint16_t speed; //!< \~english speed + uint16_t heading; //!< \~english heading + NAVIINFO_UTCTIME utc; //!< \~english UTC time + uint8_t tdsts; //!< \~english date and time status + uint8_t reserve[3]; //!< \~english reserve +} NAVIINFO_NAVI_GPS; + +/** + * @struct NAVIINFO_ALL + * \~english Navi data structure + */ +typedef struct { + uint8_t ucSensorCnt; //!< \~english sensor count + uint8_t reserve[3]; //!< \~english reserve + NAVIINFO_DIAG_GPS stDiagGps; //!< \~english position fix related information + NAVIINFO_NAVI_GPS stNaviGps; //!< \~english other GPS related information +} NAVIINFO_ALL; + +/** + * @struct POS_MSGINFO + * \~english message delivery positioning sensor information + */ +typedef struct { + DID did; //!< \~english data ID + PNO pno; //!< \~english delivery destination PNO + uint16_t size; //!< \~english data body size + uint8_t rcv_flag; //!< \~english received flag + uint8_t reserve; //!< \~english reserve + uint8_t data[POS_MSG_INFO_DSIZE]; //!< \~english data body +} POS_MSGINFO; + +/** + * @struct SENSOR_GPSTIME + * \~english GPS time information + * - date amd time status(tdsts) + * - 0= time has not been adjusted after GPS receiver reset(time input or master reset or CSF start) + * - 1= time output from RTC Backup(have time adjustment result) + * - 2= time adjustment completed + */ +typedef struct { + NAVIINFO_UTCTIME utc; //!< \~english UTC time + uint8_t tdsts; //!< \~english time status + uint8_t reserve[3]; //!< \~english reserve +} SENSOR_GPSTIME; + +#define SENSOR_MSG_GPSTIME SENSOR_GPSTIME //!< \~english GPS time information +#define SENSOR_GPSTIME_RAW SENSOR_GPSTIME //!< \~english GPS time information + +/** + * @struct MdevGpsCustomData + * \~english Struct of Gps custom data + */ +typedef struct MdevGpsCustomData { + MDEV_GPS_DATA_KIND e_kind; //!< \~english kind + SENSORLOCATION_LONLATINFO_DAT st_lonlat; //!< \~english longtitude,latitude + SENSORLOCATION_ALTITUDEINFO_DAT st_altitude; //!< \~english altitude + SENSORMOTION_HEADINGINFO_DAT st_heading; //!< \~english headings + SENSOR_MSG_GPSTIME st_gps_time; //!< \~english Gps Time + NAVIINFO_DIAG_GPS st_diag_gps; //!< \~english Gps data from diag +} MDEV_GPS_CUSTOMDATA; + +/** + * @struct MdevGpsCustomDataMgs + * \~english Struct of Gps custom data message + */ +typedef struct MdevGpsCustomDataMgs { + T_APIMSG_MSGBUF_HEADER h_dr; //!< \~english header + MDEV_GPS_CUSTOMDATA st_data; //!< \~english Gps Custom Data +} MDEV_GPS_CUSTOMDATA_MGS; + +/** + * @struct MdevGpsRtc + * \~english Struct of Gps RTC data + */ +typedef struct MdevGpsRtc { + u_int32 ul_retsts; //!< \~english return status + u_int8 uc_datalen; //!< \~english data length + u_int8 uc_ctrlcode; //!< \~english control code + u_int8 uc_bcd_year; //!< \~english year + u_int8 uc_bcd_month; //!< \~english month + u_int8 uc_bcd_day; //!< \~english day + u_int8 uc_bcd_hour; //!< \~english hour + u_int8 uc_bcd_min; //!< \~english minute + u_int8 uc_bcd_sec; //!< \~english second + u_int8 uc_status; //!< \~english status + u_int8 u_reserve[3]; //!< \~english reserve +} MDEV_GPS_RTC; + +/** + * @struct MdevGpsGpsTime + * \~english Struct of Gps Time + */ +typedef struct MdevGpsGpsTime { + MDEV_GPS_DATA_KIND e_kind; //!< \~english kind + MDEV_GPS_RTC st_rtc_data; //!< \~english Gps Time +} MDEV_GPS_GPSTIME; + +/** + * @struct MdevGpsGpsTimeMgs + * \~english Struct of Gps Time message + */ +typedef struct MdevGpsGpsTimeMgs { + T_APIMSG_MSGBUF_HEADER h_dr; //!< \~english header + MDEV_GPS_GPSTIME st_data; //!< \~english Gps Time Data +} MDEV_GPS_GPSTIME_MGS; + +/** + * @struct DevGpsUtcTime + * \~english Struct of Gps UTC time + */ +typedef struct DevGpsUtcTime { + u_int16 us_year; //!< \~english Year + u_int8 uc_month; //!< \~english month + u_int8 uc_date; //!< \~english day + u_int8 uc_hour; //!< \~english hour + u_int8 uc_minute; //!< \~english minute + u_int8 uc_second; //!< \~english second + u_int8 u_reserved; //!< \~english reserve +} DEV_GPS_UTCTIME; + +/** + * @enum MdevGpsFixSts + * \~english enumeration of gps fix status + */ +typedef enum MdevGpsFixSts { + MDEV_GPS_NOTFIX = 0, //!< \~english not fix + MDEV_GPS_FIX //!< \~english fix +} MDEV_GPS_FIX_STS; + +/** + * @struct MdevGpsNmea + * \~english Struct of gps NMEA Data + */ +typedef struct MdevGpsNmea { + u_int8 uc_nmea_data[GPS_MSG_VSINFO_DSIZE]; //!< \~english NMEA Data +} MDEV_GPS_NMEA; + +/** + * @struct MdevGpsFullbin + * \~english Struct of Gps full bin data + */ +typedef struct MdevGpsFullbin { + u_int8 uc_fullbin_data[GPS_FULLBIN_SZ]; //!< \~english gps full bin data + u_int8 u_reserve[3]; //!< \~english reserve +} MDEV_GPS_FULLBIN; + +/** + * @struct MdevGps_CWORD44_gp4 + * \~english Struct of Gps _CWORD44_GP4 data + */ +typedef struct MdevGps_CWORD44_gp4 { + u_int8 uc__CWORD44_gp4_data[GPS__CWORD44_GP4_SZ]; //!< \~english gps _CWORD44_GP4 data + u_int8 u_reserve; //!< \~english reserve +} MDEV_GPS__CWORD44_GP4; + +/** + * @struct MdevGpsCycledata + * \~english Struct of Gps cycle data + */ +typedef struct MdevGpsCycledata { + MDEV_GPS_DATA_KIND e_kind; //!< \~english kind + u_int8 uc_data[GPS_MSGDATA_SZ_MAX - sizeof(MDEV_GPS_DATA_KIND)]; //!< \~english data +} MDEV_GPS_CYCLEDATA; + +/** + * @struct MdevGpsCycledataMsg + * \~english Struct of Gps cycle data message + */ +typedef struct MdevGpsCycledataMsg { + T_APIMSG_MSGBUF_HEADER h_dr; //!< \~english header + MDEV_GPS_CYCLEDATA st_data; //!< \~english data +} MDEV_GPS_CYCLEDATA_MSG; + +/** + * @struct MdevGpsRawdataNmea + * \~english Struct of Gps NMEA Raw Data + */ +typedef struct MdevGpsRawdataNmea { + MDEV_GPS_DATA_KIND e_kind; //!< \~english kind + MDEV_GPS_NMEA st_nmea_data; //!< \~english NMEA Data +} MDEV_GPS_RAWDATA_NMEA; + +/** + * @struct MdevGpsRawdataNmeaMsg + * \~english Struct of Gps NMEA Raw Data message + */ +typedef struct MdevGpsRawdataNmeaMsg { + T_APIMSG_MSGBUF_HEADER h_dr; //!< \~english header(see vs-positioning-base-library) + MDEV_GPS_RAWDATA_NMEA st_data; //!< \~english data +} MDEV_GPS_RAWDATA_NMEA_MSG; + +/** + * @struct MdevGpsRawdataFullbin + * \~english Struct of Gps Full Bin Raw Data + */ +typedef struct MdevGpsRawdataFullbin { + MDEV_GPS_DATA_KIND e_kind; //!< \~english kind + MDEV_GPS_FULLBIN st_fullbin_data; //!< \~english Full Binary Data +} MDEV_GPS_RAWDATA_FULLBIN; + +/** + * @struct MdevGpsRawdataFullbinMsg + * \~english Struct of Gps Full Bin Raw Data message + */ +typedef struct MdevGpsRawdataFullbinMsg { + T_APIMSG_MSGBUF_HEADER h_dr; //!< \~english header + MDEV_GPS_RAWDATA_FULLBIN st_data; //!< \~english Gps Full Bin Data +} MDEV_GPS_RAWDATA_FULLBIN_MSG; + +/** + * @struct MdevGpsRawdata_CWORD44_gp4 + * \~english Struct of Gps _CWORD44_GP4 Raw Data + */ +typedef struct MdevGpsRawdata_CWORD44_gp4 { + MDEV_GPS_DATA_KIND e_kind; //!< \~english kind + MDEV_GPS__CWORD44_GP4 st__CWORD44_gp4; //!< \~english Gps _CWORD44_GP4 Data +} MDEV_GPS_RAWDATA__CWORD44_GP4; + +/** + * @struct MdevGpsRawdata_CWORD44_gp4Msg + * \~english Struct of Gps _CWORD44_GP4 Raw Data message + */ +typedef struct MdevGpsRawdata_CWORD44_gp4Msg { + T_APIMSG_MSGBUF_HEADER h_dr; //!< \~english header + MDEV_GPS_RAWDATA__CWORD44_GP4 st_data; //!< \~english Gps _CWORD44_GP4 Raw Data +} MDEV_GPS_RAWDATA__CWORD44_GP4_MSG; + +/** + * @struct SENSORMOTION_SPEEDINFO_DAT + * \~english speed information data + * - Get method(getMethod) + * - SENSOR_GET_METHOD_POS - The speed calculated in positioning based on speed pulse will be deliveried. + * - SENSOR_GET_METHOD_NAVI - speed from Navi + * - Synchrony count(SyncCnt) + * - 0 (not change). + * - Enable or not(isEnable) \n + * To describe this data is whether enable or not + * - 0 - not avaliable + * - not 0 - avaliable + * - Speed is invalid at following condition when speed pulse specified, so [not avaliable] provieded + * - Immediately after system start, the sensor data have not been received from SYS micon + * - If it is not initialization status, certainly provide [avaliable] when Navi data specified + * - If the status is [not avaliable], data following can not be guaranteed. + * - Speed + * - speed data(unit 0.01m/sec) + */ +typedef struct { + uint8_t getMethod; //!< \~english get method + uint8_t SyncCnt; //!< \~english Synchrony count + uint8_t isEnable; //!< \~english enable or not + uint8_t Reserved1[3]; //!< \~english reserve + uint16_t Speed; //!< \~english speed(0.01m/sec) + uint8_t Reserved2[2]; //!< \~english reserve +} SENSORMOTION_SPEEDINFO_DAT; + +/** + * @struct MdevGpsNavispeed + * \~english Struct of Gps speed data + */ +typedef struct MdevGpsNavispeed { + MDEV_GPS_DATA_KIND e_kind; //!< \~english kind + u_int16 us_speed_kmph; //!< \~english Speed(km/h) + u_int8 u_reserve[2]; //!< \~english reserve + SENSORMOTION_SPEEDINFO_DAT st_speed; //!< \~english speed data +} MDEV_GPS_NAVISPEED; + +/** + * @struct MdevGpsNavispeedMsg + * \~english Struct of Gps speed data message + */ +typedef struct MdevGpsNavispeedMsg { + T_APIMSG_MSGBUF_HEADER h_dr; //!< \~english header + MDEV_GPS_NAVISPEED st_data; //!< \~english Gps Speed Data +} MDEV_GPS_NAVISPEED_MSG; + +/** + * @struct TgGpsSndData + * \~english Struct of _CWORD82_ Gps send data + */ +typedef struct TgGpsSndData { + uint8_t reserve[4]; //!< \~english reserve + u_int16 us_size; //!< \~english send data length + u_int8 ub_data[502]; //!< \~english send data +} TG_GPS_SND_DATA; + +/** + * @struct TgGpsRetPram + * \~english Gps Response data + */ +typedef struct TgGpsRetPram { + unsigned int ret_status; //!< \~english response flag + unsigned char data_len; //!< \~english data size + unsigned char ctrl_code; //!< \~english control code + unsigned char gps_data[GPS_TLGRM_LEN]; //!< \~english data contents +} TG_GPS_RET_PRAM; + +/** + * @struct SensorWknRollOverHal + * \~english Struct of GPS week number + */ +typedef struct SensorWknRollOverHal { + uint16_t us_wkn; //!< \~english GPS week number +} SENSOR_WKN_ROLLOVER_HAL; + +/** + * @struct POS_DATETIME + * \~english GPS time information structure + */ +typedef struct { + uint16_t year; //!< \~english year + uint8_t month; //!< \~english month + uint8_t date; //!< \~english day + uint8_t hour; //!< \~english hour + uint8_t minute; //!< \~english minute + uint8_t second; //!< \~english second + uint8_t reserved; //!< \~english reserve +} POS_DATETIME; + +/** + * @struct TG_GPS_RET_RESET + * \~english GPS reset status + */ +typedef struct { + unsigned long ret_rst_status; //!< \~english response GPS reset status +} TG_GPS_RET_RESET; + +/** + * @struct TG_GPS_RET_RESET_MSG + * \~english GPS reset information message + */ +typedef struct { + TG_GPS_RET_RESET data; //!< \~english GPS reset status data +} TG_GPS_RET_RESET_MSG; + +/** + * @struct VEHICLE_MSG_SEND_DAT + * \~english Vehicle information setting message structure + */ +typedef struct { + DID did; //!< \~english Data ID + u_int16 size; //!< \~english Data size + u_int8 data[502]; //!< \~english Data +} VEHICLE_MSG_SEND_DAT; + +/** + * @struct GpsWeekCorCntMsg + * \~english Gps Week correction count notify message structure + */ +typedef struct GpsWeekCorCntMsg { + T_APIMSG_MSGBUF_HEADER stHead; //!< \~english Message header + u_int8 gpsweekcorcnt; //!< \~english Gps Week correction count + int8 dummy[3]; //!< \~english Alignment adjustment +} CLOCKGPS_GPSWEEKCOR_CNT_MSG; + +/** @}*/ // end of positioning_hal +/** @}*/ // end of positioning + +/*---------------------------------------------------------------------------*/ +#endif // HAL_API_GPS_HAL_H_ + +/*---------------------------------------------------------------------------*/ +/*EOF*/ diff --git a/hal/positioning_hal/hal_api/positioning_hal.h b/hal/positioning_hal/hal_api/positioning_hal.h new file mode 100755 index 0000000..8a74b81 --- /dev/null +++ b/hal/positioning_hal/hal_api/positioning_hal.h @@ -0,0 +1,872 @@ +/* + * @copyright Copyright (c) 2018-2020 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. + */ + +#ifndef HAL_API_POSITIONING_HAL_H_ +#define HAL_API_POSITIONING_HAL_H_ + +/** + * @file positioning_hal.h + */ + +/** @addtogroup positioning + * @{ + */ +/** @addtogroup positioning_hal + * @ingroup positioning + * @{ + */ + +/*---------------------------------------------------------------------------*/ +// Include files + +#include <native_service/frameworkunified_types.h> +#include <vehicle_service/pos_message_header.h> +#include <vehicle_service/std_types.h> + +/*---------------------------------------------------------------------------*/ +// Value define + +#define POSHAL_THREAD_NAME_SENS "POS_Sens" +//!< \~english Thread name for receive sensor +#define POSHAL_THREAD_NAME_GPS_MAIN "POS_Gps" +//!< \~english Thread name for GPS NMEA analysis and delivery message +#define POSHAL_THREAD_NAME_GPS_RECV "POS_Gps_Recv" +//!< \~english Thread name for receive GPS +#define POSHAL_THREAD_NAME_GPS_ROLOVR "POS_Gps_Rolovr" +//!< \~english Thread name for monitoring GPS rollover + +#define POSHAL_DID_SNS_COUNTER 0x8000001A +//!< \~english Data ID of sensor counter +#define POSHAL_DID_SPEED_PULSE 0x80000012 +//!< \~english Data ID of speed pulse +#define POSHAL_DID_SPEED_PULSE_FLAG 0x80000076 +//!< \~english Data ID of speed pulse flag +#define POSHAL_DID_SPEED_PULSE_FST 0x80000028 +//!< \~english Data ID of first time speed pulse +#define POSHAL_DID_SPEED_PULSE_FLAG_FST 0x8000007D +//!< \~english Data ID of first time speed pulse flag +#define POSHAL_DID_SPEED_KMPH 0x80000013 +//!< \~english Data ID of KMPH speed +#define POSHAL_DID_PULSE_TIME 0x8000003A +//!< \~english Data ID of pulse time +#define POSHAL_DID_GYRO_X 0x80000014 +//!< \~english Data ID of X axis of gyro +#define POSHAL_DID_GYRO_Y 0x80000085 +//!< \~english Data ID of Y axis of gyro +#define POSHAL_DID_GYRO_Z 0x80000086 +//!< \~english Data ID of Z axis ofgyro +#define POSHAL_DID_GYRO POSHAL_DID_GYRO_X +//!< \~english Data ID of gyro +#define POSHAL_DID_GYRO_X_FST 0x80000029 +//!< \~english Data ID of first time X axis gyro +#define POSHAL_DID_GYRO_Y_FST 0x80000043 +//!< \~english Data ID of first time Y axis gyro +#define POSHAL_DID_GYRO_Z_FST 0x80000023 +//!< \~english Data ID of first time Z axis gyro +#define POSHAL_DID_GYRO_FST POSHAL_DID_GYRO_X_FST +//!< \~english Data ID of first time gyro +#define POSHAL_DID_GYRO_EXT 0x80000027 +//!< \~english Data ID of extend gyro +#define POSHAL_DID_GYRO_TEMP 0x80000090 +//!< \~english Data ID of gyro temperature +#define POSHAL_DID_GYRO_TEMP_FST 0x80000091 +//!< \~english Data ID of first time gyro temperature +#define POSHAL_DID_REV 0x80000017 +//!< \~english Data ID of reverse signal +#define POSHAL_DID_REV_FST 0x8000007E +//!< \~english Data ID of first time reverse signal +#define POSHAL_DID_GSNS_X 0x80000015 +//!< \~english Data ID of x axis gsensor +#define POSHAL_DID_GSNS_Y 0x80000016 +//!< \~english Data ID of Y axis gsensor +#define POSHAL_DID_GSNS_Z 0x80000026 +//!< \~english Data ID of Z axis gsensor +#define POSHAL_DID_GSNS_X_FST 0x80000087 +//!< \~english Data ID of first time x axis gsensor +#define POSHAL_DID_GSNS_Y_FST 0x80000088 +//!< \~english Data ID of first time Y axis gsensor +#define POSHAL_DID_GSNS_Z_FST 0x80000089 +//!< \~english Data ID of first time Z axis gsensor +#define POSHAL_DID_GPS_NMEA 0x8000009AU +//!< \~english Data ID of GPS NMEA sentence +#define POSHAL_DID_GPS_ANTENNA 0x80000019 +//!< \~english Data ID of GPS antenna status +#define POSHAL_DID_GPS_CUSTOMDATA 0x80000094U +//!< \~english Data ID of GPS custom data +#define POSHAL_DID_GPS_CUSTOMDATA_NAVI 0x800000A0 +//!< \~english Data ID of GPS custom data for navi +#define POSHAL_DID_GPS_TIME 0x80000098 +//!< \~english Data ID of GPS time +#define POSHAL_DID_GPS_TIME_RAW 0x800000B1U +//!< \~english Data ID of GPS raw time +#define POSHAL_DID_GPS_VERSION 0x8000001E +//!< \~english Data ID of GPS version +#define POSHAL_DID_GPS__CWORD82___CWORD44_GP4 0x80000031U +//!< \~english Data ID of _CWORD82_ GPS _CWORD44_GP4 data +#define POSHAL_DID_GPS__CWORD82__FULLBINARY 0x80000032U +//!< \~english Data ID of _CWORD82_ GPS full binary data +#define POSHAL_DID_GPS_WKNROLLOVER 0x800000B2U +//!< \~english Data ID of GPS week counter +#define POSHAL_DID_GPS_CLOCK_DRIFT 0x800000B3U +//!< \~english Data ID of GPS time drift data +#define POSHAL_DID_GPS_CLOCK_FREQ 0x800000B4U +//!< \~english Data ID of GPS time frequency data +#define POSHAL_DID_GPS_INTERRUPT_FLAG 0x80000077 +//!< \~english Data ID of GPS interrupt flag + +#define CONFIG_SENSOR_EXT_VALID 1 //!< \~english for first sensor + +#define CID_LINESENS_VEHICLE_DATA 0x0300 //!< \~english vehicle notify ID + +/** + * \~english @brief LineSensor Vehicle Signal Notification + * \~english @brief This command is sent when LineSensor vehicle signals are notified when sensor data is received.\n + * \~english @brief Message related structure @ref LsdrvMsgLsdataG\n + * \~english @brief Message buffer header structure @ref T_APIMSG_MSGBUF_HEADER\n + * \~english @brief Message header structure @ref T_APIMSG_HEADER\n + * \~english @brief Message body structure @ref LsdrvMsgLsdataDatG\n + * \~english @brief Message body (vehicle signal notification message information) structure @ref LsdrvLsdataG\n + */ +#define CID_LINESENS_VEHICLE_DATA_G 0x0303 + +/** + * \~english @brief Gyro Failure Status Notification + * \~english @brief This command is sent when giro failure status is notified.\n + * \~english @brief Message related structure @ref LsdrvMsgLsdataGyroTrouble\n + * \~english @brief Message buffer header structure @ref T_APIMSG_MSGBUF_HEADER\n + * \~english @brief Message header structure @ref T_APIMSG_HEADER\n + * \~english @brief Message body structure @ref LsdrvMsgLsdataDatGyroTrouble\n + */ +#define CID_LINESENS_VEHICLE_DATA_GYRO_TROUBLE 0x0304 + +/** + * \~english @brief Get SYS GPS Interrupt Signals + * \~english @brief This command is sent when SYS GPS interrupt signal is acquired.\n + * \~english @brief Message related structure @ref LsdrvMsgLsdataGpsInterruptSignal\n + * \~english @brief Message buffer header structure @ref T_APIMSG_MSGBUF_HEADER\n + * \~english @brief Message header structure @ref T_APIMSG_HEADER\n + * \~english @brief Message body structure @ref LsdrvMsgLsdataDatGpsInterruptSignal\n + */ +#define CID_LINESENS_VEHICLE_DATA_SYS_GPS_INTERRUPT_SIGNAL 0x0305 + + +/** + * \~english @brief Gyro Connection Status Notification + * \~english @brief This command is sent when giro connection status is notified.\n + * \~english @brief Message related structure @ref LsdrvMsgLsdataGyroConnectStatus\n + * \~english @brief Message buffer header structure @ref T_APIMSG_MSGBUF_HEADER\n + * \~english @brief Message header structure @ref T_APIMSG_HEADER\n + * \~english @brief Message body structure @ref LsdrvMsgLsdataDatGyroConnectStatus\n + */ +#define CID_LINESENS_VEHICLE_DATA_GYRO_CONNECT_STATUS 0x0306 + + +/** + * \~english @brief GPS Antenna Connection Status Notification + * \~english @brief This command is sent when the GPS antenna connection status is notified.\n + * \~english @brief Message related structure @ref LsdrvMsgLsdataGpsAntennaStatus\n + * \~english @brief Message buffer header structure @ref T_APIMSG_MSGBUF_HEADER\n + * \~english @brief Message header structure @ref T_APIMSG_HEADER\n + * \~english @brief Message body structure @ref LsdrvMsgLsdataDatGpsAntennaStatus\n + */ +#define CID_LINESENS_VEHICLE_DATA_GPS_ANTENNA_STATUS 0x0307 + + +/** + * \~english @brief LineSensor Vehicle Signal Notification(Initial Sensor) + * \~english @brief This command is sent when LineSensor vehicle signals (initial sensor) are notified.\n + * \~english @brief Message related structure @ref LsdrvMsgLsdataFst\n + * \~english @brief Message buffer header structure @ref T_APIMSG_MSGBUF_HEADER\n + * \~english @brief Message header structure @ref T_APIMSG_HEADER\n + * \~english @brief Message body structure @ref LsdrvMsgLsdataDatFst\n + * \~english @brief Gyro X-axis @ref LsdrvLsdataFstGyroX\n + * \~english @brief Gyro Y-axis @ref LsdrvLsdataFstGyroY\n + * \~english @brief Gyro Z-axis @ref LsdrvLsdataFstGyroZ\n + * \~english @brief Velocity information @ref LsdrvLsdataFstSpeed\n + * \~english @brief Vehicle speed pulse @ref LsdrvLsdataFstSpeedPulseFlag\n + * \~english @brief REV flag @ref LsdrvLsdataFstRev\n + * \~english @brief Gyro Temperature @ref LsdrvLsdataFstGyroTemp\n + * \~english @brief G-sensor X-axis @ref LsdrvLsdataFstGsensorX\n + * \~english @brief G-sensor Y-axis @ref LsdrvLsdataFstGsensorY\n + * \~english @brief G-sensor Z-axis @ref LsdrvLsdataFstGsensorZ\n + */ +#define CID_LINESENS_VEHICLE_DATA_FST 0x0302 + +/** + * \~english @brief GPS data notification + * \~english @brief This command is used to notify the data input from the GPS receiver device.\n + * \~english @brief Message related structure @ref SensorMsgGpsdata\n + * \~english @brief Message buffer header structure @ref T_APIMSG_MSGBUF_HEADER\n + * \~english @brief Message header structure @ref T_APIMSG_HEADER\n + * \~english @brief Message body structure @ref SensorMsgGpsdataDat\n + */ +#define CID_GPS_DATA 0x0301 + +/** + * \~english @brief Notification of effective ephemeris number at shutdown + * \~english @brief This command is sent to notify the effective ephemeris number at shutdown.\n + * \~english @brief Message related structure @ref SensorMsgGpsdata\n + * \~english @brief Message buffer header structure @ref T_APIMSG_MSGBUF_HEADER\n + * \~english @brief Message body structure @ref SensorMsgGpsdata\n + */ +#define CID_EPH_NUM_NOTIFICATION 0x0310 + + +#define LSDRV_FSTSNS_SENSOR_FIRST_SAVE_NUM 50 +//!< \~english number of save first sensor + +#define LSDRV_FSTSNS_SENSOR_FIRST_SEND_NUM 30 +//!< \~english number of send first sensor + +#define LSDRV_FSTSNS_DETAILED_DATA_GYRO_NUM 10 +//!< \~english number of gyro including detail data + +#define LSDRV_FSTSNS_DETAILED_DATA_GSENSOR_NUM 10 +//!< \~english number of Gsns includeing detail data + +#define LSDRV_FSTSNS_DSIZE_GYRO_X (LSDRV_FSTSNS_SENSOR_FIRST_SEND_NUM * LSDRV_FSTSNS_DETAILED_DATA_GYRO_NUM * 2) +//!< \~english data size of X axis of gyro +#define LSDRV_FSTSNS_DSIZE_GYRO_Y (LSDRV_FSTSNS_SENSOR_FIRST_SEND_NUM * LSDRV_FSTSNS_DETAILED_DATA_GYRO_NUM * 2) +//!< \~english data size of Y axis of gyro +#define LSDRV_FSTSNS_DSIZE_GYRO_Z (LSDRV_FSTSNS_SENSOR_FIRST_SEND_NUM * LSDRV_FSTSNS_DETAILED_DATA_GYRO_NUM * 2) +//!< \~english data size of Z axis of gyro +#define LSDRV_FSTSNS_DSIZE_SPEED (LSDRV_FSTSNS_SENSOR_FIRST_SEND_NUM * 2) +//!< \~english data size of speed +#define LSDRV_FSTSNS_DSIZE_SPEED_FLG LSDRV_FSTSNS_SENSOR_FIRST_SEND_NUM +//!< \~english data size of speed pulse +#define LSDRV_FSTSNS_DSIZE_REV LSDRV_FSTSNS_SENSOR_FIRST_SEND_NUM +//!< \~english data size of reverse +#define LSDRV_FSTSNS_DSIZE_GYRO_TEMP (LSDRV_FSTSNS_SENSOR_FIRST_SEND_NUM * 2) +//!< \~english data size of gyro temperature +#define LSDRV_FSTSNS_DSIZE_GSENSOR_X (LSDRV_FSTSNS_SENSOR_FIRST_SEND_NUM * LSDRV_FSTSNS_DETAILED_DATA_GSENSOR_NUM * 2) +//!< \~english data size of X axis of Gsns + +#define LSDRV_FSTSNS_DSIZE_GSENSOR_Y (LSDRV_FSTSNS_SENSOR_FIRST_SEND_NUM * LSDRV_FSTSNS_DETAILED_DATA_GSENSOR_NUM * 2) + //!< \~english data size of Y axis of Gsns +#define LSDRV_FSTSNS_DSIZE_GSENSOR_Z (LSDRV_FSTSNS_SENSOR_FIRST_SEND_NUM * LSDRV_FSTSNS_DETAILED_DATA_GSENSOR_NUM * 2) +//!< \~english data size of Z axis of Gsns + +#define SENSOR_MSG_VSINFO_DSIZE 1904 //!< \~english message body max size + + +// Thread control Command ID +#define CID_THREAD_CREATE_COMP (0x0001) //!< \~english Thread Start Complete Notify Command ID +#define CID_THREAD_STOP_REQ (0x0002) //!< \~english Thread Stop Request Command ID +#define CID_THREAD_STOP_COMP (0x0003) //!< \~english Thread Stop Complete Notify Command ID + +// A vehicle signal of data size +#define LSDRV_SNDMSG_DTSIZE_1 1 //!< \~english SndMSG data size 1Byte +#define LSDRV_SNDMSG_DTSIZE_2 2 //!< \~english SndMSG data size 2Byte +#define LSDRV_SNDMSG_DTSIZE_20 20 //!< \~english SndMSG data size 20Byte +#define LSDRV_SNDMSG_DTSIZE_132 132 //!< \~english SndMSG data size 132Byte + +// NMEA receive flag +#define POS_SNS_GPS_NMEA_GGA (0x00000001U) //!< \~english GGA sentence +#define POS_SNS_GPS_NMEA_GLL (0x00000002U) //!< \~english GLL sentence +#define POS_SNS_GPS_NMEA_GSA1 (0x00000004U) //!< \~english GSA1 sentence +#define POS_SNS_GPS_NMEA_GSA2 (0x00000008U) //!< \~english GSA2 sentence +#define POS_SNS_GPS_NMEA_GSA3 (0x00000010U) //!< \~english GSA3 sentence +#define POS_SNS_GPS_NMEA_GSA4 (0x00000020U) //!< \~english GSA4 sentence +#define POS_SNS_GPS_NMEA_GST (0x00000040U) //!< \~english GST sentence +#define POS_SNS_GPS_NMEA_RMC (0x00000080U) //!< \~english RMC sentence +#define POS_SNS_GPS_NMEA_VTG (0x00000100U) //!< \~english VTG sentence +#define POS_SNS_GPS_NMEA_GSV1 (0x00000200U) //!< \~english GSV1 sentence +#define POS_SNS_GPS_NMEA_GSV2 (0x00000400U) //!< \~english GSV2 sentence +#define POS_SNS_GPS_NMEA_GSV3 (0x00000800U) //!< \~english GSV3 sentence +#define POS_SNS_GPS_NMEA_GSV4 (0x00001000U) //!< \~english GSV4 sentence +#define POS_SNS_GPS_NMEA_GSV5 (0x00002000U) //!< \~english GSV5 sentence +#define POS_SNS_GPS_NMEA_GSV6 (0x00004000U) //!< \~english GSV6 sentence +#define POS_SNS_GPS_NMEA_GSV7 (0x00008000U) //!< \~english GSV7 sentence +#define POS_SNS_GPS_NMEA_GSV8 (0x00010000U) //!< \~english GSV8 sentence +#define POS_SNS_GPS_NMEA_GSV9 (0x00020000U) //!< \~english GSV9 sentence +#define POS_SNS_GPS_NMEA_GSV10 (0x00040000U) //!< \~english GSV10 sentence +#define POS_SNS_GPS_NMEA_GSV11 (0x00080000U) //!< \~english GSV11 sentence +#define POS_SNS_GPS_NMEA_GSV12 (0x00100000U) //!< \~english GSV12 sentence +#define POS_SNS_GPS_NMEA_GSV13 (0x00200000U) //!< \~english GSV13 sentence +#define POS_SNS_GPS_NMEA_RESERVE1 (0x00400000U) //!< \~english Reserved +#define POS_SNS_GPS_NMEA_RESERVE2 (0x00800000U) //!< \~english Reserved + + +/** + * @enum POS_SNS_GPS_NMEA_SNO + * \~english type of NMEA + */ +typedef enum { + POS_SNS_GPS_NMEA_SNO_GGA = 0, //!< \~english GGA sentence + POS_SNS_GPS_NMEA_SNO_GLL, //!< \~english GLL sentence + POS_SNS_GPS_NMEA_SNO_GSA1, //!< \~english GSA1 sentence + POS_SNS_GPS_NMEA_SNO_GSA2, //!< \~english GSA2 sentence + POS_SNS_GPS_NMEA_SNO_GSA3, //!< \~english GSA3 sentence + POS_SNS_GPS_NMEA_SNO_GSA4, //!< \~english GSA4 sentence + POS_SNS_GPS_NMEA_SNO_GST, //!< \~english GST sentence + POS_SNS_GPS_NMEA_SNO_RMC, //!< \~english RMC sentence + POS_SNS_GPS_NMEA_SNO_VTG, //!< \~english VTG sentence + POS_SNS_GPS_NMEA_SNO_GSV1, //!< \~english GSV1 sentence + POS_SNS_GPS_NMEA_SNO_GSV2, //!< \~english GSV2 sentence + POS_SNS_GPS_NMEA_SNO_GSV3, //!< \~english GSV3 sentence + POS_SNS_GPS_NMEA_SNO_GSV4, //!< \~english GSV4 sentence + POS_SNS_GPS_NMEA_SNO_GSV5, //!< \~english GSV5 sentence + POS_SNS_GPS_NMEA_SNO_GSV6, //!< \~english GSV6 sentence + POS_SNS_GPS_NMEA_SNO_GSV7, //!< \~english GSV7 sentence + POS_SNS_GPS_NMEA_SNO_GSV8, //!< \~english GSV8 sentence + POS_SNS_GPS_NMEA_SNO_GSV9, //!< \~english GSV9 sentence + POS_SNS_GPS_NMEA_SNO_GSV10, //!< \~english GSV10 sentence + POS_SNS_GPS_NMEA_SNO_GSV11, //!< \~english GSV11 sentence + POS_SNS_GPS_NMEA_SNO_GSV12, //!< \~english GSV12 sentence + POS_SNS_GPS_NMEA_SNO_GSV13, //!< \~english GSV13 sentence + POS_SNS_GPS_NMEA_SNO_RESERVE1, //!< \~english Reserved + POS_SNS_GPS_NMEA_SNO_RESERVE2, //!< \~english Reserved + + POS_SNS_GPS_NMEA_SNO_MAX //!< \~english MAX sentence(invalid) +} POS_SNS_GPS_NMEA_SNO; + +/** + * @enum LsDrvKind + * \~english type of Sensor + */ +typedef enum { + LSDRV_GYRO_X, //!< \~english Gyro X-Axis + LSDRV_GYRO_Y, //!< \~english Gyro Y-Axis + LSDRV_GYRO_Z, //!< \~english Gyro Z-Axis + LSDRV_SPEED_PULSE, //!< \~english Speed pulse + LSDRV_SPEED_PULSE_FLAG, //!< \~english Speed pulse Flag + LSDRV_SPEED_KMPH, //!< \~english Speed km/h + LSDRV_GYRO_EXT, //!< \~english extend Gyro + LSDRV_REV, //!< \~english Reverse + LSDRV_GYRO_TEMP, //!< \~english Gyro temperature + LSDRV_GSENSOR_X, //!< \~english G-sensor X-Axis + LSDRV_GSENSOR_Y, //!< \~english G-sensor Y-Axis + LSDRV_GSENSOR_Z, //!< \~english G-sensor Z-Axis + LSDRV_PULSE_TIME, //!< \~english Pulse time + LSDRV_SNS_COUNTER, //!< \~english Sensor counter + LSDRV_GPS_INTERRUPT_FLAG, //!< \~english GPS Interrupt Flag + LSDRV_KINDS_MAX //!< \~english MAX +} LsDrvKind; + + +/** + * @enum EnumTidPos + * \~english Thread id notified to positioning when starting or terminating each thread is completed. + */ +typedef enum EnumTidPos { + ETID_POS_MAIN = 0, + //!< \~english Thread for vehicle sensor(unused in hal) + ETID_POS_SENS, + //!< \~english Thread for receive sensor + ETID_POS_GPS, + //!< \~english Thread for GPS NMEA analysis and delivery message + ETID_POS_GPS_RECV, + //!< \~english Thread for receive GPS + ETID_POS_GPS_ROLLOVER, + //!< \~english Thread for monitoring GPS rollover + ETID_POS_MAX + //!< \~english Max thread id +} EnumTID_POS; + +/** + * @struct LsdrvLsdata + * \~english Struct of LineSensor message + */ +typedef struct LsdrvLsdata { + u_int32 ul_did; //!< \~english data ID + u_int8 uc_size; //!< \~english data size + u_int8 uc_rcvflag; //!< \~english receive flag + u_int8 uc_sns_cnt; //!< \~english sensor count + u_int8 u_reserve; //!< \~english reserve + u_int8 uc_data[132]; //!< \~english data contents +} LSDRV_LSDATA; + +/** + * @struct LsdrvLsdataG + * \~english Struct of LineSensorG message + */ +typedef struct LsdrvLsdataG { + u_int32 ul_did; //!< \~english data ID + u_int8 uc_size; //!< \~english data size + u_int8 uc_rcv_flag; //!< \~english receive flag + u_int8 uc_sns_cnt; //!< \~english sensor count + u_int8 reserve; //!< \~english reserve + u_int8 uc_data[132]; //!< \~english data content +} LSDRV_LSDATA_G; + +/** + * @struct LsdrvLsdataFstGyroX + * \~english Struct of X axis of of gyro data(first sensor message) + */ +typedef struct LsdrvLsdataFstGyroX { + u_int32 ul_did; //!< \~english data ID + u_int16 uc_size; //!< \~english data size + u_int8 uc_partition_max; //!< \~english total of partition + u_int8 uc_partition_num; //!< \~english data number + u_int8 uc_data[LSDRV_FSTSNS_DSIZE_GYRO_X]; //!< \~english data contents +} LSDRV_LSDATA_FST_GYRO_X; + +/** + * @struct LsdrvLsdataFstGyroY + * \~english Struct of Y axis of of gyro data(first sensor message) + */ +typedef struct LsdrvLsdataFstGyroY { + u_int32 ul_did; //!< \~english data ID + u_int16 uc_size; //!< \~english data size + u_int8 uc_partition_max; //!< \~english total of partition + u_int8 uc_partition_num; //!< \~english data number + u_int8 uc_data[LSDRV_FSTSNS_DSIZE_GYRO_Y]; //!< \~english data contents +} LSDRV_LSDATA_FST_GYRO_Y; + +/** + * @struct LsdrvLsdataFstGyroZ + * \~english Struct of Z axis of of gyro data(first sensor message) + */ +typedef struct LsdrvLsdataFstGyroZ { + u_int32 ul_did; //!< \~english data ID + u_int16 uc_size; //!< \~english data size + u_int8 uc_partition_max; //!< \~english total of partition + u_int8 uc_partition_num; //!< \~english data number + u_int8 uc_data[LSDRV_FSTSNS_DSIZE_GYRO_Z]; //!< \~english data contents +} LSDRV_LSDATA_FST_GYRO_Z; + +/** + * @struct LsdrvLsdataFstSpeed + * \~english Struct of speed data(first sensor message) + */ +typedef struct LsdrvLsdataFstSpeed { + u_int32 ul_did; //!< \~english data ID + u_int16 uc_size; //!< \~english data size + u_int8 uc_partition_max; //!< \~english total of partition + u_int8 uc_partition_num; //!< \~english data number + u_int8 uc_data[LSDRV_FSTSNS_DSIZE_SPEED]; //!< \~english data contents +} LSDRV_LSDATA_FST_SPEED; + +/** + * @struct LsdrvLsdataFstSpeedPulseFlag + * \~english Struct of speed pulse data(first sensor message) + */ +typedef struct LsdrvLsdataFstSpeedPulseFlag { + u_int32 ul_did; //!< \~english data ID + u_int16 uc_size; //!< \~english data size + u_int8 uc_partition_max; //!< \~english total of partition + u_int8 uc_partition_num; //!< \~english data number + u_int8 uc_data[LSDRV_FSTSNS_DSIZE_SPEED_FLG]; //!< \~english data contents +} LSDRV_LSDATA_FST_SPEED_PULSE_FLAG; + +/** + * @struct LsdrvLsdataFstRev + * \~english Struct of reverse data(first sensor message) + */ +typedef struct LsdrvLsdataFstRev { + u_int32 ul_did; //!< \~english data ID + u_int16 uc_size; //!< \~english data size + u_int8 uc_partition_max; //!< \~english total of partition + u_int8 uc_partition_num; //!< \~english data number + u_int8 uc_data[LSDRV_FSTSNS_DSIZE_REV]; //!< \~english data contents +} LSDRV_LSDATA_FST_REV; + +/** + * @struct LsdrvLsdataFstGyroTemp + * \~english Struct of gyro temperature data(first sensor message) + */ +typedef struct LsdrvLsdataFstGyroTemp { + u_int32 ul_did; //!< \~english data ID + u_int16 uc_size; //!< \~english data size + u_int8 uc_partition_max; //!< \~english total of partition + u_int8 uc_partition_num; //!< \~english data number + u_int8 uc_data[LSDRV_FSTSNS_DSIZE_GYRO_TEMP]; //!< \~english data contents +} LSDRV_LSDATA_FST_GYRO_TEMP; + +/** + * @struct LsdrvLsdataFstGsensorX + * \~english Struct of X axis of Gsns data(first sensor message) + */ +typedef struct LsdrvLsdataFstGsensorX { + u_int32 ul_did; //!< \~english data ID + u_int16 uc_size; //!< \~english data size + u_int8 uc_partition_max; //!< \~english total of partition + u_int8 uc_partition_num; //!< \~english data number + u_int8 uc_data[LSDRV_FSTSNS_DSIZE_GSENSOR_X]; //!< \~english data contents +} LSDRV_LSDATA_FST_GSENSOR_X; + +/** + * @struct LsdrvLsdataFstGsensorY + * \~english Struct of Y axis of Gsns data(first sensor message) + */ +typedef struct LsdrvLsdataFstGsensorY { + u_int32 ul_did; //!< \~english data ID + u_int16 uc_size; //!< \~english data size + u_int8 uc_partition_max; //!< \~english total of partition + u_int8 uc_partition_num; //!< \~english data number + u_int8 uc_data[LSDRV_FSTSNS_DSIZE_GSENSOR_Y]; //!< \~english data contents +} LSDRV_LSDATA_FST_GSENSOR_Y; + +/** + * @struct LsdrvLsdataFstGsensorZ + * \~english Struct of Z axis of Gsns data(first sensor message) + */ +typedef struct LsdrvLsdataFstGsensorZ { + u_int32 ul_did; //!< \~english data ID + u_int16 uc_size; //!< \~english data size + u_int8 uc_partition_max; //!< \~english total of partition + u_int8 uc_partition_num; //!< \~english data number + u_int8 uc_data[LSDRV_FSTSNS_DSIZE_GSENSOR_Z]; //!< \~english data contents +} LSDRV_LSDATA_FST_GSENSOR_Z; + +/** + * @struct LsdrvMsgLsdataDatFst + * \~english Struct of LineSensor data (first sensor message) + */ +typedef struct LsdrvMsgLsdataDatFst { + LSDRV_LSDATA_FST_GYRO_X st_gyro_x; //!< \~english data of X axis of gyro + LSDRV_LSDATA_FST_GYRO_Y st_gyro_y; //!< \~english data of Y axis of gyro + LSDRV_LSDATA_FST_GYRO_Z st_gyro_z; //!< \~english data of Z axis of gyro + LSDRV_LSDATA_FST_SPEED st_speed; //!< \~english data of speed + LSDRV_LSDATA_FST_SPEED_PULSE_FLAG st_spd_pulse_flg; //!< \~english data of speed pulse + LSDRV_LSDATA_FST_REV st_rev; //!< \~english data of reverse + LSDRV_LSDATA_FST_GYRO_TEMP st_gyro_temp; //!< \~english data of gyro temperature + LSDRV_LSDATA_FST_GSENSOR_X st_gsns_x; //!< \~english data of X axis of Gsns + LSDRV_LSDATA_FST_GSENSOR_Y st_gsns_y; //!< \~english data of Y axis of Gsns + LSDRV_LSDATA_FST_GSENSOR_Z st_gsns_z; //!< \~english data of Z axis of Gsns +} LSDRV_MSG_LSDATA_DAT_FST; + +/** + * @struct LsdrvMsgLsdataDat + * \~english Struct of LineSensor package data + */ +typedef struct LsdrvMsgLsdataDat { + u_int8 uc_data_num; //!< \~english data number + u_int8 reserve[3]; //!< \~english reserve + LSDRV_LSDATA st_data[12]; //!< \~english data +} LSDRV_MSG_LSDATA_DAT; + +/** + * @struct LsdrvMsgLsdata + * \~english Struct of LineSensor message data + */ +typedef struct LsdrvMsgLsdata { + T_APIMSG_MSGBUF_HEADER st_head; //!< \~english message header + LSDRV_MSG_LSDATA_DAT st_para; //!< \~english data of gyro +} LSDRV_MSG_LSDATA; + +/** + * @struct LsdrvMsgLsdataDatG + * \~english Struct of LineSensorG package data + */ +typedef struct LsdrvMsgLsdataDatG { + u_int8 uc_data_num; //!< \~english data number + u_int8 reserve[3]; //!< \~english reserve + LSDRV_LSDATA_G st_data[15]; //!< \~english data +} LSDRV_MSG_LSDATA_DAT_G; + +/** + * @struct LsdrvMsgLsdataG + * \~english Struct of LineSensorG message data + */ +typedef struct LsdrvMsgLsdataG { + T_APIMSG_MSGBUF_HEADER st_head; //!< \~english message header + LSDRV_MSG_LSDATA_DAT_G st_para; //!< \~english data of message +} LSDRV_MSG_LSDATA_G; + +/** + * @struct LsdrvMsgLsdataDatGyroTrouble + * \~english Struct of Gyro trouble + */ +typedef struct LsdrvMsgLsdataDatGyroTrouble { + u_int32 ul_did; //!< \~english data ID + u_int8 uc_size; //!< \~english data size + u_int8 reserve; //!< \~english reserve + u_int8 uc_data; //!< \~english data content + u_int8 reserve2; //!< \~english reserve +} LSDRV_MSG_LSDATA_DAT_GYRO_TROUBLE; + +/** + * @struct LsdrvMsgLsdataGyroTrouble + * \~english Struct of message about Gyro trouble + */ +typedef struct LsdrvMsgLsdataGyroTrouble { + T_APIMSG_MSGBUF_HEADER st_head; //!< \~english message header + LSDRV_MSG_LSDATA_DAT_GYRO_TROUBLE st_para; //!< \~english data of message +} LSDRV_MSG_LSDATA_GYRO_TROUBLE; + +/** + * @struct LsdrvMsgLsdataDatGpsInterruptSignal + * \~english Struct of Gps interrupt signal data + */ +typedef struct LsdrvMsgLsdataDatGpsInterruptSignal { + u_int32 ul_did; //!< \~english data ID + u_int8 uc_size; //!< \~english data size + u_int8 reserve; //!< \~english reserve + u_int8 uc_data; //!< \~english data content + u_int8 reserve2; //!< \~english reserve +} LSDRV_MSG_LSDATA_DAT_GPS_INTERRUPT_SIGNAL; + +/** + * @struct LsdrvMsgLsdataGpsInterruptSignal + * \~english Struct of message about Gps interrupt signal + */ +typedef struct LsdrvMsgLsdataGpsInterruptSignal { + T_APIMSG_MSGBUF_HEADER st_head; //!< \~english message header + LSDRV_MSG_LSDATA_DAT_GPS_INTERRUPT_SIGNAL st_para; //!< \~english data of message +} LSDRV_MSG_LSDATA_GPS_INTERRUPT_SIGNAL; + +/** + * @struct LsdrvMsgLsdataDatGyroConnectStatus + * \~english Struct of Gyro connect status + */ +typedef struct LsdrvMsgLsdataDatGyroConnectStatus { + u_int32 ul_did; //!< \~english data ID + u_int8 uc_size; //!< \~english data size + u_int8 reserve; //!< \~english reserve + u_int8 uc_data; //!< \~english data content + u_int8 reserve2; //!< \~english reserve +} LSDRV_MSG_LSDATA_DAT_GYRO_CONNECT_STATUS; + +/** + * @struct LsdrvMsgLsdataGyroConnectStatus + * \~english Struct of message about Gyro connect status + */ +typedef struct LsdrvMsgLsdataGyroConnectStatus { + T_APIMSG_MSGBUF_HEADER st_head; //!< \~english message header + LSDRV_MSG_LSDATA_DAT_GYRO_CONNECT_STATUS st_para; //!< \~english data of message +} LSDRV_MSG_LSDATA_GYRO_CONNECT_STATUS; + +/** + * @struct LsdrvMsgLsdataDatGpsAntennaStatus + * \~english Struct of Gps Antenna Status + */ +typedef struct LsdrvMsgLsdataDatGpsAntennaStatus { + u_int32 ul_did; //!< \~english data ID + u_int8 uc_size; //!< \~english data size + u_int8 uc_rcv_flag; //!< \~english receive flag + u_int8 uc_sns_cnt; //!< \~english sensor count + u_int8 uc_data; //!< \~english data content +} LSDRV_MSG_LSDATA_DAT_GPS_ANTENNA_STATUS; + +/** + * @struct LsdrvMsgLsdataGpsAntennaStatus + * \~english Struct of message about Gps Antenna Status + */ +typedef struct LsdrvMsgLsdataGpsAntennaStatus { + T_APIMSG_MSGBUF_HEADER st_head; //!< \~english message header + LSDRV_MSG_LSDATA_DAT_GPS_ANTENNA_STATUS st_para; //!< \~english data of message +} LSDRV_MSG_LSDATA_GPS_ANTENNA_STATUS; + +/** + * @struct LsdrvLsdataFst + * \~english Struct of sensor data (first sensor message) + */ +typedef struct LsdrvLsdataFst { + u_int32 ul_did; //!< \~english data ID + u_int16 uc_size; //!< \~english data size + u_int8 uc_partition_max; //!< \~english total of partition + u_int8 uc_partition_num; //!< \~english data number + u_int8 uc_data[60]; //!< \~english data contents +} LSDRV_LSDATA_FST; + +/** + * @struct LsdrvMsgLsdataFst + * \~english Struct of message about sensor data (first sensor message) + */ +typedef struct LsdrvMsgLsdataFst { + T_APIMSG_MSGBUF_HEADER st_head; //!< \~english message header + LSDRV_MSG_LSDATA_DAT_FST st_para; //!< \~english data of message +} LSDRV_MSG_LSDATA_FST; + +/** + * @struct SensorMsgGpsdataDat + * \~english Struct of Gps data + * \~english @par Detail + * This data structure can have 7 types of data that identified by data ID.\n + * The contents are as follows.\n + * | data ID | content | data format | + * |:----------------------------------|:------------------------------------------|:------------------------------| + * | @ref POSHAL_DID_GPS_NMEA | NMEA data | @ref MdevGpsNmea "MDEV_GPS_NMEA" | + * | @ref POSHAL_DID_GPS_CUSTOMDATA | GPS custom data | @ref MdevGpsCustomDataMgs "MDEV_GPS_CUSTOMDATA" | + * | @ref POSHAL_DID_GPS_CLOCK_DRIFT | clock drift | @ref int32_t | + * | @ref POSHAL_DID_GPS_CLOCK_FREQ | clock frequency | @ref int32_t | + * | @ref POSHAL_DID_GPS_WKNROLLOVER | GPS week number | @ref SensorWknRollOverHal | + * | @ref POSHAL_DID_GPS_CONNECT_ERROR | GPS signal error(TRUE:Error, FALSE:Normal)| @ref BOOL | + * | @ref POSHAL_DID_GPS_TIME (_RAW) | GPS time information | @ref SENSOR_GPSTIME | + */ +typedef struct SensorMsgGpsdataDat { + u_int32 ul_did; //!< \~english data ID + u_int16 us_size; //!< \~english data size + u_int8 uc_rcv_flag; //!< \~english receive flag + u_int8 uc_sns_cnt; //!< \~english sensor count + u_int8 uc_gps_cnt_flag; //!< \~english GPS count + u_int8 reserve[3]; //!< \~english reserve + u_int8 uc_data[SENSOR_MSG_VSINFO_DSIZE]; //!< \~english data contents +} SENSOR_MSG_GPSDATA_DAT; + +/** + * @struct SensorMsgGpsdata + * \~english Struct of message about GPS data + */ +typedef struct SensorMsgGpsdata { + T_APIMSG_MSGBUF_HEADER st_head; + //!< \~english message header(see vs-positioning-base-library) + SENSOR_MSG_GPSDATA_DAT st_para; + //!< \~english data of message +} SENSOR_MSG_GPSDATA; + +/** + * @struct TG_GPS_RET_TIMESET_MSG + * \~english Struct of message about GPS time set response + */ +typedef struct { + T_APIMSG_MSGBUF_HEADER header; //!< \~english message header + uint64_t status; //!< \~english response status +} TG_GPS_RET_TIMESET_MSG; + +/** + * @struct TG_GPS_NMEA_SENTENCE_INFO + * \~english Struct of GPS NMEA sentence info + */ +typedef struct { + uint8_t uc_size; //!< \~english sentence size + uint8_t reserve; //!< \~english reserve + uint16_t us_offset; //!< \~english sentence start offset +} TG_GPS_NMEA_SENTENCE_INFO; + +/** + * @struct TG_GPS_NMEA_INFO + * \~english Struct of GPS NMEA info + */ +typedef struct { + uint32_t ul_rcvsts; //!< \~english NMEA receive info + uint8_t reserve[4]; //!< \~english reserve + TG_GPS_NMEA_SENTENCE_INFO st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_MAX]; + //!< \~english sentence infomation +} TG_GPS_NMEA_INFO; + +///////////////////////////////////////////////////////////////////////////////////// +/// \ingroup positioning_hal +/// \~english @par Brief +/// - start thread of NMEA analysis and delivery message +/// \~english @param [in] h_app +/// HANDLE - handle +/// +/// \~english @retval eFrameworkunifiedStatusOK Success +/// \~english @retval eFrameworkunifiedStatusFail Failed +/// +/// \~english @par Prerequisite +/// - None +/// \~english @par Change of internal state +/// - This API can not change internal state +/// \~english @par Conditions of processing failure +/// - None +/// \~english @par Detail +/// - start thread of NMEA analysis and delivery message +/// - the API can only be used by 1 process +/// \~english @par Classification +/// Public +/// \~english @par Type +/// Sync +/// \~english @see +/// None +///////////////////////////////////////////////////////////////////////////////////// +EFrameworkunifiedStatus StartGpsMainThreadPositioning(HANDLE h_app); + +///////////////////////////////////////////////////////////////////////////////////// +/// \ingroup positioning_hal +/// \~english @par Brief +/// - start thread for receive GPS manager +/// \~english @param [in] h_app +/// HANDLE - handle +/// +/// \~english @retval eFrameworkunifiedStatusOK Success +/// \~english @retval eFrameworkunifiedStatusFail Failed +/// +/// \~english @par Prerequisite +/// - None +/// \~english @par Change of internal state +/// - This API can not change internal state. +/// \~english @par Conditions of processing failure +/// - None +/// \~english @par Detail +/// - start model for receive GPS manager +/// - the API can only be used by 1 process +/// \~english @par Classification +/// Public +/// \~english @par Type +/// Sync +/// \~english @see +/// None +///////////////////////////////////////////////////////////////////////////////////// +EFrameworkunifiedStatus StartGpsRecvThreadPositioning(HANDLE h_app); + +///////////////////////////////////////////////////////////////////////////////////// +/// \ingroup positioning_hal +/// \~english @par Brief +/// - start thread for receive sensor +/// \~english @param [in] h_app +/// HANDLE - handle +/// +/// \~english @retval eFrameworkunifiedStatusOK Success +/// \~english @retval eFrameworkunifiedStatusFail Failed +/// +/// \~english @par Prerequisite +/// - None +/// \~english @par Change of internal state +/// - This API can not change internal state. +/// \~english @par Conditions of processing failure +/// - None +/// \~english @par Detail +/// - start thread for receive sensor +/// - the API can only be used by 1 process +/// \~english @par Classification +/// Public +/// \~english @par Type +/// Sync +/// \~english @see +/// None +///////////////////////////////////////////////////////////////////////////////////// +EFrameworkunifiedStatus StartLineSensorThreadPositioning(HANDLE h_app); + +///////////////////////////////////////////////////////////////////////////////////// +/// \ingroup positioning_hal +/// \~english @par Brief +/// - start monitoring thread of GPS rollover +/// \~english @param [in] h_app +/// HANDLE - handle +/// +/// \~english @retval eFrameworkunifiedStatusOK Success +/// \~english @retval eFrameworkunifiedStatusFail Failed +/// +/// \~english @par Prerequisite +/// - None +/// \~english @par Change of internal state +/// - This API can not change internal state. +/// \~english @par Conditions of processing failure +/// - The parameter hApp is NULL [eFrameworkunifiedStatusFail] +/// - When fail to start thread. [return value of FrameworkunifiedStartChildThread] +/// \~english @par Detail +/// - start monitoring thread of GPS rollover +/// - the API can only be used by 1 process +/// \~english @par Classification +/// Public +/// \~english @par Type +/// Sync +/// \~english @see +/// FrameworkunifiedCreateChildThread, FrameworkunifiedStartChildThread +///////////////////////////////////////////////////////////////////////////////////// +EFrameworkunifiedStatus StartGpsRolloverThreadPositioning(HANDLE h_app); + +/** @}*/ // end of positioning_hal +/** @}*/ // end of positioning + +/*---------------------------------------------------------------------------*/ +#endif // HAL_API_POSITIONING_HAL_H_ + +/*---------------------------------------------------------------------------*/ +/*EOF*/ diff --git a/hal/positioning_hal/inc/Common/LineSensDrv_Api.h b/hal/positioning_hal/inc/Common/LineSensDrv_Api.h new file mode 100755 index 0000000..24c7f55 --- /dev/null +++ b/hal/positioning_hal/inc/Common/LineSensDrv_Api.h @@ -0,0 +1,44 @@ +/* + * @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 LineSensDrv_Api.h +*/ + +#ifndef INC_COMMON_LINESENSDRV_API_H_ +#define INC_COMMON_LINESENSDRV_API_H_ + +/*---------------------------------------------------------------------------*/ +// Include files + +#include "positioning_def.h" + +/*---------------------------------------------------------------------------*/ +// Define + +#define MUTEX_GPS_IRQ_FLG "MUTEX_GPS_IRQ_FLG" + +/*---------------------------------------------------------------------------*/ +// Prototype + +void DeliveryLineSensorDataPositioning(LSDRV_MSG_LSDATA_G*, u_int8); +BOOL LineSensDrvApiInitialize(void); +void LineSensDrvApiInitEstGpsCnt(void); + +/*---------------------------------------------------------------------------*/ +#endif // INC_COMMON_LINESENSDRV_API_H_ + +/*---------------------------------------------------------------------------*/ +/*EOF*/ diff --git a/hal/positioning_hal/inc/Common/MDev_Gps_API.h b/hal/positioning_hal/inc/Common/MDev_Gps_API.h new file mode 100755 index 0000000..d165a1e --- /dev/null +++ b/hal/positioning_hal/inc/Common/MDev_Gps_API.h @@ -0,0 +1,51 @@ +/* + * @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_API.h +*/ + +#ifndef INC_COMMON_MDEV_GPS_API_H_ +#define INC_COMMON_MDEV_GPS_API_H_ + +/*---------------------------------------------------------------------------*/ +// Include files + +#include "gps_hal.h" +#include "positioning_def.h" + +/*---------------------------------------------------------------------------*/ +// Prototype + +RET_API SendNmeaGps(const MDEV_GPS_NMEA* p_nmea_data); +RET_API SendCustomGps(const SENSOR_MSG_GPSTIME* p_gps_time, + const SENSORLOCATION_LONLATINFO_DAT* p_lonlat, + const SENSORLOCATION_ALTITUDEINFO_DAT* p_altitude, + const SENSORMOTION_HEADINGINFO_DAT* p_heading, + const NAVIINFO_DIAG_GPS* p_diag_data); +RET_API SendSpeedGps(const SENSORMOTION_SPEEDINFO_DAT* p_seed, u_int16 us_peed); +RET_API SendTimeGps(const MDEV_GPS_RTC* p_rtc); +RET_API SendClockDriftGps(int32_t drift); +RET_API SendClockFrequencyGps(uint32_t freq); +RET_API DevGpsSndWknRollover(const SensorWknRollOverHal* p_week_rollover); +int32 DevGpsRstAnsSend(PNO u_pno, RID uc_rid, u_int32 ul_rst_sts); +int32 DevGpsTimesetAnsSend(PNO u_pno, RID uc_rid, u_int32 ul_rst_sts); +RET_API DevSendGpsConnectError(BOOL); +RET_API SndGpsTimeRaw(const SENSOR_GPSTIME_RAW* pst_gpstime_raw); +/*---------------------------------------------------------------------------*/ +#endif // INC_COMMON_MDEV_GPS_API_H_ + +/*---------------------------------------------------------------------------*/ +/*EOF*/ diff --git a/hal/positioning_hal/inc/Common/positioning_common.h b/hal/positioning_hal/inc/Common/positioning_common.h new file mode 100755 index 0000000..dad0272 --- /dev/null +++ b/hal/positioning_hal/inc/Common/positioning_common.h @@ -0,0 +1,63 @@ +/* + * @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 positioning_common.h +*/ + +#ifndef INC_COMMON_POSITIONING_COMMON_H_ +#define INC_COMMON_POSITIONING_COMMON_H_ + +/*---------------------------------------------------------------------------*/ +// Include files + +#include "positioning_def.h" + +/*---------------------------------------------------------------------------*/ +// Definition + +/*---------------------------------------------------------------------------*/ +// ENUMERATION + +/*---------------------------------------------------------------------------*/ +// STRUCTURE + +typedef struct PosResetinfo { + uint8_t mode; // Reset mode + uint8_t reserve[3]; // reserve + PNO sndpno; // Caller PNO + PNO respno; // Destination PNO +} POS_RESETINFO; + +/*! + @brief Thread activation information +*/ +typedef struct StThreadSetupInfo { + EnumSetupMode_POS mode; // Thread activation mode +} ST_THREAD_SETUP_INFO; + + +/*---------------------------------------------------------------------------*/ +// Prototype +EFrameworkunifiedStatus PosInitialize(HANDLE h_app); +EnumSetupMode_POS PosSetupThread(HANDLE h_app, EnumTID_POS e_tid); +void PosTeardownThread(EnumTID_POS e_tid); +EFrameworkunifiedStatus PosCreateThread(HANDLE h_app, int8_t index); + +/*---------------------------------------------------------------------------*/ +#endif // INC_COMMON_POSITIONING_COMMON_H_ + +/*---------------------------------------------------------------------------*/ +/*EOF*/ diff --git a/hal/positioning_hal/inc/Common/positioning_def.h b/hal/positioning_hal/inc/Common/positioning_def.h new file mode 100755 index 0000000..df95cb3 --- /dev/null +++ b/hal/positioning_hal/inc/Common/positioning_def.h @@ -0,0 +1,307 @@ +/* + * @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 positioning_def.h +*/ + +#ifndef INC_COMMON_POSITIONING_DEF_H_ +#define INC_COMMON_POSITIONING_DEF_H_ + +/*---------------------------------------------------------------------------*/ +// Include files + +#include <string.h> +#include <stdlib.h> +#include <sys/ioctl.h> + +#include <native_service/frameworkunified_types.h> +#include <native_service/frameworkunified_application.h> +#include <native_service/frameworkunified_framework_if.h> +#include <native_service/frameworkunified_multithreading.h> +#include <native_service/frameworkunified_service_protocol.h> +#include <vehicle_service/std_types.h> +#include <vehicle_service/pos_message_header.h> +#include <vehicle_service/sys_timerapi.h> +#include <vehicle_service/WPF_STD.h> + +#include "gps_hal.h" +#include "positioning_hal.h" + +#include "positioning_log.h" + +/*---------------------------------------------------------------------------*/ +// Definition + +#define POS_THREAD_NAME "Positioning" + +/** + * @enum ENUM_GPS_NMEA_INDEX + * \~english NMEA index + */ +typedef enum { + GPS_NMEA_INDEX_GGA = 0, //!< \~english GGA + GPS_NMEA_INDEX_DGGA, //!< \~english DGGA + GPS_NMEA_INDEX_VTG, //!< \~english VTG + GPS_NMEA_INDEX_RMC, //!< \~english RMC + GPS_NMEA_INDEX_DRMC, //!< \~english DRMC + GPS_NMEA_INDEX_GLL, //!< \~english GLL + GPS_NMEA_INDEX_DGLL, //!< \~english DGLL + GPS_NMEA_INDEX_GSA, //!< \~english GSA + GPS_NMEA_INDEX_GSV1, //!< \~english GSV1 + GPS_NMEA_INDEX_GSV2, //!< \~english GSV2 + GPS_NMEA_INDEX_GSV3, //!< \~english GSV3 + GPS_NMEA_INDEX_GSV4, //!< \~english GSV4 + GPS_NMEA_INDEX_GSV5, //!< \~english GSV5 + GPS_NMEA_INDEX_GST, //!< \~english GST + GPS_NMEA_INDEX__CWORD44__GP_3, //!< \~english _CWORD44_,GP,3 + GPS_NMEA_INDEX__CWORD44__GP_4, //!< \~english _CWORD44_,GP,4 + GPS_NMEA_INDEX_P_CWORD82_F_GP_0, //!< \~english _CWORD44_,GP,0 + GPS_NMEA_INDEX_P_CWORD82_J_GP_1, //!< \~english _CWORD44_,GP,1 + GPS_NMEA_INDEX_MAX //!< \~english GGA +} ENUM_GPS_NMEA_INDEX; + +//!< \~english Gps cycle Data Event +#define GPS_EVT_CYCLEDATA_PROV ("GPS_EVT_CYCLEDATA_PROV") +//!< \~english Event value: Waiting. +#define GPS_EVT_PROV_WAIT (0x00000000) +//!< \~english Event value: Clear Waiting status. +#define GPS_EVT_PROV_RELEASE (0x00000001) + +//!< \~english Gps received +#define GPS_CYCLECMD_NOTRCV (0x00) +//!< \~english Gps no received +#define GPS_CYCLECMD_RCV (0x01) + +//!< \~english store position of Hour data +#define GPSCMD_DRMC_HOUR_POS (7) +//!< \~english store position of minute data +#define GPSCMD_DRMC_MIN_POS (9) +//!< \~english store position of second data +#define GPSCMD_DRMC_SEC_POS (11) +//!< \~english store position of status +#define GPSCMD_DRMC_STATUS_POS (14) +//!< \~english store position of day data +#define GPSCMD_DRMC_DAY_POS (54) +//!< \~english store position of month data +#define GPSCMD_DRMC_MONTH_POS (56) +//!< \~english store position of year data +#define GPSCMD_DRMC_YEAR_POS (58) + +//!< \~english store position of control code +#define GPSCMD_RTC_CTRLCODE_POS (0) +//!< \~english store position of year data (BCD) +#define GPSCMD_RTC_BCD_YEAR_POS (1) +//!< \~english store position of month data(BCD) +#define GPSCMD_RTC_BCD_MONTH_POS (2) +//!< \~english store position of day data(BCD) +#define GPSCMD_RTC_BCD_DAY_POS (3) +//!< \~english store position of hour data(BCD) +#define GPSCMD_RTC_BCD_HOUR_POS (4) +//!< \~english store position of minute data(BCD) +#define GPSCMD_RTC_BCD_MIN_POS (5) +//!< \~english store position of second data(BCD) +#define GPSCMD_RTC_BCD_SEC_POS (6) +//!< \~english store position of status +#define GPSCMD_RTC_STATUS_POS (7) + +#define GPSCMD_RTC_CTRLCODE (0xA4) //!< \~english control code (RTC) +#define GPSCMD_RTC_STATUS_UTCTIME (0x00) //!< \~english Normal +#define GPSCMD_RTC_STATUS_ERRTIME (0x03) //!< \~english AbNormal + +// Internal thread activation status determination +#define THREAD_STS_MSK_POS_MAIN (0x01) +#define THREAD_STS_MSK_POS_SENS (0x02) +#define THREAD_STS_MSK_POS_GPS (0x04) +#define THREAD_STS_MSK_POS_GPS_RECV (0x08) +#define THREAD_STS_MSK_POS_GPS_ROLLOVER (0x10) +#define POS_DID_GPS_NMEA 0x8000009AU /* QAC 1281 */ +#define POS_DID_GPS_CLOCK_DRIFT 0x800000B3U /* QAC 1281 */ +#define POS_DID_GPS_CLOCK_FREQ 0x800000B4U /* QAC 1281 */ +#define VEHICLE_DID_GPS_CUSTOMDATA 0x80000094U +#define VEHICLE_DID_GPS_CLOCK_DRIFT POS_DID_GPS_CLOCK_DRIFT +#define VEHICLE_DID_GPS_CLOCK_FREQ POS_DID_GPS_CLOCK_FREQ +#define CID_NAVIINFO_DELIVER (0x0205) /* Navigation information setting CID */ +#define CID_NAVIINFO_SPEED_DELIVER (0x0206) /* Vehicle speed setting CID */ +#define VEHICLE_DID_GPS_WKNROLLOVER 0x800000B2U +#define VEHICLE_DID_GPS_TIME_RAW 0x800000B1 +#define POS_DID_GYRO_TEMP 0x80000090 +#define VEHICLE_DID_SPEED_PULSE 0x80000012 +#define VEHICLE_DID_GYRO_X 0x80000014 +#define VEHICLE_DID_GYRO_Y 0x80000020 +#define VEHICLE_DID_GYRO_Z 0x80000021 +#define VEHICLE_DID_GYRO VEHICLE_DID_GYRO_X +#define VEHICLE_DID_REV 0x80000017 +#define VEHICLE_DID_SNS_COUNTER 0x8000001A +#define VEHICLE_DID_GPS_COUNTER 0x8000001B +#define VEHICLE_DID_GYRO_EXT 0x80000027 /* 3 ~ 14bit A/D value,0bit:REV */ +#define VEHICLE_DID_SPEED_PULSE_FST 0x80000028 /* Pulse(Number) */ +#define VEHICLE_DID_GYRO_FST_X 0x80000029 +#define VEHICLE_DID_GYRO_FST_Y 0x80000022 +#define VEHICLE_DID_GYRO_FST_Z 0x80000023 +#define VEHICLE_DID_GYRO_FST VEHICLE_DID_GYRO_FST +#define VEHICLE_DID_GYRO_TEMP POS_DID_GYRO_TEMP +#define VEHICLE_DID_SPEED_KMPH 0x80000013 +#define VEHICLE_DID_GSNS_X 0x80000015 +#define VEHICLE_DID_GSNS_Y 0x80000016 +#define VEHICLE_DID_GSNS_Z 0x80000024 +#define VEHICLE_DID_PULSE_TIME 0x8000003A +#define CID__CWORD83__CMD_RCV 0x0103 +#define CID__CWORD83__CMD_SND_STS 0x0104 +#define CID_GPS_SERIAL0 (CID)0x0100 +#define CID_GPS_REQRESET (CID)(CID_GPS_BASE | CID_GPS_SERIAL0) + +#define VEHICLE_CONFIG_GPS_UNITSET_NOGPS (0x00U) //!< \~english no Gps +#define VEHICLE_CONFIG_GPS_UNITSET__CWORD82_ (0x01U) //!< \~english _CWORD82_ Gps +#define VEHICLE_CONFIG_GPS_UNITSET_EXTBOX (0x02U) //!< \~english extern u-blox + +//!< \~english no Navi +#define VEHICLE_CONFIG_NAVI_FUNCTION_NONAVI (0x00U) +//!< \~english Navi has AW navi +#define VEHICLE_CONFIG_NAVI_FUNCTION_AWNAVI (0x01U) + +#define VEHICLE_GPS_SYSTIME_YEAR_MAX (2085U) //!< \~english Gps Time allowed max year +#define VEHICLE_GPS_SYSTIME_MONTH_MAX (12U) //!< \~english Gps Time allowed max month +#define VEHICLE_GPS_SYSTIME_DAY_MAX (31U) //!< \~english Gps Time allowed max day +#define VEHICLE_GPS_SYSTIME_HOUR_MAX (23U) //!< \~english Gps Time allowed max hour +#define VEHICLE_GPS_SYSTIME_MINUTE_MAX (59U) //!< \~english Gps Time allowed max minute +#define VEHICLE_GPS_SYSTIME_SECOND_MAX (59U) //!< \~english Gps Time allowed max second + +#define VEHICLE_GPS_SYSTIME_YEAR_MIN (1986U) //!< \~english Gps Time allowed min year +#define VEHICLE_GPS_SYSTIME_MONTH_MIN (1U) //!< \~english Gps Time allowed min month +#define VEHICLE_GPS_SYSTIME_DAY_MIN (1U) //!< \~english Gps Time allowed min day +#define VEHICLE_GPS_SYSTIME_HOUR_MIN (0U) //!< \~english Gps Time allowed min hour +#define VEHICLE_GPS_SYSTIME_MINUTE_MIN (0U) //!< \~english Gps Time allowed min minute +#define VEHICLE_GPS_SYSTIME_SECOND_MIN (0U) //!< \~english Gps Time allowed min second +#define VEHICLE_EVENT_VAL_INIT (-14) /* Event initial value */ +//!< \~english check OK (value not change) +#define MDEV_GPS_SRAM_CHK_OK (0) +//!< \~english check OK(vaule change) +#define MDEV_GPS_SRAM_CHK_CHG (1) +//!< \~english check NG +#define MDEV_GPS_SRAM_CHK_NG (-1) + +/*---------------------------------------------------------------------------*/ +// ENUMERATION + +/*! + @brief Positioning operating status definitions +*/ +typedef enum EnumExeStsPos { + EPOS_EXE_STS_STOP = 0, /* Stopped */ + EPOS_EXE_STS_RUNNING, /* Running (from FrameworkunifiedOnStart to FrameworkunifiedOnStop) */ + EPOS_EXE_STS_RUNNING_COLDSTART /* Running after cold start */ +} EnumExeSts_POS; + +/*! + @brief Positioning Thread Startup Modes +*/ +typedef enum EnumSetupModePos { + EPOS_SETUP_MODE_NORMAL = 0, /* Normal start */ + EPOS_SETUP_MODE_DATA_RESET /* Data reset start */ /* QAC 930 */ +} EnumSetupMode_POS; + +/** + * @struct TG_GPS_RCV_DATA + * \~english Struct of Gps receive data for VehicleSens + */ +typedef struct TgGpsRcvData { + uint32_t dwret_status; //!< \~english return status + uint16_t bydata_len; //!< \~english data length + uint8_t bygps_data[GPS_READ_LEN]; //!< \~english receive data + uint8_t u_reserve2[2]; //!< \~english reserve +} TG_GPS_RCV_DATA; + +/** + * @struct TG_GPS_NMEA_DAT + * \~english Struct of NMEA data + */ +typedef struct TgGpsNmeaDat { + u_int8 uc_data[GPS_NMEA_MAX_SZ]; //!< \~english NMEA data +} TG_GPS_NMEA_DAT; + +/** + * @struct TG_GPS_CYCLEDATA_NMEA + * \~english Struct of NMEA cycle data + */ +typedef struct TgGpsCycledataNmea { + //!< \~english receive flag + u_int8 uc_rcvflag[GPS_NMEA_INDEX_MAX]; + //!< \~english reserve + u_int8 u_reserve[3]; + //!< \~english structure of NMEA data + TG_GPS_NMEA_DAT st_nmea[GPS_NMEA_INDEX_MAX]; +} TG_GPS_CYCLEDATA_NMEA; + +/** + * @struct TG_GPS_CYCLEDATA_BINARY + * \~english Struct of binary cycle data + */ +typedef struct TgGpsCycledataBinary { + u_int8 uc_rcvflag; //!< \~english receive flag + u_int8 u_reserve[3]; //!< \~english reserve + u_int8 uc_data[GPS_CMD_BINARY_SZ]; //!< \~english binary data + u_int8 u_reserve2[3]; //!< \~english reserve flag +} TG_GPS_CYCLEDATA_BINARY; + +/** + * @struct TG_GPS_CYCLEDATA_FULLBIN + * \~english Struct of full bin cycle data + */ +typedef struct TgGpsCycledataFullbin { + u_int8 uc_rcvflag; //!< \~english receive flag + u_int8 u_reserve[3]; //!< \~english reserve + u_int8 uc_data[GPS_CMD_FULLBIN_SZ]; //!< \~english fullbin data + u_int8 u_reserve2; //!< \~english reserve +} TG_GPS_CYCLEDATA_FULLBIN; + +/** + * @struct TG_GPS_CYCLEDATA_RTC + * \~english Struct of RTC cycle data + */ +typedef struct TgGpsCycledataRtc { + u_int8 uc_rcvflag; //!< \~english receive flag + u_int8 u_reserve[3]; //!< \~english reserve + u_int8 uc_data[GPS_DATASIZE_RTC]; //!< \~english Rtc data +} TG_GPS_CYCLEDATA_RTC; + +/** + * @struct TG_GPS_CYCLEDATA + * \~english Struct of Gps cycle data + */ +typedef struct TgGpsCycledata { + u_int8 uc_sesncnt; //!< \~english count value + u_int8 u_reserve[3]; //!< \~english reserve + TG_GPS_CYCLEDATA_NMEA st_nmea_data; //!< \~english NMEA Data + TG_GPS_CYCLEDATA_BINARY st_binary_data; //!< \~english binary Data + TG_GPS_CYCLEDATA_FULLBIN st_fullbin_data; //!< \~english Full Bin Data + TG_GPS_CYCLEDATA_RTC st_rtc_data; //!< \~english RTC Data +} TG_GPS_CYCLEDATA; + +typedef struct { + u_int16 year; /* YEAR */ + u_int8 month; /* MONTH */ + u_int8 date; /* DAY */ + u_int8 hour; /* HOUR */ + u_int8 minute;/* MINUTE */ + u_int8 second;/* SECOND */ + u_int8 flag; /* Whether or not the time is set */ +} ST_GPS_SET_TIME; + +/*---------------------------------------------------------------------------*/ +#endif // INC_COMMON_POSITIONING_DEF_H_ + +/*---------------------------------------------------------------------------*/ +/*EOF*/ diff --git a/hal/positioning_hal/inc/Common/positioning_log.h b/hal/positioning_hal/inc/Common/positioning_log.h new file mode 100755 index 0000000..6ca4c96 --- /dev/null +++ b/hal/positioning_hal/inc/Common/positioning_log.h @@ -0,0 +1,43 @@ +/* + * @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 positioning_log.h +*/ + +#ifndef INC_COMMON_POSITIONING_LOG_H_ +#define INC_COMMON_POSITIONING_LOG_H_ + +/*---------------------------------------------------------------------------*/ +// Include files + +#include <stdio.h> + +/*---------------------------------------------------------------------------*/ +// Definition + +// #define POSITIONING_DEBUG + +#ifdef POSITIONING_DEBUG +#define POSITIONING_LOG(...) printf(__VA_ARGS__) +#else +#define POSITIONING_LOG(...) +#endif + +/*---------------------------------------------------------------------------*/ +#endif // INC_COMMON_POSITIONING_LOG_H_ + +/*---------------------------------------------------------------------------*/ +/*EOF*/ 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*/ diff --git a/hal/positioning_hal/inc/LineSensDrv/LineSensDrv_Sensor.h b/hal/positioning_hal/inc/LineSensDrv/LineSensDrv_Sensor.h new file mode 100755 index 0000000..1b996b7 --- /dev/null +++ b/hal/positioning_hal/inc/LineSensDrv/LineSensDrv_Sensor.h @@ -0,0 +1,183 @@ +/* + * @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 LineSensDrv_Sensor.h +*/ + +#ifndef INC_LINESENSDRV_LINESENSDRV_SENSOR_H_ +#define INC_LINESENSDRV_LINESENSDRV_SENSOR_H_ + +/*---------------------------------------------------------------------------*/ +// Include files + +#include "positioning_def.h" + +/*---------------------------------------------------------------------------*/ +// Macro definitions + +/* Message related */ +/* Message identification number definition received from the ICR */ +#define LSDRV_RCVMSG_INVALID 0x00 /* Not applicable */ +#define LSDRV_RCVMSG_SENSOR 0x12 /* Sensor data */ + +/* LineSensor vehicle signal notification */ + +#define LSDRV_SENS_MASK 0xFFF /* Sensor data MASK */ +#define LSDRV_PLSMAX 65536 /* Maximum vehicle speed pulse number */ +/* #011 start */ +#define LSDRV_SENS_COEFFICIENT 14.1287284284144427 /* Vehicle speed calculation factor */ +#define LSDRV_SPKMPH_METHOD_FST 0 /* Vehicle speed calculation method(Initial Sensor Data) */ +#define LSDRV_SPKMPH_METHOD_NML 1 /* Vehicle speed calculation method(Sensor data) */ +#define LSDRV_SPKMPH_AVE_TIME 29 /* Effective time for average calculation data(in units of 100ms) */ /* #013 */ +#define LSDRV_SPKMPH_NOISE_TIME (LSDRV_SPKMPH_AVE_TIME + 2) /* Effective Time for Noise Detection(in units of 100ms) */ /* #017 */ +#define LSDRV_SPKMPH_INVALID 1 /* No pulse of previous vehicle speed */ +#define LSDRV_SPKMPH_VALID 0 /* Last vehicle speed pulse */ +#define LSDRV_SENSCNT_BRW_ADD 256 /* Measures for borrow occurrence during search of sensor counters */ +/* #011 end */ +#define LSDRV_FSENS_NRCV 0 /* Not received */ +#define LSDRV_FSENS_RCV 1 /* Receiving */ +#define LSDRV_FSENS_RCVCOMP 2 /* Reception completion */ +#define LSDRV_FSENS_NORMAL 0 /* Receive data normal */ /* #001 */ +#define LSDRV_FSENS_ERROR 1 /* Receive data anomaly */ /* #001 */ +/* #016 start */ +#define LSDRV_PLSDATA_NRCV 0 /* Not received */ +#define LSDRV_PLSDATA_RCV 1 /* Received */ +#define LSDRV_SENSCNT_MAX 255 /* Maximum value of sensor counter */ +#define LSDRV_SPKMPH_MIN_DATA_N 6 /* Number of data required for vehicle speed calculation */ +#define LSDRV_FSPDPLS_NUM 3 /* Number of cumulative pulses registered for the first time */ +/* #016 end */ +#define LSDRV_REV_MASK 0x0040 /* REV-data MASK(Before endian conversion) */ +#define LSDRV_BITSHIFT_REV 6 /* REV data bit shift */ +#define LSDRV_TEMP_MASK 0x07FF /* Gyro temperature data MASK(after endian conversion) */ +#define LSDRV_PLSTIME_LEN 232 /* Data length when inter-pulse time exists */ + + +#define LSDRV_DETAILED_DATA_MULTI_ENABLE TRUE /* Detailed data multiplexing of initial sensor data Enabled/Disabled */ + +#if LSDRV_DETAILED_DATA_MULTI_ENABLE +#define LSDRV_DETAILED_DATA_MULTI_MAX_NUM 2 /* Detailed data multiplexing of initial sensor data Maximum number */ +#else +#define LSDRV_DETAILED_DATA_MULTI_MAX_NUM 1 /* Detailed data multiplexing of initial sensor data Maximum number */ +#endif + +/* Total number of partitions of initial sensor data : Maximum value */ +#define LSDRV_FSENS_TOTAL_NUM_MAX LSDRV_FSTSNS_SENSOR_FIRST_SEND_NUM + +/* Detailed data of initial sensor data : Maximum number of acquisitions */ +#define LSDRV_DETAILED_DATA_MAX_NUM (LSDRV_FSENS_TOTAL_NUM_MAX * LSDRV_DETAILED_DATA_MULTI_MAX_NUM) + +/* Initial sensor data : Maximum number of saved messages */ +#define LSDRV_FSENS_SAVE_MSG_NUM (LSDRV_FSENS_TOTAL_NUM_MAX + 1) + +/* Initial sensor data : Maximum number of data stored */ +#define LSDRV_FSENS_SAVE_DATA_NUM (LSDRV_FSENS_SAVE_MSG_NUM * LSDRV_DETAILED_DATA_MULTI_MAX_NUM) + +#define LSDRV_DETAILED_DATA_GYRO_NUM LSDRV_FSTSNS_DETAILED_DATA_GYRO_NUM +#define LSDRV_DETAILED_DATA_GSENSOR_NUM LSDRV_FSTSNS_DETAILED_DATA_GSENSOR_NUM +#define LSDRV_DETAILED_DATA_GSENSOR_X_OFFSET 0 /* G-Sensor data X-axis offset included in detail data */ +#define LSDRV_DETAILED_DATA_GSENSOR_Y_OFFSET 1 /* G-Sensor data Y-axis offsets included in the detail data */ +#define LSDRV_DETAILED_DATA_GSENSOR_OFFSET 3 /* G-Sensor data access offset included in the detail data */ + +/* Gyro Output Specifications:11500 ~ 54036LSB */ +#define GYRO_OUTPUPT_SPEC_LOWER_LIMIT 11500U +#define GYRO_OUTPUPT_SPEC_UPPER_LIMIT 54036U + +/* Gyro Failure Status : How many normal status continues should be made to Gyro Failure Status normal when it is judged to be "error -> normal" */ +#define GYRO_TROUBLE_NORMAL_COUNTER_THRESHOLD 10U /* 10 ms (Gyro data acquisition interval) * 10 times = 100ms */ + +/* Gyro Failure Status : How many error status continues should be made to Gyro Failure Status error when it is judged to be "normal -> error" */ +#define GYRO_TROUBLE_ERROR_COUNTER_THRESHOLD 3000U /* 10 ms (Gyro data acquisition interval) * 3000 times = 30s */ + +/* SYS GPS Interrupt Signal : How many disable continues should be made to SYS GPS Interrupt Signal disable when it is judged to be "enable -> disable" */ +#define SYS_GPS_INTERRUPT_SIGNAL_INVALID_COUNTER_THRESHOLD 10U + +/* Gyro Failure Status : Match values with SENSORMOTION_NORMAL and ERROR,UNFIXED in SensorMotion_API.h */ +#define GYRO_NORMAL (0U) +#define GYRO_ERROR (1U) +#define GYRO_UNFIXED (2U) + +/* Gyro connection status : Match values with SENSOR_CONNECT and SENSOR_DISCONNECT in Sensor_API.h */ +#define GYRO_DISCONNECT (0U) +#define GYRO_CONNECT (1U) + +/*** Data table for calculating vehicle speed *****************************************/ +#define LSDRV_SPKMPH_TBL_NUM 32 /* Number of data tables */ /* #50836 */ +#define LSDRV_SPKMPH_DATA_EN 0x01 /* Data storage flag valid */ +#define LSDRV_SPKMPH_DATA_DIS 0x00 /* Data storage flag invalid */ + +/*** Operation code *********************************************/ +#define LSDRV_OPC_WILDCARD 0xFF /* Wildcarded #012 */ + +#define LSDRV_OPC_EXTTERM_R 0x89 /* External pin status request */ +#define LSDRV_OPC_EXTTERM_A 0x99 /* External pin status notification */ +#define LSDRV_OPC_SENSOR 0xC1 /* Sensor data */ +#define LSDRV_OPC_FSENS_R 0xE4 /* Initial sensor data request */ +#define LSDRV_OPC_FSENS_A 0xF4 /* Initial sensor data response */ + +/*---------------------------------------------------------------------------*/ +// Enum + +/*---------------------------------------------------------------------------*/ +// Struct + +typedef struct { + u_int16 uc_sensor_x; /* G-Sensor X data */ + u_int16 uc_sensor_y; /* G-Sensor Y data */ + u_int16 uc_sensor_z; /* G-Sensor Z data */ +} SENSORINPUT_INFO_DAT_GSENS; + +// TAG : LSDRV_SPEEDKMPH_DAT +// ABSTRACT : Data Table Structure for Vehicle Speed Calculation +typedef struct LsDrvSpeedKmph { + u_int8 uc_flag; /* Data storage flag */ + u_int8 uc_sens_cnt; /* Sensor counter */ + u_int16 us_speed_pulse; /* Vehicle speed pulse */ + u_int8 uc_noise_flag; /* Noise flag */ /* #017 */ + u_int8 u_reserve[3]; /* Reserved */ /* #017 */ +} LSDRV_SPEEDKMPH_DAT_DAT; + +typedef struct LsDrvSpeedKmphLast { + u_int8 uc_flag; /* Data storage flag */ + u_int8 uc_sens_cnt; /* Sensor counter */ + u_int16 us_speed_pulse; /* Vehicle speed pulse */ +} LSDRV_SPEEDKMPH_LAST_DAT; + +typedef struct LsDrvSpeedKmphDat { + u_int8 uc_ptr; /* Data storage pointer */ + u_int8 uc_fstsns_rcv; /* Initial sensor data reception status */ /* #016 */ + u_int8 uc_sns_rcv; /* Sensor data reception status */ /* #016 */ + u_int8 uc_calc_start; /* Vehicle speed calculation start flag */ /* #016 */ + LSDRV_SPEEDKMPH_LAST_DAT st_last_data; /* Previous vehicle speed pulse information */ + LSDRV_SPEEDKMPH_DAT_DAT st_data[LSDRV_SPKMPH_TBL_NUM]; /* Data portion */ +} LSDRV_SPEEDKMPH_DAT; + +/*---------------------------------------------------------------------------*/ +// Prototype + +void LineSensDrvSensor(u_int8*); +u_int16 LineSensDrvSpeedCalc(u_int8); +void LineSensDrvSpeedKmphDataInit(void); +void LineSensDrvSpeedPulseSave(u_int16, u_int16, u_int8); +u_int8 LineSensDrvCheckNoise(u_int8); + +u_int8 LineSensDrvGetLastSpeedPulse(u_int16*, u_int16, u_int8); +void LineSensDrvSetLastSpeedPulse(u_int16, u_int8); + +/*---------------------------------------------------------------------------*/ +#endif // INC_LINESENSDRV_LINESENSDRV_SENSOR_H_ + +/*---------------------------------------------------------------------------*/ +/*EOF*/ diff --git a/hal/positioning_hal/inc/LineSensDrv/LineSensDrv_Thread.h b/hal/positioning_hal/inc/LineSensDrv/LineSensDrv_Thread.h new file mode 100755 index 0000000..54a01dc --- /dev/null +++ b/hal/positioning_hal/inc/LineSensDrv/LineSensDrv_Thread.h @@ -0,0 +1,66 @@ +/* + * @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 LineSensDrv_Thread.h +*/ + +#ifndef INC_LINESENSDRV_LINESENSDRV_THREAD_H_ +#define INC_LINESENSDRV_LINESENSDRV_THREAD_H_ + +/*---------------------------------------------------------------------------*/ +// Include files + +#include "LineSensDrv_Api.h" +#include "LineSensDrv_Sensor.h" + +/*---------------------------------------------------------------------------*/ +// Define + +// Return value +#define RET_LSDRV_SUCCESS RET_NORMAL // API processing success +#define RET_LSDRV_ERROR RET_ERROR // API processing failed + +/*---------------------------------------------------------------------------*/ +// Rcv Message Related + +// Size of data section +#define LSDRV_RCVMSG_MSGBUF 512 // Byte count of RcvMSG data section + +/*---------------------------------------------------------------------------*/ +// Struct + +// TAG : LSDRV_RCVDATA +// ABSTRACT : Message receive buffer structure +typedef struct LsDrvRcvData { + T_APIMSG_MSGBUF_HEADER st_head; // Message header + u_int8 uc_data[LSDRV_RCVMSG_MSGBUF]; // Data portion +} LSDRV_RCVDATA; + +/*---------------------------------------------------------------------------*/ +// Prototype + +int32 LineSensDrvMainThreadInit(HANDLE); +void LineSensDrvParamInit(void); + +EFrameworkunifiedStatus LineSensDrvThread(HANDLE); +void LineSensDrvThreadStopProcess(void); +u_int8 LineSensDrvGetSysRecvFlag(void); + +/*---------------------------------------------------------------------------*/ +#endif // INC_LINESENSDRV_LINESENSDRV_THREAD_H_ + +/*---------------------------------------------------------------------------*/ +/*EOF*/ diff --git a/hal/positioning_hal/src/Common/positioning_common.cpp b/hal/positioning_hal/src/Common/positioning_common.cpp new file mode 100755 index 0000000..00b3a8b --- /dev/null +++ b/hal/positioning_hal/src/Common/positioning_common.cpp @@ -0,0 +1,388 @@ +/* + * @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 positioning_common.cpp +*/ + +/*---------------------------------------------------------------------------*/ +// Include files + +#include "positioning_common.h" +#include "MDev_Gps_Common.h" +#include "MDev_GpsRecv.h" +#include "LineSensDrv_Thread.h" + +/*---------------------------------------------------------------------------*/ +// Value define + +#define DATMOD_RETRY (3) /* Number of shared memory generation retries */ +#define DATMOD_PREINIT (0) /* Shared Memory State [Before initialization] */ +#define PRIM_NAME_MAX (32) /* Maximum Name Size */ +#define VEHICLE_SHARE_NAME ("POS_VEHICLE_SHARE_MEMORY") /* Shared memory name */ + +/* Mask for managing various notification reception conditions */ +#define NTFY_MSK_NONE (0x00) +/* Service availability notification */ +#define NTFY_MSK_COMMUNICATION_AVAILABILITY (0x01) +#define NTFY_MSK_PS_COMMUSB_AVAILABILITY (0x02) +#define NTFY_MSK_PS_PSMSHADOW_AVAILABILITY (0x04) +#define NTFY_MSK_CLOCK_AVAILABILITY (0x08) +#define NTFY_MSK_NS_BACKUPMGR_AVAILABILITY (0x10) +#define NTFY_MSK_SS_DEVDETSRV_AVAILABILITY (0x20) +/* Other Notices */ +#define NTFY_MSK_PS_PSMSHADOW_INIT_COMP (0x01) /* PSMShadow startup completion notice */ +#define NTFY_MSK_PS_LANSERVER_DEVICE_UPDATE (0x02) /* LanServer device configuration change notification */ +#define NTFY_MSK_PS_LANSERVER_WAKEUP_COMP (0x04) /* LanServer start completion notice */ + +/* Thread state */ +#define THREAD_STS_NOEXIST (0x00) +#define THREAD_STS_CREATING (0x01) +#define THREAD_STS_CREATED (0x02) + +/*---------------------------------------------------------------------------*/ +// ENUMERATION + +/*---------------------------------------------------------------------------*/ +// STRUCTURE + +typedef struct StThreadInfo { + EnumTID_POS e_id; /**< Thread ID */ + const int8_t* p_name; /**< Thread name */ + PNO p_no; /**< Process number */ + CbFuncPtr cb_routine; /**< Start routine */ + uint8_t msk_available; /**< Dependent services Availability */ + uint8_t msk_ntfy; /**< Dependent notification */ + uint8_t msk_thread; /**< Dependent threads */ + BOOL b_is_depended; /**< Positioning/Availability->TRUE change dependency */ + uint8_t uc_status; /**< Thread activation state */ + uint8_t uc_order; /**< Boot Sequence(Performance) */ + uint8_t u_reserve[2]; +} ST_THREAD_CREATE_INFO; + +typedef struct { + char share_data_name[PRIM_NAME_MAX]; /**< Shared data name */ + u_int32 data_size; /**< Shared data size */ +} ST_SHAREDATA; + +static const int8_t kThreadNamePosMain[15] = "POS_Main"; +static const int8_t kThreadNamePosSens[15] = "POS_Sens"; +static const int8_t kThreadNamePosGps[15] = "POS_Gps"; +static const int8_t kThreadNamePosGpsRecv[15] = "POS_Gps_Recv"; +static const int8_t kThreadNamePosGpsRollover[15] = "POS_Gps_Rolovr"; + +static ST_THREAD_CREATE_INFO g_pos_thread_create_info[] = { + { /* POS_Main */ + ETID_POS_MAIN, /* (1) */ + NULL, /* (2) */ + 0, /* (3) */ + NULL, /* (4) */ + (NTFY_MSK_NONE), /* (5) */ + (NTFY_MSK_NONE), /* (6) */ + 0, /* (7) */ + FALSE, /* (8) */ + THREAD_STS_NOEXIST, /* (9) */ + 0 /* (10) */ + }, + { /* POS_sens */ + ETID_POS_SENS, /* (1) */ + kThreadNamePosSens, /* (2) */ + PNO_LINE_SENS_DRV, /* (3) */ + &LineSensDrvThread, /* (4) */ + (NTFY_MSK_NONE), /* (5) */ + (NTFY_MSK_NONE), /* (6) */ + 0, /* (7) */ + FALSE, /* (8) */ + THREAD_STS_NOEXIST, /* (9) */ + 0 /* (10) */ + }, + { /* POS_Gps */ + ETID_POS_GPS, /* (1) */ + kThreadNamePosGps, /* (2) */ + PNO_NAVI_GPS_MAIN, /* (3) */ + &DevGpsMainThread, /* (4) */ + (NTFY_MSK_NONE), /* (5) */ + (NTFY_MSK_NONE), /* (6) */ + 0, /* (7) */ + TRUE, /* (8) */ + THREAD_STS_NOEXIST, /* (9) */ + 0 /* (10) */ + }, + { /* POS_Gps_Recv */ + ETID_POS_GPS_RECV, /* (1) */ + kThreadNamePosGpsRecv, /* (2) */ + PNO_NAVI_GPS_RCV, /* (3) */ + &DevGpsRecvThread, /* (4) */ + (NTFY_MSK_NONE), /* (5) */ + (NTFY_MSK_NONE), /* (6) */ + THREAD_STS_MSK_POS_GPS, /* (7) */ + FALSE, /* (8) */ + THREAD_STS_NOEXIST, /* (9) */ + 0 /* (10) */ + }, + { /* POS_Gps_Rolovr */ + ETID_POS_GPS_ROLLOVER, /* (1) */ + NULL, /* (2) */ + 0, /* (3) */ + NULL, /* (4) */ + (NTFY_MSK_NONE), /* (5) */ + (NTFY_MSK_NONE), /* (6) */ + 0, /* (7) */ + FALSE, /* (8) */ + THREAD_STS_NOEXIST, /* (9) */ + 0 /* (10) */ + }, + { /* Termination */ + ETID_POS_MAX, /* (1) */ + NULL, /* (2) */ + 0, /* (3) */ + NULL, /* (4) */ + NTFY_MSK_NONE, /* (5) */ + NTFY_MSK_NONE, /* (6) */ + 0, /* (7) */ + FALSE, /* (8) */ + THREAD_STS_NOEXIST, /* (9) */ + 0 /* (10) */ + }, +}; + +static ST_SHAREDATA g_sharedata_tbl[] = { + /* Shared data name to be generated, Shared data size */ + { {VEHICLE_SHARE_NAME}, 512 * 11 }, /* Vehicle sensor information acquisition */ +#if 0 /* Not used in _CWORD71_ below */ + { {"SENSOR_SHARE_MEMORY"}, 512 * 11 }, /* Vehicle sensor information Pkg acquisition */ + { {"GPS_INT_SIGNAL_SHARE_MEMORY"}, 4 }, /* GPS interrupt signal acquisition */ + { {"LOG_SETTING_SHARE_MEMORY"}, 36 }, /* DR feature log acquisition */ + { {"GYRO_CONNECT_STTS_SHARE_MEMORY"}, 4 }, /* Gyro connection status acquisition */ + { {"EPHEMERIS_NUM_SHARE_MEMORY"}, 4 }, /* Effective ephemeris count acquisition at shutdown */ + { {"LOCALTIME_SHARE_MEMORY"}, 12 }, /* Local time acquisition at shutdown */ + { {"LONLAT_SHARE_MEMORY"}, 8 }, /* Location acquisition at shutdown */ +#endif + { {(int8)NULL}, 0 } /* Termination */ +}; + + +/*---------------------------------------------------------------------------*/ +// Functions + +static EFrameworkunifiedStatus PosStopThreadDummy(HANDLE h_app) { + return eFrameworkunifiedStatusOK; +} + +static uint32_t PosGetMsg(HANDLE h_app, void** p_buf, uint32_t ul_size) { + EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK; + uint32_t tmp_size = 0; + void* p_rev_buf = NULL; + + if ((h_app == NULL) || (p_buf == NULL)) { + POSITIONING_LOG("Argument ERROR!! [h_app = %p, pBuf = %p]", h_app , p_buf); + } else { + /* Check the size of received data */ + tmp_size = FrameworkunifiedGetMsgLength(h_app); + if (tmp_size > ul_size) { + POSITIONING_LOG("Message ul_size ERROR!! [tmp_size = %d, maxsize = %d]", tmp_size, ul_size); + tmp_size = 0; + } else { + /* Obtain data */ + e_status = FrameworkunifiedGetDataPointer(h_app, &p_rev_buf); + + if (e_status == eFrameworkunifiedStatusOK) { + *p_buf = p_rev_buf; + } else if (e_status == eFrameworkunifiedStatusInvldBufSize) { + e_status = FrameworkunifiedGetMsgDataOfSize(h_app, *p_buf, tmp_size); + + if (e_status != eFrameworkunifiedStatusOK) { + POSITIONING_LOG("FrameworkunifiedGetMsgDataOfSize ERROR [e_status:%d]", e_status); + tmp_size = 0; + } + } else { + POSITIONING_LOG("FrameworkunifiedGetDataPointer ERROR [e_status:%d]", e_status); + tmp_size = 0; + } + } + } + + return tmp_size; +} + +static void PosCreateSharedMemory(void) { + RET_API ret_api = RET_NORMAL; + void *mod_exec_dmy; /* Module data pointer(dummy) */ + int retry; /* Retry counter */ + ST_SHAREDATA *p_shm_tbl; + + /* Configure Shared Data Generating Tables */ + p_shm_tbl = g_sharedata_tbl; + + while (*(p_shm_tbl->share_data_name) != (int8)NULL) { + for (retry = 0; retry < DATMOD_RETRY; retry++) { + /* Shared Memory Generation */ + ret_api = _pb_CreateShareData(p_shm_tbl->share_data_name, p_shm_tbl->data_size, &mod_exec_dmy); + if (ret_api == RET_NORMAL) { + /* Set the shared memory status flag to "Before initialization (0)" */ + *reinterpret_cast<u_int32 *>(mod_exec_dmy) = DATMOD_PREINIT; + break; + } else { + /* Error Handling */ + POSITIONING_LOG("_pb_CreateShareData ERROR [ret_api:%d]", ret_api); + } + } + + if (retry >= DATMOD_RETRY) { + POSITIONING_LOG("_pb_CreateShareData failed more %d times.", DATMOD_RETRY); + _pb_Exit(); + /* don't arrive here. */ + } + + /* Next shared memory generation */ + p_shm_tbl++; + } + return; +} + +EFrameworkunifiedStatus PosInitialize(HANDLE h_app) { + EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK; + RET_API ret_api; + ret_api = _pb_Setup_CWORD64_API(h_app); + if (ret_api != RET_NORMAL) { + POSITIONING_LOG("_pb_Setup_CWORD64_API ERROR!! [ret_api = %d]", ret_api); + + e_status = eFrameworkunifiedStatusFail; + } else { + PosCreateSharedMemory(); + } + return e_status; +} + +/** + * @brief + * Common processing after thread startup + * + * Thread naming, message queue creation, thread startup response + * + * @param[in] h_app Application handle + * @param[in] eTid Thread ID + * + * @return Thread startup mode + */ +EnumSetupMode_POS PosSetupThread(HANDLE h_app, EnumTID_POS e_tid) { + RET_API ret = RET_NORMAL; + ST_THREAD_CREATE_INFO* p_thread_info = g_pos_thread_create_info; + ST_THREAD_CREATE_INFO* p_info = p_thread_info + e_tid; + ST_THREAD_SETUP_INFO st_setup_info; + ST_THREAD_SETUP_INFO* pst_setup_info = &st_setup_info; + /* Application handle setting */ + _pb_SetAppHandle(h_app); + /* Create Message Queue */ + _pb_CreateMsg(p_info->p_no); + /* Get thread startup information */ + pst_setup_info->mode = EPOS_SETUP_MODE_NORMAL; + (void)PosGetMsg(h_app, reinterpret_cast<void**>(&pst_setup_info), sizeof(ST_THREAD_SETUP_INFO)); + + POSITIONING_LOG("[mode = %d]", pst_setup_info->mode); + + /* Issue thread creation completion notice */ + ret = _pb_SndMsg_Ext(POS_THREAD_NAME, + CID_THREAD_CREATE_COMP, + sizeof(EnumTID_POS), + reinterpret_cast<const void*>(&e_tid), + 0); + + if (ret != RET_NORMAL) { + POSITIONING_LOG("_pb_SndMsg_Ext ERROR!! [ret = %d]", ret); + } + + return pst_setup_info->mode; +} + +/** + * @brief + * Common processing at thread stop + * + * Thread stop response, thread destruction + * + * @param[in] e_tid Thread ID + */ +void PosTeardownThread(EnumTID_POS e_tid) { + RET_API e_ret = RET_NORMAL; + ST_THREAD_CREATE_INFO* p_thread_info = g_pos_thread_create_info; + + (p_thread_info + e_tid)->uc_status = THREAD_STS_NOEXIST; + /* Issue thread stop completion notice */ + e_ret = _pb_SndMsg_Ext(POS_THREAD_NAME, + CID_THREAD_STOP_COMP, + sizeof(EnumTID_POS), + reinterpret_cast<const void*>(&e_tid), + 0); + + if (e_ret != RET_NORMAL) { + POSITIONING_LOG("_pb_SndMsg_Ext ERROR!! [e_ret = %d]", e_ret); + } + + /* Thread destruction */ + _pb_ExitThread((DWORD)0); + + return; +} + +/** + * @brief + * Positioning in-process thread creation + * + * @param[in] hApp Application handle + */ +EFrameworkunifiedStatus PosCreateThread(HANDLE h_app, int8_t index) { + HANDLE thread_handle; + EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK; + ST_THREAD_CREATE_INFO* p_thread_info = g_pos_thread_create_info; + + p_thread_info += index; + + static EnumSetupMode_POS g_setup_mode; + + if (NULL == h_app) { + return eFrameworkunifiedStatusInvldHandle; + } + + if (index < ETID_POS_MAX) { + if ((p_thread_info->uc_status == THREAD_STS_NOEXIST) && (p_thread_info->cb_routine != NULL)) { + /* Thread creation */ + thread_handle = FrameworkunifiedCreateChildThread(h_app, + (PCSTR)(p_thread_info->p_name), + p_thread_info->cb_routine, + &PosStopThreadDummy); + + if (thread_handle == NULL) { + POSITIONING_LOG("FrameworkunifiedCreateChildThread ERROR!! [tHandle=%p]", thread_handle); + } else { + e_status = FrameworkunifiedStartChildThread(h_app, + thread_handle, + sizeof(EnumSetupMode_POS), + &g_setup_mode); + + if (e_status != eFrameworkunifiedStatusOK) { + POSITIONING_LOG("FrameworkunifiedStartChildThread ERROR!! [e_status=%d, name=%s]", e_status, p_thread_info->p_name); + } else { + p_thread_info->uc_status = THREAD_STS_CREATING; + POSITIONING_LOG("name=%s\n", p_thread_info->p_name); + } + } + } + } + return e_status; +} + +/*---------------------------------------------------------------------------*/ +/*EOF*/ diff --git a/hal/positioning_hal/src/Common/positioning_hal.cpp b/hal/positioning_hal/src/Common/positioning_hal.cpp new file mode 100755 index 0000000..94f79c4 --- /dev/null +++ b/hal/positioning_hal/src/Common/positioning_hal.cpp @@ -0,0 +1,49 @@ +/* + * @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 positioning_hal.cpp +*/ + +/*---------------------------------------------------------------------------*/ +// Include files + +#include <stdio.h> + +#include "positioning_hal.h" +#include "positioning_def.h" +#include "positioning_common.h" + +/*---------------------------------------------------------------------------*/ +// Functions + +EFrameworkunifiedStatus StartGpsMainThreadPositioning(HANDLE h_app) { + return PosCreateThread(h_app, ETID_POS_GPS); +} + +EFrameworkunifiedStatus StartGpsRecvThreadPositioning(HANDLE h_app) { + return PosCreateThread(h_app, ETID_POS_GPS_RECV); +} + +EFrameworkunifiedStatus StartLineSensorThreadPositioning(HANDLE h_app) { + return PosCreateThread(h_app, ETID_POS_SENS); +} + +EFrameworkunifiedStatus StartGpsRolloverThreadPositioning(HANDLE h_app) { + return eFrameworkunifiedStatusErrOther; +} + +/*---------------------------------------------------------------------------*/ +/*EOF*/ diff --git a/hal/positioning_hal/src/GpsCommon/MDev_GpsRecv.cpp b/hal/positioning_hal/src/GpsCommon/MDev_GpsRecv.cpp new file mode 100755 index 0000000..13159b4 --- /dev/null +++ b/hal/positioning_hal/src/GpsCommon/MDev_GpsRecv.cpp @@ -0,0 +1,608 @@ +/* + * @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.cpp +*/ + +/*---------------------------------------------------------------------------*/ +// Include files + +#include "MDev_GpsRecv.h" +#include "MDev_Gps_Common.h" +#include "positioning_common.h" +#include "MDev_Gps_API.h" +//extern "C" { +//#include <stub/gps_mng_api.h> +//} + +/*---------------------------------------------------------------------------*/ +// Global values + +#define FTEN_DRIVER 0 +#define TEST_HAL2 + +#if FTEN_DRIVER +static GpsMngApiObj g_gps_mng_obj; +#endif + +/*---------------------------------------------------------------------------*/ +// Functions + +/******************************************************************************* + * MODULE : DEV_Gps_RecvThread + * ABSTRACT : GPS communication management reception thread + * FUNCTION : GPS communication management reception thread main + * ARGUMENT : PVOID pv....Thread creation arguments + * NOTE : - + * RETURN : TRUE + ******************************************************************************/ +EFrameworkunifiedStatus DevGpsRecvThread(HANDLE h_app) { + int32 ret = GPS_RCV_RET_NML; + int32 gps_ret = 0; + BOOL* p_thread_stop_req = &g_gps_rcv_thread_stop; + + (void)PosSetupThread(h_app, ETID_POS_GPS_RECV); + + /* Initializing process */ + DevGpsRecvInit(); + +#if FTEN_DRIVER + gps_ret = GpsMngApiOpen(&g_gps_mng_obj); + if (gps_ret != GPS_CTL_RET_SUCCESS) { + printf("[For test] GpsMngApiOpen open failed\n"); + } +#endif + + while (1) { + /* Thread stop request is received */ + if (TRUE == *p_thread_stop_req) { + /* Thread stop processing */ + DevGpsRecvThreadStopProcess(); + } + + ret = DevGpsRecvReadRcvData(&g_gps_rcvdata); + + if (GPS_RCV_RET_NML == ret) { + /* For reception (normal) */ + DevGpsRecvRcvNormal(); + } + } + + return eFrameworkunifiedStatusOK; +} + +/******************************************************************************* + * MODULE : DEV_Gps_Recv_Init + * ABSTRACT : Receive thread initialization processing + * FUNCTION : Initialize the receive thread + * ARGUMENT : - + * NOTE : - + * RETURN : - + ******************************************************************************/ +void DevGpsRecvInit(void) { + /* Clears the receive buffer */ + DevGpsRecvClrRcvBuf(); + + /* Clear receive error count */ + g_wrecv_err = 0; + + return; +} + +/******************************************************************************* + * MODULE : DEV_Gps_Recv_ClrRcvBuf + * ABSTRACT : Buffer clear processing + * FUNCTION : Clears the receive buffer for serial reception. + * ARGUMENT : - + * NOTE : - + * RETURN : - + ******************************************************************************/ +void DevGpsRecvClrRcvBuf(void) { + /*-----------------------------------------------------------------------*/ + /* Clear serial receive data storage buffer */ + /*-----------------------------------------------------------------------*/ + memset(&g_gps_rcvdata, 0, sizeof(TG_GPS_RECV_RcvData)); + + /*-----------------------------------------------------------------------*/ + /* Clear receive data storage buffer */ + /*-----------------------------------------------------------------------*/ + memset(&g_gps_rcvbuf, 0, sizeof(TG_GPS_RECV_RcvBuf)); + + /*-----------------------------------------------------------------------*/ + /* Clear analysis data buffer */ + /*-----------------------------------------------------------------------*/ + memset(&g_gps_ana_databuf, 0, sizeof(TG_GPS_RECV_AnaDataBuf)); + + /*-----------------------------------------------------------------------*/ + /* Clear receive frame buffer */ + /*-----------------------------------------------------------------------*/ + memset(&g_gps_rcv_framebuf, 0, sizeof(TG_GPS_RECV_RcvFrameBuf)); +} + +/******************************************************************************* + * MODULE : DevGpsRecvJudgeStartSeqence + * ABSTRACT : Start sequence determination process + * FUNCTION : Determine whether or not the beginning of the data is the start sequence of the _CWORD82_ command + * ARGUMENT : const u_char *buf_p ... Pointer to analysis data + * u_int16 ana_size ... Size of data to be analyzed + * NOTE : + * RETURN : GPS__CWORD82__RET_START_SEQ_NONE ... No start sequence + * GPS__CWORD82__RET_START_SEQ_NMEA ... NMEA Start Sequences + * GPS__CWORD82__RET_START_SEQ_FULL ... Full Customization Start Sequence + ******************************************************************************/ +static int32 DevGpsRecvJudgeStartSeqence(const u_char *buf_p, u_int16 ana_size) { + int32 ret = GPS__CWORD82__RET_START_SEQ_NONE; + + if ((ana_size >= 1) && (buf_p[0] == 0x24u)) { + /* Ignore -> No applicable rules for MISRA-C */ /* 0x24: '$' QAC 285 */ + ret = GPS__CWORD82__RET_START_SEQ_NMEA; + } else if ((ana_size >= 1) && (buf_p[0] == 0xB0)) { + ret = GPS__CWORD82__RET_START_SEQ_FULL; + } else if ((ana_size >= 1) && (buf_p[0] == 0xC6)) { + /* #GPF_60_024 */ + ret = GPS__CWORD82__RET_START_SEQ_BIN; + } else if ((ana_size >= 1) && (buf_p[0] == 0xB5)) { + /* #GPF_60_024 */ + ret = GPS_UBLOX_RET_START_SEQ_UBX; + } else { + ret = GPS__CWORD82__RET_START_SEQ_NONE; + } + + return ret; +} + +/******************************************************************************* + * MODULE : DEV_Gps_Recv_SearchFrameData + * ABSTRACT : Frame detection processing + * FUNCTION : Find if a frame exists in the data + * ARGUMENT : TG_GPS_RECV_AnaDataBuf *adbuf_p ... Pointer to the analysis data storage buffer + * u_int16 *ana_size; ... Analysis completion data size + * NOTE : Since it is assumed that the beginning of the frame is stored in the analysis start offset, + * when the beginning of the frame is detected in the middle of the buffer, + * the processing is terminated with the data up to that point as abnormal format data. + * RETURN : GPS_RCV_FRMSRCH_ERR_FORMAT ... Frame format error + * GPS_RCV_FRMSRCH_FIXED ... Frame determination + * GPS_RCV_FRMSRCH_NOT_FIXED ... Frame undetermined + * GPS_RCV_FRMSRCH_NO_DATA ... No analysis data + ******************************************************************************/ +int32 DevGpsRecvSearchFrameData(const TG_GPS_RECV_AnaDataBuf *adbuf_p, u_int16 *ana_size) { + int32 ret = GPS_RCV_FRMSRCH_ERR_FORMAT; /* Return value(Frame format error) */ + /* ++ GPS _CWORD82_ support */ + int32 start_seq_type = GPS__CWORD82__RET_START_SEQ_NONE; /* Fully customized or NMEA */ + /* -- GPS _CWORD82_ support */ + u_int16 start_offset = 0; /* Analysis start offset */ + u_int16 i = 0; + u_int16 d_size = 0; /* Unanalyzed data size */ + + /* Offset Initialization */ + start_offset = adbuf_p->offset; /* Start of analysis */ /* Ignore -> No applicable rules for MISRA-C */ + + /* Setting of unanalyzed data size */ + d_size = adbuf_p->datsize - start_offset; + + /* For size 0 */ + if (d_size == 0) { + /* No analysis data */ + ret = GPS_RCV_FRMSRCH_NO_DATA; + /* Set the analysis completion size to 0. */ + *ana_size = 0; /* Ignore -> No applicable rules for MISRA-C */ + } else { + /* Since it is assumed that beginning of the frame is stored in the analysis start offset, */ + /* determine if the start sequence is the first one. */ + + /* ++ GPS _CWORD82_ support */ + start_seq_type = DevGpsRecvJudgeStartSeqence(&(adbuf_p->datbuf[start_offset]), d_size); + + if (start_seq_type != GPS__CWORD82__RET_START_SEQ_NONE) { + /* -- GPS _CWORD82_ support */ + /* Set the frame as undetermined */ + ret = GPS_RCV_FRMSRCH_NOT_FIXED; + + /* ++ GPS _CWORD82_ support */ + /* Find end sequence */ + if (start_seq_type == GPS__CWORD82__RET_START_SEQ_NMEA) { + for (i = 0; i < d_size; i++) { + if (adbuf_p->datbuf[(start_offset + i)] == 0x0A) { + /* If the end sequence is found, */ + /* end as frame fix. */ + ret = GPS_RCV_FRMSRCH_FIXED; + + /* Set the frame size for the analysis completion size. */ + *ana_size = i + 1; + + break; + } + } + + if (i == d_size) { + if (i >= GPS__CWORD82__CMD_LEN_MAX) { + /* If no end sequence is found, */ + /* frame format error. */ + ret = GPS_RCV_FRMSRCH_ERR_FORMAT; + /* After that, searching for start sequence. */ + } else { + /* Because the end sequence cannot be analyzed, */ + /* frame undetermined. */ + ret = GPS_RCV_FRMSRCH_NOT_FIXED; + + /* Set the size of unanalyzed data for the analysis completion size. */ + *ana_size = d_size; + } + } + } else if (start_seq_type == GPS__CWORD82__RET_START_SEQ_FULL) { + /* #GPF_60_024 */ + /* Is there one frame of data for full customization information? */ + if (d_size >= GPS__CWORD82__FULLBINARY_LEN) { + /* Is there an end sequence? */ + if (adbuf_p->datbuf[( (start_offset + GPS__CWORD82__FULLBINARY_LEN) - 1)] == 0xDA) { + /* Ignore -> MISRA-C:2004 Rule 12.1 */ + /* If an end sequence is found, */ + /* end as frame fix. */ + ret = GPS_RCV_FRMSRCH_FIXED; + + /* Set the frame size for the analysis completion size. */ + *ana_size = GPS__CWORD82__FULLBINARY_LEN; + } else { + /* If it is not an end sequence, */ + /* frame format error. */ + ret = GPS_RCV_FRMSRCH_ERR_FORMAT; + /* Searching for Start Sequence */ + } + } else { + /* Because the end sequence cannot be analyzed, */ + /* frame undetermined. */ + ret = GPS_RCV_FRMSRCH_NOT_FIXED; + + /* Set the size of unanalyzed data for the analysis completion size. */ + *ana_size = d_size; + } + } else if (start_seq_type == GPS__CWORD82__RET_START_SEQ_BIN) { + /* Is there data for one standard binary frame? */ + if (d_size >= GPS__CWORD82__NORMALBINARY_LEN) { + /* Is there an end sequence? */ + if (adbuf_p->datbuf[((start_offset + GPS__CWORD82__NORMALBINARY_LEN) - 1)] == 0xDA) { + /* Ignore -> MISRA-C:2004 Rule 12.1 */ + /* If an end sequence is found, */ + /* end as frame fix. */ + ret = GPS_RCV_FRMSRCH_FIXED; + + /* Set the frame size for the analysis completion size. */ + *ana_size = GPS__CWORD82__NORMALBINARY_LEN; + } else { + /* If it is not an end sequence, */ + /* frame format error. */ + ret = GPS_RCV_FRMSRCH_ERR_FORMAT; + /* Searching for Start Sequence */ + } + } else { + /* Because the end sequence cannot be analyzed, */ + /* frame undetermined. */ + ret = GPS_RCV_FRMSRCH_NOT_FIXED; + + /* Set the size of unanalyzed data for the analysis completion size. */ + *ana_size = d_size; + } + } else if (start_seq_type == GPS_UBLOX_RET_START_SEQ_UBX) { + /* TODO Checksum calculation using data from start_offset to d_size */ + /* TODO Check that the checksum is correct. (See test code.) */ + /* If the if checksums match, */ + /* end as frame fix. */ + ret = GPS_RCV_FRMSRCH_FIXED; + + /* Set the frame size for the analysis completion size. */ + *ana_size = d_size; + } else { + } + /* -- #GPF_60_024 */ + } else { + /* It is not a start sequence, so it is regarded as a frame format error. */ + ret = GPS_RCV_FRMSRCH_ERR_FORMAT; + + /* After that, searching for Start Sequence. */ + } + + /* If the frame format is abnormal, search for the start sequence. */ + if (ret == GPS_RCV_FRMSRCH_ERR_FORMAT) { + POSITIONING_LOG("FORMAT ERROR [start_seq_type:%d]\n", start_seq_type); + + /* Assuming that the start sequence has not been found until the end, */ + /* the size of the analysis completed is set as the size of the unanalyzed data. */ + *ana_size = d_size; + + /* ++ GPS _CWORD82_ support (Search from the second byte for safety (at least the first byte is checked at the beginning of the function)))*/ + for (i = start_offset + 1; i < (u_int32)(start_offset + d_size); i++) { + /* for( i = (start_offset + 2); i < (u_int32)(start_offset + d_size); i++ ) */ + /* -- GPS _CWORD82_ support */ + /* Start Sequence? */ + /* ++ GPS _CWORD82_ support */ + if (DevGpsRecvJudgeStartSeqence(&(adbuf_p->datbuf[i]), d_size) != GPS__CWORD82__RET_START_SEQ_NONE) { + /* if( (adbuf_p->datbuf[(i-1)] == GPS_CODE_START_SQ_HI) && */ + /* (adbuf_p->datbuf[i] == GPS_CODE_START_SQ_LOW) ) */ + /* -- GPS _CWORD82_ support */ + /* In the case of a start sequence, the analysis is completed before that. #01 */ + *ana_size = (i - start_offset - 1); + + break; + } + } + } + } + + return ret; +} + +/******************************************************************************* + * MODULE : DEV_Gps_Recv_ReadRcvData + * ABSTRACT : Data reception processing + * FUNCTION : Read serial data + * ARGUMENT : TG_GPS_RECV_RcvData* pst_rcv_data : Receive data read buffer + * NOTE : - + * RETURN : T_ErrCodes Error code + * MCSUB_NML Normal + * MCCOM_ERR_SYSTEM Abnormality + ******************************************************************************/ +int32 DevGpsRecvReadRcvData(TG_GPS_RECV_RcvData* pst_rcv_data) { + int32 ret = GPS_RCV_RET_ERR; + INT32 gps_ret = 0; + +#if FTEN_DRIVER + static int msg_kind = GPS_RCV_NMEA_GGA; + + // Serial data capture + GpsMngApiDat gps_mng_data; + + memset(&gps_mng_data, 0, sizeof(gps_mng_data)); +#ifdef TEST_HAL2 + if (msg_kind > GPS_RCV_NMEA_RMC) { + msg_kind = GPS_RCV_NMEA_GGA; + } +#else + if (msg_kind == GPS_RCV_NMEA_GGA) { + msg_kind = GPS_RCV_NMEA_RMC; + } else if (msg_kind == GPS_RCV_NMEA_RMC) { + msg_kind = GPS_RCV_NMEA_GGA; + } else { + msg_kind = GPS_RCV_NMEA_GGA; + } +#endif + + gps_ret = GpsMngApiGetRcvMsg(&g_gps_mng_obj, msg_kind, &gps_mng_data); + +#ifdef TEST_HAL2 + msg_kind++; +#endif + + pst_rcv_data->us_read_size = (u_int16)gps_mng_data.dataLength; + + if (pst_rcv_data->us_read_size >= GPS_RCV_MAXREADSIZE) { + return GPS_RCV_RET_ERR_SYSTEM; + } + + memcpy(pst_rcv_data->uc_read_data, gps_mng_data.data, pst_rcv_data->us_read_size); + + // Add '\0' + pst_rcv_data->uc_read_data[pst_rcv_data->us_read_size] = '\0'; + + if (GPS_CTL_RET_SUCCESS != gps_ret) { + ret = GPS_RCV_RET_ERR_SYSTEM; + } else { + ret = GPS_RCV_RET_NML; + } +#endif + + return ret; +} + +/******************************************************************************* + * MODULE : DEV_Gps_Recv_RcvNormal + * ABSTRACT : Receive (normal) Receive processing + * FUNCTION : Receive (normal) Processing at event reception + * ARGUMENT : - + * NOTE : + * RETURN : - + ******************************************************************************/ +void DevGpsRecvRcvNormal(void) { + TG_GPS_RECV_RcvData* pst_rcv_data = NULL; /* Buffer for reading serial data */ + TG_GPS_RECV_RcvBuf* pst_rcv_buf = NULL; /* Receive data storage buffer */ + TG_GPS_RECV_AnaDataBuf* pst_ana_data_buf = NULL; /* Analysis data storage buffer */ + TG_GPS_RECV_RcvFrameBuf* pst_rcv_frame_buf = NULL; /* Receive frame buffer */ + int32 i_ret = 0; /* Frame Detection Result */ + u_int16 ana_size = 0; /* Data analysis size storage */ + + /* Initializing process */ + pst_ana_data_buf = &g_gps_ana_databuf; + + /* Fast _CWORD71_ processing(memset fix) */ + /* Initializes the offset that needs initialization in the receive data storage buffer. */ + pst_ana_data_buf->offset = 0; + + /* Serial continuous reception data analysis processing */ + pst_rcv_data = &g_gps_rcvdata; + pst_rcv_buf = &g_gps_rcvbuf; + memcpy(&(pst_ana_data_buf->datbuf[0]), &(pst_rcv_buf->r_buf[0]), pst_rcv_buf->r_size); + memcpy(&(pst_ana_data_buf->datbuf[pst_rcv_buf->r_size]), + &(pst_rcv_data->uc_read_data[0]), + pst_rcv_data->us_read_size); + + pst_ana_data_buf->datsize = pst_rcv_buf->r_size + pst_rcv_data->us_read_size; + + /* Serial receive data analysis process */ + do { + /* Frame detection processing */ + i_ret = DevGpsRecvSearchFrameData(pst_ana_data_buf, &ana_size); + + /* For frame determination */ + if (i_ret == GPS_RCV_FRMSRCH_FIXED) { + /* Frames are stored in the receive frame buffer. */ + pst_rcv_frame_buf = &g_gps_rcv_framebuf; + memset(pst_rcv_frame_buf, 0, sizeof(TG_GPS_RECV_RcvFrameBuf)); /* Ignore -> No applicable rules for MISRA-C */ + /* Ignore -> No applicable rules for MISRA-C */ /* QAC 3200 */ + memcpy(& (pst_rcv_frame_buf->buf[0]), + &(pst_ana_data_buf->datbuf[pst_ana_data_buf->offset]), + ana_size); + pst_rcv_frame_buf->size = ana_size; + + /* Reception of the command */ + /* Send receipt notice (command) to main thread */ + /* Send Received Data to Main Thread */ + DevGpsRecvSndRcvData(pst_rcv_frame_buf); + } else if (i_ret == GPS_RCV_FRMSRCH_NOT_FIXED) { + /* Store unconfirmed data in the received data storage buffer, */ + /* and leave no unanalyzed data. */ + memset(pst_rcv_buf, 0, sizeof(TG_GPS_RECV_RcvBuf)); /* Ignore -> No applicable rules for MISRA-C */ + memcpy(& (pst_rcv_buf->r_buf[0]), + &(pst_ana_data_buf->datbuf[pst_ana_data_buf->offset]), + ana_size); + pst_rcv_buf->r_size = ana_size; + i_ret = GPS_RCV_FRMSRCH_NO_DATA; + } else if (i_ret == GPS_RCV_FRMSRCH_ERR_FORMAT) { + /* [Measures against resetting with 1S + _CWORD82_]From here */ + /* Clears the unanalyzed data stored in the receive data storage buffer, */ + /* and flag is set to "No Unparsed Data" so that data can be parsed from the beginning of the next. */ + memset(&(pst_rcv_buf->r_buf[0]), 0, pst_rcv_buf->r_size); + pst_rcv_buf->r_size = 0; + i_ret = GPS_RCV_FRMSRCH_NO_DATA; + /* [Measures against resetting with 1S + _CWORD82_]Up to this point */ + /* Since this section discards garbage data, */ + /* not subject to diagnosis registration. */ + /* Diagnosis registration check */ + } else if (i_ret == GPS_RCV_FRMSRCH_NO_DATA) { + /* Ignore -> No applicable rules for MISRA-C */ + memset(pst_rcv_buf, 0, sizeof(TG_GPS_RECV_RcvBuf)); + /* Termination */ + } else { + /* No unanalyzed data is assumed because it is impossible. */ + i_ret = GPS_RCV_FRMSRCH_NO_DATA; + + /* Ignore -> No applicable rules for MISRA-C */ + memset(pst_rcv_buf, 0, sizeof(TG_GPS_RECV_RcvBuf)); + } + + /* Update analysis data offset */ + pst_ana_data_buf->offset += ana_size; + + /* Repeat until no unanalyzed data is found. */ + } while (i_ret != GPS_RCV_FRMSRCH_NO_DATA); +} + +/******************************************************************************** + * MODULE : DEV_RcvDATA + * ABSTRACT : Acknowledgement + * FUNCTION : Send message notifications to the communication management thread + * ARGUMENT : TG_GPS_RCV_DATA *ptg_rcv_data....I/F information between the receiving thread + * and the communication management thread + * NOTE : + * RETURN : RET_API :RET_NORMAL:Normal completion + * :RET_ERROR:ABENDs + ********************************************************************************/ +RET_API DevRcvData(const TG_GPS_RCV_DATA* ptg_rcv_data) { + RET_API ret = RET_NORMAL; /* Return value */ + u_int16 w_size = 0; /* Data length setting */ + u_int16 w_all_len = 0; /* Sent message length */ + u_int16 w_mode = 0; /* Mode information */ + RID req_id = 0; /* Resources ID */ + T_APIMSG_MSGBUF_HEADER tg_header; /* Message header */ + + // Initialzie struct + memset(&tg_header, 0, sizeof(tg_header)); + + /* Transmitting buffer */ + u_int8 by_snd_buf[(sizeof(T_APIMSG_MSGBUF_HEADER) + sizeof(TG_GPS_RCV_DATA))]; + + /* Calculation of transmission data length */ + w_size = ptg_rcv_data->bydata_len + sizeof(ptg_rcv_data->dwret_status) + sizeof(ptg_rcv_data->bydata_len); + + /* <<Creation of message header section>>>> */ + tg_header.signo = 0; /* Signal information setting */ + tg_header.hdr.sndpno = PNO_NAVI_GPS_RCV; /* Source thread No. setting */ + tg_header.hdr.respno = 0; /* Destination process No. */ + tg_header.hdr.cid = CID_GPS_RECVDATA; /* Command ID setting */ + tg_header.hdr.msgbodysize = w_size; /* Message data length setting */ + tg_header.hdr.rid = req_id; /* Resource ID Setting */ + tg_header.hdr.reserve = 0; /* Reserved area clear */ + + memcpy(&by_snd_buf[ 0 ], &tg_header, sizeof(T_APIMSG_MSGBUF_HEADER)); + /* <<Creation of data section>> */ + /* Copy data to send buffer */ + memcpy(&by_snd_buf[ sizeof(T_APIMSG_MSGBUF_HEADER)], ptg_rcv_data, w_size); + + /* <<Messaging>> */ + /* Calculation of Sent Message Length */ + w_all_len = w_size + sizeof(T_APIMSG_MSGBUF_HEADER); + + /* Mode information(Reserved) */ + w_mode = 0; + + /* Message transmission request */ + ret = _pb_SndMsg(PNO_NAVI_GPS_MAIN, w_all_len, reinterpret_cast<void*>(by_snd_buf), w_mode); + + /* End of the process */ + return ret; +} + +/******************************************************************************** + * MODULE : DEV_Gps_Recv_SndRcvData + * ABSTRACT : Receive data transmission processing + * FUNCTION : Transmit received data + * ARGUMENT : TG_GPS_RECV_RcvFrameBuf *frame_baf Receive frame buffer pointer + * NOTE : Fetches a command from the receive frame buffer and + * issue received data notifications to the main thread + * RETURN : None + ********************************************************************************/ +void DevGpsRecvSndRcvData(const TG_GPS_RECV_RcvFrameBuf* p_frame_buf) { + TG_GPS_RCV_DATA tg_rcv_data; + u_int16 w_cmd_len = 0; + + // Initialzie struct + memset(&tg_rcv_data, 0, sizeof(tg_rcv_data)); + + if (p_frame_buf != NULL) { + w_cmd_len = p_frame_buf->size; + + if (w_cmd_len <= GPS_READ_LEN) { + /* Ignore -> No applicable rules for MISRA-C */ + memset(&tg_rcv_data, 0, sizeof(TG_GPS_RCV_DATA)); + + /* Status Settings */ + tg_rcv_data.dwret_status = GPS_RECVOK; + + /* Command length setting */ + tg_rcv_data.bydata_len = w_cmd_len; + + /* Receive data setting */ + /* Sending from the Beginning of the Sirf Binary #03 */ + memcpy(&tg_rcv_data.bygps_data[0], &p_frame_buf->buf[0], w_cmd_len); + + /* Issuance of reception notice */ + DevRcvData(&tg_rcv_data); /* Ignore -> No applicable rules for MISRA-C */ + } + } +} + +/** + * @brief + * Pos_Gps_Recv Thread Stop Processing + */ +void DevGpsRecvThreadStopProcess(void) { +#if FTEN_DRIVER + GpsMngApiClose(&g_gps_mng_obj); +#endif + PosTeardownThread(ETID_POS_GPS_RECV); + return; +} + +/*---------------------------------------------------------------------------*/ +/*EOF*/ diff --git a/hal/positioning_hal/src/GpsCommon/MDev_GpsRollOver.cpp b/hal/positioning_hal/src/GpsCommon/MDev_GpsRollOver.cpp new file mode 100755 index 0000000..62227c2 --- /dev/null +++ b/hal/positioning_hal/src/GpsCommon/MDev_GpsRollOver.cpp @@ -0,0 +1,275 @@ +/* + * @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.cpp +*/ + +#include "MDev_GpsRollOver.h" + +#define TIM_ROLOVR_CALCORCNT_DAYS (1024 * 7) /*1024 weeks * 7 days */ + +#define TMT_OK (1) /* Definition indicating normal status */ +#define TMT_NG (0) /* Definitions indicating abnormal status */ +#define TMT_TRUE (1) /* Definitions indicating the status for which the condition is true */ +#define TMT_FALSE (0) /* Definitions indicating a status in which the condition is false */ + +#define TIM_ROLOVR_LEAPYEARDAYS (366) /*Number of days in the leap year */ +#define TIM_ROLOVR_NOTLEAPYEARDAYS (365) /*Year days in non-leap years */ + +static const WORD kMonth[2][12] = { + {31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31}, /* Number of days per month(For non-leap year) */ + {31, 29, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31} /* Number of days per month(For leap years) */ +}; +/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * + * FUNCTION : ChkLeapYear + * Function : Leap year determination processing + * Feature Overview : Determine whether it is a leap year + * Input : u_int16 year + * Output : None + * Return value : u_int32 + TMT_TRUE Leap year + TMT_FALSE Non-leap year + * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */ +static u_int32 ChkLeapYear(u_int16 year) { + int32 leap_year; + + /* Leap year determination processing (select subscripts in the [LEAP YEAR] table) *The processing that matches the time correction processing after time difference value addition/subtraction is used. */ + leap_year = TMT_FALSE; + if ((year % 4) == 0) { + leap_year = TMT_TRUE; + } + if ((year % 100) == 0) { + leap_year = TMT_FALSE; + } + + if ((year % 400) == 0) { + leap_year = TMT_TRUE; + } + + return (leap_year); +} + + +/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * + * FUNCTION : RollOverFormerLaterDays + * Function : Calculation of the number of days before and after + * Feature Overview : The number of days from the beginning of the month to the previous day of the specified date, + and calculates the number of days after a given date, up to the end of the month + * Input : TG_TIM_ROLOVR_YMD* base_ymd Reference date + * Output : u_int32* former_days Number of days before (number of days before the specified date from the beginning of the month) + u_int32* later_days Number of days after(Number of days following the specified date until the end of the month) + * Return value : None + * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */ +static void RollOverFormerLaterDays(TG_TIM_ROLOVR_YMD* base_ymd, u_int32* former_days, u_int32* later_days) { + int32 leap_year; + + leap_year = ChkLeapYear(base_ymd->year); + + *former_days = base_ymd->day - 1; + + *later_days = kMonth[leap_year][base_ymd->month - 1] - base_ymd->day; +} + + +/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * + * FUNCTION : RollOverCalDaysWithinBY + * Function : Calculation of the difference in the number of days in the base year + * Feature Overview : Calculate the difference in the number of days between the base date and the conversion target date. + [Restriction]If the base date > conversion target date, the number of days difference is 0. + * Input : TG_TIM_ROLOVR_YMD* base_ymd Reference date + TG_TIM_ROLOVR_YMD* conv_ymd Conversion Date + * Output : None + * Return value : u_int32 Difference in the number of days(positive only) + * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */ +static u_int32 RollOverCalDaysWithinBY(TG_TIM_ROLOVR_YMD* base_ymd, TG_TIM_ROLOVR_YMD* conv_ymd) { + int32 leap_year; /* Subscripts in the [LEAP YEAR] table */ + u_int32 days; /* Day Difference Calculation Result */ + u_int32 l_days; /* Number of days after the reference month */ + u_int32 f_days; /* Number of days before the conversion target month */ + u_int32 dmy_days; /* Dummy days(For storing unnecessary number of days in this function) */ + u_int32 m_days; /* Sum of the number of days in the month between the base month and the month to be converted */ + int32 cnt; /* A counter that sums the number of days in a month between the base month and the month to be converted */ + u_int16 diff_month; /* Difference between the conversion target month and the base month */ + u_int16 chk_month; /* Number of days of month to be acquired */ + + days = 0; + + if (base_ymd->month == conv_ymd->month) { + if (base_ymd->day <= conv_ymd->day) { + days = conv_ymd->day - base_ymd->day; + } else { + days = 0; /* Set the difference to 0(Negative difference in number of days is not calculated.) */ + } + } else if (base_ymd->month < conv_ymd->month) { + RollOverFormerLaterDays(base_ymd, &dmy_days, &l_days); + + m_days = 0; + diff_month = conv_ymd->month - base_ymd->month; + + leap_year = ChkLeapYear(base_ymd->year); + + /* Calculate the sum of the number of days in the month between the base month and the conversion target month B */ + chk_month = base_ymd->month + 1; + for (cnt = 0; cnt < (diff_month - 1); cnt++) { + m_days += kMonth[leap_year][chk_month - 1]; + chk_month++; + } + + RollOverFormerLaterDays(conv_ymd, &f_days, &dmy_days); + + days = l_days + m_days + f_days + 1; /* Calculate the difference in number of days as A+B+C+1 */ + + } else { + days = 0; /* Set the difference to 0(Negative difference in number of days is not calculated.) */ + } + + return days; +} + + +/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * + * FUNCTION : RollOverGetAYearDays + * Function : Process of obtaining the number of days per year + * Feature Overview : Get the number of days in a given year + * Input : u_int16 base_year Year + * Output : None + * Return value : u_int32 Number of days + * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */ +static u_int32 RollOverGetAYearDays(u_int16 base_year) { + int32 leap_year; /* Subscripts in the [LEAP YEAR] table */ + u_int32 days; + + leap_year = ChkLeapYear(base_year); /* Leap year determination processing */ + + if (leap_year == TMT_TRUE) { + days = TIM_ROLOVR_LEAPYEARDAYS; + } else { + days = TIM_ROLOVR_NOTLEAPYEARDAYS; + } + + return days; +} + +/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * + * FUNCTION : RollOverConvYMDWithoutBY + * Function : Date conversion processing outside the base year, month, and day + * Feature Overview : Calculate the date shifted by the specified number of days from the specified date. + *If less than (1024 weeks x 7 days) is specified as the number of days difference, the calculation result is + returns the specified date(No correction) + * Input : TG_TIM_ROLOVR_YMD* base_ymd Reference date + u_int32 days Difference in the number of days + u_int32 days_by Number of days after + number of days after month + * Output : TG_TIM_ROLOVR_YMD* conv_ymd Date of the conversion result + * Return value : None + * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */ +static void RollOverConvYMDWithoutBY(TG_TIM_ROLOVR_YMD* base_ymd, u_int32 days, + u_int32 days_by, TG_TIM_ROLOVR_YMD* conv_ymd) { + int32 leap_year; /* Subscripts in the [LEAP YEAR] table */ + u_int32 rest_days; /* Remaining number of days */ + u_int16 cal_year; /* For year calculation */ + u_int16 cal_month; /* For monthly calculation */ + u_int32 cal_days; /* To calculate the number of days */ + + rest_days = days - days_by; /* Remaining number of days is different from the number of initialization days.-(Number of days after + Number of days after month) */ + cal_year = base_ymd->year + 1; /* The year is set to the year following the year of the initialization reference date. */ /* Ignore -> MISRA-C++:2008 Rule 5-0-5 */ + + cal_days = RollOverGetAYearDays(cal_year); /* Process of obtaining the number of days per year */ + + while (rest_days > cal_days) { + rest_days -= cal_days; /* Remaining Days = Remaining Days-Updated as Days of Year */ + + cal_year++; /* Increment Year */ + + cal_days = RollOverGetAYearDays(cal_year); /* Process of obtaining the number of days per year */ + } + + /* Year Finalization */ + conv_ymd->year = cal_year; /* Year Calculated */ + + cal_month = 1; /* Initialize Month January */ + + leap_year = ChkLeapYear(conv_ymd->year); /* Leap year determination processing */ + + cal_days = kMonth[leap_year][cal_month - 1]; /* Acquisition processing of the number of days/month */ /* Ignore -> MISRA-C++:2008 Rule 5-0-5 */ + + while (rest_days > cal_days) { + rest_days -= cal_days; /* Remaining Days = Remaining Days-Updated as Days of Month */ + + cal_month++; /* Increment month */ + + cal_days = kMonth[leap_year][cal_month - 1]; /* Acquisition processing of the number of days/month */ /* Ignore -> MISRA-C++:2008 Rule 5-0-5 */ + } + + /* Fix month */ + conv_ymd->month = cal_month; /* Month Calculated */ + + /* Date set */ + conv_ymd->day = (u_int16)rest_days; /* Day calculated Remaining number of days */ +} + + + +/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * + * FUNCTION : RollOverConvYMD + * Function : Date conversion processing + * Feature Overview : Calculate the date shifted by the specified number of days from the specified date. + *If the base date is shifted by the number of days but the year is the same as the base date, the result returns the base date + * Input : TG_TIM_ROLOVR_YMD* base_ymd Reference date + u_int32 days Difference in the number of days + * Output : TG_TIM_ROLOVR_YMD* conv_ymd Date of the conversion result + * Return value : None + * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */ +static void RollOverConvYMD(TG_TIM_ROLOVR_YMD* base_ymd, u_int32 days, TG_TIM_ROLOVR_YMD* conv_ymd) { + u_int32 days_by; /* Number of days after + number of days after month(=difference in number of days from the base date to the end of the year) */ + TG_TIM_ROLOVR_YMD tmp_ymd; + + + /* (number of days after + number of days after)Set calculation date( 12/31 ) */ + tmp_ymd.year = base_ymd->year; + tmp_ymd.month = 12; + tmp_ymd.day = 31; + + days_by = RollOverCalDaysWithinBY(base_ymd, &tmp_ymd); /* Calculation of the difference in the number of days in the base year */ + + if (days_by >= days) { + memcpy(conv_ymd, base_ymd, sizeof(TG_TIM_ROLOVR_YMD)); /* Returns the base date regardless of the number of days difference */ + + } else { + RollOverConvYMDWithoutBY(base_ymd, days, days_by, conv_ymd); + } +} + + + +/** + * @brief + * Conversion to a time that takes the GPS week correction counter into account + * + * Converting the GPS Week Correction Counter to a Considered Time + * + * @param[in] TG_TIM_ROLOVR_YMD* base_ymd Reference date + * @param[in] u_int8 gpsweekcorcnt GPS weekly correction counter + * @param[out] TG_TIM_ROLOVR_YMD* conv_ymd Correction Date + * @return none + * @retval none + */ +void GPSRollOverConvTime(TG_TIM_ROLOVR_YMD* base_ymd, TG_TIM_ROLOVR_YMD* conv_ymd, u_int8 gpsweekcorcnt) { + u_int32 days; /* Difference in the number of days */ + + days = TIM_ROLOVR_CALCORCNT_DAYS * gpsweekcorcnt; /* (1024 weeks x 7 days) x GPS week correction counter to calculate the difference in the number of days */ + + RollOverConvYMD(base_ymd, days, conv_ymd); /* Date conversion processing */ +} diff --git a/hal/positioning_hal/src/GpsCommon/MDev_Gps_API.cpp b/hal/positioning_hal/src/GpsCommon/MDev_Gps_API.cpp new file mode 100755 index 0000000..35f5201 --- /dev/null +++ b/hal/positioning_hal/src/GpsCommon/MDev_Gps_API.cpp @@ -0,0 +1,491 @@ +/* + * @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_API.cpp +*/ + +/*---------------------------------------------------------------------------*/ +// Include files + +#include "MDev_Gps_API.h" +#include "positioning_hal.h" +#include "positioning_def.h" +#include "MDev_Gps_Nmea.h" + +/*---------------------------------------------------------------------------*/ +// Functions + +/****************************************************************************** +@brief SendNmeaGps<BR> + NMEA transmission process +@outline Send NMEA to VehicleSensor Thread +@param[in] TG_GPS_NMEA* : pstNmeaData ... NMEA data +@param[out] none +@return RET_API +@retval RET_NORMAL : Normal completion +@retval RET_ERROR : ABENDs +*******************************************************************************/ +RET_API SendNmeaGps(const MDEV_GPS_NMEA* p_nmea_data) { + MDEV_GPS_RAWDATA_NMEA_MSG s_send_msg; + SENSOR_MSG_GPSDATA s_msg_buf; + RET_API ret = RET_NORMAL; + PNO u_pno = PNO_VEHICLE_SENSOR; + + /* Create GPS Data Notification Message */ + (void)memset(&s_send_msg, 0x00, sizeof(s_send_msg)); + + /* Message header */ + s_send_msg.h_dr.hdr.sndpno = PNO_NAVI_GPS_MAIN; + s_send_msg.h_dr.hdr.respno = 0x0000; + s_send_msg.h_dr.hdr.cid = CID_GPS_DATA; + s_send_msg.h_dr.hdr.msgbodysize = sizeof(MDEV_GPS_RAWDATA_NMEA); + s_send_msg.h_dr.hdr.rid = 0x00; + + /* Message data */ + s_send_msg.st_data.e_kind = MDEV_GPS_DATA_RAWDATA_NMEA; + (void)memcpy(&(s_send_msg.st_data.st_nmea_data), p_nmea_data, sizeof(s_send_msg.st_data.st_nmea_data)); + + /* Create message buffer */ + (void)memset(&s_msg_buf, 0, sizeof(s_msg_buf)); + (void)memcpy(&(s_msg_buf.st_head.hdr), &(s_send_msg.h_dr.hdr), sizeof(T_APIMSG_HEADER)); + + s_msg_buf.st_para.ul_did = POS_DID_GPS_NMEA; + s_msg_buf.st_para.us_size = GPS_NMEA_SZ; + + (void)memcpy(&(s_msg_buf.st_para.uc_data), &(s_send_msg.st_data.st_nmea_data), s_msg_buf.st_para.us_size); + + ret = _pb_SndMsg(u_pno, sizeof(s_msg_buf), &s_msg_buf, 0); + + if (ret != RET_NORMAL) { + POSITIONING_LOG("_pb_SndMsg ERROR!! [ret=%d]\n", ret); + ret = RET_ERROR; + } + + return ret; +} + +/** + * @brief + * GPS processing data transmission process + * + * @param[in] pstGpsTime SENSOR_MSG_GPSTIME - GPS time information + * @param[in] p_lonlat SENSORLOCATION_LONLATINFO - Latitude and longitude information + * @param[in] p_altitude SENSOR_LOCATION_ALTITUDEINFO - Altitude information + * @param[in] p_heading SENSORMOTION_HEADINGINFO_DAT - Bearing information + * + * @return RET_NORMAL Normal completion + * RET_ERROR ABENDs + */ +RET_API SendCustomGps(const SENSOR_MSG_GPSTIME* p_gps_time, + const SENSORLOCATION_LONLATINFO_DAT* p_lonlat, + const SENSORLOCATION_ALTITUDEINFO_DAT* p_altitude, + const SENSORMOTION_HEADINGINFO_DAT* p_heading, + const NAVIINFO_DIAG_GPS* p_diag_data) { + SENSOR_MSG_GPSDATA s_send_msg = {0}; + MDEV_GPS_CUSTOMDATA* p_custom_data = NULL; + RET_API ret = RET_NORMAL; + PNO u_pno = PNO_VEHICLE_SENSOR; + + /** Create GPS Data Notification Message */ + /* Fast _CWORD71_ processing(memset fix) */ + /* Initializes an area whose value is undefined in the message buffer. */ + (void)memset(&s_send_msg.st_head, 0x00, sizeof(s_send_msg.st_head)); + + /** Message header */ + s_send_msg.st_head.hdr.sndpno = PNO_NAVI_GPS_MAIN; + s_send_msg.st_head.hdr.respno = 0x0000; + s_send_msg.st_head.hdr.cid = CID_GPS_DATA; + s_send_msg.st_head.hdr.msgbodysize = sizeof(MDEV_GPS_CUSTOMDATA); + s_send_msg.st_head.hdr.rid = 0x00; + + /** Message data */ + s_send_msg.st_para.ul_did = VEHICLE_DID_GPS_CUSTOMDATA; + s_send_msg.st_para.us_size = sizeof(MDEV_GPS_CUSTOMDATA); + p_custom_data = reinterpret_cast<MDEV_GPS_CUSTOMDATA *>(&(s_send_msg.st_para.uc_data)); + + (void)memcpy(&(p_custom_data->st_lonlat), p_lonlat, sizeof(SENSORLOCATION_LONLATINFO_DAT)); + (void)memcpy(&(p_custom_data->st_altitude), p_altitude, sizeof(SENSORLOCATION_ALTITUDEINFO_DAT)); + (void)memcpy(&(p_custom_data->st_heading), p_heading, sizeof(SENSORMOTION_HEADINGINFO_DAT)); + (void)memcpy(&(p_custom_data->st_diag_gps), p_diag_data, sizeof(NAVIINFO_DIAG_GPS)); + (void)memcpy(&(p_custom_data->st_gps_time), p_gps_time, sizeof(SENSOR_MSG_GPSTIME)); + /* Messaging */ + ret = _pb_SndMsg(u_pno, sizeof(s_send_msg), reinterpret_cast<void*>(&s_send_msg), 0); + + if (ret != RET_NORMAL) { + ret = RET_ERROR; + } + + return ret; +} + +/****************************************************************************** +@brief SendSpeedGps<BR> + Rate information transmission processing +@outline Sending speed information to vehicle sensor thread +@param[in] SENSORMOTION_SPEEDINFO_DAT* : p_seed ... Velocity information +@param[in] u_int16 : us_peed ... Vehicle speed(km/h) +@param[out] none +@return RET_API +@retval RET_NORMAL : Normal completion +@retval RET_ERROR : ABENDs +*******************************************************************************/ +RET_API SendSpeedGps(const SENSORMOTION_SPEEDINFO_DAT* p_seed, u_int16 us_peed) { + MDEV_GPS_NAVISPEED_MSG s_send_msg; + RET_API ret = RET_NORMAL; + PNO u_pno = PNO_VEHICLE_SENSOR; + + /** Create GPS Data Notification Message */ + (void)memset(&s_send_msg, 0x00, sizeof(s_send_msg)); + + /** Message header */ + s_send_msg.h_dr.hdr.sndpno = PNO_NAVI_GPS_MAIN; + s_send_msg.h_dr.hdr.respno = 0x0000; + s_send_msg.h_dr.hdr.cid = CID_GPS_DATA; + s_send_msg.h_dr.hdr.msgbodysize = sizeof(MDEV_GPS_NAVISPEED); + s_send_msg.h_dr.hdr.rid = 0x00; + + /** Message data */ + s_send_msg.st_data.e_kind = MDEV_GPS_DATA_NAVISPEED; + s_send_msg.st_data.us_speed_kmph = us_peed; + + (void)memcpy( &s_send_msg.st_data.st_speed, p_seed, sizeof(s_send_msg.st_data.st_speed) ); + + /* Messaging */ + ret = _pb_SndMsg(u_pno, (sizeof(T_APIMSG_MSGBUF_HEADER) + sizeof(MDEV_GPS_NAVISPEED)), &s_send_msg, 0); + + if (ret != RET_NORMAL) { + ret = RET_ERROR; + } + + return ret; +} + +/* ++ #GPF_60_103 */ +/****************************************************************************** +@brief SendTimeGps<BR> + Time information transmission processing +@outline Send GPS time information to vehicle sensor thread +@param[in] MDEV_GPS_RTC* : p_rtc ... GPS time information +@param[out] none +@return RET_API +@retval RET_NORMAL : Normal completion +@retval RET_ERROR : ABENDs +*******************************************************************************/ +RET_API SendTimeGps(const MDEV_GPS_RTC* p_rtc) { + MDEV_GPS_GPSTIME_MGS s_send_msg; + RET_API ret = RET_NORMAL; + PNO u_pno = PNO_VEHICLE_SENSOR; + + /** Create GPS data notification message */ + (void)memset(&s_send_msg, 0x00, sizeof(s_send_msg)); + + /** Message header */ + s_send_msg.h_dr.hdr.sndpno = PNO_NAVI_GPS_MAIN; + s_send_msg.h_dr.hdr.respno = 0x0000; + s_send_msg.h_dr.hdr.cid = CID_GPS_DATA; + s_send_msg.h_dr.hdr.msgbodysize = sizeof(MDEV_GPS_GPSTIME); + s_send_msg.h_dr.hdr.rid = 0x00; + + /** Message data */ + s_send_msg.st_data.e_kind = MDEV_GPS_DATA_GPSTIME; + + (void)memcpy(&s_send_msg.st_data.st_rtc_data, p_rtc, sizeof(s_send_msg.st_data.st_rtc_data)); + + /* Messaging */ + ret = _pb_SndMsg(u_pno, (sizeof(T_APIMSG_MSGBUF_HEADER) + sizeof(MDEV_GPS_GPSTIME)), &s_send_msg, 0); + + if (ret != RET_NORMAL) { + ret = RET_ERROR; + } + + return ret; +} + +/** + * @brief + * GPS clock drift transmit process + * + * @param[in] drift Clock drift + * + * @return RET_NORMAL Normal completion + * @return RET_ERROR ABENDs + */ +RET_API SendClockDriftGps(int32_t drift) { + SENSOR_MSG_GPSDATA s_send_msg; + RET_API ret = RET_NORMAL; + PNO u_pno = PNO_VEHICLE_SENSOR; + + /** Create GPS Data Notification Message */ + (void)memset(&s_send_msg, 0x00, sizeof(s_send_msg)); + + /** Message header */ + s_send_msg.st_head.hdr.sndpno = PNO_NAVI_GPS_MAIN; + s_send_msg.st_head.hdr.respno = 0x0000; + s_send_msg.st_head.hdr.cid = CID_GPS_DATA; + s_send_msg.st_head.hdr.msgbodysize = sizeof(SENSOR_MSG_GPSDATA_DAT); + s_send_msg.st_head.hdr.rid = 0x00; + + /** Message data */ + s_send_msg.st_para.ul_did = VEHICLE_DID_GPS_CLOCK_DRIFT; + s_send_msg.st_para.us_size = sizeof(int32_t); + + (void)memcpy(&(s_send_msg.st_para.uc_data), &drift, s_send_msg.st_para.us_size); + + /* Messaging */ + ret = _pb_SndMsg(u_pno, sizeof(s_send_msg), &s_send_msg, 0); + + if (ret != RET_NORMAL) { + ret = RET_ERROR; + } + + return ret; +} + +/** + * @brief + * GPS clock-frequency transmit process + * + * @param[in] Freq Clocking frequencies + * + * @return RET_NORMAL Normal completion + * @return RET_ERROR ABENDs + */ +RET_API SendClockFrequencyGps(uint32_t freq) { + SENSOR_MSG_GPSDATA s_send_msg; + RET_API ret = RET_NORMAL; + PNO u_pno = PNO_VEHICLE_SENSOR; + + /** Create GPS Data Notification Message */ + (void)memset(&s_send_msg, 0x00, sizeof(s_send_msg)); + + /** Message header */ + s_send_msg.st_head.hdr.sndpno = PNO_NAVI_GPS_MAIN; + s_send_msg.st_head.hdr.respno = 0x0000; + s_send_msg.st_head.hdr.cid = CID_GPS_DATA; + s_send_msg.st_head.hdr.msgbodysize = sizeof(SENSOR_MSG_GPSDATA_DAT); + s_send_msg.st_head.hdr.rid = 0x00; + + /** Message data */ + s_send_msg.st_para.ul_did = VEHICLE_DID_GPS_CLOCK_FREQ; + s_send_msg.st_para.us_size = sizeof(uint32_t); + + (void)memcpy(&(s_send_msg.st_para.uc_data), &freq, s_send_msg.st_para.us_size); + + /* Messaging */ + ret = _pb_SndMsg(u_pno, sizeof(s_send_msg), &s_send_msg, 0); + + if (ret != RET_NORMAL) { + ret = RET_ERROR; + } + + return(ret); +} + +/** + * @brief + * GPS rollover standard week number transmission processing + * + * @param[in] *p_week_rollover GPS rollover base week number + * + * @return RET_NORMAL Normal completion + * @return RET_ERROR ABENDs + */ +RET_API DevGpsSndWknRollover(const SensorWknRollOverHal* p_week_rollover) { + SENSOR_MSG_GPSDATA s_send_msg; + RET_API ret = RET_NORMAL; + PNO u_pno = PNO_VEHICLE_SENSOR; + + /** Create GPS Data Notification Message */ + (void)memset( &s_send_msg, 0x00, sizeof(s_send_msg) ); + + /** Message header */ + s_send_msg.st_head.hdr.sndpno = PNO_NAVI_GPS_MAIN; + s_send_msg.st_head.hdr.respno = 0x0000; + s_send_msg.st_head.hdr.cid = CID_GPS_DATA; + s_send_msg.st_head.hdr.msgbodysize = sizeof(SensorWknRollOverHal); + s_send_msg.st_head.hdr.rid = 0x00; + + /** Message data */ + s_send_msg.st_para.ul_did = VEHICLE_DID_GPS_WKNROLLOVER; + s_send_msg.st_para.us_size = sizeof(SensorWknRollOverHal); + + (void)memcpy(&(s_send_msg.st_para.uc_data), p_week_rollover, s_send_msg.st_para.us_size); + + /* Messaging */ + ret = _pb_SndMsg(u_pno, sizeof(s_send_msg), &s_send_msg, 0); + + if (ret != RET_NORMAL) { + ret = RET_ERROR; + } + + return ret; +} + +/****************************************************************************** +@brief DevGpsRstAnsSend<BR> + Reset response issuance processing +@outline Issue a reset response +@param[in] PNO : u_pno ... Notify-To Process No. +@param[in] RID : uc_rid ... Response resource ID +@param[in] u_int32 : ul_rst_sts ... Response result +@param[out] none +@return int32 +@retval RET_NORMAL : Normal +@retval RET_ERROR : Abnormality +*******************************************************************************/ +int32 DevGpsRstAnsSend(PNO u_pno, RID uc_rid, u_int32 ul_rst_sts) { + TG_GPS_RET_RESET_MSG s_send_msg; + RET_API ret = RET_NORMAL; + PCSTR l_thread_name; + + if (u_pno != PNO_NONE) { + /** Create GPS Reset Notification Message */ + (void)memset(&s_send_msg, 0x00, sizeof(s_send_msg)); + + /** Message data */ + s_send_msg.data.ret_rst_status = ul_rst_sts; + + /* Messaging */ + l_thread_name = _pb_CnvPno2Name(u_pno); + /* External Process Transmission and Reception Messages */ + ret = _pb_SndMsg_Ext(l_thread_name, + CID_POSIF_REQ_GPS_RESET, + sizeof(s_send_msg.data), + reinterpret_cast<void *>(&(s_send_msg.data)), + 0); + if (ret != RET_NORMAL) { + POSITIONING_LOG("GpsCommCtl # DevGpsRstAnsSend SndMsg Error ret[%d] pno[%03X]\n", ret, u_pno); + ret = RET_ERROR; + } + } + + return ret; +} + + +/** + * @brief Time setting response issuance processing + * + * @param[in] us_pno Notify-To Process No. + * @param[in] uc_rid Response resource ID + * @param[in] ul_rst_sts Response result + * + * @return Processing result + * @retval RET_NORMAL : Normal + * @retval RET_ERROR : Abnormality + */ +int32 DevGpsTimesetAnsSend(PNO us_pno, RID uc_rid, u_int32 ul_rst_sts) { + TG_GPS_RET_TIMESET_MSG st_snd_msg; + RET_API ret = RET_NORMAL; + + /** Create GPS Reset Notification Message */ + memset( &st_snd_msg, 0x00, sizeof(st_snd_msg) ); /* QAC 3200 */ + /** Message header */ + st_snd_msg.header.hdr.sndpno = PNO_NAVI_GPS_MAIN; + st_snd_msg.header.hdr.respno = 0x0000; + st_snd_msg.header.hdr.cid = CID_GPS_RETTIMESETTING; + st_snd_msg.header.hdr.msgbodysize = sizeof(st_snd_msg.status); + st_snd_msg.header.hdr.rid = uc_rid; + /** Message data */ + st_snd_msg.status = ul_rst_sts; + + /* Messaging */ + if (us_pno != PNO_NONE) { + ret = _pb_SndMsg(us_pno, sizeof(st_snd_msg), &st_snd_msg, 0); + + if (ret != RET_NORMAL) { + POSITIONING_LOG("DevGpsTimesetAnsSend SndMsg Error ret[%d] pno[%03X] \r\n", ret, us_pno); + + ret = RET_ERROR; + } + } + + return(ret); +} + + +/** + * @brief + * GPS clock drift transmit process + * + * @param[in] drift Clock drift + * + * @return RET_NORMAL Normal completion + * @return RET_ERROR ABENDs + * + */ +RET_API DevSendGpsConnectError(BOOL is_err) { + SENSOR_MSG_GPSDATA s_send_msg; + RET_API ret = RET_NORMAL; + PNO u_pno = PNO_VEHICLE_SENSOR; + + /** Create GPS Data Notification Message */ + (void)memset(&s_send_msg, 0x00, sizeof(s_send_msg)); + + /** Message header */ + s_send_msg.st_head.hdr.sndpno = PNO_NAVI_GPS_MAIN; + s_send_msg.st_head.hdr.respno = 0x0000; + s_send_msg.st_head.hdr.cid = CID_GPS_DATA; + s_send_msg.st_head.hdr.msgbodysize = sizeof(SENSOR_MSG_GPSDATA_DAT); + s_send_msg.st_head.hdr.rid = 0x00; + + /** Message data */ + s_send_msg.st_para.ul_did = POSHAL_DID_GPS_CONNECT_ERROR; + s_send_msg.st_para.us_size = sizeof(uint32_t); + + (void)memcpy(&(s_send_msg.st_para.uc_data), &is_err, s_send_msg.st_para.us_size); + + /* Messaging */ + ret = _pb_SndMsg(u_pno, sizeof(s_send_msg), &s_send_msg, 0); + + if (ret != RET_NORMAL) { + ret = RET_ERROR; + } + + return ret; +} + + +RET_API SndGpsTimeRaw(const SENSOR_GPSTIME_RAW* ps_gpstime_raw) { + SENSOR_MSG_GPSDATA st_snd_msg; + RET_API ret; + PNO _us_pno = PNO_VEHICLE_SENSOR; + + /** Create GPS Data Notification Message */ + (void)memset( &st_snd_msg, 0x00, sizeof(st_snd_msg) ); /* QAC 3200 */ + /** Message header */ + st_snd_msg.st_head.hdr.sndpno = PNO_NAVI_GPS_MAIN; + st_snd_msg.st_head.hdr.respno = 0x0000; + st_snd_msg.st_head.hdr.cid = CID_GPS_DATA; + st_snd_msg.st_head.hdr.msgbodysize = sizeof(SENSOR_MSG_GPSDATA_DAT); + st_snd_msg.st_head.hdr.rid = 0x00; + /** Message data */ + st_snd_msg.st_para.ul_did = VEHICLE_DID_GPS_TIME_RAW; + st_snd_msg.st_para.us_size = sizeof(SENSOR_GPSTIME_RAW); + (void)memcpy(&(st_snd_msg.st_para.uc_data), ps_gpstime_raw, st_snd_msg.st_para.us_size); /* QAC 3200 */ + + /* Messaging */ + ret = _pb_SndMsg( _us_pno, sizeof(st_snd_msg), &st_snd_msg, 0 ); + if (ret != RET_NORMAL) { + POSITIONING_LOG("_pb_SndMsg ERROR!! [ret=%d]\n", ret); + ret = RET_ERROR; + } + + return(ret); +} + +/*---------------------------------------------------------------------------*/ +/*EOF*/ diff --git a/hal/positioning_hal/src/GpsCommon/MDev_Gps_Common.cpp b/hal/positioning_hal/src/GpsCommon/MDev_Gps_Common.cpp new file mode 100755 index 0000000..c8b5c9a --- /dev/null +++ b/hal/positioning_hal/src/GpsCommon/MDev_Gps_Common.cpp @@ -0,0 +1,2105 @@ +/* + * @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 +*/ + +/*---------------------------------------------------------------------------*/ + +#include "MDev_Gps_Common.h" + +#include <native_service/ns_backup.h> +#include <native_service/ns_backup_id.h> +#include "positioning_common.h" +#include "MDev_Gps_API.h" +#include "MDev_Gps_TimerCtrl.h" +#include "MDev_Gps_Nmea.h" +#include "MDev_GpsRecv.h" + +/*---------------------------------------------------------------------------*/ +// Value define + +#define BK_ID_POS_GPS_TD_STS_SZ 1 /* Datetime Status-Size */ +#define BK_GPSFIXCNT_OFFSET_CHK 12 /* Fix Count-Offset-Check SRAM */ +#define BK_GPSFIXCNT_RAM_OK 0 /* Fix Count RAM Status OK */ +#define BK_GPSFIXCNT_RAM_FILE_NG 1 /* Fix Count RAM Status FILE NG */ +#define BK_GPSFIXCNT_RAM_NG 2 /* Fix Count RAM Status NG */ + +#define JULIAN_DAY (-32044.0f) /* Be based on March 1, 4800 BC */ +#define MODIFIED_JULIAN_DAY_OFFSET (2400000.5f) +#define GPS_WS_MAX (7 * 24 * 60 * 60) /* GPS time(Weekly seconds)*/ +#define GET_METHOD_GPS (1) //!< \~english GPS + +/* Presence information definitions DR */ +#define SENSORLOCATION_EXISTDR_NODR (0) /* Without DR */ +#define SENSORLOCATION_EXISTDR_DR (1) /* There DR */ +/* DR state definition */ +#define SENSORLOCATION_DRSTATUS_INVALID (0) /* Invalid */ +#define SENSORLOCATION_DRSTATUS_GPS_NODR (1) /* Information use GPS, not yet implemented DR */ +#define SENSORLOCATION_DRSTATUS_NOGPS_DR (2) /* No information available GPS, DR implementation */ +#define SENSORLOCATION_DRSTATUS_GPS_DR (3) /* Information use GPS, DR implementation */ + +#define SENSORLOCATION_STATUS_DISABLE (0) //!< \~english Not available +#define SENSORLOCATION_STATUS_ENABLE (1) //!< \~english Available +/*---------------------------------------------------------------------------*/ +// Global values + +uint8_t g_gps_reset_cmd_sending = FALSE; /* Reset command transmission in progress judgment flag */ +uint8_t g_is_gpstime_sts = FALSE; /* Date/Time Status Fixed Value Setting Indication Flag */ +uint8_t g_gpstime_raw_tdsts = 0; +extern u_int8 g_gps_week_cor_cnt; +/*---------------------------------------------------------------------------*/ +// Functions +void WriteGpsTimeToBackup(uint8_t flag, POS_DATETIME* pst_datetime) { + int32_t ret; + ST_GPS_SET_TIME buf; + + memset(reinterpret_cast<void *>(&buf), 0, (size_t)sizeof(buf)); + + buf.flag = flag; + buf.year = pst_datetime->year; + buf.month = pst_datetime->month; + buf.date = pst_datetime->date; + buf.hour = pst_datetime->hour; + buf.minute = pst_datetime->minute; + buf.second = pst_datetime->second; + + ret = Backup_DataWt(D_BK_ID_POS_GPS_TIME_SET_INFO, &buf, 0, sizeof(ST_GPS_SET_TIME)); + if (ret != BKUP_RET_NORMAL) { + POSITIONING_LOG("Backup_DataWt ERROR!! [ret=%d]", ret); + } + + return; +} + + + +/******************************************************************************** + * MODULE : ChangeStatusGpsCommon + * ABSTRACT : State transition processing + * FUNCTION : Changes the state of the GPS communication management process to the specified state + * ARGUMENT : u_int32 sts : State of the transition destination + * NOTE : + * RETURN : None + ********************************************************************************/ +void ChangeStatusGpsCommon(u_int32 sts ) { + /* Set the transition destination state in the management information state */ + g_gps_mngr.sts = sts; +} + +/******************************************************************************** + * MODULE : RtyResetGpsCommon + * ABSTRACT : Reset retry counter(Periodic reception) + * FUNCTION : Reset the retry counter + * ARGUMENT : None + * NOTE : + * RETURN : None + ********************************************************************************/ +void RtyResetGpsCommon(void) { + g_gps_mngr.hrsetcnt = 0; /* Initialization of the number of tries until a hard reset */ + g_gps_mngr.sndngcnt = 0; /* Initialization of the number of tries until serial reset */ +} + +/****************************************************************************** +@brief SendRtyResetGpsCommon<BR> + Reset retry counter(ACK response) +@outline Reset the retry counter +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void SendRtyResetGpsCommon(void) { + g_gps_mngr.sndcnt = 0; /* Initialization of the number of transmission retries */ +} + +uint8_t HardResetChkGpsCommon(void) { + uint8_t ret = RETRY_OFF; /* Return value */ + static uint8_t uc_hardreset_cnt = 0; /* Number of hard resets */ + + g_gps_mngr.hrsetcnt++; /* Add number of tries until hard reset */ + + if (g_gps_mngr.hrsetcnt >= HRSET_MAX) { + // Todo For test don't have hardReset Method. + // DEV_Gps_HardReset(); + + g_gps_mngr.hrsetcnt = 0; /* Initialization of the number of tries until a hard reset */ + /* Discard all pending commands */ + DeleteAllSaveCmdGpsCommon(); + /* Determination of the number of hard reset executions */ + uc_hardreset_cnt++; + if (uc_hardreset_cnt >= 3) { + ret = RETRY_OFF; /* Set the return value (No retry: Specified number of hard resets completed) */ + uc_hardreset_cnt = 0; /* Clear the number of hard resets */ + } else { + ret = RETRY_OUT; /* Set the return value (retry out: hardware reset) */ + } + } else { /* When the number of tries until the hard reset is less than the maximum value */ + ret = RETRY_ON; /* Set return value (with retry) */ + } + + return (ret); /* End of the process */ +} + + +/****************************************************************************** +@brief SendReqGpsCommon<BR> + Common-Transmit Request Reception Matrix Function +@outline Common processing when receiving a transmission request +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void SendReqGpsCommon(void) { + RET_API ret = RET_NORMAL; + TG_GPS_SND_DATA* p_rcv_data = NULL; + TG_GPS_SAVECMD s_send_data; + TG_GPS_OUTPUT_FORMAT s_output_format; + + p_rcv_data = reinterpret_cast<TG_GPS_SND_DATA*>(&(g_gps_msg_rcvr.msgdat[0])); /* Incoming message structure */ + + /** Transmit Data Format Check */ + ret = CheckSendCmdGpsCommon(p_rcv_data->ub_data, p_rcv_data->us_size, &s_output_format); + + /** Normal format */ + if (ret == RET_NORMAL) { + memset( &s_send_data, 0x00, sizeof(s_send_data) ); /* Ignore -> MISRA-C:2004 Rule 16.10 */ + + s_send_data.us_pno = 0; /* Result notification destination process number */ + s_send_data.uc_rid = 0; /* Result Notification Resource ID */ + s_send_data.uc_rst = GPS_CMD_NOTRST; /* Reset flag */ + s_send_data.e_cmd_info = s_output_format; /* Command information */ + memcpy( &s_send_data.sndcmd, p_rcv_data, sizeof(TG_GPS_SND_DATA) ); /* Sending commands */ + + /* Command is suspended and terminated. */ + ret = DevGpsSaveCmd(&s_send_data); /* #GPF_60_040 */ + + if (ret != RET_NORMAL) { + POSITIONING_LOG("GPS Command Reserve bufferFull ! \r\n"); + } + } else { + POSITIONING_LOG("# GpsCommCtl # GPS Command Format Error!! \r\n"); + } + + return; +} + +/****************************************************************************** +@brief GPSResetReqGpsCommon<BR> + Common-GPS reset request reception matrix function +@outline Common processing at GPS reset reception +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void GPSResetReqGpsCommon(void) { + RET_API ret = RET_NORMAL; + POS_RESETINFO st_rcv_msg; + + memset(&st_rcv_msg, 0x00, sizeof(st_rcv_msg)); /* 2015/03/31 Coverity CID: 21530 support */ + + if (g_gps_reset_cmd_sending == FALSE) { + memcpy(&st_rcv_msg, reinterpret_cast<POS_RESETINFO *>(&(g_gps_msg_rcvr.msgdat)), + sizeof(POS_RESETINFO)); + ret = DevGpsResetReq(st_rcv_msg.respno, 0); + if (ret == RET_NORMAL) { + /* Set the reset command transmission judgment flag to transmission in progress */ + g_gps_reset_cmd_sending = TRUE; + /* Send reset command(Normal response transmission)*/ + GpsSetPosBaseEvent(st_rcv_msg.sndpno, POS_RET_NORMAL); + } else if (ret == RET_EV_NONE) { + /* nop */ + } else { + /* Send reset command(Internal Processing Error Response Transmission)*/ + GpsSetPosBaseEvent(st_rcv_msg.sndpno, POS_RET_ERROR_INNER); + } + } else { + memcpy(&st_rcv_msg, reinterpret_cast<POS_RESETINFO*>(&(g_gps_msg_rcvr.msgdat)), sizeof(POS_RESETINFO)); + GpsSetPosBaseEvent(st_rcv_msg.sndpno, POS_RET_ERROR_BUSY); + } + return; +} + +/****************************************************************************** +@brief CyclDataTimeOutGpsCommon<BR> + Common-Receive data monitoring timeout matrix function +@outline Common processing at reception cycle data monitoring timeout +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void CyclDataTimeOutGpsCommon(void) { + g_wcnct_err++; /* Count number of connection errors */ + + /* Stop all timers */ + DevGpsTimeStop(GPS_STARTUP_TIMER); /* Start confirmation monitoring timer */ /* Ignore -> MISRA-C:2004 Rule 16.10 */ + DevGpsTimeStop(GPS_RECV_ACK_TIMER); /* ACK reception monitoring timer */ /* Ignore -> MISRA-C:2004 Rule 16.10 */ + + /* Clear cyclic receive data up to now */ + DevGpsCycleDataClear(); + + /* Start confirmation monitoring timer setting */ + DevGpsTimeSet(GPS_STARTUP_TIMER); /* Ignore -> MISRA-C:2004 Rule 16.10 */ + + /* State-transition(Start Confirmation Monitor) */ + ChangeStatusGpsCommon(GPS_STS_STARTUP); + + return; +} + +/******************************************************************************** + * MODULE : CheckFrontStringPartGpsCommon + * ABSTRACT : Message start character string determination processing + * FUNCTION : Check that the message starts with the specified string + * ARGUMENT : pubTarget : Message + * : pubStart : Character string + * NOTE : When target is equal to start, it is also judged to be TRUE. + * : "*" in the start is treated as a single-character wildcard. + * RETURN : RET_NORMAL : Decision success + * : RET_ERROR : Decision failure + ********************************************************************************/ +RET_API CheckFrontStringPartGpsCommon(const u_char *p_tartget, const u_char *p_start) { + RET_API ret = RET_ERROR; + + while (((*p_tartget == *p_start) + || ('*' == *p_start)) /* #GPF_60_024 */ /* Ignore -> No applicable rules for MISRA-C */ + && (*p_tartget != '\0') + && (*p_start != '\0')) { + p_tartget++; /* Ignore -> MISRA-C:2004 Rule 17.4 */ + p_start++; /* Ignore -> MISRA-C:2004 Rule 17.4 */ + } + + if (*p_start == '\0') { + ret = RET_NORMAL; + } else { + ret = RET_ERROR; + } + + return ret; +} + +/****************************************************************************** +@brief JudgeFormatGpsCommon<BR> + Format determination processing +@outline Determine the format of the received GPS data +@param[in] pubSndData : Message to be judged +@param[in] ul_length : Message length +@param[out] peFormat : Where to Return the Format +@input none +@return int32 +@retval GPSRET_SNDCMD : Commands to be notified +@retval GPSRET_NOPCMD : User unset command +@retval GPSRET_CMDERR : No applicable command +*******************************************************************************/ +int32 JudgeFormatGpsCommon(u_char *p_send_data, u_int32 ul_length, TG_GPS_OUTPUT_FORMAT *p_format) { + int32 ret = GPSRET_NOPCMD; /* Return value */ + u_int32 cnt = 0; /* Ignore -> MISRA-C:2004 Rule 5.6 */ + + for (cnt = 0; cnt < (u_int32)GPSCMDANATBL_MAX; cnt++) { + /** End-of-table decision */ + if (CheckFrontStringPartGpsCommon((const u_char*)ENDMARK, kGpsCmdAnaTbl[cnt].c_sentence) == RET_NORMAL) { + /** When there is no matching sentence, */ + /** set return value. */ + ret = GPSRET_NOPCMD; /* Ignore -> MISRA-C:2004 Rule 3.1 */ + break; + } + + /* ++ #GPF_60_040 */ + /* Sentence determination of received command */ + + if (kGpsCmdAnaTbl[cnt].e_rcv_format == g_gps_mngr.rcv_cmd) { + /* Format set */ + (*p_format) = g_gps_mngr.rcv_cmd; + + /* Notification judgment */ + if (kGpsCmdAnaTbl[cnt].b_snd_cmd_flg == TRUE) { + /* Checksum implementation */ + if (CheckSumGpsCommon(reinterpret_cast<u_int8*>(p_send_data), + ul_length, + kGpsCmdAnaTbl[cnt].e_rcv_format) != RET_NORMAL) { + /* Receive data anomaly */ + POSITIONING_LOG("# GpsCommCtl # GPS Data SUM ERROR! \r\n"); + + g_wrecv_err++; + + /* Set data error in return value */ + ret = GPSRET_CMDERR; + } else { + /* Notification to vehicle sensor */ + ret = GPSRET_SNDCMD; + g_wrecv_err = 0; + } + } + + break; + } + } + + return ret; +} + + +/****************************************************************************** +@brief CheckSumGpsCommon<BR> + Checksum processing +@outline Checking the integrity of GPS commands +@param[in] none +@param[out] none +@input u_int8 : p_uc_data[] ... Receive data pointer +@input u_int32 : ul_length ... Data length +@input u_int32 : e_cmd_info ... Command information<BR> + -FORMAT_NMEA NMEA data<BR> + -FORMAT_BIN Standard binary<BR> + -FORMAT_FULLBIN FULL binaries +@return RET_API +@retval RET_NORMAL : Normal completion +@retval RET_ERROR : ABENDs +*******************************************************************************/ +RET_API CheckSumGpsCommon(const u_int8 p_uc_data[], u_int32 ul_length, TG_GPS_OUTPUT_FORMAT e_cmd_info) { + RET_API l_ret = RET_ERROR; + u_int32 i = 0; + u_int8 uc_char = 0; + u_int8 uc_sum = 0; + u_int8 uc_cmp = 0; + int32_t ret = 0; + + static u_int8 uc_work[UBX_CMD_SIZE_MAX]; + + if ((GPS_FORMAT_MON_VER == e_cmd_info) + || (GPS_FORMAT_AID_INI == e_cmd_info) + || (GPS_FORMAT_ACK_ACKNACK == e_cmd_info) + || (GPS_FORMAT_NAV_TIMEUTC == e_cmd_info) + || (GPS_FORMAT_NAV_CLOCK == e_cmd_info) + || (GPS_FORMAT_RXM_RTC5 == e_cmd_info) + || (GPS_FORMAT_NAV_SVINFO == e_cmd_info) + || (GPS_FORMAT_CFG_NAVX5 == e_cmd_info)) { + (void)memcpy(uc_work, p_uc_data, ul_length - 2); + DevGpsSetChkSum(uc_work, ul_length); + + ret = memcmp(uc_work, p_uc_data, ul_length); + + if (ret == 0) { + l_ret = RET_NORMAL; + } else { + } + } else { + /** XOR each character between '$' and '*' */ + for ( i = 1; i < ul_length; i++ ) { + if (p_uc_data[i] == (u_int8)'*') { + /** '*'Detection */ + l_ret = RET_NORMAL; /* #GPF_60_111 */ + break; + } else { + /** '*'Not detected */ + uc_char = p_uc_data[i]; + uc_sum ^= uc_char; + } + } + + /** When the position of '*' is within two characters following '*' (access check of the receive buffer range) */ + if ( (l_ret == RET_NORMAL) && ((GPS_READ_LEN - 2) > i) ) { + /** Convert two characters following '*' to two hexadecimal digits */ + uc_cmp = (AtoHGpsCommon(p_uc_data[i + 1]) * 16) + AtoHGpsCommon(p_uc_data[i + 2]); + + /** Checksum result determination */ + if ( uc_cmp != uc_sum ) { + /** Abnormality */ + l_ret = RET_ERROR; + } + } else { + /** '*' Not detected, data length invalid */ + /** Abnormality */ + l_ret = RET_ERROR; + } + } + + return l_ret; +} + +/****************************************************************************** +@brief AtoHGpsCommon<BR> + ASCII-> hexadecimal conversions +@outline Convert ASCII codes to hexadecimal +@param[in] none +@param[out] none +@input u_int8 : ascii ... ASCII code('0' ~ '9', 'a' ~ 'f', 'A' ~ 'F') +@return u_int8 +@retval Hexadecimal number +*******************************************************************************/ +u_int8 AtoHGpsCommon(u_int8 ascii) { + u_int8 hex = 0; + if ((ascii >= '0') && (ascii <= '9')) { + hex = ascii - '0'; + } else if ((ascii >= 'a') && (ascii <= 'f')) { + hex = (ascii - 'a') + 0xa; /* Ignore -> MISRA-C:2004 Rule 12.1 */ + } else if ( (ascii >= 'A') && (ascii <= 'F') ) { + hex = (ascii - 'A') + 0xa; /* Ignore -> MISRA-C:2004 Rule 12.1 */ + } else { + /* nop */ + } + + return hex; +} + +/****************************************************************************** +@brief DevGpsSaveCmd<BR> + Command pending processing +@outline Temporarily save commands to be sent to GPS +@param[in] TG_GPS_SND_DATA* pstSndMsg : Sending commands +@param[out] none +@return RET_API +@retval RET_NORMAL : Normal completion +@retval RET_ERROR : ABENDs(buffer full) +*******************************************************************************/ +RET_API DevGpsSaveCmd(TG_GPS_SAVECMD *p_send_data) { + RET_API ret = RET_NORMAL; + u_int32 savp = 0; /* Holding buffer location storage */ + + /* Pending buffer full */ + if ( g_gps_save_cmdr.bufsav >= SAV_MAX ) { + /* Return an abend */ + ret = RET_ERROR; + } else { + savp = g_gps_save_cmdr.saveno; /* Get pending buffer position */ + + /* Copy data to pending buffer */ + memset(&g_gps_save_cmdr.savebuf[savp], 0x00, sizeof(g_gps_save_cmdr.savebuf[savp])); + memcpy(&g_gps_save_cmdr.savebuf[savp], p_send_data, sizeof(TG_GPS_SAVECMD)); + + g_gps_save_cmdr.saveno++; /* Pending index addition */ + + if (g_gps_save_cmdr.saveno >= SAV_MAX) { + g_gps_save_cmdr.saveno = 0; /* Reset Pending Index */ + } + + g_gps_save_cmdr.bufsav++; /* Number of pending buffers added */ + } + + return ret; +} + +/****************************************************************************** +@brief SendSaveCmdGpsCommon<BR> + Pending command transmission processing +@outline Send Pending Commands to GPS +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void SendSaveCmdGpsCommon(void) { + u_int32 sndp = 0; /* Holding buffer location storage */ + // TG_GPS_SND_DATA* p_send_data = NULL; /* Pointer to the pending command */ + BOOL b_ret = FALSE; /* Command send return value */ + + /** Retrieves one pending command, if any, and sends it. */ + if (g_gps_save_cmdr.bufsav != 0) { + /** Send position acquisition */ + sndp = g_gps_save_cmdr.sendno; + // p_send_data = reinterpret_cast<TG_GPS_SND_DATA*>(&(g_gps_save_cmdr.savebuf[sndp])); + + // todo For test No Uart + // b_ret = DEV_Gps_CmdWrite( p_send_data->us_size, &(p_send_data->uc_data[0]) );/* #GPF_60_106 */ + if ( b_ret != TRUE ) { + POSITIONING_LOG("DEV_Gps_CmdWrite fail. ret=[%d]\n", b_ret); + // ucResult = SENSLOG_RES_FAIL; + } + + /* ++ #GPF_60_040 */ + /** Configure Monitored Commands */ + g_gps_mngr.resp_cmd = g_gps_save_cmdr.savebuf[ sndp ].e_cmd_info; + g_gps_mngr.resp_pno = g_gps_save_cmdr.savebuf[ sndp ].us_pno; + g_gps_mngr.resp_rid = g_gps_save_cmdr.savebuf[ sndp ].uc_rid; + g_gps_mngr.resp_rst_flag = g_gps_save_cmdr.savebuf[ sndp ].uc_rst; + + /** Perform response monitoring */ + DevGpsTimeSet(GPS_RECV_ACK_TIMER); /* Ignore -> MISRA-C:2004 Rule 16.10 */ + /* State transition processing(sending) */ + ChangeStatusGpsCommon(GPS_STS_SENT); + } else { + /** No monitored commands */ + g_gps_mngr.resp_cmd = GPS_FORMAT_MIN; + g_gps_mngr.resp_pno = 0x0000; + g_gps_mngr.resp_rid = 0x00; + g_gps_mngr.resp_rst_flag = GPS_CMD_NOTRST; + } + + return; +} + +/* ++ #GPF_60_040 */ +/****************************************************************************** +@brief DeleteSaveCmdGpsCommon<BR> + Pending command deletion processing +@outline Deleting a Pending Command +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DeleteSaveCmdGpsCommon(void) { + u_int32 sndp = 0; /* Holding buffer location storage */ + + /** Delete one pending command, if any. */ + if (g_gps_save_cmdr.bufsav != 0) { + /** Send position acquisition */ + sndp = g_gps_save_cmdr.sendno; + + /** Clear Stored Data */ + memset(&g_gps_save_cmdr.savebuf[sndp], 0x00, sizeof(g_gps_save_cmdr.savebuf[sndp])); + + /** Transmit index addition */ + g_gps_save_cmdr.sendno++; + if ( g_gps_save_cmdr.sendno >= SAV_MAX ) { + /** Transmit index MAX or higher */ + /** Initialize transmission index */ + g_gps_save_cmdr.sendno = 0; + } + + /** Subtract pending buffers */ + g_gps_save_cmdr.bufsav--; + } + + return; +} + +/****************************************************************************** +@brief DeleteAllSaveCmdGpsCommon<BR> + Hold command abort processing +@outline Discards all pending commands and returns a reset response +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DeleteAllSaveCmdGpsCommon(void) { + u_int32 sndp = 0; /* Holding buffer location storage */ + PNO us_pno = 0; /* Ignore -> MISRA-C:2004 Rule 5.6 */ + RID uc_rid = 0; /* Ignore -> MISRA-C:2004 Rule 5.6 */ + + while (g_gps_save_cmdr.bufsav != 0) { + /** Determine whether it is a pending command that requires a response. */ + sndp = g_gps_save_cmdr.sendno; + + if (g_gps_save_cmdr.savebuf[ sndp ].uc_rst == GPS_CMD_RESET) { + /** In the case of a reset request, a reset response (communication error) is notified. */ + us_pno = g_gps_save_cmdr.savebuf[ sndp ].us_pno; + uc_rid = g_gps_save_cmdr.savebuf[ sndp ].uc_rid; + DevGpsRstAnsSend(us_pno, uc_rid, GPS_SENDNG); /* Ignore -> MISRA-C:2004 Rule 16.10 */ + } + + /** Delete */ + DeleteSaveCmdGpsCommon(); + } + + return; +} +/****************************************************************************** +@brief RcvCyclCmdNmeaGpsCommon<BR> + Cyclic data (NMEA) notification process +@outline Notifying VehicleSensor of Cyclic Data (NMEA) Reception +@param[in] u_int8 : *p_uc_data ... Receive data pointer +@param[in] u_int32 : ul_len ... Received data length +@param[in] TG_GPS_OUTPUT_FORMAT : s_output_format ... Receive Format +@param[out] none +@return none +@retval none +*******************************************************************************/ +void RcvCyclCmdNmeaGpsCommon(u_int8 *p_uc_data, u_int32 ul_len, TG_GPS_OUTPUT_FORMAT s_output_format) { + NAVIINFO_ALL navilocinfo; /* Navigation information */ + BOOL bcycle_rcv_flag = FALSE; /* Cyclic reception judgment result */ + + if (JudgeFormatOrderGpsCommon(s_output_format, g_rcv_format) == 0) { + /** If a sentence is received before the last received sentence, */ + /** determine as the beginning of cyclic data. */ + bcycle_rcv_flag = TRUE; + } + + if (bcycle_rcv_flag == TRUE) { + DevGpsSndCycleDataNmea(); + + /* Reset navigation information */ + memset(&navilocinfo, 0x00, sizeof(NAVIINFO_ALL)); + + /* NMEA data analysis */ + DevGpsAnalyzeNmea(&navilocinfo); + + /** Clear Buffer */ + // DevGpsCycleDataClear(); + } + + DevGpsCycleDataSetNmea(p_uc_data, (u_int32)ul_len, GetNmeaIdxGpsCommon(s_output_format)); + + /** Update receive format */ + g_rcv_format = s_output_format; + + return; +} + + +/** + * @brief + * Cyclic data (UBX) notification processing + * + * Notify vehicle sensor of reception of cyclic data (UBX) + * + * @param[in] u_int8 : *p_uc_data ... Receive data pointer + * @param[in] u_int32 : ul_len ... Received data length + * @param[in] TG_GPS_OUTPUT_FORMAT : eFormat ... Receive Format + */ +void RcvCyclCmdExtGpsCommon(u_int8 *p_uc_data, u_int32 ul_len, TG_GPS_OUTPUT_FORMAT e_format) { + SENSOR_GPSTIME_RAW st_gpstime_raw; + TG_GPS_UBX_NAV_TIMEUTC_DATA *pst_navtime_utc; + BOOL b_validtow; /* Valid Time of Week */ + BOOL b_validwkn; /* Valid Week of Number */ + BOOL b_validutc; /* Valid UTC Time */ + + /* For NAV-TIMEUTC */ + if (e_format == GPS_FORMAT_NAV_TIMEUTC) { + memset(&st_gpstime_raw, 0x00, sizeof(st_gpstime_raw)); + + /* NAV-TIMEUTC analysis */ + pst_navtime_utc = reinterpret_cast<TG_GPS_UBX_NAV_TIMEUTC_DATA*>(p_uc_data + UBX_CMD_OFFSET_PAYLOAD); + + st_gpstime_raw.utc.year = pst_navtime_utc->year; + st_gpstime_raw.utc.month = pst_navtime_utc->month; + st_gpstime_raw.utc.date = pst_navtime_utc->day; + st_gpstime_raw.utc.hour = pst_navtime_utc->hour; + st_gpstime_raw.utc.minute = pst_navtime_utc->min; + st_gpstime_raw.utc.second = pst_navtime_utc->sec; + b_validtow = (BOOL)(((pst_navtime_utc->valid) & UBX_CMD_MSK_NAV_TIMEUTC_VALID_TOW) + >> (uint8_t)(UBX_CMD_MSK_NAV_TIMEUTC_VALID_TOW / 2)); + b_validwkn = (BOOL)(((pst_navtime_utc->valid) & UBX_CMD_MSK_NAV_TIMEUTC_VALID_WKN) + >> (uint8_t)(UBX_CMD_MSK_NAV_TIMEUTC_VALID_WKN / 2)); + b_validutc = (BOOL)(((pst_navtime_utc->valid) & UBX_CMD_MSK_NAV_TIMEUTC_VALID_UTC) + >> (uint8_t)(UBX_CMD_MSK_NAV_TIMEUTC_VALID_UTC / 2)); + + if ((b_validtow == TRUE) && (b_validwkn == TRUE)) { + st_gpstime_raw.tdsts = 2; /* Calibrated */ + g_gpstime_raw_tdsts = 2; + } else { + st_gpstime_raw.tdsts = 0; /* Uncalibrated */ + g_gpstime_raw_tdsts = 0; + } + + b_validutc = b_validutc; + POSITIONING_LOG("year=%04d, month=%02d, date=%02d, hour=%02d, minute=%02d," + " second=%02d, validTow=%d, validWkn=%d, validUtc=%d", + st_gpstime_raw.utc.year, st_gpstime_raw.utc.month, st_gpstime_raw.utc.date, + st_gpstime_raw.utc.hour, st_gpstime_raw.utc.minute, st_gpstime_raw.utc.second, + b_validtow, b_validwkn, b_validutc); + /* Notify GPS time to vehicle sensor */ + SndGpsTimeRaw((const SENSOR_GPSTIME_RAW*)&st_gpstime_raw); + } else { + POSITIONING_LOG("Forbidden ERROR!![e_format=%d]", e_format); + } + + /** Update Receive Format */ + g_rcv_format = e_format; + + return; +} + +/****************************************************************************** +@brief CheckSendCmdGpsCommon<BR> + Send command check processing +@outline Check the format of the send command +@param[in] const u_char* pubRcvData : Receive command +@param[in] u_int32 ul_length : Length of the command +@param[out] TG_GPS_OUTPUT_FORMAT* peFormat : Command format information +@return int32 +@retval RET_NORMAL : Normal +@retval RET_ERROR : Abnormality +*******************************************************************************/ +int32 CheckSendCmdGpsCommon(const u_char *p_rcv_data, u_int32 ul_length, TG_GPS_OUTPUT_FORMAT *p_format) { + u_int32 ret = RET_NORMAL; + u_int32 cnt = 0; /* Ignore -> MISRA-C:2004 Rule 5.6 */ + + /** Analysis of received commands */ + for (cnt = 0; cnt < (u_int32)GPSCMDANATBL_MAX; cnt++) { + /** End-of-table decision */ + if (CheckFrontStringPartGpsCommon((const u_char*)ENDMARK, kGpsCmdAnaTbl[cnt].c_sentence) == RET_NORMAL) { + /** When there is no matching sentence */ + + /** Return value setting */ + ret = RET_ERROR; /* Ignore -> MISRA-C:2004 Rule 3.1 */ + break; + } + + /** Sentence determination of received command */ + if (CheckFrontStringPartGpsCommon(p_rcv_data, kGpsCmdAnaTbl[cnt].c_sentence) == RET_NORMAL) { + if (ul_length == kGpsCmdAnaTbl[cnt].ul_length) { + /** When the sentences match */ + + /** Reception type determination */ + if ( kGpsCmdAnaTbl[cnt].ul_rcv_kind == RCV_RESP ) { + /** Response monitor format setting */ + *p_format = kGpsCmdAnaTbl[cnt].e_rcv_format; + } else { + /** Return value setting */ + ret = RET_ERROR; /* Ignore -> MISRA-C:2004 Rule 3.1 */ + } + + break; /* Ignore -> MISRA-C:2004 Rule 14.6 */ + } + } + } + + return ret; +} + + +/** + * @brief + * Get a string of fields from a NMEA sentence + * + * Operation is not guaranteed if a pointer other than a pointer to the NMEA sentence is specified. + * + * @param[in] field_number Field No. + * @param[in] p_src Pointers to NMEA sentences + * @param[out] p_dst Pointer to the output area + * @param[in] size Maximum output size + * + * @return Size + */ +int32_t GetStringFromNmeaGpsCommon(u_int8 field_number, u_int8* p_src, char* p_dst, size_t size ) { + uint8_t* ptr = NULL; + /* int32_t numeric; */ + uint32_t i = 0; + int32_t cnt = 0; + int8_t buf[GPS_NMEA_FIELD_LEN_MAX] = {0}; + + /* Null check */ + if ((p_src == NULL) || (p_dst == NULL)) { + POSITIONING_LOG("Argument ERROR [p_src=%p, p_dst=%p]", p_src, p_dst); + return 0; + } + + ptr = p_src; + + for (i = 0; i <= GPS_NMEA_MAX_SZ; i++) { + if (cnt == field_number) { + break; + } + + if (*ptr == NMEA_DATA_SEPARATOR) { + cnt++; + } + + ptr++; + } + + i = 0; + if (*ptr != NMEA_DATA_SEPARATOR) { + for (i = 0; i < (GPS_NMEA_FIELD_LEN_MAX - 1); i++) { + buf[i] = *ptr; + ptr++; + + if ((*ptr == NMEA_DATA_SEPARATOR) || (*ptr == NMEA_CHECKSUM_CHAR)) { + i++; + break; + } + } + } + + buf[i] = '\0'; + strncpy(p_dst, (const char *)buf, size); + + return i; +} + +/** + * @brief + * Get the number (real type) of a field from a NMEA sentence + * + * Operation is not guaranteed if a pointer other than a pointer to the NMEA sentence is specified. + * + * @param[in] field_number Field No. + * @param[in] p_src Pointers to NMEA sentences + * @param[out] p_valid Validity of numerical data + * + * @return Real-number - double + */ +double_t GetNumericFromNmeaGpsCommon(u_int8 field_number, u_int8* p_src, BOOL* p_valid) { + double_t numeric = 0; + char buf[GPS_NMEA_FIELD_LEN_MAX] = {0}; + int32_t ret = 0; + + /* Null check */ + if (p_src == NULL) { + POSITIONING_LOG("Argument ERROR [p_src=%p]", p_src); + } + + ret = GetStringFromNmeaGpsCommon(field_number, p_src, buf, GPS_NMEA_FIELD_LEN_MAX); + + if (ret > 0) { + numeric = atof((const char *)buf); + *p_valid = TRUE; + } else { + *p_valid = FALSE; + } + + return numeric; +} + +/** + * @brief + * Get the integer value (integer type) of a field from a NMEA sentence + * + * Operation is not guaranteed if a pointer other than a pointer to the NMEA sentence is specified. + * + * @param[in] field_number Field No. + * @param[in] p_src Pointers to NMEA sentences + * + * @return Integer - int32 + */ +int32 GetIntegerFromNmeaGpsCommon(u_int8 field_number, u_int8* p_src) { + int32_t integer = 0; + char buf[GPS_NMEA_FIELD_LEN_MAX] = {0}; + + /* Null check */ + if (p_src == NULL) { + POSITIONING_LOG("Argument ERROR [p_src=%p]", p_src); + } + + GetStringFromNmeaGpsCommon(field_number, p_src, buf, GPS_NMEA_FIELD_LEN_MAX); + integer = atoi((const char *)buf); + + return integer; +} + +/** + * @brief + * Get the latitude/longitude of the given fi eld from the NMEA sentence + * + * Operation is not guaranteed if a pointer other than a pointer to the NMEA sentence is specified. + * + * @param[in] field_number Field No. + * @param[in] p_src Pointers to NMEA sentences + * @param[out] p_valid Validity of the data + * + * @return Latitude and longitude [1/256 sec] + */ +int32_t GetLonLatFromNmeaGpsCommon(u_int8 field_number, u_int8 *p_src, BOOL *p_valid) { + int32_t result = 0; + double_t value = 0.0; + int32_t deg = 0; + double_t min = 0.0; + + /* Null check */ + if (p_src == NULL) { + POSITIONING_LOG("Argument ERROR [p_src=%p]", p_src); + } + + value = GetNumericFromNmeaGpsCommon(field_number, p_src, p_valid); + + if ((value < 0.0) || (value > 0.0)) { + deg = (int32_t)(value / 100.0f); + min = (double_t)(value - (deg * 100.0f)); + result = (int32_t)(((60.0f * 60.0f * 256.0f) * deg) + ((60.0f * 256.0f) * min)); + } + + return result; +} + +/** + * @brief + * Get the orientation of any fields from a NMEA sentence + * + * Operation is not guaranteed if a pointer other than a pointer to the NMEA sentence is specified. + * + * @param[in] field_number Field No. + * @param[in] p_src Pointers to NMEA sentences + * @param[out] p_valid Validity of the data + * + * @return Orientation[0.01 degree] + */ +u_int16 GetHeadingFromNmeaGpsCommon(u_int8 field_number, u_int8 *p_src, BOOL *p_valid) { + u_int16 result = 0; + double_t value = 0.0; + + /* Null check */ + if (p_src == NULL) { + POSITIONING_LOG("Argument ERROR [p_src=%p]", p_src); + } + + value = GetNumericFromNmeaGpsCommon(field_number, p_src, p_valid); + + result = (u_int16)((value + 0.005f) * 100.0f); + + return result; +} + + +/** + * @brief + * Get the orientation of any fields from a NMEA sentence + * + * Operation is not guaranteed if a pointer other than a pointer to the NMEA sentence is specified. + * + * @param[in] field_number Field No. + * @param[in] p_src Pointers to NMEA sentences + * @param[out] p_valid Validity of the data + * + * @return speed[0.01m/s] + */ +u_int16 GetSpeedFromNmeaGpsCommon(u_int8 field_number, u_int8 *p_src, BOOL *p_valid) { + u_int16 result = 0; + double_t value = 0.0; + + /* Null check */ + if (p_src == NULL) { + POSITIONING_LOG("Argument ERROR [p_src=%p]", p_src); + } + + value = GetNumericFromNmeaGpsCommon(field_number, p_src, p_valid); + + // speed[0.01m/s] + result = static_cast<u_int16>(value * 1.852 * 100 / 3.6); + + return result; +} + +/** + * @brief + * Get the altitude of certain fields from a NMEA sentence + * + * Operation is not guaranteed if a pointer other than a pointer to the NMEA sentence is specified. + * + * @param[in] field_number Field No. + * @param[in] p_src Pointers to NMEA sentences + * @param[out] p_valid Validity of the data + * + * @return Altitude [0.01m] + */ +int32 GetAltitudeFromNmeaGpsCommon(u_int8 field_number, u_int8 *p_src, BOOL *p_valid) { + int32 result = 0; + double_t value = 0.0; + + /* Null check */ + if (p_src == NULL) { + POSITIONING_LOG("Argument ERROR [p_src=%p]", p_src); + } + + value = GetNumericFromNmeaGpsCommon(field_number, p_src, p_valid); + + result = static_cast<int32>((value + 0.005f) * 100.0f); + + return result; +} + +/** + * @brief + * GPS Control Thread Stop Processing + */ +void StopThreadGpsCommon(void) { + /** Stop the start confirmation monitoring timer */ + (void)DevGpsTimeStop(GPS_STARTUP_TIMER); /* Start confirmation monitoring timer */ + + /** Stop the periodic reception data monitoring timer */ + (void)DevGpsTimeStop(GPS_CYCL_TIMER); /* Periodic reception data monitoring timer */ + + /** Stop the ACK reception monitoring timer */ + (void)DevGpsTimeStop(GPS_RECV_ACK_TIMER); /* ACK reception monitoring timer */ + + /** Stop the Navigation Providing Monitor Timer */ + (void)DevGpsTimeStop(GPS_NAVIFST_TIMER); /* Initial Navigation Monitoring Timer */ + + /** Stop the Navigation Providing Monitor Timer */ + (void)DevGpsTimeStop(GPS_NAVICYCLE_TIMER); /* Navi monitoring timer */ + + /** Stop the Navigation Providing Monitor Timer */ + (void)DevGpsTimeStop(GPS_NAVIDISRPT_TIMER); /* Navigation Monitoring Disruption Log Output Timer */ + + /** Stop Time Offering Monitor Timer */ + /* (void)DevGpsTimeStop(GPS_DIAGCLK_GUARDTIMER); */ /* Time Offering Monitoring Timer */ + + PosTeardownThread(ETID_POS_GPS); + + /* don't arrive here */ + return; +} + +/** + * @brief + * GPS format order determination process + * + * @param[in] s_format_1 GPS format1 + * @param[in] s_format_2 GPS format2 + * @return 0 Format 1 first<br> + * 1 Format 2 first<br> + * 2 Same as<br> + * 3 Unable to determine + */ +uint8_t JudgeFormatOrderGpsCommon(TG_GPS_OUTPUT_FORMAT s_format_1, TG_GPS_OUTPUT_FORMAT s_format_2) { + uint8_t ret = 3; + u_int32 cnt = 0; + + if (s_format_1 == s_format_2) { + ret = 2; + } else if ((s_format_1 == GPS_FORMAT_MAX) || (s_format_2 == GPS_FORMAT_MIN)) { + ret = 1; + } else { + for (cnt = 0; cnt < static_cast<u_int32>(GPSCMDANATBL_MAX); cnt++) { + /** End-of-table decision */ + if (CheckFrontStringPartGpsCommon((const u_char*)ENDMARK, kGpsCmdAnaTbl[cnt].c_sentence) == RET_NORMAL) { + /** There is no matching sentence */ + ret = 3; + break; + } + + if (kGpsCmdAnaTbl[cnt].e_rcv_format == s_format_1) { + ret = 0; + break; + } else if (kGpsCmdAnaTbl[cnt].e_rcv_format == s_format_2) { + ret = 1; + break; + } + } + } + + return ret; +} + +/** + * @brief + * Get NMEA index process + * + * @param[in] iFmt GPS formats + * @return NMEA indexes + */ +ENUM_GPS_NMEA_INDEX GetNmeaIdxGpsCommon(TG_GPS_OUTPUT_FORMAT s_output_format) { + ENUM_GPS_NMEA_INDEX ret = GPS_NMEA_INDEX_MAX; + + switch (s_output_format) { + case GPS_FORMAT_GGA: + /* GGA */ + ret = GPS_NMEA_INDEX_GGA; + break; + case GPS_FORMAT_DGGA: + /* DGGA */ + ret = GPS_NMEA_INDEX_DGGA; + break; + case GPS_FORMAT_VTG: + /* VTG */ + ret = GPS_NMEA_INDEX_VTG; + break; + case GPS_FORMAT_RMC: + /* RMC */ + ret = GPS_NMEA_INDEX_RMC; + break; + case GPS_FORMAT_DRMC: + /* DRMC */ + ret = GPS_NMEA_INDEX_DRMC; + break; + case GPS_FORMAT_GLL: + /* GLL */ + ret = GPS_NMEA_INDEX_GLL; + break; + case GPS_FORMAT_DGLL: + /* DGLL */ + ret = GPS_NMEA_INDEX_DGLL; + break; + case GPS_FORMAT_GSA: + /* GSA */ + ret = GPS_NMEA_INDEX_GSA; + break; + case GPS_FORMAT_GSV1: + /* GSV(1) */ + ret = GPS_NMEA_INDEX_GSV1; + break; + case GPS_FORMAT_GSV2: + /* GSV(2) */ + ret = GPS_NMEA_INDEX_GSV2; + break; + case GPS_FORMAT_GSV3: + /* GSV(3) */ + ret = GPS_NMEA_INDEX_GSV3; + break; + case GPS_FORMAT_GSV4: + /* GSV(4) */ + ret = GPS_NMEA_INDEX_GSV4; + break; + case GPS_FORMAT_GSV5: + /* GSV(5) */ + ret = GPS_NMEA_INDEX_GSV5; + break; + case GPS_FORMAT_GST: + /* GST */ + ret = GPS_NMEA_INDEX_GST; + break; + case GPS_FORMAT__CWORD44__GP3: + /* _CWORD44_,GP,3 */ + ret = GPS_NMEA_INDEX__CWORD44__GP_3; + break; + case GPS_FORMAT__CWORD44__GP4: + /* _CWORD44_,GP,4 */ + ret = GPS_NMEA_INDEX__CWORD44__GP_4; + break; + case GPS_FORMAT_P_CWORD82_F_GP0: + /* P_CWORD82_F,GP,0 */ + ret = GPS_NMEA_INDEX_P_CWORD82_F_GP_0; + break; + case GPS_FORMAT_P_CWORD82_J_GP1: + /* P_CWORD82_J,GP,1 */ + ret = GPS_NMEA_INDEX_P_CWORD82_J_GP_1; + break; + default: + /* nop */ + break; + } + return ret; +} + +/** + * @brief + * GPS reset request command transmission processing + */ +void SendResetReqGpsCommon(void) { + T_APIMSG_MSGBUF_HEADER s_msg_header; /* Message header */ + POS_RESETINFO s_send_msg; /* Reset information */ + u_int8 uc_send_buf[(sizeof(T_APIMSG_MSGBUF_HEADER) + sizeof(POS_RESETINFO))]; /* Transmitting buffer */ + RET_API ret = RET_NORMAL; + + /* Send reset request */ + POSITIONING_LOG("GPS Reset Request"); + + /* <<Creation of message header section>>>> */ + s_msg_header.signo = 0; /* Signal information setting */ + s_msg_header.hdr.sndpno = PNO_NAVI_GPS_MAIN; /* Source thread No. setting */ + s_msg_header.hdr.respno = PNO_NAVI_GPS_MAIN; /* Destination process No. */ + s_msg_header.hdr.cid = CID_GPS_REQRESET; /* Command ID setting */ + s_msg_header.hdr.msgbodysize = sizeof(POS_RESETINFO); /* Message data length setting */ + s_msg_header.hdr.rid = 0; /* Resource ID Setting */ + s_msg_header.hdr.reserve = 0; /* Reserved area clear */ + + (void)memcpy(&uc_send_buf[ 0 ], &s_msg_header, sizeof(T_APIMSG_MSGBUF_HEADER)); + + /* <<Creation of data section>> */ + s_send_msg.mode = GPS_RST_COLDSTART; /* Reset mode */ + s_send_msg.sndpno = PNO_NAVI_GPS_MAIN; /* Caller PNo. */ + s_send_msg.respno = PNO_NAVI_GPS_MAIN; /* Destination PNo. */ + s_send_msg.reserve[0] = 0; + s_send_msg.reserve[1] = 0; + s_send_msg.reserve[2] = 0; + + /* Copy data to send buffer */ + (void)memcpy( &uc_send_buf[ sizeof( T_APIMSG_MSGBUF_HEADER ) ], &s_send_msg, sizeof(POS_RESETINFO) ); + + /* <<Messaging>> */ + ret = _pb_SndMsg(PNO_NAVI_GPS_MAIN, sizeof(uc_send_buf), reinterpret_cast<void *>(uc_send_buf), 0); + + if (ret != RET_NORMAL) { + POSITIONING_LOG("GPS Reset Request Error[ret = %d]", ret); + } +} + + + +void DevGpsCommSettingTime(void) { + TG_GPS_SND_DATA *pst_rcv_data; + RET_API ret = RET_NORMAL; + + pst_rcv_data = reinterpret_cast<TG_GPS_SND_DATA*>(&(g_gps_msg_rcvr.msgdat[0])); + + ret = DevGpsResetReq(PNO_NONE, 0); + if (RET_NORMAL != ret) { + POSITIONING_LOG("DevGpsResetReq failed."); + } else { + /* Time setting(u-blox) */ + DevGpsSettingTime(reinterpret_cast<POS_DATETIME *>(pst_rcv_data->ub_data)); + } + return; +} + +void DevGpsReadGpsTime(POS_DATETIME* pst_datetime) { + int32_t ret; + ST_GPS_SET_TIME buf; + POS_DATETIME st_datetime; + memset(&st_datetime, 0, sizeof(st_datetime)); + + // if (isGpsTimeStatusProof == TRUE) { + /* Clear the flag if the date and time status has already been calibrated. */ + // WriteGpsTimeToBackup(FALSE, &st_datetime); + // POSITIONING_LOG("D_BK_ID_POS_GPS_TIME_SET_INFO:W:Clear"); + // } else { + /* Read from backup RAM */ + ret = Backup_DataRd(D_BK_ID_POS_GPS_TIME_SET_INFO, 0, &buf, sizeof(ST_GPS_SET_TIME)); + if (ret == BKUP_RET_NORMAL) { + pst_datetime->year = buf.year; + pst_datetime->month = buf.month; + pst_datetime->date = buf.date; + pst_datetime->hour = buf.hour; + pst_datetime->minute = buf.minute; + pst_datetime->second = buf.second; + + /* Update of the date/time status fixed value setting indication flag */ + if (buf.flag == TRUE) { + g_is_gpstime_sts = TRUE; + POSITIONING_LOG("g_is_gpstime_sts = TRUE"); + POSITIONING_LOG("%d/%d/%d %d:%d:%d", buf.year, + buf.month, + buf.date, + buf.hour, + buf.minute, + buf.second); + } else { + g_is_gpstime_sts = FALSE; + POSITIONING_LOG("g_is_gpstime_sts = FALSE"); + } + } else { + POSITIONING_LOG("Backup_DataRd ERROR!! [ret=%d]", ret); + } + // } + return; +} + +RET_API GpsSetPosBaseEvent(uint16_t ul_snd_pno, int32_t event_val) { + RET_API ret = RET_ERROR; /* Return value */ + EventID ul_eventid = 0; /* Event ID */ + char event_name[32]; /* Event name character string buffer */ + + memset(reinterpret_cast<void *>(event_name), 0, sizeof(event_name)); + snprintf(event_name, sizeof(event_name), "VEHICLE_%X", ul_snd_pno); + /* Event Generation */ + ul_eventid = _pb_CreateEvent(FALSE, 0, event_name); + + // initialize EventID + if (0 != ul_eventid) { + ret = _pb_SetEvent(ul_eventid, SAPI_EVSET_ABSOLUTE, VEHICLE_EVENT_VAL_INIT); + if (RET_NORMAL != ret) { + /* Delete event and return event generation failed */ + ret = _pb_DeleteEvent(ul_eventid); + ul_eventid = 0; + } + } + + if (0 != ul_eventid) { + /* Event publishing(Event wait release) */ + ret = _pb_SetEvent(ul_eventid, SAPI_EVSET_ABSOLUTE, event_val); + if (RET_NORMAL != ret) { + /* Event issuance failure */ + POSITIONING_LOG("set Event failed."); + } + /* Event deletion */ + _pb_DeleteEvent(ul_eventid); + } else { + /* Event generation failure */ + POSITIONING_LOG("create Event failed."); + } + return ret; +} + +/** + * @brief + * GPS reset response command reception processing + * + * @param[in] p_data Pointer to the received GPS command + */ +BOOL DevGpsRcvProcGpsResetResp(TG_GPS_RCV_DATA* p_data) { + RET_API ret; + u_int32 ul_reset_sts = GPS_SENDNG; + BOOL b_snd_flag = TRUE; + uint8_t *p_gps_data; + char date[6]; /* ddmmyy */ + char work[8]; /* Work buffer for converting String data */ + + if (p_data == NULL) { + POSITIONING_LOG("Argument ERROR!! [p_data = %p]", p_data); + } else { + p_gps_data = p_data->bygps_data; + + /* Checksum determination */ + ret = CheckSumGpsCommon(p_gps_data, p_data->bydata_len, GPS_FORMAT_RMC); + if (ret == RET_NORMAL) { + /* Get Date information */ + GetStringFromNmeaGpsCommon(GPS_NMEA_FNO_RMC_DATE, p_gps_data, date, 6); + + strncpy(work, &date[4], 2); + + if (atoi(work) == 0) { + ul_reset_sts = GPS_SENDOK; /* Reset Successful */ + /* Reissuing commands to a GPS device from here */ + /* Send NAV-TIMEUTC sentence addition requests */ + DevGpsNavTimeUTCAddReq(); + } + POSITIONING_LOG("reset flag = %d, year after reset = %s", ul_reset_sts, work); + } else { + b_snd_flag = FALSE; /* If the checksum is NG, wait for the next reply message without sending a callback. */ + POSITIONING_LOG("wrong checksum [ret = %d]", ret); + } + + if (b_snd_flag == TRUE) { + /** Drop the time status to an abnormal time */ + // Todo Suntec MACRO __CWORD71_ Disable, This Functions do nothing actrually. + // DEV_Gps_SetTimeStatus_NG(); + + /** Send Reset Response(Successful transmission) */ + DevGpsRstAnsSend(g_gps_mngr.resp_pno, g_gps_mngr.resp_rid, ul_reset_sts); + + POSITIONING_LOG("DEV_Gps_RstAndSend CALL!! [ul_reset_sts = %d]", ul_reset_sts); + + /** Clear reset command sending judgment flag */ + g_gps_reset_cmd_sending = FALSE; + } + } + return b_snd_flag; +} + +/** + * @brief + * GPS time setting response command reception processing + * + * @param[in] p_data Pointer to the received GPS command + */ +void DevGpsRcvProcTimeSetResp(TG_GPS_RCV_DATA* p_data) { + u_int32 ul_reset_sts = GPS_SENDNG; + BOOL b_snd_flag = TRUE; + POS_DATETIME st_datetime; /* Setting time */ + uint16_t set_gpsw; + uint32_t set_gpsws; + uint16_t rcv_gpsw; + uint32_t rcv_gpsws; + BOOL ret = FALSE; + int32_t status; + + if (p_data == NULL) { + POSITIONING_LOG("Argument ERROR!! [p_data = %p]", p_data); + } else { + /* Read from backup RAM */ + status = Backup_DataRd(D_BK_ID_POS_GPS_TIME_SET_INFO, 0, &st_datetime, sizeof(ST_GPS_SET_TIME)); + if (status == BKUP_RET_NORMAL) { + /* Convert to GSP week number, GPS week second */ + DevGpsYMD2GPSTIME(static_cast<int32>(st_datetime.year), + static_cast<int32>(st_datetime.month), + static_cast<int32>(st_datetime.date), static_cast<int32>(st_datetime.hour), + static_cast<int32>(st_datetime.minute), + static_cast<int32>(st_datetime.second), &set_gpsw, &set_gpsws); + + memcpy(&rcv_gpsw, &(p_data->bygps_data[24]), sizeof(uint16_t)); + memcpy(&rcv_gpsws, &(p_data->bygps_data[26]), sizeof(uint32_t)); + rcv_gpsws /= 1000; /* Convert week (ms) to week (s) */ + POSITIONING_LOG("recived gpsw[%d] gpsws[%d]\n", rcv_gpsw, rcv_gpsws); + + /* Check if GPS week number and GPS week second are within valid range */ + ret = DevGpsCheckGpsTime(set_gpsw, set_gpsws, rcv_gpsw, rcv_gpsws, GPS_SETTIME_RANGE); + if (ret == TRUE) { + /* Date/Time Status Fixed Value Setting Indication Flag ON */ + g_is_gpstime_sts = TRUE; + POSITIONING_LOG("g_is_gpstime_sts = TRUE"); + + /* Time Setting Successful : Update backup RAM time */ + ul_reset_sts = GPS_SENDOK; + WriteGpsTimeToBackup(TRUE, &st_datetime); + POSITIONING_LOG("SetGpsTime Success"); + POSITIONING_LOG("D_BK_ID_POS_GPS_TIME_SET_INFO:W:%d/%d/%d %d:%d:%d", + st_datetime.year, + st_datetime.month, + st_datetime.date, + st_datetime.hour, + st_datetime.minute, + st_datetime.second); + } else { + /* Time setting error (Difference in set time): Time deletion of backup RAM */ + memset(&st_datetime, 0, sizeof(st_datetime)); + WriteGpsTimeToBackup(FALSE, &st_datetime); + POSITIONING_LOG("SetGpsTime failed\n"); + POSITIONING_LOG("D_BK_ID_POS_GPS_TIME_SET_INFO:W:Clear\n"); + } + } else { + /* Backup RAM read failed */ + b_snd_flag = FALSE; + POSITIONING_LOG("Backup_DataRd ERROR!! [status=%d", status); + } + + if (b_snd_flag == TRUE) { + /** Send Time Set Response */ + DevGpsTimesetAnsSend(g_gps_mngr.resp_pno, g_gps_mngr.resp_rid, ul_reset_sts); + + POSITIONING_LOG("DEV_Gps_TimesetAndSend CALL!! [ul_reset_sts = %d]", ul_reset_sts); + } + } + return; +} + +/** + * @brief + * GPS rollover standard week number acquisition response reception processing + * + * @param[in] p_data Pointer to the received GPS command + */ +void DevGpsRcvProcWknRolloverGetResp(TG_GPS_RCV_DATA* p_data) { + RET_API ret; + SENSOR_WKN_ROLLOVER_HAL st_wkn_rollover; + + if (p_data == NULL) { + POSITIONING_LOG("Argument ERROR!! [p_data = %p]", p_data); + } else { + /* Checksum determination */ + ret = CheckSumGpsCommon(p_data->bygps_data, p_data->bydata_len, GPS_FORMAT_CFG_NAVX5); + if (ret == RET_NORMAL) { + /* Version information extraction */ + (void)memcpy(&(st_wkn_rollover.us_wkn), + &(p_data->bygps_data[UBX_CMD_OFFSET_PAYLOAD + UBX_CMD_OFFSET_WKNROLLOVER]), + sizeof(st_wkn_rollover.us_wkn)); + POSITIONING_LOG("wknRollover=%d", st_wkn_rollover.us_wkn); + + // gwknRollover = st_wkn_rollover.us_wkn; + + /* Send reference week number to vehicle sensor */ + ret = DevGpsSndWknRollover(&st_wkn_rollover); + if (ret != RET_NORMAL) { + POSITIONING_LOG("VehicleUtility_pb_SndMsg ERROR!! [ret=%d]", ret); + } + } else { + POSITIONING_LOG("CheckSumGpsCommon ERROR!! [ret = %d]", ret); + } + + if (ret != RET_NORMAL) { + /* GPS rollover standard week number acquisition request retransmission */ + ret = DevGpsWknRolloverGetReq(); + if (ret != RET_NORMAL) { + POSITIONING_LOG("DevGpsWknRolloverGetReq ERROR!! [ret=%d]", ret); + } + } + } + + return; +} + +/** + * @brief + * Receiving additional responses to NAV-SVINFO commands + * + * @param[in] p_data Pointer to the received GPS command + */ +void DevGpsRcvProcNavSvinfoAddResp(TG_GPS_RCV_DATA* p_data) { + RET_API ret; + /* Common Response Command Reception Processing */ + ret = DevGpsRcvProcCmnResp(p_data, GPS_CMD_SENTENCEADD_NAVSVINFO); + if (ret != RET_NORMAL) { + POSITIONING_LOG("DEV_Gps_RcvProcCmnResp(ADD_NAVSVINFO) ERROR!!"); + /* Retransmission of requests to add NAV-SVINFO commands */ + (void)DevGpsNavTimeUTCAddReq(); + } + return; +} + + +/** + * @brief + * Common processing when a GPS receiver error is detected + */ +void GpsReceiverErrGpsCommon(void) { + BOOL *pb_rcv_err = &(g_gps_mngr.rcv_err_flag); /* GSP receiver error detection status */ + + /* Update GPS receiver anomaly detection flag */ + *pb_rcv_err = TRUE; + + DevSendGpsConnectError(TRUE); + + return; +} + + +/** + * @brief + * GPS device setting response reception processing + * + * @param[in] p_data Pointer to the received GPS command + * @param[in] cmd Command in the configuration request + * @return RET_NORMAL Normal completion<br> + * RET_ERROR ABENDs + */ +RET_API DevGpsRcvProcCmnResp(TG_GPS_RCV_DATA* p_data, uint8_t cmd) { + RET_API ret = RET_ERROR; + uint8_t is_ack; /* 1=ACK, 0=NACK */ + TG_GPS_UBX_ACK_DATA st_ack; + uint8_t *puc_msg_class = &(st_ack.uc_msg_class); + uint8_t *puc_msg_id = &(st_ack.uc_msg_id); + + if (p_data == NULL) { + POSITIONING_LOG("Argument ERROR!![p_data=%p]", p_data); + } else { + /* Checksum determination */ + ret = CheckSumGpsCommon(p_data->bygps_data, p_data->bydata_len, GPS_FORMAT_ACK_ACKNACK); + if (ret == RET_NORMAL) { + is_ack = p_data->bygps_data[UBX_CMD_OFFSET_ACKNAK]; + if (is_ack == 1) { + /* Response command information extraction */ + (void)memcpy(&st_ack, &(p_data->bygps_data[UBX_CMD_OFFSET_PAYLOAD]), sizeof(st_ack)); + POSITIONING_LOG("msgClass=0x%02x, msgID=0x%02x", *puc_msg_class, *puc_msg_id); + + /* When the response wait command does not match the reception command */ + if (((cmd == GPS_CMD_SENTENCEADD_NMEAGST) && ((*puc_msg_class != 0x06) || (*puc_msg_id != 0x01))) || + ((cmd == GPS_CMD_SENTENCEADD_NAVTIMEUTC) && ((*puc_msg_class != 0x06) || (*puc_msg_id != 0x01))) || + ((cmd == GPS_CMD_SENTENCEADD_NAVCLOCK) && ((*puc_msg_class != 0x06) || (*puc_msg_id != 0x01))) || + ((cmd == GPS_CMD_SENTENCEADD_RXMRTC5) && ((*puc_msg_class != 0x06) || (*puc_msg_id != 0x01))) || + ((cmd == GPS_CMD_SENTENCEADD_NAVSVINFO) && ((*puc_msg_class != 0x06) || (*puc_msg_id != 0x01))) || + ((cmd == GPS_CMD_AUTOMOTIVEMODE) && ((*puc_msg_class != 0x06) || (*puc_msg_id != 0x24)))) { + POSITIONING_LOG("Invalid ACK/NACK!! [cmd=%d, msgClass=0x%02x, msgID=0x%02x]\n", + cmd, *puc_msg_class, *puc_msg_id); + ret = RET_ERROR; + } + } else { + ret = RET_ERROR; + } + } else { + POSITIONING_LOG("DEV_Gps_ChkSum ERROR!![ret=%d]", ret); + } + } + return ret; +} + + +RET_API DevGpsResetReq(PNO us_pno, RID uc_rid) { + RET_API ret; + TG_GPS_SAVECMD st_save_cmd; + TG_GPS_SND_DATA* pst_snd_data; + uint8_t* p_ublox_data; + + /* SYNC_CHAR_1_2 CLASS ID length(L/U) */ + static const u_int8 csnd_cmd[] = { 0xB5, 0x62, 0x06, 0x04, 0x04, 0x00, + /* navBbrMask(L/U) resetMode/res CK_A CK_B */ + 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00 }; + + pst_snd_data = &(st_save_cmd.sndcmd); + p_ublox_data = pst_snd_data->ub_data; + + memset(&st_save_cmd, 0x00, sizeof(st_save_cmd)); + memcpy(p_ublox_data, csnd_cmd, UBX_CMD_SIZE_CFG_RST); + + /* Checksum assignment */ + DevGpsSetChkSum(p_ublox_data, UBX_CMD_SIZE_CFG_RST); + + pst_snd_data->us_size = UBX_CMD_SIZE_CFG_RST; + st_save_cmd.us_pno = us_pno; /* Result notification destination process number */ + st_save_cmd.uc_rid = uc_rid; /* Result Notification Resource ID */ + st_save_cmd.uc_rst = GPS_CMD_RESET; /* Reset flag */ + st_save_cmd.e_cmd_info = GPS_FORMAT_RMC; /* Command information */ + + /* Command is suspended and terminated. */ + ret = DevGpsSaveCmd(&st_save_cmd); + if (ret != RET_NORMAL) { + POSITIONING_LOG("# GpsCommCtl # GPS Command Reserve bufferFull !"); + + /** When the pending buffer is full, a reset response (communication error) is returned. */ + DevGpsRstAnsSend(st_save_cmd.us_pno, st_save_cmd.uc_rid, GPS_SENDNG); + } + + return ret; +} + +void DevGpsSettingTime(POS_DATETIME* pst_datetime) { + RET_API ret; + TG_GPS_SAVECMD st_save_cmd; + TG_GPS_SND_DATA* pst_snd_data; + uint8_t* p_ublox_data; + TG_GPS_UBX_AID_INI_POLLED* pst_ublox_data; + + uint16_t gpsw; + uint32_t gpsws; + + if (pst_datetime == NULL) { + POSITIONING_LOG("Argument ERROR!! [pstDataTime = %p]", pst_datetime); + } else { + pst_snd_data = &(st_save_cmd.sndcmd); + p_ublox_data = pst_snd_data->ub_data; + + (void)memset(&st_save_cmd, 0x00, sizeof(st_save_cmd)); + + /* Convert to GSP week number, GPS week second */ + (void)DevGpsYMD2GPSTIME(static_cast<int32>(pst_datetime->year), + static_cast<int32>(pst_datetime->month), + static_cast<int32>(pst_datetime->date), + static_cast<int32>(pst_datetime->hour), + static_cast<int32>(pst_datetime->minute), + static_cast<int32>(pst_datetime->second), &gpsw, &gpsws); + + + /* Send command sequence generation */ + pst_ublox_data = reinterpret_cast<TG_GPS_UBX_AID_INI_POLLED*>(reinterpret_cast<void *>(p_ublox_data)); + pst_ublox_data->uc_sync_char1 = 0xB5; + pst_ublox_data->uc_sync_char2 = 0x62; + pst_ublox_data->uc_class = 0x0B; + pst_ublox_data->uc_id = 0x01; + pst_ublox_data->uc_length[0] = 0x30; + pst_ublox_data->uc_length[1] = 0x00; + pst_ublox_data->uc_flags[0] = 0x02; /* Time setting: The second bit from the low order is 1. */ + + (void)memcpy(pst_ublox_data->wn, &gpsw, sizeof(uint16_t)); + + gpsws *= 1000; + (void)memcpy(pst_ublox_data->tow, &gpsws, sizeof(uint32_t)); + + /* Checksum assignment */ + DevGpsSetChkSum(reinterpret_cast<u_int8 *>(reinterpret_cast<void*>(pst_ublox_data)), + UBX_CMD_SIZE_AID_INI); + + /* Concatenate Poll Request Command */ + ret = DevGpsCatPollReq(p_ublox_data, UBX_POLL_CMD_KIND_AID_INI); + if (ret != RET_NORMAL) { + POSITIONING_LOG("DEV_Gps_CatPollReqUblox ERROR!! [ret = %d]", ret); + } else { + pst_snd_data->us_size = UBX_CMD_SIZE_AID_INI_PLUS_POLL; + st_save_cmd.us_pno = PNO_VEHICLE_SENSOR; /* Result notification destination process number */ + st_save_cmd.uc_rid = 0; /* Result Notification Resource ID */ + st_save_cmd.uc_rst = GPS_CMD_TIMESET; /* Response flag */ + st_save_cmd.e_cmd_info = GPS_FORMAT_AID_INI;/* Command information */ + + /* Command is suspended and terminated. */ + ret = DevGpsSaveCmd(&st_save_cmd); + if (ret != RET_NORMAL) { + POSITIONING_LOG("DevGpsSaveCmd ERROR!! [ret = %d]", ret); + /* Todo: retransmission by timer */ + } + /* Update non-volatile of time setting */ + WriteGpsTimeToBackup(FALSE, pst_datetime); + /* Waiting for a GPS device to respond */ + g_is_gpstime_sts = FALSE; + POSITIONING_LOG("Start SetGpsTime\n"); + POSITIONING_LOG("D_BK_ID_POS_GPS_TIME_SET_INFO:W:%d/%d/%d %d:%d:%d\n", + pst_datetime->year, + pst_datetime->month, + pst_datetime->date, + pst_datetime->hour, + pst_datetime->minute, + pst_datetime->second); + } + } + return; +} + +/** + * @brief + * Converting from the Gregorian calendar to the Julian Day of Modification + * + * @param[in] y year + * @param[in] m month + * @param[in] d day + * + * @return Modified Julian Date + */ +int DevGpsYMD2JD(int y, int m, int d) { + double jd = JULIAN_DAY; + double tmp; + int mjd = 0; + + if (m <= 2) { /* In January, February in December and 14th of the previous year */ + y--; + m += 12; + } + y += 4800; + m -= 3; + d -= 1; + + tmp = static_cast<double>(y / 400); + y %= 400; + jd += tmp * 146097; + + tmp = static_cast<double>(y / 100); + y %= 100; + jd += tmp * 36524; + + tmp = static_cast<double>(y / 4); + y %= 4; + jd += tmp * 1461; + jd += static_cast<double>(y * 365); + + tmp = static_cast<double>(m / 5); + m %= 5; + jd += tmp * 153; + + tmp = static_cast<double>(m / 2); + m %= 2; + jd += tmp * 61; + jd += static_cast<double>(m * 31); + jd += static_cast<double>(d); + + mjd = static_cast<int>(jd - MODIFIED_JULIAN_DAY_OFFSET); /* Julian Date-> Modified Julian Date */ + + return mjd; +} + +/** + * @brief + * Converting from year, month, day, hour, minute and second (GPS hour) to GPS week and GPS week seconds + * + * Converting y:year, m:month, d:day, hh:hour, mm:minute, ss:second (GPS hour) to GPS week/GPS week second + * + * @param[in] y year + * @param[in] m month + * @param[in] d day + * @param[in] hh hour + * @param[in] mm munites + * @param[in] ss sec + * @param[out] gpsw + * @param[out] gpsws + * + * @return TRUE / FALSE + */ +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) { + /* + MJD :Y year M month D date modified Julian date (Convert date to modified Julian date) + GPSW : GPS week + GPSWS: GPS week second + */ + int mjd = DevGpsYMD2JD(y, m, d); + + *gpsw = (uint16_t)((mjd - 44244) / 7); + *gpsws = (uint32_t)(((mjd - 44244 - (*gpsw * 7)) * 86400) + + (hh * 3600) + (mm * 60) + ss + 16); /* Add leap seconds ( 16 seconds) at 2015/1/1 */ + + if (*gpsws >= GPS_WS_MAX) { + (*gpsw)++; + *gpsws -= GPS_WS_MAX; + } + + POSITIONING_LOG("*gpsw = %d, *gpsws = %d", *gpsw, *gpsws); + + return TRUE; +} + +/** + * @brief + * Concatenating Poll Request commands to UBX commands + * + * @param[in/out] *p_ublox_data Pointer to the concatenated UBX command + * @param[in] kind Additional command types + * + * @return RET_NORAML / RET_ERROR + */ +RET_API DevGpsCatPollReq(uint8_t *p_ublox_data, uint16_t kind) { + RET_API ret_api = RET_NORMAL; + TG_GPS_UBX_PACKET_HEADER *pst_ubx_pkg_hdr; + TG_GPS_UBX_COMMAND_NO_DATA *pst_ubx_poll_req; + uint32_t length; + + /* Header ID length Checksum */ + static uint8_t c_aidini_poll_cmd[] = {0xB5, 0x62, 0x0B, 0x01, 0x00, 0x00, 0x00, 0x00}; + static uint8_t c_cfgnav5_poll_cmd[] = {0xB5, 0x62, 0x06, 0x24, 0x00, 0x00, 0x00, 0x00}; + + uint8_t* p_poll_cmd; + uint16_t poll_cmd_length; + + if (p_ublox_data == NULL) { + POSITIONING_LOG("Argument ERROR!! [p_ublox_data=%p]", p_ublox_data); + ret_api = RET_ERROR; + } else { + if (kind == UBX_POLL_CMD_KIND_AID_INI) { + p_poll_cmd = c_aidini_poll_cmd; + poll_cmd_length = UBX_CMD_SIZE_AID_INI_POLL; + } else if (kind == UBX_POLL_CMD_KIND_CFG_NAV5) { + p_poll_cmd = c_cfgnav5_poll_cmd; + poll_cmd_length = UBX_CMD_SIZE_CFG_NAV5_POLL; + } else { + POSITIONING_LOG("Argument ERROR!! [kind=%d]", kind); + ret_api = RET_ERROR; + } + + if (ret_api != RET_ERROR) { + pst_ubx_pkg_hdr = reinterpret_cast<TG_GPS_UBX_PACKET_HEADER*>(reinterpret_cast<void*>(p_ublox_data)); + length = pst_ubx_pkg_hdr->us_length; + + if (length == 0) { + POSITIONING_LOG("pst_ubx_pkg_hdr->us_length=0 ERROR!!"); + ret_api = RET_ERROR; + } else { + /* Add Poll Request Command */ + pst_ubx_poll_req = reinterpret_cast<TG_GPS_UBX_COMMAND_NO_DATA*>(reinterpret_cast<void*>(p_ublox_data + + length + + sizeof(TG_GPS_UBX_COMMAND_NO_DATA))); + + memcpy(reinterpret_cast<void*>(pst_ubx_poll_req), reinterpret_cast<void*>(p_poll_cmd), poll_cmd_length); + + DevGpsSetChkSum(reinterpret_cast<u_int8 *>(reinterpret_cast<void*>(pst_ubx_poll_req)), poll_cmd_length); + } + } + } + + return ret_api; +} + +void DevGpsSetGpsweekcorcnt(void) { + CLOCKGPS_GPSWEEKCOR_CNT_MSG gpsweekcor_cnt_msg; + memcpy(&gpsweekcor_cnt_msg, &g_gps_msg_rcvr, sizeof(CLOCKGPS_GPSWEEKCOR_CNT_MSG)); + g_gps_week_cor_cnt = gpsweekcor_cnt_msg.gpsweekcorcnt; + return; +} + +RET_API DevGpsNavTimeUTCAddReq(void) { + RET_API ret; + TG_GPS_SAVECMD st_save_cmd; + TG_GPS_SND_DATA* pst_snd_data; + uint8_t* p_ublox_data; + + /* SYNC_CHAR_1_2 CLASS ID length(L/U) Payload CK_A CK_B */ + static const u_int8 csnd_cmd[] = { 0xB5, 0x62, 0x06, 0x01, 0x03, 0x00, 0x01, 0x21, 0x01, 0x00, 0x00 }; + + pst_snd_data = &(st_save_cmd.sndcmd); + p_ublox_data = pst_snd_data->ub_data; + + memset(&st_save_cmd, 0x00, sizeof(st_save_cmd)); + + /* Send command generation */ + memcpy(p_ublox_data, csnd_cmd, UBX_CMD_SIZE_CFG_MSG); + + /* Checksum assignment */ + DevGpsSetChkSum(p_ublox_data, UBX_CMD_SIZE_CFG_MSG); + + pst_snd_data->us_size = UBX_CMD_SIZE_CFG_MSG; + st_save_cmd.us_pno = PNO_VEHICLE_SENSOR; /* Result notification destination process number */ + st_save_cmd.uc_rid = 0; /* Result notification resource ID */ + st_save_cmd.uc_rst = GPS_CMD_SENTENCEADD_NAVTIMEUTC; /* Response flag */ + st_save_cmd.e_cmd_info = GPS_FORMAT_ACK_ACKNACK; /* Command information */ + + /* Command is suspended and terminated. */ + ret = DevGpsSaveCmd(&st_save_cmd); + if (ret != RET_NORMAL) { + POSITIONING_LOG("# GpsCommCtl # GPS Command Reserve bufferFull !"); + } + + return ret; +} + +RET_API DevGpsWknRolloverGetReq(void) { + RET_API ret; + TG_GPS_SAVECMD st_save_cmd; + TG_GPS_SND_DATA* pst_snd_data; + uint8_t* p_ublox_data; + + /* SYNC_CHAR_1_2 CLASS ID length(L/U) CK_A CK_B */ + static const u_int8 csnd_cmd[] = { 0xB5, 0x62, 0x06, 0x23, 0x00, 0x00, 0x00, 0x00 }; + + pst_snd_data = &(st_save_cmd.sndcmd); + p_ublox_data = pst_snd_data->ub_data; + + (void)memset(&st_save_cmd, 0x00, sizeof(st_save_cmd)); /* QAC 3200 */ + + /* Send command generation */ + (void)memcpy(p_ublox_data, csnd_cmd, UBX_CMD_SIZE_CFG_NAVX5_POLL); /* QAC 3200 */ + + /* Checksum assignment */ + DevGpsSetChkSum(p_ublox_data, UBX_CMD_SIZE_CFG_NAVX5_POLL); + + pst_snd_data->us_size = UBX_CMD_SIZE_CFG_NAVX5_POLL; + st_save_cmd.us_pno = PNO_VEHICLE_SENSOR; /* Result notification destination process number */ + st_save_cmd.uc_rid = 0; /* Result notification resource ID */ + st_save_cmd.uc_rst = GPS_CMD_WKNROLLOVER; /* Response flag */ + st_save_cmd.e_cmd_info = GPS_FORMAT_CFG_NAVX5; /* Command information */ + + /* Command is suspended and terminated. */ + ret = DevGpsSaveCmd(&st_save_cmd); + if (ret != RET_NORMAL) { + POSITIONING_LOG("# GpsCommCtl # GPS Command Reserve bufferFull !"); + /* If an error occurs at this point that is not expected due to a command queue full error, retransmission control is required. */ + } + return ret; +} + +/** + * @brief + * GPS time setting validity check process + * + * @param[in] set_gpsw Set GPS week + * @param[in] set_gpsws Set GPS Week + * @param[in] rcv_gpsw Answer GPS Week + * @param[in] rcv_gpsws Answer GPS Weeksec + * @param[in] offset_range Tolerance time difference[sec] + * @return BOOL TRUE:Effective time / FALSE:Invalid time + */ +BOOL DevGpsCheckGpsTime(uint16_t set_gpsw, uint32_t set_gpsws, + uint16_t rcv_gpsw, uint32_t rcv_gpsws, int32_t offset_range) { + BOOL ret = FALSE; + int16_t gap_gpsw = 0; + int32_t gap_gpsws = 0; + + /* Check if GPS week number and GPS week second are within valid range */ + /* NG when Set Time > Receive Time */ + gap_gpsw = (int16_t)(rcv_gpsw - set_gpsw); /* QAC 3758 */ + if (gap_gpsw == 0) { + /* There is no difference between the set GPS week and the received GPS week */ + gap_gpsws = (int32_t)(rcv_gpsws - set_gpsws); /* QAC 3771 */ + if ((0 <= gap_gpsws) && (gap_gpsws <= offset_range)) { + /* Setting of GPS time succeeded if the difference between GPS week seconds is within the range. */ + ret = TRUE; + } + } else if (gap_gpsw == 1) { + /* Difference between the set GPS week and the received GPS week is 1 (over 7 weeks) */ + gap_gpsws = (int32_t)((rcv_gpsws + GPS_WS_MAX) - set_gpsws); /* QAC 3771 */ + if ((0 <= gap_gpsws) && (gap_gpsws <= offset_range)) { + /* Setting of GPS time succeeded if the difference between GPS week seconds is within the range. */ + ret = TRUE; + } + } else { + /* Set GPS time failed except above */ + } + + return ret; +} + + +/**************************************************************************** +@brief DevGpsCnvLonLatNavi<BR> + Longitude/latitude information conversion process(Navigation-provided data) +@outline Converts the latitude/longitude information provided by the navigation system into the format provided to the vehicle sensor. +@param[in] u_int8 : fix_sts ... Current positioning status +@param[in] int32 : lon ... Longitude information +@param[in] int32 : lat ... Latitude-information +@param[out] SENSORLOCATION_LONLATINFO_DAT* : p_lonlat ... Latitude and longitude information after conversion +@return none +@retval none +*******************************************************************************/ +void DevGpsCnvLonLatNavi(SENSORLOCATION_LONLATINFO_DAT* p_lonlat, u_int8 fix_sts, int32 lon, int32 lat) { + int32 longtitude; + int32 latitude; + int64_t tmp; + BOOL b_ret_lon = TRUE; + BOOL b_ret_lat = TRUE; + BOOL b_fix_sts = TRUE; + + /** Provides latitude/longitude info for positioning status (2D/3D) */ + if ((NAVIINFO_DIAG_GPS_FIX_STS_2D == fix_sts ) || + (NAVIINFO_DIAG_GPS_FIX_STS_3D == fix_sts)) { + /** Get longitude information */ + tmp = (int64_t)lon * 10000000; + longtitude = static_cast<int32>(tmp / (int64_t)(256 * 60 * 60)); + if (longtitude == -1800000000) { + /** West longitude 180 degrees -> East longitude 180 degrees */ + longtitude = +1800000000; + } + if ((longtitude > +1800000000) || + (longtitude < -1800000000)) { + /** Longitude range error */ + b_ret_lon = FALSE; + } + /** Get latitude information */ + tmp = (int64_t)lat * 10000000; + + latitude = static_cast<int32>(tmp / (int64_t)(256 * 60 * 60)); + + if ((latitude > +900000000) || + (latitude < -900000000)) { + /** Latitude range error */ + b_ret_lat = FALSE; + } + } else { + /** Does not provide latitude/longitude information in non-positioning state. */ + b_fix_sts = FALSE; + } + + /** Provided data setting */ + p_lonlat->getMethod = GET_METHOD_GPS; + p_lonlat->SyncCnt = 0x00; /* Synchronization counter value(fixed to 0) */ /* Ignore -> No applicable rules for MISRA-C */ + /** Available/Unusable Decision */ + if ((b_fix_sts == TRUE) && (b_ret_lon == TRUE) && (b_ret_lat == TRUE)) { + p_lonlat->isEnable = SENSORLOCATION_STATUS_ENABLE; /* Available status: Available */ + p_lonlat->Longitude = longtitude; /* Longitude */ /* Ignore -> MISRA-C:2004 Rule 9.1 */ + p_lonlat->Latitude = latitude; /* Latitude */ /* Ignore -> MISRA-C:2004 Rule 9.1 */ + } else { + p_lonlat->isEnable = SENSORLOCATION_STATUS_DISABLE; /* Available status: Not available */ + p_lonlat->Longitude = 0; /* Longitude 0 degree fixed */ + p_lonlat->Latitude = 0; /* Latitude fixed to 0 degrees */ + } + return; +} + + +/**************************************************************************** +@brief DevGpsCnvAltitudeNavi<BR> + Altitude information conversion process(Navigation-provided data) +@outline Converts the altitude information provided by the navigation system into the format provided to the vehicle sensor. +@param[in] u_int8 : fix_sts ... Current positioning status +@param[in] int32 : alt ... Altitude information +@param[out] SENSORLOCATION_ALTITUDEINFO_DAT* : p_altitude ... Converted altitude information +@return none +@retval none +*******************************************************************************/ +void DevGpsCnvAltitudeNavi(SENSORLOCATION_ALTITUDEINFO_DAT* p_altitude, u_int8 fix_sts, int32 alt) { + int32 altitude; + BOOL b_fix_sts = TRUE; + + /** Provides altitude information when in Fix Status (2D/3D) */ + if (((NAVIINFO_DIAG_GPS_FIX_STS_2D == fix_sts) || + (NAVIINFO_DIAG_GPS_FIX_STS_3D == fix_sts)) && + (alt != GPS_ALTITUDE_INVALID_VAL)) { + /* The unit of alt is [0.01m], so conversion is not necessary. */ + altitude = alt; + } else { + /** Does not provide altitude information in the non-positioning state. */ + b_fix_sts = FALSE; + } + /** Provided data setting */ + p_altitude->getMethod = GET_METHOD_GPS; + p_altitude->SyncCnt = 0x00; /* Synchronization counter value(fixed to 0) */ /* Ignore -> No applicable rules for MISRA-C */ + /** Available/Unusable Decision */ + if (b_fix_sts == TRUE) { + p_altitude->isEnable = SENSORLOCATION_STATUS_ENABLE; /* Available status: Available */ + p_altitude->Altitude = altitude; /* Altitude */ /* Ignore -> MISRA-C:2004 Rule 9.1 */ + } else { + p_altitude->isEnable = SENSORLOCATION_STATUS_DISABLE; /* Available status: Not available */ + p_altitude->Altitude = 0; /* Altitude 0m fixed */ + } + return; +} + +/**************************************************************************** +@brief DevGpsCnvHeadingNavi<BR> + Orientation information conversion processing(Navigation-provided data) +@outline Converts the orientation information provided by the navigation system into the format provided to the vehicle sensor. +@param[in] u_int8 : fix_sts ... Current positioning status +@param[in] u_int16 : head ... Bearing information +@param[out] SENSORMOTION_HEADINGINFO_DAT* : p_heading ... Converted backward direction information +@return none +@retval none +*******************************************************************************/ +void DevGpsCnvHeadingNavi(SENSORMOTION_HEADINGINFO_DAT* p_heading, u_int8 fix_sts, u_int16 head) { + u_int16 us_heading; + BOOL b_fix_sts = TRUE; + + /** Provides orientation when in Fix Status (2D/3D) */ + if (((NAVIINFO_DIAG_GPS_FIX_STS_2D == fix_sts ) || + (NAVIINFO_DIAG_GPS_FIX_STS_3D == fix_sts)) && + (head != GPS_HEADING_INVALID_VAL)) { + /** Orientation information conversion */ + us_heading = head; + /* Units of head are [0.01 degree] so no conversion is necessary. */ + us_heading -= (u_int16)((us_heading / 36000) * 36000); + } else { + /** Azimuth information is not provided in the non-positioning state. */ + b_fix_sts = FALSE; + } + + /** Provided data setting */ + p_heading->getMethod = GET_METHOD_GPS; + p_heading->SyncCnt = 0x00; /* Synchronization counter value(fixed to 0) */ /* Ignore -> No applicable rules for MISRA-C */ + /** Available/Unusable Decision */ + if (b_fix_sts == TRUE) { + p_heading->isEnable = SENSORLOCATION_STATUS_ENABLE; /* Available status: Available */ + p_heading->Heading = us_heading; /* Orientation */ /* Ignore -> MISRA-C:2004 Rule 9.1 */ + } else { + p_heading->isEnable = SENSORLOCATION_STATUS_DISABLE; /* Available status: Not available */ + p_heading->Heading = 0; /* Azimuth 0 degree fixed */ + } + + return; +} +/*---------------------------------------------------------------------------*/ +/*EOF*/ diff --git a/hal/positioning_hal/src/GpsCommon/MDev_Gps_Main.cpp b/hal/positioning_hal/src/GpsCommon/MDev_Gps_Main.cpp new file mode 100755 index 0000000..0b9a4be --- /dev/null +++ b/hal/positioning_hal/src/GpsCommon/MDev_Gps_Main.cpp @@ -0,0 +1,362 @@ +/* + * @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.cpp +*/ + +/*---------------------------------------------------------------------------*/ +// Include files + +#include "MDev_Gps_Main.h" +#include "positioning_common.h" +#include "MDev_Gps_Mtrx.h" +#include "MDev_Gps_TimerCtrl.h" +#include "MDev_Gps_Common.h" +#include "MDev_Gps_Nmea.h" +#include "MDev_GpsRecv.h" +#include "LineSensDrv_Thread.h" + +/*---------------------------------------------------------------------------*/ +// Global values + +BOOL g_gps_rcv_thread_stop = FALSE; + +/******************************************************************************** + * Matrix event translation table(Message input) + ********************************************************************************/ +const TG_GPS_MSGEVTCHNG kGpsMsgchkC[MDEV_GPSMSGCHKC_MAX] = { + /* ++ #GPF_60_024 */ + /* Matrix Event Translation Table for _CWORD82_ NMEA */ + {CID_GPS__CWORD82__REQUEST, GPS_EVT_SENDREQ}, /* NMEA transmission request */ + {CID_INI_INTERNAL_ACCOFF_START, GPS_EVT_ACC_OFF}, /* In-function ACC-OFF instructions */ + {CID_GPS_REQRESET, GPS_EVT_RESETREQ}, /* GPS reset request */ + {CID_NAVIINFO_DELIVER, GPS_EVT_NAVI_LOCATIONINFO}, /* Providing navigation information */ + {CID_NAVIINFO_SPEED_DELIVER, GPS_EVT_NAVI_SPEEDINFO}, /* Navigation speed information service */ + {CID_GPS_TIMESETTING, GPS_EVT_TIMESETTING}, /* GPS time setting instruction */ + {CID_GPS_BACKUPDATA_LOAD, GPS_EVT_BACKUPDATA_LOAD}, /* Backup memory read request */ + {CID_THREAD_STOP_REQ, GPS_EVT_STOPREQ}, /* Thread stop request */ + {CID_GPSWEEKCOR_CNT_NOTIFICATION, GPS_EVT_WEEKCOR_CNT_NOTIFICATIO}, /* GPS Week Adjustment Counter Notification */ + {DAT_END, DAT_END} /* Table end */ + /* -- #GPF_60_024 */ +}; + +/******************************************************************************** + * Matrix event translation table(Input Timeout [ Timer ID]) + ********************************************************************************/ +const TG_GPS_TIMEVTCHNG kGpsTimchkC[MDEV_PSTIMCHKC_MAX] = { + {GPS_STARTUP_TIMER, 0, GPS_EVT_TIMEOUT_CYCLDAT}, /* Start confirmation monitoring timer */ + {GPS_CYCL_TIMER, 0, GPS_EVT_TIMEOUT_CYCLDAT}, /* Periodic reception data monitoring timer */ + {GPS_RECV_ACK_TIMER, 0, GPS_EVT_TIMEOUT_RSPDAT}, /* ACK reception monitoring timer */ + {GPS_NAVIFST_TIMER, 0, GPS_EVT_TIMEOUT_NAVI}, /* Initial NAVI monitoring timer */ + {GPS_NAVICYCLE_TIMER, 0, GPS_EVT_TIMEOUT_NAVI}, /* NAVIGATION monitoring timer */ + {GPS_NAVIDISRPT_TIMER, 0, GPS_EVT_TIMEOUT_NAVI}, /* NAVIGATION Disruption Log Output Timer */ + {GPS_DIAGCLK_GUARDTIMER, 0, GPS_EVT_TIMEOUT_DIAGCLKGUARD}, /* Diagnosis provision time guard monitoring timer */ + {GPS_NMEADATA_GUARDTIMER, 0, GPS_EVT_TIMEOUT_NMEADATAGUARD}, /* NMEA data-providing guard monitoring timer */ + {GPS_RECOVERY_TIMER, 0, GPS_EVT_TIMEOUT_RECOVERY}, /* GPS recovery timer */ + {GPS_RECEIVERERR_TIMER, 0, GPS_EVT_TIMEOUT_RECEIVERERR}, /* GPS receiver anomaly detection timer */ + {DAT_END, 0, DAT_END} /* Table end */ +}; + +/******************************************************************************** + * Processing Branch Table + ********************************************************************************/ +/******************************************************************************** + * TAG : TG_GPS_JMP_TBL + * ABSTRACT : GPS jump table + * NOTE : GPS Communication Management Matrix Table + ********************************************************************************/ +const TG_GPS_JMP_TBL kGpsMatxC[GPS_STS_NUM][GPS_EVT_NUM] = { + /* - - - - - Confirming Start - - - - - */ + { + {&DevGpsInitStartSendReq}, /* Transmission request */ + {&DevGpsInitStartGPSResetReq}, /* GPS reset request */ + {&DevGpsInitStartRcvCyclCmd}, /* Cyclic reception command reception */ + {&DevGpsNop}, /* Receive Response Command */ + {&DevGpsNop}, /* Response monitoring timeout */ + {&DevGpsInitStartCyclDataTimeOut}, /* Periodic reception data monitoring timeout */ + {&DevGpsInitStartNaviDataTimeOut}, /* Navigation providing data monitoring timeout */ + {&DevGpsInitStartDiagClkGuardTimeOut}, /* Diagnosis provision time guard monitoring timeout */ + {&DevGpsInitStartAccOffStart}, /* In-function ACC-OFF instructions */ + {&DevGpsInitStartNaviInfoDeliver}, /* Providing navigation information */ + {&DevGpsInitStartNaviSpeedDeliver}, /* Navigation speed information service */ + {&DevGpsInitStartSettingTime}, /* GPS time setting instruction */ + {&DevGpsInitStartNmeaDataGuardTimeOut}, /* NMEA data-providing guard monitoring timeout */ + {&DevGpsInitStartBackupDataLoadReq}, /* Backup data read request */ + {&DevGpsInitStartStopReq}, /* Thread stop request */ + {&DevGpsInitStartGpsweekcorcntNtf}, /* GPS Week Adjustment Counter Notification */ + {&DevGpsInitStartRecoveryTimeOut}, /* GPS error monitoring timer out */ + {&DevGpsInitStartGpsReceiverErrTimeOut} /* GPS receiver anomaly detection timeout */ + }, + /* - - - - - - In operation - - - - - - */ + { + {&DevGpsNormalSendReq}, /* Transmission request */ + {&DevGpsNormalGPSResetReq}, /* GPS reset request */ + {&DevGpsNormalRcvCyclCmd}, /* Cyclic reception command reception */ + {&DevGpsNop}, /* Receive Response Command */ + {&DevGpsNop}, /* Response monitoring timeout */ + {&DevGpsNormalCyclDataTimeOut}, /* Periodic reception data monitoring timeout */ + {&DevGpsNormalNaviDataTimeOut}, /* Navigation providing data monitoring timeout */ + {&DevGpsNormalDiagClkGuardTimeOut}, /* Diagnosis provision time guard monitoring timeout */ + {&DevGpsNormalAccOffStart}, /* In-function ACC-OFF instructions */ + {&DevGpsNormalNaviInfoDeliver}, /* Providing navigation information */ + {&DevGpsNormalNaviSpeedDeliver}, /* Navigation speed information service */ + {&DevGpsNormalSettingTime}, /* GPS time setting instruction */ + {&DevGpsNormalNmeaDataGuardTimeOut}, /* NMEA data-providing guard monitoring timeout */ + {&DevGpsNormalBackupDataLoadReq}, /* Backup data read request */ + {&DevGpsNormalStopReq}, /* Thread stop request */ + {&DevGpsNormalGpsweekcorcntNtf}, /* GPS Week Adjustment Counter Notification */ + {&DevGpsNormalRecoveryTimeOut}, /* GPS error monitoring timer out */ + {&DevGpsNormalGpsReceiverErrTimeOut} /* GPS receiver anomaly detection timeout */ + }, + /* - - - - -- Sending - - - - - - */ + { + {&DevGpsSendSendReq}, /* Transmission request */ + {&DevGpsSendGPSResetReq}, /* GPS reset request */ + {&DevGpsSendRcvCyclCmd}, /* Cyclic reception command reception */ + {&DevGpsSendRcvRspCmd}, /* Receive Response Command */ + {&DevGpsSendRspDataTimeOut}, /* Response monitoring timeout */ + {&DevGpsSendCyclDataTimeOut}, /* Periodic reception data monitoring timeout */ + {&DevGpsSendNaviDataTimeOut}, /* Navigation providing data monitoring timeout */ + {&DevGpsSendDiagClkGuardTimeOut}, /* Diagnosis provision time guard monitoring timeout */ + {&DevGpsSendAccOffStart}, /* In-function ACC-OFF instructions */ + {&DevGpsSendNaviInfoDeliver}, /* Providing navigation information */ + {&DevGpsSendNaviSpeedDeliver}, /* Navigation speed information service */ + {&DevGpsSendSettingTime}, /* GPS time setting instruction */ + {&DevGpsSendNmeaDataGuardTimeOut}, /* NMEA data-providing guard monitoring timeout */ + {&DevGpsSendBackupDataLoadReq}, /* Backup data read request */ + {&DevGpsSendStopReq}, /* Thread stop request */ + {&DevGpsSendGpsweekcorcntNtf}, /* GPS Week Adjustment Counter Notification */ + {&DevGpsSendRecoveryTimeOut}, /* GPS error monitoring timer out */ + {&DevGpsSendGpsReceiverErrTimeOut} /* GPS receiver anomaly detection timeout */ + } +}; + +// Receive command analysis table(NMEA format) +const TG_GPS_CMD_ANA_TBL* kGpsCmdAnaTbl = kGpsCmdAnaTblUblox; + +//GPS process pending buffer management table +TG_GPS_MSGRCV g_gps_msg_rcvr; /* Incoming message */ +TG_GPS_MNG g_gps_mngr; /* GPS process management information */ + +// Global variable for GPS communication management +u_int16 g_wsend_err; /* Number of transmission errors */ +u_int16 g_wcnct_err; /* Number of connection errors */ +TG_GPS_OUTPUT_FORMAT g_rcv_format; /* Receive Format */ + +// Global variable for the receive thread +TG_GPS_RECV_RcvData g_gps_rcvdata; /* Serial receive buffer */ +TG_GPS_RECV_RcvBuf g_gps_rcvbuf; /* Receive data storage buffer */ +TG_GPS_RECV_AnaDataBuf g_gps_ana_databuf; /* Analysis data buffer */ +TG_GPS_RECV_RcvFrameBuf g_gps_rcv_framebuf; /* Receive frame buffer */ +TG_GPS_SAVEBUF g_gps_save_cmdr; /* Command pending buffer */ +u_int16 g_wrecv_err; /* Number of reception errors */ + +/*---------------------------------------------------------------------------*/ +// Functions + +/******************************************************************************** + * MODULE : DEV_Gps_MainThread + * ABSTRACT : Communication Management Thread Domain Processing + * FUNCTION : Receive a request from the host application and send a command to the serial port. + * ARGUMENT : PVOID pv....Thread Creation Arguments + * NOTE : + * RETURN : TRUE :Normal completion + * FALSE:ABENDs + ********************************************************************************/ +EFrameworkunifiedStatus DevGpsMainThread(HANDLE h_app) { + BOOL ret = FALSE; + + PosSetupThread(h_app, ETID_POS_GPS); + + ret = DevGpsInit(); + + if (TRUE == ret) { + g_gps_rcv_thread_stop = FALSE; + + /* Start receiving message */ + DevGpsRcvMsg(); + } else { + /* Initialization failed */ + POSITIONING_LOG("DevGpsMainThread Init Fail \n"); + } + + return eFrameworkunifiedStatusFail; +} + + +/******************************************************************************** + * MODULE : DEV_Gps_Init + * ABSTRACT : Communication management thread initialization processing + * FUNCTION : Initialize internal tables and serial ports + * ARGUMENT : None + * NOTE : + * RETURN : TRUE :Normal completion + * FALSE:ABENDs + ********************************************************************************/ +BOOL DevGpsInit(void) { + BOOL ret = FALSE; + + /* Global variable initialization(GPS Communication Management Thread Internal Use Variable) */ + /* Clear process management information */ + memset(&g_gps_mngr, 0x00, sizeof(g_gps_mngr)); /* #05 */ + + /* Clear the message receive buffer */ + memset(&g_gps_msg_rcvr, 0x00, sizeof(g_gps_msg_rcvr)); /* #05 */ + + /* Clear the pending buffer */ + memset(&g_gps_save_cmdr, 0x00, sizeof(g_gps_save_cmdr)); /* #05 */ + + /* Clear RTC backup-related data */ + g_gps_mngr.rcv_cmd = GPS_FORMAT_MIN; /* #GPF_60_040 */ + g_gps_mngr.resp_cmd = GPS_FORMAT_MIN; /* #GPF_60_040 */ + g_gps_mngr.rcv_err_flag = FALSE; + + g_wsend_err = 0; /* Initialization of the number of transmission errors */ + g_wcnct_err = 0; /* Connection error count initialization */ + g_rcv_format = GPS_FORMAT_MIN; /* Initialize Receive Format #GPF_60_024*/ + + /* Initialize the timer function initialization processing management table */ + DevGpsTimInit(); + + /* Start confirmation monitoring timer setting(5Sec) */ + ret = DevGpsTimeSet(GPS_STARTUP_TIMER); + + /* GPS receiver anomaly detection timer setting(600Sec) */ + ret = DevGpsTimeSet(GPS_RECEIVERERR_TIMER); + + // Set command table + kGpsCmdAnaTbl = kGpsCmdAnaTblUblox; + + /* State transition processing(Start Confirmation Monitor) */ + ChangeStatusGpsCommon(GPS_STS_STARTUP); + + return(ret); +} + +/****************************************************************************** +@brief DEV_Gps_RcvMsg<BR> + Message reception processing +@outline Receive a message and distribute processing into a matrix +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsRcvMsg(void) { + RET_API ret = RET_NORMAL; + void* p_rcv_msg = &g_gps_msg_rcvr; + + while (1) { + p_rcv_msg = &g_gps_msg_rcvr; + + // Receive meaasge + ret = _pb_RcvMsg(PNO_NAVI_GPS_MAIN, sizeof(g_gps_msg_rcvr), &p_rcv_msg, RM_WAIT); + + if (RET_RCVMSG == ret) { + memcpy(&g_gps_msg_rcvr, p_rcv_msg, sizeof(g_gps_msg_rcvr)); + + /* Message Event Check Processing */ + DevGpsMsgEventCheck(); + + if ((u_int32)NG != g_gps_mngr.event) { + /* If the event check is successful */ + /* Start Processing by Matrix */ + (kGpsMatxC[g_gps_mngr.sts][g_gps_mngr.event].func)(); + } + } else { + /** MSG reception error */ + POSITIONING_LOG("DevGpsRcvMsg error ret[%d] \n", ret); + } + } +} + +static inline void SetStopFlag(void) { + g_gps_rcv_thread_stop = TRUE; +} + +/******************************************************************************** + * MODULE : DEV_Gps_MsgEventCheck + * ABSTRACT : Message Event Check Processing + * FUNCTION : Check received messages and convert them to events + * ARGUMENT : None + * NOTE : + * RETURN : None + ********************************************************************************/ +void DevGpsMsgEventCheck(void) { + u_int32 ul_cnt = 0; + + /* Set Error to Event No. */ + g_gps_mngr.event = (u_int32)NG; + + /* For timeout notification */ + if (g_gps_msg_rcvr.header.hdr.cid == CID_TIMER_TOUT) { + /* Get event number from sequence number */ + DevGpsTimEventCheck(); + } else if (g_gps_msg_rcvr.header.hdr.cid == CID_GPS_RECVDATA) { + DevGpsCmdEventCheckNmea(); + } else { + while (kGpsMsgchkC[ul_cnt].cid != DAT_END) { + if (g_gps_msg_rcvr.header.hdr.cid == kGpsMsgchkC[ul_cnt].cid) { + POSITIONING_LOG("DevGpsMsgEventCheck: cid = %d", g_gps_msg_rcvr.header.hdr.cid); + + /* Get event number */ + g_gps_mngr.event = kGpsMsgchkC[ul_cnt].event; + + if (GPS_EVT_STOPREQ == g_gps_mngr.event) { + SetStopFlag(); + LineSensDrvThreadStopProcess(); + } + + break; + } + + ul_cnt++; + } + } +} + +/******************************************************************************** + * MODULE : DEV_Gps_TimEventCheck + * ABSTRACT : Timeout-Event check processing + * FUNCTION : Check received timeout messages and convert them to events + * ARGUMENT : None + * NOTE : + * RETURN : None + ********************************************************************************/ +void DevGpsTimEventCheck(void) { + u_int8 uc_time_kind = 0; + TimerToutMsg st_rcv_msg; + BOOL ret = FALSE; + + // Set Error to Event No. + g_gps_mngr.event = (u_int32)NG; + + // Get message + memcpy(&st_rcv_msg, &g_gps_msg_rcvr, sizeof(TimerToutMsg)); + + // Time judge kind + ret = DevGpsTimeJdgKind((u_int16)st_rcv_msg.TimerSeq); + + if (TRUE == ret) { + /* If the sequence numbers match, */ + /* Set the conversion code to the event number */ + uc_time_kind = (u_int8)((st_rcv_msg.TimerSeq >> 8) & 0x00FF); + g_gps_mngr.event = kGpsTimchkC[uc_time_kind].event; + } +} + +/*---------------------------------------------------------------------------*/ +/*EOF*/ diff --git a/hal/positioning_hal/src/GpsCommon/MDev_Gps_Mtrx.cpp b/hal/positioning_hal/src/GpsCommon/MDev_Gps_Mtrx.cpp new file mode 100755 index 0000000..b36a617 --- /dev/null +++ b/hal/positioning_hal/src/GpsCommon/MDev_Gps_Mtrx.cpp @@ -0,0 +1,866 @@ +/* + * @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.cpp +*/ + +/*---------------------------------------------------------------------------*/ +// Include files +#include "MDev_Gps_Mtrx.h" +#include "positioning_def.h" + +#include "MDev_Gps_Main.h" +#include "MDev_Gps_API.h" +#include "MDev_GpsRecv.h" +#include "MDev_Gps_Common.h" +#include "MDev_Gps_Nmea.h" +#include "MDev_Gps_TimerCtrl.h" + +extern uint8_t g_gps_reset_cmd_sending; +/*---------------------------------------------------------------------------*/ +// Functions + +/******************************************************************************** + * MODULE : DEV_Gps_Nop + * ABSTRACT : No processing + * FUNCTION : NOP processing of the matrix + * ARGUMENT : None + * NOTE : + * RETURN : None + ********************************************************************************/ +void DevGpsNop(void) { + return; +} + +/******************************************************************************** + * MODULE : DEV_Gps_InitStart_SendReq + * ABSTRACT : Startup confirmation - Transmit request reception matrix function + * FUNCTION : + * ARGUMENT : + * NOTE : + * RETURN : + ********************************************************************************/ +void DevGpsInitStartSendReq(void) { + /** Send Request Receive Common Processing Call */ + SendReqGpsCommon(); + /* -- #GPF_60_040 */ + return; +} + +/******************************************************************************** + * MODULE : DEV_Gps_InitStart_GPSResetReq + * ABSTRACT : Startup confirmation - GPS reset request reception matrix function + * FUNCTION : + * ARGUMENT : + * NOTE : + * RETURN : + ********************************************************************************/ +void DevGpsInitStartGPSResetReq(void) { + /** Reset request reception common processing call */ + GPSResetReqGpsCommon(); + return; +} + +/******************************************************************************** + * MODULE : DEV_Gps_InitStart_RcvCyclCmd + * ABSTRACT : Startup confirmation - Cyclic receive command receive matrix function + * FUNCTION : + * ARGUMENT : + * NOTE : + * RETURN : + ********************************************************************************/ +void DevGpsInitStartRcvCyclCmd(void) { + BOOL* pb_rcverr = &(g_gps_mngr.rcv_err_flag); /* GSP receiver error detection status */ + + /* Stop start confirmation monitoring timer */ + (void)DevGpsTimeStop(GPS_STARTUP_TIMER); /* Ignore -> MISRA-C:2004 Rule 16.10 */ /* QAC 3200 */ + + /* GPS receiver anomaly detection timer stopped */ + (void)DevGpsTimeStop(GPS_RECEIVERERR_TIMER); + + /* State transition processing(in operation) */ + ChangeStatusGpsCommon(GPS_STS_NORMAL); + + // Send NAV-TIMEUTC sentence addition requests + DevGpsNavTimeUTCAddReq(); + + DevGpsWknRolloverGetReq(); + + /* Receive command analysis(u-blox) */ + if (g_gps_reset_cmd_sending == FALSE) { + DevGpsRcvCyclCmd(); + } + + /* If a GPS receiver error is detected, the diagnosis code (current) is deleted. */ + if (*pb_rcverr == TRUE) { + *pb_rcverr = FALSE; + DevSendGpsConnectError(FALSE); + } + // } + /* Reset retry counter */ + RtyResetGpsCommon(); + + /* Sending pending commands */ + SendSaveCmdGpsCommon(); /* State transition if pending commands exist( -> Sending) */ + + /* Cyclic reception data monitoring timer setting */ + (void)DevGpsTimeSet(GPS_CYCL_TIMER); /* Ignore -> MISRA-C:2004 Rule 16.10 */ /* QAC 3200 */ + + /* GPS receiver anomaly detection timer setting */ + (void)DevGpsTimeSet(GPS_RECEIVERERR_TIMER); + + /* -- #GPF_60_024 */ + return; +} + +/******************************************************************************** + * MODULE : DEV_Gps_InitStart_CyclDataTimeOut + * ABSTRACT : Startup confirmation - Reception cycle data monitoring timeout matrix function + * FUNCTION : + * ARGUMENT : + * NOTE : + * RETURN : + ********************************************************************************/ +void DevGpsInitStartCyclDataTimeOut(void) { + uint8_t ret = RETRY_OFF; + + POSITIONING_LOG("DEV_Gps_InitStart_CyclDataTimeOut"); + + g_wcnct_err++; /* Count number of connection errors */ + + /* Stop all timers */ + DevGpsTimeStop(GPS_STARTUP_TIMER); + + DevGpsTimeStop(GPS_CYCL_TIMER); + + DevGpsTimeStop(GPS_RECV_ACK_TIMER); + + /* Hard reset judgment processing */ + ret = HardResetChkGpsCommon(); + if (RETRY_ON == ret) { + DevGpsResetReq(PNO_NONE, 0); + + SendSaveCmdGpsCommon(); /* State transition if pending commands exist( -> Sending) */ + } else if (RETRY_OFF == ret) { + /* Fixed number of hard resets completed */ + } else { + /* Retrying(with hard reset) */ + } + /* Clear cyclic receive data up to now */ + DevGpsCycleDataClear(); + /* Start confirmation monitoring timer setting */ + DevGpsTimeSet(GPS_STARTUP_TIMER); + return; +} + +/****************************************************************************** +@brief DEV_Gps_InitStart_NaviDataTimeOut<BR> + Startup confirmation - Navigation providing data monitoring timeout matrix function +@outline Navigation providing data monitoring timeout matrix processing during startup confirmation +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsInitStartNaviDataTimeOut(void) { +} + +/****************************************************************************** +@brief DEV_Gps_InitStart_DiagClkGuardTimeOut<BR> + Startup confirmation - Time guard monitoring timeout matrix functions provided by diagnosis +@outline Diagnosis provision time guard monitoring timeout matrix process during startup checking +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsInitStartDiagClkGuardTimeOut(void) { +} + +/******************************************************************************** + * MODULE : DEV_Gps_InitStart_AccOffStart + * ABSTRACT : Startup confirmation - Feature ACC-OFF instruction matrix functions + * FUNCTION : + * ARGUMENT : + * NOTE : + * RETURN : + ********************************************************************************/ +void DevGpsInitStartAccOffStart(void) { +} + +/****************************************************************************** +@brief DEV_Gps_InitStart_NaviInfoDeliver<BR> + Startup confirmation - Navigation information provision matrix processing +@outline Navigation information provision matrix processing during startup confirmation +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsInitStartNaviInfoDeliver(void) { +} + +/****************************************************************************** +@brief DEV_Gps_InitStart_NaviSpeedDeliver<BR> + Startup confirmation - Navigation vehicle speed information provision matrix processing +@outline Navigation speed information provision matrix processing during startup confirmation +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsInitStartNaviSpeedDeliver(void) { +} + +/****************************************************************************** +@brief DEV_Gps_InitStart_SettingTime<BR> + Startup confirmation - GPS time setting matrix processing +@outline GPS time setting matrix process during startup confirmation +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsInitStartSettingTime(void) { + POSITIONING_LOG("DEV_Gps_InitStart_SettingTime\n"); + DevGpsCommSettingTime(); + return; +} + +/* start #GPF_60_109 */ +/****************************************************************************** +@brief DEV_Gps_InitStart_NmeaDataGuardTimeOut<BR> + Startup confirmation - NMEA monitoring timeout matrix processing +@outline NMEA data-providing guard monitoring timeout process during startup checking +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsInitStartNmeaDataGuardTimeOut(void) { +} + +/** + * @brief + * Startup confirmation - Backup memory read request matrix processing + */ +void DevGpsInitStartBackupDataLoadReq(void) { + POS_DATETIME st_date_time; + memset(&st_date_time, 0x00, sizeof(st_date_time)); + /* Import GPS date and time settings */ + DevGpsReadGpsTime(&st_date_time); + // Todo For Test don't need gstGpsFixCnt?? + // DEV_Gps_ReadGpsFixCnt(); /* Read GPS fix count */ + if (g_is_gpstime_sts == TRUE) { + DevGpsSettingTime(&st_date_time); /* Time setting */ + } + return; +} + +/** + * @brief + * Startup confirmation - Thread stop request matrix processing + */ +void DevGpsInitStartStopReq(void) { + /* Thread stop processing */ + StopThreadGpsCommon(); + + return; +} + +/** + * @brief + * Startup confirmation - GPS week adjustment counter notification process + */ +void DevGpsInitStartGpsweekcorcntNtf(void) { + DevGpsSetGpsweekcorcnt(); + return; +} + +/** + * @brief + * Startup confirmation - GPS recovery timeout process + */ +void DevGpsInitStartRecoveryTimeOut(void) { + return; +} + +/** + * @brief + * Startup confirmation - GPS receiver anomaly detection timeout processing + */ +void DevGpsInitStartGpsReceiverErrTimeOut(void) { + BOOL* pb_rcverr = &(g_gps_mngr.rcv_err_flag); /* GSP receiver error detection status */ + + *pb_rcverr = TRUE; + DevSendGpsConnectError(TRUE); + return; +} + +/******************************************************************************** + * MODULE : DEV_Gps_Normal_SendReq + * ABSTRACT : In operation - Transmit request reception matrix function + * FUNCTION : + * ARGUMENT : + * NOTE : + * RETURN : + ********************************************************************************/ +void DevGpsNormalSendReq(void) { + /** Store in a pending buffer #GPF_60_040 */ + SendReqGpsCommon(); + + /** Send the command #GPF_60_040 */ + SendSaveCmdGpsCommon(); + return; +} + +/******************************************************************************** + * MODULE : DEV_Gps_Normal_GPSResetReq + * ABSTRACT : In operation - GPS reset request reception matrix function + * FUNCTION : + * ARGUMENT : + * NOTE : + * RETURN : + ********************************************************************************/ +void DevGpsNormalGPSResetReq(void) { + /** Store in a pending buffer #GPF_60_040 */ + GPSResetReqGpsCommon(); + + /** Send the command #GPF_60_040 */ + SendSaveCmdGpsCommon(); + return; +} + +/******************************************************************************** + * MODULE : DEV_Gps_Normal_RcvCyclCmd_Nmea + * ABSTRACT : In operation - Cyclic receive command receive matrix function + * FUNCTION : + * ARGUMENT : + * NOTE : + * RETURN : + ********************************************************************************/ +void DevGpsNormalRcvCyclCmd(void) { + /* Cyclic reception data monitoring timer stopped */ + (void)DevGpsTimeStop(GPS_CYCL_TIMER); + /* GPS receiver anomaly detection timer stopped */ + (void)DevGpsTimeStop(GPS_RECEIVERERR_TIMER); + + /* Notify Vehicle Sensor */ + if (g_gps_reset_cmd_sending == FALSE) { + DevGpsRcvCyclCmd(); + } + + /* Reset retry counter */ + RtyResetGpsCommon(); + + /* Cyclic reception data monitoring timer setting */ + (void)DevGpsTimeSet(GPS_CYCL_TIMER); /* Ignore -> MISRA-C:2004 Rule 16.10 */ /* QAC 3200 */ + + /* GPS receiver anomaly detection timer setting */ + (void)DevGpsTimeSet(GPS_RECEIVERERR_TIMER); + + return; +} + +/******************************************************************************** + * MODULE : DEV_Gps_Normal_CyclDataTimeOut + * ABSTRACT : In operation - Reception cycle data monitoring timeout matrix function + * FUNCTION : + * ARGUMENT : + * NOTE : + * RETURN : + ********************************************************************************/ +void DevGpsNormalCyclDataTimeOut(void) { + /* Cyclic reception timeout common processing call */ + CyclDataTimeOutGpsCommon(); +} + +/****************************************************************************** +@brief DEV_Gps_Normal_NaviDataTimeOut<BR> + In operation - Navigation providing data monitoring timeout matrix function +@outline Navigation providing data monitoring timeout matrix processing during operation +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsNormalNaviDataTimeOut(void) { +} + +/****************************************************************************** +@brief DEV_Gps_Normal_DiagClkGuardTimeOut<BR> + In operation - Time guard monitoring timeout matrix functions provided by diagnosis +@outline Diagnosis provision time guard monitoring timeout matrix process during operation +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsNormalDiagClkGuardTimeOut(void) { +} + +/******************************************************************************** + * MODULE : DEV_Gps_Normal_AccOffStart + * ABSTRACT : Startup confirmation - Feature ACC-OFF instruction matrix functions + * FUNCTION : + * ARGUMENT : + * NOTE : + * RETURN : + ********************************************************************************/ +void DevGpsNormalAccOffStart(void) { +} + +/****************************************************************************** +@brief DEV_Gps_Normal_NaviInfoDeliver<BR> + In operation - Navigation information provision matrix processing +@outline Navigation information provision matrix processing during operation +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsNormalNaviInfoDeliver(void) { +} + +/****************************************************************************** +@brief DEV_Gps_Normal_NaviSpeedDeliver<BR> + In operation - Navigation vehicle speed information provision matrix processing +@outline Navigation vehicle speed information provision matrix processing during operation +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsNormalNaviSpeedDeliver(void) { +} + +/****************************************************************************** +@brief DEV_Gps_Normal_SettingTime<BR> + In operation - GPS time setting matrix processing +@outline GPS time setting matrix processing during operation +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsNormalSettingTime(void) { + POSITIONING_LOG("DEV_Gps_Normal_SettingTime"); + DevGpsCommSettingTime(); + /** Send the command */ + SendSaveCmdGpsCommon(); + + return; +} + +/* start #GPF_60_109 */ +/****************************************************************************** +@brief DEV_Gps_Normal_NmeaDataGuardTimeOut<BR> + In operation - NMEA monitoring timeout matrix processing +@outline NMEA data-providing guard monitoring timeout process during operation +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsNormalNmeaDataGuardTimeOut(void) { +} + +/** + * @brief + * In operation - Backup memory read request matrix processing + */ +void DevGpsNormalBackupDataLoadReq(void) { + POS_DATETIME st_date_time; + memset(&st_date_time, 0x00, sizeof(st_date_time)); + /* Import GPS date and time settings */ + DevGpsReadGpsTime(&st_date_time); + // Todo For test don't need gstGpsFixCnt?? + // DEV_Gps_ReadGpsFixCnt(); /* Read GPS fix count */ + if (g_is_gpstime_sts == TRUE) { + DevGpsSettingTime(&st_date_time); /* Time setting */ + } + return; +} + +/** + * @brief + * In operation - Thread stop request matrix processing + */ +void DevGpsNormalStopReq(void) { + /* Thread stop processing */ + StopThreadGpsCommon(); + + return; +} + +/** + * @brief + * In operation - GPS week adjustment counter notification process + */ +void DevGpsNormalGpsweekcorcntNtf(void) { + DevGpsSetGpsweekcorcnt(); + return; +} + +/** + * @brief + * In operation - GPS recovery timeout processing + */ +void DevGpsNormalRecoveryTimeOut(void) { +} + +/** + * @brief + * In operation - GPS receiver anomaly detection timeout processing + */ +void DevGpsNormalGpsReceiverErrTimeOut(void) { + BOOL* pb_rcverr = &(g_gps_mngr.rcv_err_flag); /* GSP receiver error detection status */ + + *pb_rcverr = TRUE; + DevSendGpsConnectError(TRUE); + return; +} + +/* ++ #GPF_60_040 */ +/****************************************************************************** +@brief DEV_Gps_Send_SendReq<BR> + Sending - Transmit request reception matrix function +@outline Processing for receiving a transmission request during transmission +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsSendSendReq(void) { + SendReqGpsCommon(); + return; +} + +/****************************************************************************** +@brief DEV_Gps_Send_GPSResetReq<BR> + Sending - GPS reset request reception matrix function +@outline Processing when receiving a GPS reset request during transmission +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsSendGPSResetReq(void) { + GPSResetReqGpsCommon(); + return; +} + +/****************************************************************************** +@brief DEV_Gps_Send_RcvCyclCmd<BR> + Sending - Cyclic receive command receive matrix function +@outline Processing at the reception of cyclic reception command during transmission +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsSendRcvCyclCmd(void) { + /* Cyclic reception data monitoring timer stopped */ + DevGpsTimeStop(GPS_CYCL_TIMER); + + /* GPS receiver anomaly detection timer stopped */ + DevGpsTimeStop(GPS_RECEIVERERR_TIMER); + + /* Notify Vehicle Sensor */ + if (g_gps_reset_cmd_sending == FALSE) { + DevGpsRcvCyclCmd(); + } + + /* Reset retry counter */ + RtyResetGpsCommon(); + + /* Cyclic reception data monitoring timer setting */ + (void)DevGpsTimeSet(GPS_CYCL_TIMER); + + (void)DevGpsTimeSet(GPS_RECEIVERERR_TIMER); + + return; +} + +/****************************************************************************** +@brief DEV_Gps_Send_RcvRspCmd<BR> + Sending - Response command reception matrix function +@outline Processing when receiving a response command during transmission +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsSendRcvRspCmd(void) { + TG_GPS_OUTPUT_FORMAT rcv_cmd = g_gps_mngr.rcv_cmd; + BOOL b_snd_flag = TRUE; + + /** Check whether the command matches the command being monitored. */ + if (rcv_cmd == g_gps_mngr.resp_cmd) { + /** When the command being monitored is a cold start request */ + if (g_gps_mngr.resp_rst_flag == GPS_CMD_RESET) { + POSITIONING_LOG("GPS_CMD_RESET\n"); + b_snd_flag = DevGpsRcvProcGpsResetResp(reinterpret_cast<TG_GPS_RCV_DATA*> + (reinterpret_cast<void*>(g_gps_msg_rcvr.msgdat))); + } else if (g_gps_mngr.resp_rst_flag == GPS_CMD_TIMESET) { + POSITIONING_LOG("GPS_CMD_TIMESET\n"); + DevGpsRcvProcTimeSetResp(reinterpret_cast<TG_GPS_RCV_DATA*> + (reinterpret_cast<void*>(g_gps_msg_rcvr.msgdat))); + } else if (g_gps_mngr.resp_rst_flag == GPS_CMD_SENTENCEADD_NAVTIMEUTC) { + POSITIONING_LOG("GPS_CMD_SENTENCEADD_NAVTIMEUTC\n"); + DevGpsRcvProcNavSvinfoAddResp(reinterpret_cast<TG_GPS_RCV_DATA*> + (reinterpret_cast<void*>(g_gps_msg_rcvr.msgdat))); + } else if ( g_gps_mngr.resp_rst_flag == GPS_CMD_WKNROLLOVER ) { + POSITIONING_LOG("GPS_CMD_WKNROLLOVER\n"); + DevGpsRcvProcWknRolloverGetResp(reinterpret_cast<TG_GPS_RCV_DATA*> + (reinterpret_cast<void*>(g_gps_msg_rcvr.msgdat))); + } else { + POSITIONING_LOG("g_gps_mngr.resp_rst_flag INVALID!! [resp_rst_flag = %d]", g_gps_mngr.resp_rst_flag); + } + + if (b_snd_flag == TRUE) { + /** Stop ACK monitoring timer */ + DevGpsTimeStop(GPS_RECV_ACK_TIMER); + /* State transition processing(in operation) */ + ChangeStatusGpsCommon(GPS_STS_NORMAL); + /** Reset retry counter */ + SendRtyResetGpsCommon(); + /** Delete command from pending buffer */ + DeleteSaveCmdGpsCommon(); + /* Sending pending commands */ + SendSaveCmdGpsCommon(); + } + } else { + } + + return; +} + +/****************************************************************************** +@brief DEV_Gps_Send_RspDataTimeOut<BR> + Sending - Response monitoring timeout reception matrix function +@outline Processing at reception of response monitoring timeout during transmission +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsSendRspDataTimeOut(void) { + DevGpsTimeStop(GPS_RECV_ACK_TIMER); + /** Send retry count */ + g_gps_mngr.sndcnt++; + + /** Retry judgment */ + if (g_gps_mngr.sndcnt == SNDNG_MAX) { + /** At the time of retry */ + POSITIONING_LOG("GPS Hw Reset : sndcnt[%d]", g_gps_mngr.sndcnt); + + /** When the command being monitored is a cold start request */ + if (g_gps_mngr.resp_rst_flag == GPS_CMD_RESET) { + POSITIONING_LOG("g_gps_mngr.sndcnt == SNDNG_MAX (GPS_CMD_RESET)"); + /** Send Reset ResponseCommunication error */ + DevGpsRstAnsSend(g_gps_mngr.resp_pno, g_gps_mngr.resp_rid, GPS_SENDNG); + g_gps_reset_cmd_sending = FALSE; + + } else if (g_gps_mngr.resp_rst_flag == GPS_CMD_TIMESET) { + POSITIONING_LOG("g_gps_mngr.sndcnt == SNDNG_MAX (GPS_CMD_TIMESET)"); + DevGpsTimesetAnsSend(g_gps_mngr.resp_pno, g_gps_mngr.resp_rid, GPS_SENDNG); + } else if (g_gps_mngr.resp_rst_flag == GPS_CMD_SENTENCEADD_NAVTIMEUTC) { + POSITIONING_LOG("g_gps_mngr.sndcnt == SNDNG_MAX (GPS_CMD_SENTENCEADD_NAVTIMEUTC)"); + DevGpsNavTimeUTCAddReq(); /* Retransmission of requests to add NAV-SVINFO commands */ + } else if (g_gps_mngr.resp_rst_flag == GPS_CMD_WKNROLLOVER) { /* GPS rollover reference date acquisition response */ + POSITIONING_LOG("g_gps_mngr.sndcnt == SNDNG_MAX (GPS_CMD_WKNROLLOVER)"); + DevGpsWknRolloverGetReq(); /* GPS rollover standard week number acquisition request retransmission */ + } else { + POSITIONING_LOG("g_gps_mngr.resp_rst_flag INVALID!! [resp_rst_flag = %d]", g_gps_mngr.resp_rst_flag); + } + + DeleteSaveCmdGpsCommon(); + + ChangeStatusGpsCommon(GPS_STS_NORMAL); + + SendSaveCmdGpsCommon(); + /** Reset retry counter */ + SendRtyResetGpsCommon(); + } else { + POSITIONING_LOG("GPS Send Retry : sndcnt[%d]", g_gps_mngr.sndcnt); + /** Retransmission of pending command */ + SendSaveCmdGpsCommon(); + } + + return; +} + +/****************************************************************************** +@brief DEV_Gps_Send_CyclDataTimeOut<BR> + Sending - Reception cycle data monitoring timeout matrix function +@outline Processing when receiving periodic reception data monitoring timeout during transmission +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsSendCyclDataTimeOut(void) { + CyclDataTimeOutGpsCommon(); +} + +/****************************************************************************** +@brief DEV_Gps_Send_NaviDataTimeOut<BR> + Sending - Navigation providing data monitoring timeout matrix function +@outline Navigation providing data monitoring timeout matrix processing during transmission +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsSendNaviDataTimeOut(void) { +} + +/****************************************************************************** +@brief DEV_Gps_Send_DiagClkGuardTimeOut<BR> + Sending - Time guard monitoring timeout matrix functions provided by diagnosis +@outline Diagnosis providing time guard monitoring timeout matrix process during sending +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsSendDiagClkGuardTimeOut(void) { +} + +/****************************************************************************** +@brief DEV_Gps_Send_AccOffStart<BR> + Sending - Feature ACC-OFF instruction reception matrix functions +@outline Processing when receiving ACC-OFF instruction in function being transmitted +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsSendAccOffStart(void) { +} + +/****************************************************************************** +@brief DEV_Gps_Send_NaviInfoDeliver<BR> + Sending - Navigation information provision matrix processing +@outline Navigation information provision matrix processing during transmission +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsSendNaviInfoDeliver(void) { +} + +/****************************************************************************** +@brief DEV_Gps_Send_NaviSpeedDeliver<BR> + Sending - Navigation vehicle speed information provision matrix processing +@outline Navigation vehicle speed information provision matrix processing during transmission +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsSendNaviSpeedDeliver(void) { +} + +/****************************************************************************** +@brief DEV_Gps_Send_SettingTime<BR> + Sending - GPS time setting matrix processing +@outline GPS time setting matrix processing during transmission +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsSendSettingTime(void) { + DevGpsCommSettingTime(); + return; +} + +/* start #GPF_60_109 */ +/****************************************************************************** +@brief DEV_Gps_Send_NmeaDataGuardTimeOut<BR> + Sending - NMEA monitoring timeout matrix processing +@outline Sending NMEA monitoring timeouts +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsSendNmeaDataGuardTimeOut(void) { +} + +/** + * @brief + * Sending - Backup memory read request matrix processing + */ +void DevGpsSendBackupDataLoadReq(void) { + POS_DATETIME st_date_time; + + memset(&st_date_time, 0x00, sizeof(st_date_time)); + /* Import GPS date and time settings */ + DevGpsReadGpsTime(&st_date_time); + // Todo For test don't need gstGpsFixCnt?? + // DEV_Gps_ReadGpsFixCnt(); /* Read GPS fix count */ + if (g_is_gpstime_sts == TRUE) { + DevGpsSettingTime(&st_date_time); /* Time setting */ + } + + return; +} + +/** + * @brief + * Sending - Thread stop request matrix processing + */ +void DevGpsSendStopReq(void) { + /* Thread stop processing */ + StopThreadGpsCommon(); + return; +} + +/** + * @brief + * Sending - GPS week adjustment counter notification process + */ +void DevGpsSendGpsweekcorcntNtf(void) { + DevGpsSetGpsweekcorcnt(); + return; +} + +/** + * @brief + * Sending - GPS recovery timeout processing + */ +void DevGpsSendRecoveryTimeOut(void) { + return; +} + +/** + * @brief + * Sending - GPS receiver anomaly detection timeout processing + */ +void DevGpsSendGpsReceiverErrTimeOut(void) { + BOOL* pb_rcverr = &(g_gps_mngr.rcv_err_flag); /* GSP receiver error detection status */ + + *pb_rcverr = TRUE; + DevSendGpsConnectError(TRUE); + return; +} + +/*---------------------------------------------------------------------------*/ +/*EOF*/ diff --git a/hal/positioning_hal/src/GpsCommon/MDev_Gps_Nmea.cpp b/hal/positioning_hal/src/GpsCommon/MDev_Gps_Nmea.cpp new file mode 100755 index 0000000..60fa1d8 --- /dev/null +++ b/hal/positioning_hal/src/GpsCommon/MDev_Gps_Nmea.cpp @@ -0,0 +1,928 @@ +/* + * @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_Gps_Nmea.cpp +*/ + +/*---------------------------------------------------------------------------*/ +// Include files + +#include "MDev_Gps_Nmea.h" +#include "positioning_common.h" +#include "MDev_Gps_API.h" +#include "MDev_Gps_Main.h" +#include "MDev_GpsRecv.h" +#include "MDev_Gps_Common.h" +#include "MDev_GpsRollOver.h" + +/*---------------------------------------------------------------------------*/ +// Value define +#define ROLOVR_GPSWEEKCOR_NG 0xFF /* WEEK COMP. CORRECT CORRECTOR INVALUE */ +#define TMT_TGET_INI_INTERVAL (100) /* GPS time compensation interval immediately after startup (value with 10[msec] as 1) */ +#define TMT_DISCONTINUITY_TIME_TOUT_SEQ (0x5051) /* Sequence number of GPS time acquisition timeout based on date/time discontinuity */ + +/*---------------------------------------------------------------------------*/ +// Global values + +static TG_GPS_RCVDATA g_st_gpscycle_data; +u_int8 g_gps_week_cor_cnt = ROLOVR_GPSWEEKCOR_NG; + +extern uint8_t g_gpstime_raw_tdsts; + +const TG_GPS_CMD_ANA_TBL kGpsCmdAnaTblUblox[MDEV_GPSCMDANATBLNMEA_MAX] = { + /* Sentences Maximum length Receiving type Presence of notification Receive Format */ + /* NMEA */ + {{GPS_CMD_NMEA_RMC}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_RMC }, /* RMC information */ + {{GPS_CMD_NMEA_VTG}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_VTG }, /* VTG information */ + {{GPS_CMD_NMEA_GGA}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_GGA }, /* GGA information */ + {{GPS_CMD_NMEA_GSA}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_GSA }, /* GSA information */ + {{GPS_CMD_NMEA_GSV_1}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_GSV1 }, /* GSV information1 */ + {{GPS_CMD_NMEA_GSV_2}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_GSV2 }, /* GSV information2 */ + {{GPS_CMD_NMEA_GSV_3}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_GSV3 }, /* GSV information3 */ + {{GPS_CMD_NMEA_GSV_4}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_GSV4 }, /* GSV information4 */ + {{GPS_CMD_NMEA_GSV_5}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_GSV5 }, /* GSV information5 */ + {{GPS_CMD_NMEA_GLL}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_GLL }, /* GLL information */ + {{GPS_CMD_NMEA_GST}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_GST }, /* GST information */ + /* UBX */ + {{0xB5, 0x62, 0x0A, 0x04}, GPS_NMEA_MAX_SZ, RCV_RESP, TRUE, GPS_FORMAT_MON_VER }, /* MON-VER */ + {{0xB5, 0x62, 0x0B, 0x01}, GPS_NMEA_MAX_SZ, RCV_RESP, TRUE, GPS_FORMAT_AID_INI }, /* AID-INI */ + {{0xB5, 0x62, 0x05 }, GPS_NMEA_MAX_SZ, RCV_RESP, TRUE, GPS_FORMAT_ACK_ACKNACK }, /* ACK-ACKNACK */ + {{0xB5, 0x62, 0x01, 0x21}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_NAV_TIMEUTC }, /* NAV-TIMEUTC */ + {{0xB5, 0x62, 0x01, 0x22}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_NAV_CLOCK }, /* NAV-CLOCK */ + {{0xB5, 0x62, 0x02, 0x23}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_RXM_RTC5 }, /* RXM-RTC5 */ + {{0xB5, 0x62, 0x01, 0x30}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_NAV_SVINFO }, /* NAV-SVINFO */ + {{0xB5, 0x62, 0x06, 0x23}, GPS_NMEA_MAX_SZ, RCV_RESP, TRUE, GPS_FORMAT_CFG_NAVX5 }, /* CFG-NAVX5 */ + {{ENDMARK}, 0, 0, FALSE, GPS_FORMAT_MIN } /* Table termination */ +}; + +/*---------------------------------------------------------------------------*/ +// Functions +/** + * @brief + * Time Calculation Process Considering Rollover + * + * @param[in/out] + * + * @return none + * @retval none + */ +static BOOL DevCalcRollOverTime(TG_TIM_ROLOVR_YMD* base_ymd, TG_TIM_ROLOVR_YMD* conv_ymd) { + BOOL ret = TRUE; + static u_int16 year_old = 0; + static u_int16 confirm_cnt = 0; + u_int8 gps_week_corr = g_gps_week_cor_cnt; + + if (gps_week_corr == ROLOVR_GPSWEEKCOR_NG) { + gps_week_corr = 0; + ret = FALSE; + } else { + if (year_old > base_ymd->year) { + confirm_cnt++; + if (confirm_cnt >= 10) { + confirm_cnt = 0; + year_old = base_ymd->year; + g_gps_week_cor_cnt = ROLOVR_GPSWEEKCOR_NG; + /* Starting the GPS time acquisition timer (1 second timer) based on date/time discontinuity */ + _pb_ReqTimerStart(PNO_CLK_GPS, TMT_DISCONTINUITY_TIME_TOUT_SEQ, TIMER_TYPE_USN, TMT_TGET_INI_INTERVAL); + } + ret = FALSE; + } else { + confirm_cnt = 0; + year_old = base_ymd->year; + } + } + /* Calculate time for rollover */ + GPSRollOverConvTime(base_ymd, conv_ymd, gps_week_corr); + + return ret; +} +/******************************************************************************************************/ + + +/** + * @brief + * NMEA data notification + */ +void DevGpsSndCycleDataNmea(void) { + /* Notifying vehicle sensor of NMEA */ + + MDEV_GPS_NMEA st_nmea; + TG_GPS_NMEA_INFO st_gps_nmea_info; + RET_API l_ret = RET_NORMAL; + BOOL b_get = FALSE; + u_int8 uc_nmea_data[GPS_NMEA_MAX_SZ]; + u_int32 ul_strlen = 0; + u_int16 us_offset = sizeof(TG_GPS_NMEA_INFO); + + memset(&st_nmea, 0x00, sizeof(st_nmea) ); /* QAC 3200 */ + memset(&st_gps_nmea_info, 0x00, sizeof(st_gps_nmea_info) ); /* QAC 3200 */ + memset(uc_nmea_data, 0x00, sizeof(uc_nmea_data) ); /* QAC 3200 */ + + /* Get received NMEA data from storage area(GGA) */ + b_get = DevGpsCycleDataGetNmea(uc_nmea_data, sizeof(uc_nmea_data) , GPS_NMEA_INDEX_GGA); + if (b_get == TRUE) { + /* Data present */ + st_gps_nmea_info.ul_rcvsts |= POS_SNS_GPS_NMEA_GGA; /* Receive flag */ + ul_strlen = strlen(reinterpret_cast<const char *>(uc_nmea_data)); /* QAC 310 */ + + if (ul_strlen > GPS_NMEA_MAX_SZ) { + ul_strlen = GPS_NMEA_MAX_SZ; + } + + if ((us_offset + ul_strlen) < SENSOR_MSG_VSINFO_DSIZE) { + (void)memcpy(&(st_nmea.uc_nmea_data[us_offset]), uc_nmea_data, ul_strlen); /* Data storage */ + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GGA].uc_size = (u_int8)ul_strlen; + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GGA].us_offset = us_offset; + us_offset += (u_int16)ul_strlen; + } + } + + /* Get received NMEA data from storage area(GLL) */ + b_get = DevGpsCycleDataGetNmea(uc_nmea_data, sizeof(uc_nmea_data) , GPS_NMEA_INDEX_GLL); + if (b_get == TRUE) { + /* Data present */ + st_gps_nmea_info.ul_rcvsts |= POS_SNS_GPS_NMEA_GLL; /* Receive flag */ + ul_strlen = strlen(reinterpret_cast<const char *>(uc_nmea_data)); /* QAC 310 */ + + if (ul_strlen > GPS_NMEA_MAX_SZ) { + ul_strlen = GPS_NMEA_MAX_SZ; + } + + if ((us_offset + ul_strlen) < SENSOR_MSG_VSINFO_DSIZE) { + (void)memcpy(&(st_nmea.uc_nmea_data[us_offset]), uc_nmea_data, ul_strlen); /* Data storage */ + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GLL].uc_size = (u_int8)ul_strlen; + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GLL].us_offset = us_offset; + us_offset += (u_int16)ul_strlen; + } + } + + /* Get received NMEA data from storage area(GSA) */ + b_get = DevGpsCycleDataGetNmea(uc_nmea_data, sizeof(uc_nmea_data) , GPS_NMEA_INDEX_GSA); + if (b_get == TRUE) { + /* Data present */ + st_gps_nmea_info.ul_rcvsts |= POS_SNS_GPS_NMEA_GSA1; /* Receive flag */ + ul_strlen = strlen(reinterpret_cast<const char *>(uc_nmea_data)); /* QAC 310 */ + if (ul_strlen > GPS_NMEA_MAX_SZ) { + ul_strlen = GPS_NMEA_MAX_SZ; + } + + if ((us_offset + ul_strlen) < SENSOR_MSG_VSINFO_DSIZE) { + (void)memcpy(&(st_nmea.uc_nmea_data[us_offset]), uc_nmea_data, ul_strlen); /* Data storage */ + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GSA1].uc_size = (u_int8)ul_strlen; + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GSA1].us_offset = us_offset; + us_offset += (u_int16)ul_strlen; + } + } + + /* Get received NMEA data from storage area(GST) */ + b_get = DevGpsCycleDataGetNmea(uc_nmea_data, sizeof(uc_nmea_data) , GPS_NMEA_INDEX_GST); + if (b_get == TRUE) { + /* Data present */ + st_gps_nmea_info.ul_rcvsts |= POS_SNS_GPS_NMEA_GST; /* Receive flag */ + ul_strlen = strlen(reinterpret_cast<const char *>(uc_nmea_data)); /* QAC 310 */ + if (ul_strlen > GPS_NMEA_MAX_SZ) { + ul_strlen = GPS_NMEA_MAX_SZ; + } + + if ((us_offset + ul_strlen) < SENSOR_MSG_VSINFO_DSIZE) { + (void)memcpy(&(st_nmea.uc_nmea_data[us_offset]), uc_nmea_data, ul_strlen); /* Data storage */ + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GST].uc_size = (u_int8)ul_strlen; + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GST].us_offset = us_offset; + us_offset += (u_int16)ul_strlen; + } + } + + /* Get received NMEA data from storage area(RMC) */ + b_get = DevGpsCycleDataGetNmea(uc_nmea_data, sizeof(uc_nmea_data) , GPS_NMEA_INDEX_RMC); + if (b_get == TRUE) { + /* Data present */ + st_gps_nmea_info.ul_rcvsts |= POS_SNS_GPS_NMEA_RMC; /* Receive flag */ + ul_strlen = strlen(reinterpret_cast<const char *>(uc_nmea_data)); /* QAC 310 */ + if (ul_strlen > GPS_NMEA_MAX_SZ) { + ul_strlen = GPS_NMEA_MAX_SZ; + } + + if ((us_offset + ul_strlen) < SENSOR_MSG_VSINFO_DSIZE) { + (void)memcpy(&(st_nmea.uc_nmea_data[us_offset]), uc_nmea_data, ul_strlen); /* Data storage */ + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_RMC].uc_size = (u_int8)ul_strlen; + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_RMC].us_offset = us_offset; + us_offset += (u_int16)ul_strlen; + } + } + + /* Get received NMEA data from storage area(VTG) */ + b_get = DevGpsCycleDataGetNmea(uc_nmea_data, sizeof(uc_nmea_data) , GPS_NMEA_INDEX_VTG); + if (b_get == TRUE) { + /* Data present */ + st_gps_nmea_info.ul_rcvsts |= POS_SNS_GPS_NMEA_VTG; /* Receive flag */ + ul_strlen = strlen(reinterpret_cast<const char *>(uc_nmea_data)); /* QAC 310 */ + if (ul_strlen > GPS_NMEA_MAX_SZ) { + ul_strlen = GPS_NMEA_MAX_SZ; + } + + if ((us_offset + ul_strlen) < SENSOR_MSG_VSINFO_DSIZE) { + (void)memcpy(&(st_nmea.uc_nmea_data[us_offset]), uc_nmea_data, ul_strlen); /* Data storage */ + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_VTG].uc_size = (u_int8)ul_strlen; + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_VTG].us_offset = us_offset; + us_offset += (u_int16)ul_strlen; + } + } + + /* Get received NMEA data from storage area(GSV1) */ + b_get = DevGpsCycleDataGetNmea(uc_nmea_data, sizeof(uc_nmea_data) , GPS_NMEA_INDEX_GSV1); + if (b_get == TRUE) { + /* Data present */ + st_gps_nmea_info.ul_rcvsts |= POS_SNS_GPS_NMEA_GSV1; /* Receive flag */ + ul_strlen = strlen(reinterpret_cast<const char *>(uc_nmea_data)); /* QAC 310 */ + if (ul_strlen > GPS_NMEA_MAX_SZ) { + ul_strlen = GPS_NMEA_MAX_SZ; + } + + if ((us_offset + ul_strlen) < SENSOR_MSG_VSINFO_DSIZE) { + (void)memcpy(&(st_nmea.uc_nmea_data[us_offset]), uc_nmea_data, ul_strlen); /* Data storage */ + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GSV1].uc_size = (u_int8)ul_strlen; + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GSV1].us_offset = us_offset; + us_offset += (u_int16)ul_strlen; + } + } + + /* Get received NMEA data from storage area(GSV2) */ + b_get = DevGpsCycleDataGetNmea( uc_nmea_data, sizeof(uc_nmea_data), GPS_NMEA_INDEX_GSV2 ); + if (b_get == TRUE) { + /* Data present */ + st_gps_nmea_info.ul_rcvsts |= POS_SNS_GPS_NMEA_GSV2; /* Receive flag */ + ul_strlen = strlen(reinterpret_cast<const char *>(uc_nmea_data)); /* QAC 310 */ + if (ul_strlen > GPS_NMEA_MAX_SZ) { + ul_strlen = GPS_NMEA_MAX_SZ; + } + + if ((us_offset + ul_strlen) < SENSOR_MSG_VSINFO_DSIZE) { + (void)memcpy(&(st_nmea.uc_nmea_data[us_offset]), uc_nmea_data, ul_strlen); /* Data storage */ + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GSV2].uc_size = (u_int8)ul_strlen; + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GSV2].us_offset = us_offset; + us_offset += (u_int16)ul_strlen; + } + } + + /* Get received NMEA data from storage area(GSV3) */ + b_get = DevGpsCycleDataGetNmea( uc_nmea_data, sizeof(uc_nmea_data) , GPS_NMEA_INDEX_GSV3 ); + if (b_get == TRUE) { + /* Data present */ + st_gps_nmea_info.ul_rcvsts |= POS_SNS_GPS_NMEA_GSV3; /* Receive flag */ + ul_strlen = strlen(reinterpret_cast<const char *>(uc_nmea_data)); /* QAC 310 */ + if (ul_strlen > GPS_NMEA_MAX_SZ) { + ul_strlen = GPS_NMEA_MAX_SZ; + } + + if ((us_offset + ul_strlen) < SENSOR_MSG_VSINFO_DSIZE) { + (void)memcpy(&(st_nmea.uc_nmea_data[us_offset]), uc_nmea_data, ul_strlen); + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GSV3].uc_size = static_cast<u_int8>(ul_strlen); + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GSV3].us_offset = us_offset; + us_offset += (u_int16)ul_strlen; + } + } + + /* Get received NMEA data from storage area(GSV4) */ + b_get = DevGpsCycleDataGetNmea(uc_nmea_data, sizeof(uc_nmea_data), GPS_NMEA_INDEX_GSV4); + if (b_get == TRUE) { + /* Data present */ + st_gps_nmea_info.ul_rcvsts |= POS_SNS_GPS_NMEA_GSV4; /* Receive flag */ + ul_strlen = strlen(reinterpret_cast<const char *>(uc_nmea_data)); /* QAC 310 */ + if (ul_strlen > GPS_NMEA_MAX_SZ) { + ul_strlen = GPS_NMEA_MAX_SZ; + } + + if ((us_offset + ul_strlen) < SENSOR_MSG_VSINFO_DSIZE) { + (void)memcpy(&(st_nmea.uc_nmea_data[us_offset]), uc_nmea_data, ul_strlen); + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GSV4].uc_size = static_cast<u_int8>(ul_strlen); + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GSV4].us_offset = us_offset; + us_offset += (u_int16)ul_strlen; + } + } + + /* Get received NMEA data from storage area(GSV5) */ + b_get = DevGpsCycleDataGetNmea(uc_nmea_data, sizeof(uc_nmea_data), GPS_NMEA_INDEX_GSV5); + if (b_get == TRUE) { + /* Data present */ + st_gps_nmea_info.ul_rcvsts |= POS_SNS_GPS_NMEA_GSV5; /* Receive flag */ + ul_strlen = strlen(reinterpret_cast<const char *>(uc_nmea_data)); /* QAC 310 */ + if (ul_strlen > GPS_NMEA_MAX_SZ) { + ul_strlen = GPS_NMEA_MAX_SZ; + } + + if ((us_offset + ul_strlen) < SENSOR_MSG_VSINFO_DSIZE) { + (void)memcpy(&(st_nmea.uc_nmea_data[us_offset]), uc_nmea_data, ul_strlen); + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GSV5].uc_size = static_cast<u_int8>(ul_strlen); + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GSV5].us_offset = us_offset; + us_offset += (u_int16)ul_strlen; + } + } + + if (0 != st_gps_nmea_info.ul_rcvsts) { + /* Receive flag */ + (void)memcpy(&(st_nmea.uc_nmea_data[0]), &st_gps_nmea_info, sizeof(st_gps_nmea_info)); + + /* Provided to vehicle sensor */ + l_ret = SendNmeaGps(&st_nmea); + + if (RET_NORMAL != l_ret) { + POSITIONING_LOG("SendNmeaGps SndMsg Error\n"); + } + } else { + /* Do not provide to vehicle sensor when data acquisition fails or no data */ + } + + return; +} + +/** + * @brief + * Analysis of the received command + */ +void DevGpsRcvCyclCmd(void) { + int32 i_ret = 0; + TG_GPS_OUTPUT_FORMAT e_format = GPS_FORMAT_MIN; + + TG_GPS_RCV_DATA st_rcv_data; /* Pointer to the received message */ + (void)memcpy(&st_rcv_data, &(g_gps_msg_rcvr.msgdat[0]), sizeof(st_rcv_data) ); /* QAC 3200 */ + + /* Analysis of received commands */ + i_ret = JudgeFormatGpsCommon(reinterpret_cast<u_char*>(&(st_rcv_data.bygps_data[0])), + static_cast<u_int32>(st_rcv_data.bydata_len), + &e_format); + + if (i_ret == GPSRET_SNDCMD) { + /* For NMEA formats */ + if ((e_format == GPS_FORMAT_RMC) || + (e_format == GPS_FORMAT_VTG) || + (e_format == GPS_FORMAT_GGA) || + (e_format == GPS_FORMAT_GSA) || + (e_format == GPS_FORMAT_GSV1) || + (e_format == GPS_FORMAT_GSV2) || + (e_format == GPS_FORMAT_GSV3) || + (e_format == GPS_FORMAT_GSV4) || + (e_format == GPS_FORMAT_GSV5) || + (e_format == GPS_FORMAT_GLL) || + (e_format == GPS_FORMAT_GST)) { + /* NMEA reception process */ + RcvCyclCmdNmeaGpsCommon(&(st_rcv_data.bygps_data[0]), (u_int32)st_rcv_data.bydata_len, e_format); + } else if ((e_format == GPS_FORMAT_MON_VER) || + (e_format == GPS_FORMAT_AID_INI) || + (e_format == GPS_FORMAT_ACK_ACKNACK) || + (e_format == GPS_FORMAT_NAV_TIMEUTC) || + (e_format == GPS_FORMAT_NAV_CLOCK) || + (e_format == GPS_FORMAT_RXM_RTC5) || + (e_format == GPS_FORMAT_NAV_SVINFO)) { + /* UBX reception process */ + RcvCyclCmdExtGpsCommon(&(st_rcv_data.bygps_data[0]), (u_int32)st_rcv_data.bydata_len, e_format); + } else { + POSITIONING_LOG("Forbidden ERROR!![e_format=%d]", (int)e_format); + } + } else if (i_ret == GPSRET_CMDERR) { + /* Receive command error */ + + /* Discard previously received data */ + DevGpsCycleDataClear(); + /* Initialize receive format */ + g_rcv_format = GPS_FORMAT_MIN; + } else { + } + + return; +} + +/** + * @brief + * Check of the received command + */ +void DevGpsCmdEventCheckNmea(void) { + u_int32 ul_cnt = 0; + TG_GPS_RCV_DATA st_rcv_data; + u_char* pub_rcv_data = NULL; + BOOL brk_flg = FALSE; + + memset(&st_rcv_data, 0, sizeof(TG_GPS_RCV_DATA)); + memcpy( &st_rcv_data, &(g_gps_msg_rcvr.msgdat[0]), sizeof(TG_GPS_RCV_DATA) ); + pub_rcv_data = reinterpret_cast<u_char*>(&(st_rcv_data.bygps_data[0])); + + /* Analysis of received commands */ + for (ul_cnt = 0; ul_cnt < (u_int32)GPSCMDANATBL_MAX; ul_cnt++) { + /* End-of-table decision */ + if (CheckFrontStringPartGpsCommon(reinterpret_cast<const u_char*>(ENDMARK), + reinterpret_cast<const u_char*>(kGpsCmdAnaTbl[ul_cnt].c_sentence)) == RET_NORMAL ) { + g_wrecv_err++; + + /* Data error is set to Event ID. */ + g_gps_mngr.event = (u_int32)NG; + + brk_flg = TRUE; + } else if (CheckFrontStringPartGpsCommon(pub_rcv_data, kGpsCmdAnaTbl[ul_cnt].c_sentence) == RET_NORMAL) { + /* Reception type determination */ + + /* Using $GPRMC in responses to resets */ + if ((g_gps_mngr.sts == GPS_STS_SENT) && + (g_gps_mngr.resp_cmd == GPS_FORMAT_RMC) && + (kGpsCmdAnaTbl[ul_cnt].e_rcv_format == GPS_FORMAT_RMC)) { + POSITIONING_LOG("Received response ($GPRMC) form GPS device.\n"); + + /** Response command */ + g_gps_mngr.event = GPS_EVT_RECVRSPDAT; + + /** Receive format setting */ + g_gps_mngr.rcv_cmd = kGpsCmdAnaTbl[ul_cnt].e_rcv_format; + } else if (kGpsCmdAnaTbl[ul_cnt].ul_rcv_kind == RCV_CYCLE) { + /* Cyclic receive command */ + g_gps_mngr.event = GPS_EVT_RECVCYCLDAT; + + /* Receive format setting */ + g_gps_mngr.rcv_cmd = kGpsCmdAnaTbl[ul_cnt].e_rcv_format; + } else if (kGpsCmdAnaTbl[ul_cnt].ul_rcv_kind == RCV_RESP) { + /** Response command */ + g_gps_mngr.event = GPS_EVT_RECVRSPDAT; + + /** Receive format setting */ + g_gps_mngr.rcv_cmd = kGpsCmdAnaTbl[ul_cnt].e_rcv_format; + } else { + /* Undefined value */ + /* Data error is set to Event ID. */ + g_gps_mngr.event = (u_int32)NG; + } + + brk_flg = TRUE; + } + + if (brk_flg == TRUE) { + break; + } + } + + return; +} + +/** + * @brief + * Get GPS reception status + * + * By analyzing the last received GSA-sentence and using the satellite-number as the Satellite number + * Determines the reception status based on whether or not notification has been made, and returns it. + * + * @param[in] no_sv Satellite number + * + * @return NAVIINFO_DIAG_GPS_RCV_STS_NOTUSEFIX - Positioning not used + * NAVIIFNO_DIAG_GPS_RCV_STS_USEFIX - Positioning use + */ +u_int8 DevGpsGetGpsRcvSts(u_int8 sv) { + u_int8 rcv_sts = NAVIINFO_DIAG_GPS_RCV_STS_TRACHING; /* Tracking in progress */ + u_int8 uc_nmea_data[GPS_NMEA_MAX_SZ]; + u_int8 uc_no = 0; + BOOL b_get = FALSE; + int32 i = 0; + + /* Get received NMEA data from storage area(GSA) */ + b_get = DevGpsCycleDataGetNmea(uc_nmea_data, sizeof(uc_nmea_data), GPS_NMEA_INDEX_GSA); + + if (b_get == TRUE) { + for (i = 0; i < GPS_NMEA_NUM_GSA_SV; i++) { + /* Get satellite number */ + uc_no = (uint8_t)GetIntegerFromNmeaGpsCommon(GPS_NMEA_FNO_GSA_SV + (u_int8)(1 * i), uc_nmea_data); + + if (uc_no == sv) { + rcv_sts = NAVIINFO_DIAG_GPS_RCV_STS_USEFIX; /* Positioning use */ + break; + } + } + } + + return rcv_sts; +} + +/** + * @brief + * GPS information analysis + * + * Analyzing received NMEA sentences + * @param[out] navilocinfo Navigation information + */ +void DevGpsAnalyzeNmea(NAVIINFO_ALL* navilocinfo) { + u_int8 uc_nmea_data[GPS_NMEA_MAX_SZ]; + int32 no_sv = 0; /* number of Satellites in View */ + int32 __offset = 0; + char utc_time[12]; /* hhmmss.sss */ + char _date[6]; /* ddmmyy */ + char _status = 0; /* 'V' or 'A' */ + char indicator; /* 'N' or 'S' or 'E' or 'W' */ + char work[8]; /* Work buffer for converting String data */ + BOOL b_get = FALSE; + uint8_t fixsts = NAVIINFO_DIAG_GPS_FIX_STS_NON; + uint8_t fixsts_gga; + BOOL bvalid_lon = FALSE; + BOOL bvalid_lat = FALSE; + BOOL bvalid = FALSE; + TG_TIM_ROLOVR_YMD base_ymd; + TG_TIM_ROLOVR_YMD conv_ymd; + BOOL roll_over_sts; + u_int8 _tdsts = g_gpstime_raw_tdsts; + + GpsSatelliteInfo st_visible_satellite_list[GPS_MAX_NUM_VISIBLE_SATELLITES]; /* Visible satellite list */ + GpsSatelliteInfo st_tmp_buf; + + int32 i = 0; + int32 j = 0; + int32 k = 0; + + SENSORLOCATION_LONLATINFO_DAT st_lonlat; + SENSORLOCATION_ALTITUDEINFO_DAT st_altitude; + SENSORMOTION_HEADINGINFO_DAT st_heading; + // MDEV_GPS_RTC st_rtc; + SENSOR_MSG_GPSTIME st_gps_time; + SENSORMOTION_SPEEDINFO_DAT st_speed; + + memset(&st_lonlat, 0x00, sizeof(SENSORLOCATION_LONLATINFO_DAT)); + memset(&st_altitude, 0x00, sizeof(SENSORLOCATION_ALTITUDEINFO_DAT)); + memset(&st_heading, 0x00, sizeof(SENSORMOTION_HEADINGINFO_DAT)); + // memset(&st_rtc, 0x00, sizeof(MDEV_GPS_RTC)); + memset(&st_gps_time, 0x00, sizeof(SENSOR_MSG_GPSTIME)); + memset(&st_speed, 0x00, sizeof(SENSORMOTION_SPEEDINFO_DAT)); + + /* Satellite signal strength list initialization */ + (void)memset(st_visible_satellite_list, 0x00, sizeof(GpsSatelliteInfo) * GPS_MAX_NUM_VISIBLE_SATELLITES); + + /* Get received NMEA data from storage area(GSA) */ + b_get = DevGpsCycleDataGetNmea(uc_nmea_data, sizeof(uc_nmea_data), GPS_NMEA_INDEX_GSA); + + if (b_get == TRUE) { + fixsts = static_cast<uint8_t>(GetIntegerFromNmeaGpsCommon(GPS_NMEA_FNO_GSA_FS, uc_nmea_data)); + } + + /* Get received NMEA data from storage area(RMC) */ + b_get = DevGpsCycleDataGetNmea(uc_nmea_data, sizeof(uc_nmea_data) , GPS_NMEA_INDEX_RMC); + + if (b_get == TRUE) { + navilocinfo->stDiagGps.stFix.stWgs84.lLat = + GetLonLatFromNmeaGpsCommon(GPS_NMEA_FNO_RMC_LATITUDE, uc_nmea_data, &bvalid_lat); /* GPS location information and latitude */ + + GetStringFromNmeaGpsCommon(GPS_NMEA_FNO_RMC_NS, uc_nmea_data, &indicator, sizeof(indicator)); + + if (indicator != GPS_NMEA_RMC_IND_NORTH) { + navilocinfo->stDiagGps.stFix.stWgs84.lLat *= -1; + } + + POSITIONING_LOG("lLat = %d", navilocinfo->stDiagGps.stFix.stWgs84.lLat); + + navilocinfo->stDiagGps.stFix.stWgs84.lLon = + GetLonLatFromNmeaGpsCommon(GPS_NMEA_FNO_RMC_LONGITUDE, uc_nmea_data, &bvalid_lon); /* GPS position information and longitude */ + + GetStringFromNmeaGpsCommon(GPS_NMEA_FNO_RMC_EW, uc_nmea_data, &indicator, sizeof(indicator)); + + if (indicator != GPS_NMEA_RMC_IND_EAST) { + navilocinfo->stDiagGps.stFix.stWgs84.lLon *= -1; + } + + st_lonlat.Longitude = navilocinfo->stDiagGps.stFix.stWgs84.lLon; + st_lonlat.Latitude = navilocinfo->stDiagGps.stFix.stWgs84.lLat; + + POSITIONING_LOG("lLon = %d", navilocinfo->stDiagGps.stFix.stWgs84.lLon); + + /* Get Date information */ + (void)GetStringFromNmeaGpsCommon(GPS_NMEA_FNO_RMC_DATE, uc_nmea_data, _date, 6); + (void)memset(&base_ymd, 0, sizeof(base_ymd)); /* QAC 3200 */ + (void)memset(&conv_ymd, 0, sizeof(conv_ymd)); /* QAC 3200 */ + (void)memset(work, 0, sizeof(work)); /* QAC 3200 */ + + (void)strncpy(work, &_date[4], 2); /* QAC 3200 */ + base_ymd.year = (u_int16)(2000 + atoi(work)); /* YEAR */ + + st_gps_time.utc.year = (uint8_t)atoi(work); + + (void)strncpy(work, &_date[2], 2); /* QAC 3200 */ + base_ymd.month = (u_int16)(atoi(work)); /* MONTH */ + + st_gps_time.utc.month = (uint8_t)atoi(work); + + (void)strncpy(work, &_date[0], 2); /* QAC 3200 */ + base_ymd.day = (u_int16)(atoi(work)); /* DAY */ + + st_gps_time.utc.date = (uint8_t)atoi(work); + + POSITIONING_LOG("year = %d", base_ymd.year); + POSITIONING_LOG("month = %d", base_ymd.month); + POSITIONING_LOG("date = %d", base_ymd.day); + + /* UTC time information acquisition */ + (void)GetStringFromNmeaGpsCommon(GPS_NMEA_FNO_RMC_UTC, uc_nmea_data, utc_time, 12); + + (void)strncpy(work, &utc_time[0], 2); /* QAC 3200 */ + navilocinfo->stNaviGps.utc.hour = (uint8_t)atoi(work); /* HOUR */ + + st_gps_time.utc.hour = navilocinfo->stNaviGps.utc.hour; + POSITIONING_LOG("hour = %d", navilocinfo->stNaviGps.utc.hour); + + (void)strncpy(work, &utc_time[2], 2); /* QAC 3200 */ + navilocinfo->stNaviGps.utc.minute = (uint8_t)atoi(work); /* MINUTE */ + + st_gps_time.utc.minute = navilocinfo->stNaviGps.utc.minute; + POSITIONING_LOG("minute = %d", navilocinfo->stNaviGps.utc.minute); + + (void)strncpy(work, &utc_time[4], 2); /* QAC 3200 */ + navilocinfo->stNaviGps.utc.second = (uint8_t)atoi(work); /* SECOND */ + + st_gps_time.utc.second = navilocinfo->stNaviGps.utc.second; + POSITIONING_LOG("second = %d", navilocinfo->stNaviGps.utc.second); + + /* Compass information acquisition */ + navilocinfo->stNaviGps.heading = + GetHeadingFromNmeaGpsCommon(GPS_NMEA_FNO_RMC_COG, uc_nmea_data, &bvalid); + + st_heading.Heading = navilocinfo->stNaviGps.heading; + POSITIONING_LOG("heading = %u", navilocinfo->stNaviGps.heading); + + st_speed.Speed = GetSpeedFromNmeaGpsCommon(GPS_NMEA_FNO_RMC_SPEED, uc_nmea_data, &bvalid); + + /* Fix Status/Time Status Calculation */ + (void)GetStringFromNmeaGpsCommon(GPS_NMEA_FNO_RMC_STATUS, uc_nmea_data, &_status, sizeof(_status)); + + if ((_status == GPS_NMEA_RMC_STS_VALID) && (bvalid_lat == TRUE) && (bvalid_lon == TRUE)) { + /* Fix status information */ + switch (fixsts) { + case GPS_NMEA_GSA_FIX_STS_NON: + navilocinfo->stDiagGps.stFix.ucFixSts = NAVIINFO_DIAG_GPS_FIX_STS_NON; + break; + case GPS_NMEA_GSA_FIX_STS_2D: + navilocinfo->stDiagGps.stFix.ucFixSts = NAVIINFO_DIAG_GPS_FIX_STS_2D; + break; + case GPS_NMEA_GSA_FIX_STS_3D: + navilocinfo->stDiagGps.stFix.ucFixSts = NAVIINFO_DIAG_GPS_FIX_STS_3D; + break; + default: + POSITIONING_LOG("GSA Nav Mode Error [fixsts:%d]", fixsts); + break; + } + + if (_tdsts == POS_TIMESTS_OK) { + roll_over_sts = DevCalcRollOverTime(&base_ymd, &conv_ymd); + navilocinfo->stNaviGps.utc.year = conv_ymd.year; /* year (after conversion) */ + navilocinfo->stNaviGps.utc.month = (u_int8)(conv_ymd.month); /* month (after conversion) */ + navilocinfo->stNaviGps.utc.date = (u_int8)(conv_ymd.day); /* dat (after conversion) */ + if (roll_over_sts == FALSE) { + navilocinfo->stNaviGps.tdsts = POS_TIMESTS_NG; + /* Reserve[0] is time setting information: anomaly time, but can be calculated by rolling over. */ + navilocinfo->stNaviGps.reserve[0] = GPS_TIME_ROLOVR; + } else { + /* When the location information is normal, the time information is also judged to be normal. */ + navilocinfo->stNaviGps.tdsts = POS_TIMESTS_OK; /* Time calibration completed */ + /* Reserve[0] is time setting information: Use time status received from GPS device. */ + navilocinfo->stNaviGps.reserve[0] = GPS_TIME_RX; + } + } else { + navilocinfo->stNaviGps.tdsts = POS_TIMESTS_NG; /* Time uncalibrated */ + /* Reserve[0] is time setting information: Use time status received from GPS device. */ + navilocinfo->stNaviGps.reserve[0] = GPS_TIME_RX; + navilocinfo->stNaviGps.utc.year = base_ymd.year; /* year(after conversion) */ + navilocinfo->stNaviGps.utc.month = (u_int8)(base_ymd.month); /* month (after conversion) */ + navilocinfo->stNaviGps.utc.date = (u_int8)(base_ymd.day); /* day (after conversion) */ + } + + if (bvalid != TRUE) { + /* Invalid value if measurement orientation is invalid. */ + navilocinfo->stNaviGps.heading = GPS_HEADING_INVALID_VAL; + // POSITIONING_LOG("RMC Heading[cog] Invalid"); + } + } else { + /* Fix status information: Non-position fix is set regardless of FS of GSA. */ + navilocinfo->stDiagGps.stFix.ucFixSts = NAVIINFO_DIAG_GPS_FIX_STS_NON; + /* If the location information is invalid, the time information is also judged to be invalid. */ + /* Time not calibrated after receiver reset (time entry or master reset or CSF activation) */ + navilocinfo->stNaviGps.tdsts = POS_TIMESTS_NG; + /* Reserve[0] is time setting information: Use time status received from GPS device. */ + navilocinfo->stNaviGps.reserve[0] = GPS_TIME_RX; + navilocinfo->stNaviGps.utc.year = base_ymd.year; /* year (after conversion) */ + navilocinfo->stNaviGps.utc.month = (u_int8)(base_ymd.month); /* month (after conversion) */ + navilocinfo->stNaviGps.utc.date = (u_int8)(base_ymd.day); /* day (after conversion) */ + // POSITIONING_LOG("RMC Invalid[status:%d, bvalidLat:%d, bvalidLon:%d]", _status, bvalid_lat, bvalid_lon); + } + + // POSITIONING_LOG("year(Fix) = %d", navilocinfo->stNaviGps.utc.year); + // POSITIONING_LOG("month(Fix) = %d", navilocinfo->stNaviGps.utc.month); + // POSITIONING_LOG("date(Fix) = %d", navilocinfo->stNaviGps.utc.date); + // POSITIONING_LOG("tdsts = %d", navilocinfo->stNaviGps.tdsts); + } + + /* Get received NMEA data from storage area(GGA) */ + b_get = DevGpsCycleDataGetNmea(uc_nmea_data, sizeof(uc_nmea_data), GPS_NMEA_INDEX_GGA); + + if (b_get == TRUE) { + /* Data status acquisition */ + fixsts_gga = (uint8_t)GetIntegerFromNmeaGpsCommon(GPS_NMEA_FNO_GGA_FS, uc_nmea_data); + + /* Altitude information acquisition */ + if (((fixsts == GPS_NMEA_GSA_FIX_STS_2D) || + (fixsts == GPS_NMEA_GSA_FIX_STS_3D)) && + ((fixsts_gga == GPS_NMEA_GGA_FIX_STATUS_GPS) || + (fixsts_gga == GPS_NMEA_GGA_FIX_STATUS_DGPS) || + (fixsts_gga == GPS_NMEA_GGA_FIX_STATUS_DR))) { + navilocinfo->stNaviGps.altitude = + GetAltitudeFromNmeaGpsCommon(GPS_NMEA_FNO_GGA_MSL, uc_nmea_data, &bvalid); + + if (bvalid != TRUE) { + /* If the location information is invalid, set an invalid value. */ + navilocinfo->stNaviGps.altitude = GPS_ALTITUDE_INVALID_VAL; + // POSITIONING_LOG("GGA Altitude[msl] Invalid"); + } + } else { + /* If the location information is invalid, set an invalid value. */ + navilocinfo->stNaviGps.altitude = GPS_ALTITUDE_INVALID_VAL; + // POSITIONING_LOG("GGA Invalid[fixsts:%d, fixstsGGA:%d]", fixsts, fixsts_gga); + } + + st_altitude.Altitude = navilocinfo->stNaviGps.altitude; + // POSITIONING_LOG("altitude = %d", navilocinfo->stNaviGps.altitude); + } + + DevGpsCnvLonLatNavi(&st_lonlat, navilocinfo->stDiagGps.stFix.ucFixSts, navilocinfo->stDiagGps.stFix.stWgs84.lLon, + navilocinfo->stDiagGps.stFix.stWgs84.lLat); + + DevGpsCnvAltitudeNavi(&st_altitude, navilocinfo->stDiagGps.stFix.ucFixSts, navilocinfo->stNaviGps.altitude); + + DevGpsCnvHeadingNavi(&st_heading, navilocinfo->stDiagGps.stFix.ucFixSts, navilocinfo->stNaviGps.heading); + + SendCustomGps(&st_gps_time, &st_lonlat, &st_altitude, &st_heading, &navilocinfo->stDiagGps); + // For test todo don't needed + // SendTimeGps(&st_rtc); + // SendSpeedGps(&st_speed, 0); + + /* Create visual satellite information list from GSV1~GSV5 and GSV */ + for (i = 0; i < 5; i++) { + /* Get received NMEA data from storage area */ + b_get = DevGpsCycleDataGetNmea( uc_nmea_data, sizeof(uc_nmea_data), + (ENUM_GPS_NMEA_INDEX)(GPS_NMEA_INDEX_GSV1 + i)); + + if (b_get == TRUE) { + /* Get number of Satellites in View */ + no_sv = GetIntegerFromNmeaGpsCommon(GPS_NMEA_FNO_GSV_NOSV, uc_nmea_data); + + for (j = 0; j < GPS_NMEA_NUM_GSV_SINFO; j++) { + if (__offset >= no_sv) { + break; + } + + st_visible_satellite_list[__offset].sv = static_cast<uint8_t>( + GetIntegerFromNmeaGpsCommon(GPS_NMEA_FNO_GSV_SV + (u_int8)(4 * j), uc_nmea_data)); /* Satellite information_No */ + st_visible_satellite_list[__offset].elv = static_cast<uint8_t>( + GetIntegerFromNmeaGpsCommon(GPS_NMEA_FNO_GSV_ELV + (u_int8)(4 * j), uc_nmea_data)); /* Satellite information_elevation */ + st_visible_satellite_list[__offset].az = static_cast<uint16_t>( + GetIntegerFromNmeaGpsCommon(GPS_NMEA_FNO_GSV_AZ + (u_int8)(4 * j), uc_nmea_data)); /* Satellite Information_Azimuth */ + st_visible_satellite_list[__offset].cno = static_cast<uint8_t>( + GetIntegerFromNmeaGpsCommon(GPS_NMEA_FNO_GSV_CNO + (u_int8)(4 * j), uc_nmea_data)); /* Satellite information_level */ + st_visible_satellite_list[__offset].sts = DevGpsGetGpsRcvSts(st_visible_satellite_list[__offset].sv); + + /* Sort in ascending order of status (priority to use fix) and received signal strength */ + for (k = __offset; k > 0; k--) { + if (((st_visible_satellite_list[k].sts == NAVIINFO_DIAG_GPS_RCV_STS_USEFIX) && + (st_visible_satellite_list[k - 1].sts == NAVIINFO_DIAG_GPS_RCV_STS_TRACHING)) || + ((st_visible_satellite_list[k - 1].sts == st_visible_satellite_list[k].sts) && + (st_visible_satellite_list[k].cno > st_visible_satellite_list[k - 1].cno))) { + (void)memcpy(&st_tmp_buf, &st_visible_satellite_list[k], sizeof(GpsSatelliteInfo)); + (void)memcpy(&st_visible_satellite_list[k], &st_visible_satellite_list[k - 1], sizeof(GpsSatelliteInfo)); + (void)memcpy(&st_visible_satellite_list[k - 1], &st_tmp_buf, sizeof(GpsSatelliteInfo)); + } else { + break; + } + } + + __offset++; + } + } + } + + return; +} + +/**************************************************************************** +@brief DevGpsCycleDataClear<BR> + Cyclic data storage area clear processing +@outline Clear the cyclic data storage area +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsCycleDataClear(void) { + int32 i = 0; + + /* Sensor counter, reception flag initialization */ + g_st_gpscycle_data.uc_sns_cnt = 0; + + for (i = 0; i < GPS_NMEA_INDEX_MAX; i++) { + g_st_gpscycle_data.st_nmea_data.uc_rcv_flag[i] = GPS_CYCLECMD_NOTRCV; + } + + g_st_gpscycle_data.st_binary_data.uc_rcv_flag = GPS_CYCLECMD_NOTRCV; + g_st_gpscycle_data.st_fullbin_data.uc_rcv_flag = GPS_CYCLECMD_NOTRCV; +} + +/****************************************************************************** +@brief DEV_Gps_CycleData_SetNmea<BR> + NMEA data setting process +@outline Set NMEA data in cyclic data storage area +@param[in] u_int8* : p_data ... NMEA data to be set +@param[in] u_int32 : ul_length ... Data length +@param[in] ENUM_GPS_NMEA_INDEX: e_format ... Sentence identification +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsCycleDataSetNmea(const u_int8* p_data, u_int32 ul_length, ENUM_GPS_NMEA_INDEX e_format) { + u_int32 ul_copy_sz = 0; + + /** Anomaly detection */ + if (e_format >= GPS_NMEA_INDEX_MAX) { + POSITIONING_LOG("# GpsCommCtl_API # Set NMEA Sentence ERROR ! \r\n"); + } else { + /** Storage size determination */ + if (GPS_NMEA_MAX_SZ < ul_length) { + ul_copy_sz = GPS_NMEA_MAX_SZ; + POSITIONING_LOG("# GpsCommCtl_API # Set NMEA Cmd Size ERROR ! \r\n"); + } else { + ul_copy_sz = ul_length; + } + + /** Storing */ + g_st_gpscycle_data.st_nmea_data.uc_rcv_flag[e_format] = GPS_CYCLECMD_RCV; + memset(&(g_st_gpscycle_data.st_nmea_data.st_nmea[e_format].uc_data[0]), 0x00, GPS_NMEA_MAX_SZ); + memcpy(&(g_st_gpscycle_data.st_nmea_data.st_nmea[e_format].uc_data[0]), p_data, ul_copy_sz); + } + + return; +} + +/****************************************************************************** +@brief DevGpsCycleDataGetNmea<BR> + NMEA data setting process +@outline Set NMEA data in cyclic data storage area +@param[in] u_int32 : ul_buf_size ... Storage destination buffer size +@param[in] ENUM_GPS_NMEA_INDEX: e_format ... Sentence identification +@param[out] u_int8* : p_data ... Storage destination buffer pointer +@return BOOL +@retval TRUE : Data present +@retval FALSE : No data +*******************************************************************************/ +BOOL DevGpsCycleDataGetNmea(u_int8 *p_data, u_int32 ul_buf_size, ENUM_GPS_NMEA_INDEX e_format) { + BOOL ret = TRUE; + + /** Determining whether data exists in the cyclic data area */ + if (GPS_CYCLECMD_RCV == g_st_gpscycle_data.st_nmea_data.uc_rcv_flag[e_format]) { + if (GPS_NMEA_MAX_SZ <= ul_buf_size) { + /** Copy to storage destination buffer */ + memcpy(p_data, &(g_st_gpscycle_data.st_nmea_data.st_nmea[e_format].uc_data[0]), GPS_NMEA_MAX_SZ); + } else { + /** Storage destination buffer size is small */ + ret = FALSE; + } + } else { + /** Not received */ + ret = FALSE; + } + + return ret; +} + +/** + * @brief + * Setting of the check sum + * + * @param[in] buffer Pointer of data + * @param[in] length length of data + */ +void DevGpsSetChkSum(u_int8* buffer, u_int32 length) { + u_int16 i = 0; + u_int8 ck_a = 0; + u_int8 ck_b = 0; + + if (buffer != NULL) { + for (i = 2; i < (length - 2); i++) { + ck_a = ck_a + buffer[i]; + ck_b = ck_b + ck_a; + } + + /* Checksum_Set */ + buffer[length - 2] = ck_a; + buffer[length - 1] = ck_b; + } else { + } +} + +/*---------------------------------------------------------------------------*/ +/*EOF*/ diff --git a/hal/positioning_hal/src/GpsCommon/MDev_Gps_TimerCtrl.cpp b/hal/positioning_hal/src/GpsCommon/MDev_Gps_TimerCtrl.cpp new file mode 100755 index 0000000..8dbf8dc --- /dev/null +++ b/hal/positioning_hal/src/GpsCommon/MDev_Gps_TimerCtrl.cpp @@ -0,0 +1,293 @@ +/* + * @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.cpp +*/ + +/*---------------------------------------------------------------------------*/ +// Include files + +#include "MDev_Gps_TimerCtrl.h" + +// #include "MDev_Gps_Main.h" +// #include "MDev_GpsRecv.h" + +/*---------------------------------------------------------------------------*/ +// Global values + +static GPS_TIM_MNG g_st_tim_mng; + +/** Timer setting information table */ +static const GPS_TIM_INFO kTimInfo[TIM_NUM] = { + /* GSP related */ + {TIMVAL_GPS_STARTUP, PNO_NAVI_GPS_MAIN}, /* Start confirmation monitoring timer */ + {TIMVAL_GPS_RCVCYCLDAT, PNO_NAVI_GPS_MAIN}, /* Periodic reception data monitoring timer */ + {TIMVAL_GPS_RCVACK, PNO_NAVI_GPS_MAIN}, /* ACK reception monitoring timer */ + {TIMVAL_GPS_NAVIFST, PNO_NAVI_GPS_MAIN}, /* Initial Navigation Monitoring Timer */ + {TIMVAL_GPS_NAVICYCLE, PNO_NAVI_GPS_MAIN}, /* Navi monitoring timer */ + {TIMVAL_GPS_NAVIDISRPT, PNO_NAVI_GPS_MAIN}, /* Navigation Monitoring Disruption Log Output Timer */ + {TIMVAL_GPS_DIAGCLKGUARD, PNO_NAVI_GPS_MAIN}, /* Diagnosis provision time guard monitoring timer */ + {TIMVAL_GPS_NMEADATAGUARD, PNO_NAVI_GPS_MAIN}, /* NMEA data providing guard monitoring timer */ + {TIMVAL_GPS_RECOVERY, PNO_NAVI_GPS_MAIN}, /* GPS recovery timer */ + {TIMVAL_GPS_RECEIVERERR, PNO_NAVI_GPS_MAIN}, /* GPS receiver anomaly detection timer */ + /* Sensor related */ + {TIMVAL_SNS_RCVFSTDAT, PNO_VEHICLE_SENSOR}, /* Initial cyclic sensor data reception monitoring timer */ + {TIMVAL_SNS_RCVCYCLDAT, PNO_VEHICLE_SENSOR}, /* Cyclic sensor data reception monitoring timer */ + {TIMVAL_SNS_RCVDISRPT, PNO_VEHICLE_SENSOR}, /* Cyclic sensor data interruption log output timer */ +}; + +/*---------------------------------------------------------------------------*/ +// Functions + +static uint16_t TimeMakSeqNo(GPS_TIM_KIND tim_kind) { + GPS_TIM_MNG* pst_tim_mng = NULL; + u_int16 seq_no = 0; /* Timer sequence number */ + + pst_tim_mng = &g_st_tim_mng; + + /*------------------------------------------------------------------------*/ + /* Definition of Sequence Number */ + /* |------------------- Sequence number(2Byte) -----------------------| */ + /* 15 8 7 0 */ + /* +-------------------------------+-----------------------------------+ */ + /* | Timer type(1Byte) | Counter(1Byte)(0x01 ? 0xFF) | */ + /* +-------------------------------+-----------------------------------+ */ + /* The timer type is 0x00. ? (Number of timers-1) */ + /* counters is 0x01 ? 0xFF(Do not use 0x00) */ + /* (Counters are counted up each time a timer is started. */ + /* If the counter counts up when it is 0xFF, */ + /* be counted up from the 0x01.) */ + /*------------------------------------------------------------------------*/ + seq_no = ((u_int16)tim_kind << 8) | (pst_tim_mng->sts[tim_kind].cnt); + + return seq_no; +} + +static BOOL VehicleUtilitySetTimer(GPS_TIM_KIND tim_kind) { + GPS_TIM_MNG* pst_tim_mng = NULL; + const uint32_t * p_time_val; + const PNO* p_pno; + RET_API api_ret = RET_NORMAL; + u_int16 seq_no = 0; + BOOL ret = TRUE; + + // Initialize + pst_tim_mng = &g_st_tim_mng; + p_time_val = &(kTimInfo[tim_kind].timer_val); /* Timer set value */ + p_pno = &(kTimInfo[tim_kind].pno); /* Notify party PNO */ + + if (pst_tim_mng->sts[tim_kind].flag == TIMER_ON) { + /*-----------------------------------------------------------------------*/ + /* When the same timer has already started, */ + /* terminate without starting the timer because the timer is set multiple times. */ + /*-----------------------------------------------------------------------*/ + ret = FALSE; + } else { + /*-----------------------------------------------------------------------*/ + /* Count up the timer counter of the corresponding timer by 1. */ + /*-----------------------------------------------------------------------*/ + if (pst_tim_mng->sts[tim_kind].cnt >= TIM_CNTMAX) { + /*-----------------------------------------------------------------------*/ + /* When the count reaches the maximum number, it counts again from 1. */ + /*-----------------------------------------------------------------------*/ + pst_tim_mng->sts[tim_kind].cnt = TIM_CNTMIN; + } else { + /*-----------------------------------------------------------------------*/ + /* If the count has not reached the maximum, it is counted up. */ + /*-----------------------------------------------------------------------*/ + pst_tim_mng->sts[tim_kind].cnt++; + } + + /*-----------------------------------------------------------------------*/ + /* Creating timer sequence numbers */ + /*-----------------------------------------------------------------------*/ + seq_no = TimeMakSeqNo(tim_kind); + + /*-----------------------------------------------------------------------*/ + /* Start the timer */ + /*-----------------------------------------------------------------------*/ + api_ret = _pb_ReqTimerStart(*p_pno, seq_no, TIMER_TYPE_USN, static_cast<u_int32>(*p_time_val)); + if (api_ret != RET_NORMAL) { + ret = FALSE; + } else { + /*-----------------------------------------------------------------------*/ + /* If successful timer start, */ + /* set the start/stop flag of the corresponding timer to start (MCSUB_ON). */ + /*-----------------------------------------------------------------------*/ + pst_tim_mng->sts[tim_kind].flag = TIMER_ON; + } + } + + return ret; +} + +static BOOL VehicleUtilityStopTimer(GPS_TIM_KIND tim_kind) { + GPS_TIM_MNG* pst_tim_mng = NULL; + const PNO* p_pno; + BOOL ret = TRUE; + RET_API api_ret = RET_NORMAL; + u_int16 seq_no = 0; + + // Initialize + pst_tim_mng = &g_st_tim_mng; + p_pno = &(kTimInfo[tim_kind].pno); /* Notify party PNO */ + + /* Check timer start/stop flag */ + if (pst_tim_mng->sts[tim_kind].flag == TIMER_OFF) { + /* If it is already stopped, do nothing. */ + ret = FALSE; + } else { + /*-----------------------------------------------------------------------*/ + /* Creating timer sequence numbers */ + /*-----------------------------------------------------------------------*/ + seq_no = TimeMakSeqNo(tim_kind); + + /*-----------------------------------------------------------------------*/ + /* Set the corresponding timer to stop */ + /*-----------------------------------------------------------------------*/ + api_ret = _pb_TimerStop(*p_pno, seq_no, TIMER_TYPE_USN); + + if (api_ret != RET_NORMAL) { + ret = FALSE; + } + + /*-----------------------------------------------------------------------*/ + /* Set the start/stop flag of the corresponding timer to stop (MCSUB_OFF) */ + /* Set the ID of the corresponding timer to invalid (DEV_TED_INVALID) */ + /*-----------------------------------------------------------------------*/ + pst_tim_mng->sts[tim_kind].flag = TIMER_OFF; + } + + return ret; +} + +static BOOL VehicleUtilityTimeJdgKnd(uint16_t seqno) { + GPS_TIM_MNG* pst_tim_mng = NULL; + BOOL ret = FALSE; + u_int8 timekind = 0; + u_int8 count = 0; + + // Initialize + pst_tim_mng = &g_st_tim_mng; + + timekind = (u_int8)((seqno & 0xff00) >> 8); + count = (u_int8)(seqno & 0x00ff); + + /* Timer type is unexpected */ + if (timekind >= TIM_NUM) { + ret = FALSE; + } else { + if ((pst_tim_mng->sts[timekind].cnt == count) && (pst_tim_mng->sts[timekind].flag == TIMER_ON)) { + /* The counter matches and the counter start/stop flag is "Start". */ + ret = TRUE; + } else { + /* Not applicable due to differences */ + ret = FALSE; + } + } + + return ret; +} + +/******************************************************************************* + * MODULE : DEV_Gps_Tim_Init + * ABSTRACT : Timer function initialization processing + * FUNCTION : Initialize the timer function + * ARGUMENT : None + * NOTE : 1.Initialize timer management table + * RETURN : None + ******************************************************************************/ +void DevGpsTimInit(void) { + GPS_TIM_MNG* pst_tim_mng = NULL; + u_int32 i = 0; + + // Initialie + pst_tim_mng = &g_st_tim_mng; + + /* Initialize timer management table */ + memset(pst_tim_mng, 0x00, sizeof(GPS_TIM_MNG)); + + for (i = 0; i < TIM_NUM; i++) { + pst_tim_mng->sts[i].flag = TIMER_OFF; + pst_tim_mng->sts[i].cnt = 0; + } + + return; +} + +/******************************************************************************* + * MODULE : DevGpsTimeSet + * ABSTRACT : Timer start processing + * FUNCTION : Starts a timer of the specified type + * ARGUMENT : GPS_TIM_KIND tim_kind Timer type + * NOTE : 1.Increment total number of timer start + * 2.Timer Sequence Number Creation + * 3.Get timeout value + * 4.Timer start + * RETURN : TRUE : Normal completion + * : FALSE : ABENDs + ******************************************************************************/ +BOOL DevGpsTimeSet(GPS_TIM_KIND tim_kind) { + BOOL ret = TRUE; + + /* Binding of unused timer */ + if ((tim_kind != GPS_RECV_ACK_TIMER) + && (tim_kind != GPS_STARTUP_TIMER) + && (tim_kind != GPS_CYCL_TIMER) + && (tim_kind != GPS_NAVIFST_TIMER) + && (tim_kind != GPS_NAVICYCLE_TIMER) + && (tim_kind != GPS_NAVIDISRPT_TIMER) + && (tim_kind != GPS_RECOVERY_TIMER) + && (tim_kind != GPS_RECEIVERERR_TIMER)) { + return ret; + } + ret = VehicleUtilitySetTimer(tim_kind); + return ret; +} + +/******************************************************************************* + * MODULE : DevGpsTimeStop + * ABSTRACT : Timer stop processing + * FUNCTION : Stops a timer of the specified type + * ARGUMENT : GPS_TIM_KIND tim_kind Timer type + * NOTE : 1.Get the sequence number of the specified type + * 2.Timer stop + * RETURN : TRUE : Normal completion + * : FALSE : ABENDs + ******************************************************************************/ +BOOL DevGpsTimeStop(GPS_TIM_KIND tim_kind) { + BOOL ret = TRUE; + ret = VehicleUtilityStopTimer(tim_kind); + return ret; +} + +/******************************************************************************** + * MODULE : DevGpsTimeJdgKind + * ABSTRACT : Timer Sequence Number Determination + * FUNCTION : Determine whether the timer sequence number corresponds to the one being managed + * ARGUMENT : Timer Sequence Number + * NOTE : + * RETURN : TRUE : Normal completion(No problem) + * : FALSE : ABENDs(Unusual number) + ********************************************************************************/ +BOOL DevGpsTimeJdgKind(u_int16 seqno) { + BOOL ret; + ret = VehicleUtilityTimeJdgKnd(seqno); + return ret; +} + +/*---------------------------------------------------------------------------*/ +/*EOF*/ diff --git a/hal/positioning_hal/src/LineSensDrv/LineSensDrv_Api.cpp b/hal/positioning_hal/src/LineSensDrv/LineSensDrv_Api.cpp new file mode 100755 index 0000000..d363a4b --- /dev/null +++ b/hal/positioning_hal/src/LineSensDrv/LineSensDrv_Api.cpp @@ -0,0 +1,136 @@ +/* + * @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 LineSensDrv_Api.cpp +*/ + +/*---------------------------------------------------------------------------*/ +// Include files + +#include "LineSensDrv_Api.h" +#include "positioning_def.h" + +/*---------------------------------------------------------------------------*/ +// Macro definitions + +#define LSDRV_GPS_DATA_TOP_TH 5 // Threshold for determining the beginning of GPS data +#define LSDRV_SENS_DATA_RCV_WAIT_TIME 400 // Sensor data wait time of GPS reception flag ON(Total) +#define LSDRV_SENS_DATA_RCV_WAIT_TERM 50 // Sensor data wait time of GPS reception flag ON(1 time) + +#define LSDRV_EST_GPS_CNT_ARRAY_NUM 3U // Number of arrays for holding estimated GPS counter +#define LSDRV_EST_GPS_CNT_ENABLE_TH 5U // Estimated GPS counter enable/disable determination threshold +#define LSDRV_EST_GPS_CNT_ADD_VALUE 10U // Estimated GPS counter update addition value + +// GPS data reception cycle:1sec sensor counters: 100ms + +// for debug +#define LINE_SENS_DRV_API_DEBUG_SWITCH 0 // 0:OFF 1:ON + +/*---------------------------------------------------------------------------*/ +// Global variable + +static HANDLE g_gps_irq_mutex = NULL; // GPS received flag Mutex handles +static BOOL g_rcv_pps_int = FALSE; // PPS interrupt reception flag (GPS->_CWORD102_) +static BOOL g_rcv_gps_irq = FALSE; // GPS reception flag (GPS->_CWORD56_) +static u_int8 g_rcv_gps_sens_cnt_tmp = 0; // Sensor counter when GPS reception flag is ON(for retention) +static u_int8 g_rcv_gps_sens_cnt = 0; // Sensor counter when GPS reception flag is ON +static u_int8 g_gps_sens_cnt_top = 0; // Sensor counter when first GPS data is received +static u_int8 g_est_gps_cnt[LSDRV_EST_GPS_CNT_ARRAY_NUM]; // Array for storing estimated GPS counter values +static BOOL g_est_gps_cnt_available = FALSE; // Estimated GPS counter value enable/disable judgment + +typedef struct VehicleSensDataMaster { + DID ul_did; // Data ID + u_int16 us_size; // Size of the data + u_int8 uc_rcv_flag; // Receive flag + u_int8 uc_sns_cnt; // Sensor counter + u_int8 uc_data[132]; // Vehicle sensor data +} VEHICLESENS_DATA_MASTER; + + +/******************************************************************************* + * MODULE : DeliveryLineSensorDataPositioning + * ABSTRACT : LineSensor vehicle signaling notification messages sending process + * FUNCTION : Send LineSensor vehicle signalling notification messages + * ARGUMENT : *pstSendBuf:Transmitted data + * : uc_data_num :Number of sent data + * NOTE : + * RETURN : None + ******************************************************************************/ +void DeliveryLineSensorDataPositioning(LSDRV_MSG_LSDATA_G* pst_send_buf, u_int8 uc_data_num) { + if (pst_send_buf != NULL) { + /* Initializing sent messages */ + memset(reinterpret_cast<void *>(&(pst_send_buf->st_head)), 0, sizeof(T_APIMSG_MSGBUF_HEADER)); + + /* Message Header Settings */ + pst_send_buf->st_head.hdr.sndpno = PNO_LINE_SENS_DRV; /* Source process number */ + pst_send_buf->st_head.hdr.cid = CID_LINESENS_VEHICLE_DATA_G; /* Command ID */ + pst_send_buf->st_head.hdr.msgbodysize = sizeof(LSDRV_MSG_LSDATA_DAT_G); /* Message data body length */ + + /* Message data is already set */ + pst_send_buf->st_para.uc_data_num = uc_data_num; + + /* Send messages */ + (void)_pb_ZcSndMsg(PNO_VEHICLE_SENSOR, sizeof( LSDRV_MSG_LSDATA_G ), 0); + } +} + +/******************************************************************************* + * MODULE : LineSensDrvApi_Initialize + * ABSTRACT : LineSensDrvApi initialization process + * FUNCTION : LineSensDrvApi initialization process + * ARGUMENT : - + * NOTE : + * RETURN : - + ******************************************************************************/ +BOOL LineSensDrvApiInitialize(void) { + BOOL ret = TRUE; + + g_gps_irq_mutex = _pb_CreateMutex(NULL, FALSE, MUTEX_GPS_IRQ_FLG); + + if (g_gps_irq_mutex == 0) { + ret = FALSE; + } else { + g_rcv_gps_irq = FALSE; + g_rcv_gps_sens_cnt_tmp = 0; + LineSensDrvApiInitEstGpsCnt(); + ret = TRUE; + } + + return (ret); +} + +/******************************************************************************* + * MODULE : LineSensDrvApi_InitEstGpsCnt + * ABSTRACT : Estimated GPS counter related parameter initialization processing + * FUNCTION : Estimated GPS counter related parameter initialization processing + * ARGUMENT : - + * NOTE : + * RETURN : - + ******************************************************************************/ +void LineSensDrvApiInitEstGpsCnt(void) { + /* Initializing process */ + g_rcv_pps_int = FALSE; + g_rcv_gps_sens_cnt = 0; + g_gps_sens_cnt_top = 0; + + (void)memset(reinterpret_cast<void *>(&g_est_gps_cnt[0]), 0, sizeof(g_est_gps_cnt)); + g_est_gps_cnt_available = FALSE; + + return; +} + +/*---------------------------------------------------------------------------*/ +/*EOF*/ diff --git a/hal/positioning_hal/src/LineSensDrv/LineSensDrv_Sensor.cpp b/hal/positioning_hal/src/LineSensDrv/LineSensDrv_Sensor.cpp new file mode 100755 index 0000000..78ae488 --- /dev/null +++ b/hal/positioning_hal/src/LineSensDrv/LineSensDrv_Sensor.cpp @@ -0,0 +1,622 @@ +/* + * @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 LineSensDrv_Snesor.cpp +*/ + +/*---------------------------------------------------------------------------*/ +// Include files + +#include "LineSensDrv_Sensor.h" +#include "LineSensDrv_Api.h" + +/*---------------------------------------------------------------------------*/ +// Value Define + +#define LSDRV_MASK_WORD_L 0x00FF +#define LSDRV_MASK_WORD_U 0xFF00 + +#define LINE_SENS_DRV_SENSOR_DEBUG_FACTORY 0 +#define LINE_SENS_DRV_SENSOR_DEBUG_DIAG 0 + +#define VEHICLE_SNS_INFO_PULSE_NUM 32 + +/*---------------------------------------------------------------------------*/ +// Global variable + +static LSDRV_SPEEDKMPH_DAT g_speed_kmph_data; +static uint8_t g_rcv_data_len; /* Receive SYS data length */ +extern uint8_t g_uc_vehicle_reverse; +/*---------------------------------------------------------------------------*/ +// Functions + +/******************************************************************************* + * MODULE : LineSensDrv_Sensor + * ABSTRACT : Sensor data reception processing + * FUNCTION : Convert sensor data to delivery format + * ARGUMENT : *ucRcvdata : Data pointer + * NOTE : + * RETURN : None + ******************************************************************************/ +void LineSensDrvSensor(u_int8* uc_rcvdata) { + u_int8 uc_sens_cnt = 0; + u_int16 us_sp_kmph = 0; /* Vehicle speed(km/h) */ + u_int16 us_sp_pls1 = 0; /* Total vehicle speed pulse(Latest) */ + u_int16 us_sp_pls2 = 0; /* Total vehicle speed pulse(Last time) */ + u_int8 us_sp_ret = 0; /* Last vehicle speed information acquisition result */ + u_int8 uc_size = 0; /* Size of the data */ + u_int16 us_cnt = 0; /* Data counter */ + u_int16 us_cnt2 = 0; /* Data counter */ + u_int8* uc_data_pos = NULL; /* Data storage location */ + LSDRV_MSG_LSDATA_G* p_snd_buf = NULL; + LSDRV_LSDATA_G* p_snd_data_base = NULL; + LSDRV_LSDATA_G* p_snd_data = NULL; + RET_API ret = RET_NORMAL; + + /* Receive sensor data top address acquisition */ + uc_data_pos = (uc_rcvdata); + + /* Create send buffer/delivery all received data */ + ret = _pb_GetZcSndBuf(PNO_VEHICLE_SENSOR, reinterpret_cast<void**>(&p_snd_buf)); + if ((ret == RET_NORMAL) && (p_snd_buf != NULL)) { + p_snd_data_base = p_snd_buf->st_para.st_data; + (void)memset(p_snd_data_base, 0, LSDRV_KINDS_MAX * sizeof( LSDRV_LSDATA_G )); + + /* Sensor counter */ + p_snd_data = p_snd_data_base + LSDRV_SNS_COUNTER; + uc_sens_cnt = (u_int8)*(uc_data_pos); + p_snd_data->ul_did = VEHICLE_DID_SNS_COUNTER; /* Data ID */ + p_snd_data->uc_size = LSDRV_SNDMSG_DTSIZE_1; /* Size of the data */ + p_snd_data->uc_sns_cnt = uc_sens_cnt; /* Sensor counter */ + p_snd_data->uc_data[0] = uc_sens_cnt; /* Data content */ + uc_data_pos = (uc_data_pos + LSDRV_SNDMSG_DTSIZE_1); + + /* Gyro output */ + p_snd_data = p_snd_data_base + LSDRV_GYRO_EXT; + p_snd_data->ul_did = VEHICLE_DID_GYRO_EXT; /* Data ID */ + p_snd_data->uc_size = LSDRV_SNDMSG_DTSIZE_20; /* Size of the data */ + p_snd_data->uc_sns_cnt = uc_sens_cnt; /* Sensor counter */ + for (us_cnt = 0; us_cnt < LSDRV_SNDMSG_DTSIZE_20; us_cnt++) { + /* Since [0] is older and [9] is newer, the order of received data is switched. */ + /* Be in reverse order for endian conversion */ + p_snd_data->uc_data[LSDRV_SNDMSG_DTSIZE_20 - (us_cnt + 1)] = (u_int8)*(uc_data_pos + us_cnt); + } + uc_data_pos = (uc_data_pos + LSDRV_SNDMSG_DTSIZE_20); + + p_snd_data = p_snd_data_base + LSDRV_GYRO_X; + p_snd_data->ul_did = VEHICLE_DID_GYRO; /* Data ID */ + p_snd_data->uc_size = LSDRV_SNDMSG_DTSIZE_20; /* Size of the data */ + p_snd_data->uc_sns_cnt = uc_sens_cnt; /* Sensor counter */ + for (us_cnt = 0; us_cnt < LSDRV_SNDMSG_DTSIZE_20; us_cnt++) { + /* Since [0] is older and [9] is newer, the order of received data is switched. */ + /* Be in reverse order for endian conversion */ + p_snd_data->uc_data[LSDRV_SNDMSG_DTSIZE_20 - (us_cnt + 1)] = (u_int8)*(uc_data_pos + us_cnt); + } + uc_data_pos = (uc_data_pos + LSDRV_SNDMSG_DTSIZE_20); + + /* Reverse flag */ + p_snd_data = p_snd_data_base + LSDRV_REV; + p_snd_data->ul_did = VEHICLE_DID_REV; /* Data ID */ + p_snd_data->uc_size = LSDRV_SNDMSG_DTSIZE_1; /* Size of the data */ + p_snd_data->uc_sns_cnt = uc_sens_cnt; /* Sensor Counter */ + p_snd_data->uc_data[0] = g_uc_vehicle_reverse; + /* Gyro Temperature */ + p_snd_data = p_snd_data_base + LSDRV_GYRO_TEMP; + p_snd_data->ul_did = VEHICLE_DID_GYRO_TEMP; /* Data ID */ + p_snd_data->uc_size = LSDRV_SNDMSG_DTSIZE_2; /* Size of the data */ + p_snd_data->uc_sns_cnt = uc_sens_cnt; /* Sensor counter */ + p_snd_data->uc_data[1] = (u_int8)(*(uc_data_pos ) & (u_int8)(LSDRV_TEMP_MASK >> 8)); + p_snd_data->uc_data[0] = (u_int8)(*(uc_data_pos + 1) & (u_int8)(LSDRV_TEMP_MASK)); + uc_data_pos = (uc_data_pos + LSDRV_SNDMSG_DTSIZE_2); + + /* Vehicle speed pulse */ + p_snd_data = p_snd_data_base + LSDRV_SPEED_PULSE; + p_snd_data->ul_did = VEHICLE_DID_SPEED_PULSE; /* Data ID */ + p_snd_data->uc_size = LSDRV_SNDMSG_DTSIZE_20; /* Size of the data */ + p_snd_data->uc_sns_cnt = uc_sens_cnt; /* Sensor counter */ + for (us_cnt = 0; us_cnt < LSDRV_SNDMSG_DTSIZE_20; us_cnt++) { + /* Since [0] is older and [9] is newer, the order of received data is switched. */ + /* Be in reverse order for endian conversion */ + p_snd_data->uc_data[LSDRV_SNDMSG_DTSIZE_20 - (us_cnt + 1)] = (u_int8)*(uc_data_pos + us_cnt); + } + uc_data_pos = (uc_data_pos + LSDRV_SNDMSG_DTSIZE_20); + + /* Vehicle speed(km/h) */ + p_snd_data = p_snd_data_base + LSDRV_SPEED_PULSE; + us_sp_kmph = 0; + us_sp_pls1 = (u_int16)p_snd_data->uc_data[1]; + us_sp_pls1 = (u_int16)((us_sp_pls1 << 8) | p_snd_data->uc_data[0]); + us_sp_ret = LineSensDrvGetLastSpeedPulse(&us_sp_pls2, us_sp_pls1, uc_sens_cnt); + + LineSensDrvSetLastSpeedPulse(us_sp_pls1, uc_sens_cnt); + + p_snd_data = p_snd_data_base + LSDRV_SPEED_KMPH; + if (us_sp_ret != LSDRV_SPKMPH_INVALID) { + /* Vehicle speed pulse before 100 ms is valid */ + LineSensDrvSpeedPulseSave(us_sp_pls1, us_sp_pls2, uc_sens_cnt); + us_sp_kmph = LineSensDrvSpeedCalc(uc_sens_cnt); + /* The size can be set only when the vehicle speed [km/h] is calculated. "0" is notified to the vehicle sensor when the size cannot be set. */ + p_snd_data->uc_size = LSDRV_SNDMSG_DTSIZE_2; /* Size of the data */ + } + p_snd_data->ul_did = VEHICLE_DID_SPEED_KMPH; /* Data ID */ + p_snd_data->uc_sns_cnt = uc_sens_cnt; /* Sensor counter */ + p_snd_data->uc_data[0] = (u_int8)(us_sp_kmph & 0x00FF); + p_snd_data->uc_data[1] = (u_int8)(us_sp_kmph >> 8); + + POSITIONING_LOG("[LOG, %d(cnt), %d(km/h), %d(pls1), %d(pls2)] \r\n", + uc_sens_cnt, + us_sp_kmph, + us_sp_pls1, + us_sp_pls2); + + /* G-Sensor X-axes */ + p_snd_data = p_snd_data_base + LSDRV_GSENSOR_X; + p_snd_data->ul_did = VEHICLE_DID_GSNS_X; /* Data ID */ + p_snd_data->uc_size = LSDRV_SNDMSG_DTSIZE_20; /* Size of the data */ + p_snd_data->uc_sns_cnt = uc_sens_cnt; /* Sensor counter */ + us_cnt2 = p_snd_data->uc_size - 1; + for (us_cnt = 0; us_cnt < 10; us_cnt++) { + /* Since [0] is older and [9] is newer, the order of received data is switched. */ + p_snd_data->uc_data[us_cnt2 ] = (u_int8)*( uc_data_pos + (sizeof(SENSORINPUT_INFO_DAT_GSENS) * us_cnt) ); + p_snd_data->uc_data[us_cnt2 - 1] = (u_int8)*( uc_data_pos + (sizeof(SENSORINPUT_INFO_DAT_GSENS) * us_cnt) + 1); + us_cnt2 = us_cnt2 - 2; + } + + /* G-Sensor Y-axes */ + p_snd_data = p_snd_data_base + LSDRV_GSENSOR_Y; + p_snd_data->ul_did = VEHICLE_DID_GSNS_Y; /* Data ID */ + p_snd_data->uc_size = LSDRV_SNDMSG_DTSIZE_20; /* Size of the data */ + p_snd_data->uc_sns_cnt = uc_sens_cnt; /* Sensor counter */ + us_cnt2 = p_snd_data->uc_size - 1; + for (us_cnt = 0; us_cnt < 10; us_cnt++) { + /* Since [0] is older and [9] is newer, the order of received data is switched. */ + p_snd_data->uc_data[us_cnt2] = (u_int8)*( (uc_data_pos + sizeof(u_int16)) \ + + (sizeof(SENSORINPUT_INFO_DAT_GSENS) * us_cnt)); + + p_snd_data->uc_data[us_cnt2-1] = (u_int8)*( (uc_data_pos + sizeof(u_int16)) \ + + (sizeof(SENSORINPUT_INFO_DAT_GSENS) * us_cnt) + 1); + us_cnt2 = us_cnt2 - 2; + } + uc_data_pos = ( uc_data_pos + (sizeof(SENSORINPUT_INFO_DAT_GSENS) * 10) ); + + /* Inter-Pulse time */ + p_snd_data = p_snd_data_base + LSDRV_PULSE_TIME; + p_snd_data->ul_did = VEHICLE_DID_PULSE_TIME; /* Data ID */ + p_snd_data->uc_size = LSDRV_SNDMSG_DTSIZE_132; /* Size of the data */ + p_snd_data->uc_sns_cnt = uc_sens_cnt; /* Sensor counter */ + + /* Clear the buffer for variable length */ + (void)memset(&p_snd_data->uc_data[0], 0x00, sizeof(p_snd_data->uc_data)); + + if (g_rcv_data_len == LSDRV_PLSTIME_LEN) { + /* Inter-Pulse time (number of items + time). The number of items is stored at the beginning. */ + uc_size = (u_int8)*uc_data_pos; + if (uc_size > VEHICLE_SNS_INFO_PULSE_NUM) { + uc_size = VEHICLE_SNS_INFO_PULSE_NUM; + } + p_snd_data->uc_data[0] = uc_size; + p_snd_data->uc_data[1] = 0x00; + p_snd_data->uc_data[2] = 0x00; + p_snd_data->uc_data[3] = 0x00; + uc_data_pos = ( uc_data_pos + sizeof(u_int8) ); + + /* Since [0] is old and [31] is new in the received time, the order is changed. */ + /* Be in reverse order for endian conversion */ + for (us_cnt = 0; us_cnt < (uc_size * sizeof(u_int32)); us_cnt++) { + p_snd_data->uc_data[(uc_size * sizeof(u_int32)) - (us_cnt + 1) + 4] = (u_int8)*(uc_data_pos + us_cnt); + } + } + + /* Messaging */ + DeliveryLineSensorDataPositioning(p_snd_buf, LSDRV_KINDS_MAX); + } + + return; +} + +/******************************************************************************* + * MODULE : LineSensDrv_SpeedCalc + * ABSTRACT : Vehicle speed calculation processing for sensor data + * FUNCTION : Calculate vehicle speed for sensor data + * ARGUMENT : uc_sens_cnt : Sensor counter + * NOTE : + * RETURN : Vehicle speed(0.01km/h) + ******************************************************************************/ +u_int16 LineSensDrvSpeedCalc(u_int8 uc_sens_cnt) { + u_int32 ul_sp_caluc = 0; /* Vehicle speed(2^-8km/h) */ + u_int16 us_speed = 0; /* Vehicle speed(km/h) */ + u_int8 uc_ptr = 0; /* Data storage pointer for sensor data */ /* #010 */ + u_int8 uc_ptr2 = 0; /* Data storage pointer for sensor data */ /* #010 */ + u_int32 ul_work = 0; /* Variables for unsigned 32-bit type calculations */ /* #010 */ + double d_work = 0.0; /* Variables for calculating double types */ /* #010 */ /* Ignore -> MISRA-C++:2008 Rule 3-9-2 */ + u_int16 us_sens_cnt_search = 0; /* Sensor counter to be searched */ /* #010 */ + u_int16 us_sens_cnt_ref = 0; /* Sensor counters to be compared */ /* #010 */ + int32 i = 0; /* Generic counters */ /* #010 */ + int32 j = 0; /* Generic counters */ /* #010 */ + u_int16 us_offset = 0; /* Offset value */ /* #010 */ + + /* #016 start */ + /* Is the number of data that can be calculated at the vehicle speed already received? */ + if (LSDRV_PLSDATA_NRCV == g_speed_kmph_data.uc_calc_start) { + /* Do not compute if there is not enough data. */ + } else { + if (0 == g_speed_kmph_data.uc_ptr) { + uc_ptr = LSDRV_SPKMPH_TBL_NUM - 1; + uc_ptr2 = LSDRV_SPKMPH_TBL_NUM - 1; + } else { + uc_ptr = g_speed_kmph_data.uc_ptr - 1; /* Ignore -> MISRA-C++:2008 Rule 5-0-5 */ + uc_ptr2 = g_speed_kmph_data.uc_ptr - 1; /* Ignore -> MISRA-C++:2008 Rule 5-0-5 */ + } + + ul_work = 0; + if (LSDRV_SPKMPH_AVE_TIME > uc_sens_cnt) { + us_offset = LSDRV_SENSCNT_BRW_ADD; + } else { + us_offset = 0; + } + + us_sens_cnt_search = (u_int16)uc_sens_cnt + us_offset - LSDRV_SPKMPH_AVE_TIME; + + for (i = 0; i < LSDRV_SPKMPH_TBL_NUM; i++) { + /* Invalid data is detected, and the search is completed. */ + if (LSDRV_SPKMPH_DATA_DIS == g_speed_kmph_data.st_data[uc_ptr].uc_flag) { + break; + } + + /* When the sensor counter is 29 or less, the borrow is considered. */ + if (LSDRV_SPKMPH_AVE_TIME > g_speed_kmph_data.st_data[uc_ptr].uc_sens_cnt) { + us_sens_cnt_ref = g_speed_kmph_data.st_data[uc_ptr].uc_sens_cnt + us_offset; + } else { + us_sens_cnt_ref = g_speed_kmph_data.st_data[uc_ptr].uc_sens_cnt; + } + + /* Checking the sensor counter to finish search */ + if (us_sens_cnt_search >= us_sens_cnt_ref) { + break; + } + + /* Add to calculate average value */ + ul_work += (u_int32)g_speed_kmph_data.st_data[uc_ptr].us_speed_pulse; + + if (0 == uc_ptr) { + uc_ptr = LSDRV_SPKMPH_TBL_NUM - 1; /* To the end of the data table */ + } else { + uc_ptr--; /* To the previous data */ + } + } + + /* Averaging computation */ + if (0 == i) { + d_work = 0; + } else { + if (ul_work == 1) { + for (j = 0; j < LSDRV_SPKMPH_TBL_NUM; j++) { + if ((g_speed_kmph_data.st_data[uc_ptr2].us_speed_pulse == 1) + && (g_speed_kmph_data.st_data[uc_ptr2].uc_noise_flag == 1)) { + ul_work = 0; + break; + } else if (g_speed_kmph_data.st_data[uc_ptr2].us_speed_pulse == 1 && + g_speed_kmph_data.st_data[uc_ptr2].uc_noise_flag == 0) { + ul_work = 1; + break; + } else { + /* nop */ + } + + /* Borrow actions for pointer values */ + if (0 == uc_ptr2) { + uc_ptr2 = LSDRV_SPKMPH_TBL_NUM - 1; /* To the end of the data table */ + } else { + uc_ptr2--; /* To the previous data */ + } + } + } + + d_work = static_cast<double>(ul_work); + d_work = d_work / static_cast<double>(i); + d_work = d_work * static_cast<double>(LSDRV_SENS_COEFFICIENT); + d_work = d_work * 100; /* [1km/h] -> [0.01km/h] */ + d_work = d_work + 0.5; /* Preparation for rounding */ + } + + ul_sp_caluc = static_cast<int32>(d_work); + + /* When the vehicle speed calculation result overflows, the upper limit value is used for clipping. */ + if (LSDRV_PLSMAX - 1 >= ul_sp_caluc) { + us_speed = (u_int16)ul_sp_caluc; + } else { + us_speed = (u_int16)(LSDRV_PLSMAX - 1); + } + } + + return us_speed; +} + +/******************************************************************************* + * MODULE : LineSensDrv_SpeedKmphDataInit + * ABSTRACT : Data table initialization process for vehicle speed calculation + * FUNCTION : Initialize the data table for calculating the vehicle speed + * ARGUMENT : None + * NOTE : + * RETURN : None + ******************************************************************************/ +void LineSensDrvSpeedKmphDataInit(void) { + int32 i = 0; + + memset(reinterpret_cast<void*>(&g_speed_kmph_data), static_cast<int32>(0), (size_t)sizeof(g_speed_kmph_data)); + + /* Disable all data storage flags */ + for (i = 0; i < LSDRV_SPKMPH_TBL_NUM; i++) { + g_speed_kmph_data.st_data[i].uc_flag = LSDRV_SPKMPH_DATA_DIS; + } + + return; +} + +/******************************************************************************* + * MODULE : LineSensDrv_SpeedPulseSave + * ABSTRACT : Sensor data vehicle speed pulse save processing + * FUNCTION : Saving the vehicle speed pulse of the sensor data to the data table for calculating the vehicle speed + * ARGUMENT : us_sp1 : Vehicle speed pulse of the latest information + * : us_sp2 : Vehicle speed pulse of the previous information + * : uc_sens_cnt : Sensor counter + * NOTE : + * RETURN : None + ******************************************************************************/ +void LineSensDrvSpeedPulseSave(u_int16 us_sp1, u_int16 us_sp2, u_int8 uc_sens_cnt) { + u_int16 us_sp_diff = 0; /* Vehicle speed pulse difference */ + u_int8 uc_ptr = 0; /* Data storage pointer for sensor data */ /* #010 */ + u_int8 us_last_ptr = 0; /* Last pointer */ /* #010 */ + int32 i = 0; /* Generic counters */ /* #010 */ + u_int8 uc_fstsns_cnt = 0; /* Initial sensor data sensor counter value */ /* #016 */ + int32 l_data_num = 0; /* Number of registered data */ /* #016 */ + u_int8 uc_noise_flag = 0; /* Noise flag */ /* #017 */ + + /* Calculate the vehicle speed pulse difference between the latest and last 100ms information */ + if (us_sp1 >= us_sp2) { + /* The cumulative pulse number of the latest information is larger. */ + us_sp_diff = us_sp1 - us_sp2; /* Ignore -> MISRA-C++:2008 Rule 5-0-5 */ + } else { + /* The cumulative pulse number of the latest information is smaller (the accumulated pulse overflows) */ + us_sp_diff = (LSDRV_PLSMAX - us_sp2) + us_sp1; /* Ignore -> MISRA-C++:2008 Rule 5-0-5 */ + } + + /* Call noise check only if us_sp_diff is 1 */ + if (us_sp_diff == 1) { + uc_noise_flag = LineSensDrvCheckNoise(uc_sens_cnt); + } + + /* Saving sensor data vehicle speed pulse in data table for vehicle speed calculation */ + if (LSDRV_PLSDATA_NRCV == g_speed_kmph_data.uc_sns_rcv) { + if (LSDRV_PLSDATA_RCV == g_speed_kmph_data.uc_fstsns_rcv) { + /* If the sensor data has already been received for the first time, set the temporary sensor counter value when the sensor data has been saved for the first time. */ + uc_fstsns_cnt = uc_sens_cnt; + for (i = (LSDRV_SPKMPH_TBL_NUM - 1); i >= 0 ; i--) { + if (LSDRV_SPKMPH_DATA_EN == g_speed_kmph_data.st_data[i].uc_flag) { + /* Data storage flag is valid */ + if (0 != uc_fstsns_cnt) { + uc_fstsns_cnt--; + } else { + uc_fstsns_cnt = LSDRV_SENSCNT_MAX; + } + + g_speed_kmph_data.st_data[i].uc_sens_cnt = uc_fstsns_cnt; + } + } + } + + /* Sensor data reception status <- "Received" */ + g_speed_kmph_data.uc_sns_rcv = LSDRV_PLSDATA_RCV; + } + + uc_ptr = g_speed_kmph_data.uc_ptr; + + /* If the sensor counter is the same as the previous one, overwrite update */ + if (0 == uc_ptr) { + us_last_ptr = LSDRV_SPKMPH_TBL_NUM - 1; + } else { + us_last_ptr = uc_ptr - 1; /* Ignore -> MISRA-C++:2008 Rule 5-0-5 */ + } + + if (g_speed_kmph_data.st_data[us_last_ptr].uc_sens_cnt == uc_sens_cnt) { + /* Next update of the data storage location */ + if (0 == g_speed_kmph_data.uc_ptr) { + g_speed_kmph_data.uc_ptr = LSDRV_SPKMPH_TBL_NUM - 1; + } else { + g_speed_kmph_data.uc_ptr--; + } + + uc_ptr = g_speed_kmph_data.uc_ptr; + } + + /* Input into data table for calculation of vehicle speed */ + g_speed_kmph_data.st_data[uc_ptr].uc_flag = LSDRV_SPKMPH_DATA_EN; /* Data validity */ + g_speed_kmph_data.st_data[uc_ptr].uc_sens_cnt = uc_sens_cnt; /* Sensor counter input */ + g_speed_kmph_data.st_data[uc_ptr].us_speed_pulse = us_sp_diff; /* Vehicle speed pulse difference */ + g_speed_kmph_data.st_data[uc_ptr].uc_noise_flag = uc_noise_flag; /* Noise flag */ /* #017 */ + + /* Next update of the data storage location */ + if ((LSDRV_SPKMPH_TBL_NUM - 1) <= g_speed_kmph_data.uc_ptr) { + g_speed_kmph_data.uc_ptr = 0; + } else { + g_speed_kmph_data.uc_ptr++; + } + + /* Determine whether the vehicle speed can be calculated. */ + if (g_speed_kmph_data.uc_calc_start == LSDRV_PLSDATA_NRCV) { + /* Data count detection */ + l_data_num = 0; + for (i = 0; i < LSDRV_SPKMPH_TBL_NUM; i++) { + if (LSDRV_SPKMPH_DATA_EN == g_speed_kmph_data.st_data[i].uc_flag) { + l_data_num++; + } + } + + if (LSDRV_SPKMPH_MIN_DATA_N <= l_data_num) { + /* Vehicle Speed Calculation Required Data Number Received */ + g_speed_kmph_data.uc_calc_start = LSDRV_PLSDATA_RCV; + } + } + + return; +} + +/******************************************************************************* + * MODULE : LineSensDrv_CheckNoise + * ABSTRACT : Sensor data noise check processing + * FUNCTION : The vehicle speed pulse is saved in the data table for the vehicle speed calculation. + * ARGUMENT : uc_sens_cnt : Sensor counter of the latest data + * NOTE : + * RETURN : Noise flag + ******************************************************************************/ +u_int8 LineSensDrvCheckNoise(u_int8 uc_sens_cnt) { + int32 i = 0; /* Generic counters */ + u_int16 us_sens_cnt_search = 0; /* Sensor counter to be searched*/ + u_int8 uc_ptr = 0; /* Data storage pointer */ + u_int16 us_offset = 0; /* Offset value */ + u_int8 noise_flag = 0; /* Noise flag */ + u_int16 us_sens_cnt_ref = 0; /* Sensor counters to be compared */ + + /* If there is no point where the difference in vehicle speed pulse is 1 or more + between -1 and -14 of sensor counter of the latest data, + set the noise flag of the latest data to 1. */ + /* Set the noise flag to 1 */ + noise_flag = 1; + + /* The Target is the one before the storage location of the latest data. */ + if (0 == g_speed_kmph_data.uc_ptr) { + uc_ptr = LSDRV_SPKMPH_TBL_NUM - 1; + } else { + uc_ptr = g_speed_kmph_data.uc_ptr - 1; /* Ignore -> MISRA-C++:2008 Rule 5-0-5 */ + } + + if (LSDRV_SPKMPH_NOISE_TIME > uc_sens_cnt) { + us_offset = LSDRV_SENSCNT_BRW_ADD; + } else { + us_offset = 0; + } + + us_sens_cnt_search = (u_int16)uc_sens_cnt + us_offset - LSDRV_SPKMPH_NOISE_TIME; + + for (i = 0; i < LSDRV_SPKMPH_NOISE_TIME; i++) { + /* When the sensor counter is 15 or less, the borrow is considered. */ + if (LSDRV_SPKMPH_NOISE_TIME > g_speed_kmph_data.st_data[uc_ptr].uc_sens_cnt) { + us_sens_cnt_ref = g_speed_kmph_data.st_data[uc_ptr].uc_sens_cnt + us_offset; + } else { + us_sens_cnt_ref = g_speed_kmph_data.st_data[uc_ptr].uc_sens_cnt; /* Ignore -> MISRA-C++:2008 Rule 5-0-5 */ + } + + /* Checking the sensor Counter to Finish Search */ + if (us_sens_cnt_ref <= us_sens_cnt_search) { + noise_flag = 1; + break; + } else { + if (g_speed_kmph_data.st_data[uc_ptr].us_speed_pulse >= 1) { + noise_flag = 0; + break; + } + } + + /* Borrow actions for pointer values */ + if (0 == uc_ptr) { + uc_ptr = LSDRV_SPKMPH_TBL_NUM - 1; /* To the end of the data table */ + } else { + uc_ptr--; /* To the previous data */ + } + } + + return noise_flag; +} + +/** + * @brief + * Return the last (100ms ago) vehicle speed pulse + * + * @param[out] us_sp2 Last vehicle speed pulse + * @param[in] us_sp1 The latest vehicle speed pulse + * @param[in] uc_sens_cnt Latest sensor counter + * + * @return LSDRV_SPKMPH_INVALID Vehicle speed pulse information valid<br> + * LSDRV_SPKMPH_VALID Vehicle speed pulse information invalid + */ +u_int8 LineSensDrvGetLastSpeedPulse(u_int16* us_sp2, u_int16 us_sp1, u_int8 uc_sens_cnt) { + u_int8 ret = LSDRV_SPKMPH_INVALID; /* Return value */ + u_int16 sp_pls_diff = 0; /* Vehicle speed pulse difference */ + u_int16 sp_pls = 0; /* Vehicle speed pulse every 100 ms */ + u_int8 cnt_diff = 0; /* Sensor counter difference */ + + /* Check if the last vehicle speed pulse has been set */ + if (g_speed_kmph_data.st_last_data.uc_flag == LSDRV_SPKMPH_DATA_EN) { + /* Differential calculation of sensor counter */ + if (uc_sens_cnt >= g_speed_kmph_data.st_last_data.uc_sens_cnt) { + /* Latest sensor counter is larger */ + cnt_diff = uc_sens_cnt - g_speed_kmph_data.st_last_data.uc_sens_cnt; + } else { + /* Last sensor counter is larger(sensor counter overflows) */ + cnt_diff = (LSDRV_SENSCNT_MAX - g_speed_kmph_data.st_last_data.uc_sens_cnt) + uc_sens_cnt + 1; + } + + /* Check if sensor counter is continuous */ + if (cnt_diff <= 1) { + /* Continuous or same as the previous one, so the previous (100ms previous) vehicle speed pulse is set as it is */ + *us_sp2 = g_speed_kmph_data.st_last_data.us_speed_pulse; + } else { + /* Determine the vehicle speed pulse 100ms ago from the average considering the skipped portion because it is not consecutive. */ + if (us_sp1 >= g_speed_kmph_data.st_last_data.us_speed_pulse) { + /* Larger latest cumulative vehicle speed pulse */ + sp_pls_diff = us_sp1 - g_speed_kmph_data.st_last_data.us_speed_pulse; + } else { + /* Last cumulative vehicle speed pulse is larger(Cumulative vehicle speed pulse overflows) */ + sp_pls_diff = (LSDRV_PLSMAX - g_speed_kmph_data.st_last_data.us_speed_pulse) + us_sp1; + } + + /* Calculate average vehicle speed pulse including skip period */ + sp_pls = (u_int16)(sp_pls_diff / cnt_diff); + + /* Calculate the vehicle speed pulse 100ms ahead from the vehicle speed average */ + if (us_sp1 >= sp_pls) { + /* Does not overflow even if the 100ms vehicle speed pulse is pulled from the latest one. */ + *us_sp2 = us_sp1 - sp_pls; + } else { + /* Subtracting a 100ms vehicle speed pulse from the latest one overflows */ + *us_sp2 = LSDRV_PLSMAX - (sp_pls - us_sp1); + } + } + + ret = LSDRV_SPKMPH_VALID; + } + + return ret; +} + +/** + * @brief + * Return the last (100ms ago) vehicle speed pulse + * + * @param[in] us_sp Vehicle speed pulse + * @param[in] uc_sens_cnt Sensor counter + */ +void LineSensDrvSetLastSpeedPulse(u_int16 us_sp, u_int8 uc_sens_cnt) { + /* Vehicle speed pulse information valid setting */ + g_speed_kmph_data.st_last_data.uc_flag = LSDRV_SPKMPH_DATA_EN; + /* Sensor counter setting */ + g_speed_kmph_data.st_last_data.uc_sens_cnt = uc_sens_cnt; + /* Vehicle speed pulse setting */ + g_speed_kmph_data.st_last_data.us_speed_pulse = us_sp; +} + +/*---------------------------------------------------------------------------*/ +/*EOF*/ diff --git a/hal/positioning_hal/src/LineSensDrv/LineSensDrv_Thread.cpp b/hal/positioning_hal/src/LineSensDrv/LineSensDrv_Thread.cpp new file mode 100755 index 0000000..9fb1c29 --- /dev/null +++ b/hal/positioning_hal/src/LineSensDrv/LineSensDrv_Thread.cpp @@ -0,0 +1,125 @@ +/* + * @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 LineSensDrv_Thread.cpp +*/ + +/*---------------------------------------------------------------------------*/ +// Include files + +#include "LineSensDrv_Thread.h" +#include <native_service/frameworkunified_types.h> +#include <native_service/frameworkunified_framework_if.h> +#include "positioning_def.h" +#include "positioning_common.h" +/*---------------------------------------------------------------------------*/ +// Global variable + +static u_int8 g_sys_recv_flg = 0; // For debugging +char g_threadname[] = "POS_Sens"; +uint8_t g_uc_vehicle_reverse = 0; +uint8_t g_uc_reverse_state = 0; +static BOOL g_line_sens_thread_stop = FALSE; + +#define POS_REV_STATE_PROCESSING 0 +#define POS_REV_STATE_IDLE 1 + +/******************************************************************************* + * MODULE : LineSensDrv_Thread + * ABSTRACT : LineSensor driver thread main process + * FUNCTION : Main processing + * ARGUMENT : lpvPara : + * NOTE : + * RETURN : + ******************************************************************************/ +EFrameworkunifiedStatus LineSensDrvThread(HANDLE h_app) { + int32 l_ret = RET_LSDRV_SUCCESS; + EFrameworkunifiedStatus l_status = eFrameworkunifiedStatusOK; + + + (void)PosSetupThread(h_app, ETID_POS_SENS); + + /* Execute the initialization processes */ + l_ret = LineSensDrvMainThreadInit(h_app); + if (RET_LSDRV_SUCCESS != l_ret) { + l_status = eFrameworkunifiedStatusFail; + } + + return l_status; +} + +/******************************************************************************* + * MODULE : LineSensDrv_MainThread_Init + * ABSTRACT : Thread initialization process + * FUNCTION : Initialize thread + * ARGUMENT : None + * NOTE : + * RETURN : RET_LSDRV_SUCCESS:Success in initialization + * RET_LSDRV_ERROR :Initialization failed + ******************************************************************************/ +int32 LineSensDrvMainThreadInit(HANDLE h_app) { + int32 l_ret = RET_LSDRV_SUCCESS; + BOOL b_ret = TRUE; + + /****** Global variable initialization **********/ + LineSensDrvParamInit(); + + /****** LineSensDrvApi initialization **********/ + b_ret = LineSensDrvApiInitialize(); + + if (TRUE != b_ret) { + l_ret = RET_LSDRV_ERROR; + } + + return l_ret; +} + +/******************************************************************************* + * MODULE : LineSensDrv_Param_Init + * ABSTRACT : Global variable initialization processing + * FUNCTION : Initialize global variables + * ARGUMENT : None + * NOTE : + * RETURN : None + ******************************************************************************/ +void LineSensDrvParamInit(void) { + LineSensDrvSpeedKmphDataInit(); // Data table initialization process for vehicle speed calculation +} + +/** + * @brief + * Pos_Sens thread stop processing + */ +void LineSensDrvThreadStopProcess(void) { + g_line_sens_thread_stop = TRUE; + + if (POS_REV_STATE_IDLE == g_uc_reverse_state) { + PosTeardownThread(ETID_POS_SENS); + } + + return; +} + +/** + * @brief + * Get initial sensor data reception flag + */ +u_int8 LineSensDrvGetSysRecvFlag(void) { + return g_sys_recv_flg; +} + +/*---------------------------------------------------------------------------*/ +/*EOF*/ diff --git a/hal/power_hal/LICENSE b/hal/power_hal/LICENSE new file mode 100755 index 0000000..f433b1a --- /dev/null +++ b/hal/power_hal/LICENSE @@ -0,0 +1,177 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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+ * 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 power_hal.h + * @brief Interface and struct define for power_hal + */ + +#ifndef HAL_API_POWER_HAL_H_ +#define HAL_API_POWER_HAL_H_ + +#include <native_service/frameworkunified_types.h> + +/** @addtogroup system_manager + * @{ + */ +/** @addtogroup power_hal + * @ingroup system_manager + * @{ + */ +/** @}*/ // end of power_hal +/** @}*/ // end of system_manager + +/** @addtogroup power_supply_manager_shadow + * @{ + */ +/** @addtogroup power_hal + * @ingroup power_supply_manager_shadow + * @{ + */ + +/** + * \~english Definition of program update is not occured + */ +#define PWR_PROGUPDATE_STATE_NONE (0x0) + +/** + * \~english Bit position of program update + */ +#define PWR_PROGUPDATE_STATE_UPDATED (0x01) + +/** + * \~english Bit position of map update + */ +#define PWR_PROGUPDATE_STATE_MAP_UPDATED (0x02) + +/** + * \~english Bit position of map difference update + */ +#define PWR_PROGUPDATE_STATE_MAPDIFF_UPDATED (0x04) + +/** + * \~english None reset state + */ +#define PWR_DATA_RESET_STATE_NONE 0 + +/** + * \~english Reset state for initialization of user information + */ +#define PWR_DATA_RESET_STATE_USER 1 + +/** + * \~english Reset state for factory initialization + */ +#define PWR_DATA_RESET_STATE_FACTORY 2 + +/* + * @~english + * @brief Command ID power_hal -> User + */ +/*! @~english power_hal command receive notification */ +#define CID_PWR_CMD_RCV 0x0103 + +/*! @~english power_hal command send result notification */ +#define CID_PWR_CMD_SND_STS 0x0104 + +/** + * \~english DRAM backup status + */ +enum PsmSysupDramT { + /** + * \~english normal value + */ + PSM_SYSUP_DRAM_NORMAL, + + /** + * \~english abnormal Soft Reset(software abnormality) + */ + PSM_SYSUP_DRAM_SFTERRSR, + + /** + * \~english need to discard backup dram + */ + PSM_SYSUP_DRAM_DISCARD, + + /** + * \~english max value + */ + PSM_SYSUP_DRAM_MAX, +}; + +/** + * \~english Start Status + */ +enum PsmStartStatusT { + /** + * \~english cold start + */ + PSM_START_STATUS_FACTRESET, + + /** + * \~english hot start + */ + PSM_START_STATUS_NORMAL, + + /** + * \~english max value + */ + PSM_START_STATUS_MAX, +}; + +/** + * \~english Communication state + */ +enum PsmComStsT { + /** + * \~english Communication normal + */ + PSM_COM_STS_NORMAL, + + /** + * \~english Communication abnormal + */ + PSM_COM_STS_ABNORMAL, + + /** + * \~english max value + */ + PSM_COM_STS_MAX, +}; + +/** + * \~english DRAM power supply abnormality check result + */ +enum PsmDramStsT { + /** + * \~english DRAM power supply abnormality check result normal + */ + PSM_DRAM_STS_NORMAL, + + /** + * \~english DRAM power supply abnormality check result abnormal + */ + PSM_DRAM_STS_ABNORMAL, + + /** + * \~english max value + */ + PSM_DRAM_STS_MAX, +}; + +/** + * \~english ACC customize setting. + */ +enum PsmAccCustomizeT { + /** + * \~english ACC customize setting OFF. + */ + PSM_ACC_CUSTOMIZE_OFF, + /** + * \~english ACC customize setting ON. + */ + PSM_ACC_CUSTOMIZE_ON +}; + +/** + * \~english Reset history recording flag. + */ +#define PSM_RESET_HISTORY (0x10000000) + +/** + * \~english Reset(Start-up) factor. + */ +enum PsmFactorT { + /** + * \~english none + */ + PSM_FACTOR_NONE, + /** + * \~english Restart due to AGL. + */ + PSM_FACTOR_AGL, + /** + * \~english Restart due to Tier1. + */ + PSM_FACTOR_TIER1, + /** + * \~english Restart due to user. + */ + PSM_FACTOR_USER, + /** + * \~english Restart due to AGL(Need to record reset history). + */ + PSM_FACTOR_AGL_WITH_HISTORY = (PSM_RESET_HISTORY | PSM_FACTOR_AGL), + /** + * \~english Restart due to Tier1(Need to record reset history). + */ + PSM_FACTOR_TIER1_WITH_HISTORY = (PSM_RESET_HISTORY | PSM_FACTOR_TIER1), + /** + * \~english Restart due to user(Need to record reset history). + */ + PSM_FACTOR_USER_WITH_HISTORY = (PSM_RESET_HISTORY | PSM_FACTOR_USER) +}; + +/** + * \~english Reset information type. + */ +enum PowerHalResetInfoId { + /** + * \~english Count of error log. + */ + AGL_ERRLOG_COUNTER = 0, + /** + * \~english Abnormal reset count detected by AGL. + */ + AGL_RESET_COUNTER, + /** + * \~english State of program update. + */ + AGL_PROGUPDATE_STATE, + /** + * \~english Data reset state. + */ + AGL_DATARESET_STATE, + /** + * \~english Flag of abnormal reset. + */ + AGL_ILLRESET_FLAG, + /** + * \~english Max of reset information type. + */ + AGL_RESERVED_LIMIT = 32 +}; + +/** + * \ingroup PsmNaviResetPower + * \~english @par Brief + * API to do navi reset that is forced reset if end sequence of MainSoC is not completed. + * \~english @param [in] h_app Handle for Application + * \~english @param [in] reset_factor Reset factor + * \~english @retval 0 : Ok + * \~english @retval -1 : Failed + * \~english @par Prerequisite + * - None + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - Internal IO error. [-1] + * \~english @par Detail + * - do navi reset process. + * - The API can only be used by 1 process + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * None + */ +int PsmNaviResetPower(HANDLE h_app, PsmFactorT reset_factor); + +/** + * \ingroup PsmClrRamJudgeFlgPower + * \~english @par Brief + * API to do ram judge flag clear + * \~english @param [in] h_app Handle for Application + * \~english @retval 0 : Ok + * \~english @retval -1 : Failed + * \~english @par Prerequisite + * - None + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - Internal IO error. [-1] + * \~english @par Detail + * - do ram judge flag clear process. + * - The API can only be used by 1 process + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * None + */ +int PsmClrRamJudgeFlgPower(HANDLE h_app); + +/** + * \ingroup PsmGetDramBackupStatusPower + * \~english @par Brief + * API to do get dram backup status + * \~english @param [in] h_app Handle for Application + * \~english @param [out] p_dram1 DRAM1 BackUp Status + * \~english @param [out] p_dram2 DRAM2 BackUp Status + * \~english @param [out] p_dram3 DRAM3 BackUp Status + * \~english @retval 0 : Ok + * \~english @retval -1 : Failed + * \~english @par Prerequisite + * - None + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - Internal IO error. [-1] + * \~english @par Detail + * - do get dram backup status process. + * - The API can only be used by 1 process + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * None + */ +int PsmGetDramBackupStatusPower(HANDLE h_app, PsmSysupDramT *p_dram1, PsmSysupDramT *p_dram2, PsmSysupDramT *p_dram3); + +/** + * \ingroup PsmGetStartStatusPower + * \~english @par Brief + * API to do get start status + * \~english @param [in] h_app Handle for Application + * \~english @param [out] p_start_sts start status + * \~english @retval 0 : Ok + * \~english @retval -1 : Failed + * \~english @par Prerequisite + * - None + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - Internal IO error. [-1] + * \~english @par Detail + * - do get startup state process. + * - The API can only be used by 1 process + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * None + */ +int PsmGetStartStatusPower(HANDLE h_app, PsmStartStatusT *p_start_sts); + +/** + * \ingroup PsmGetSyscomStatusPower + * \~english @par Brief + * API to do get communication status between mainsoc-sys + * \~english @param [in] h_app Handle for Application + * \~english @param [out] p_com_sts communication status between mainsoc-sys + * \~english @retval 0 : Ok + * \~english @retval -1 : Failed + * \~english @par Prerequisite + * - None + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - Internal IO error. [-1] + * \~english @par Detail + * - do get communication status between mainsoc-sys process. + * - The API can only be used by 1 process + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * None + */ +int PsmGetSyscomStatusPower(HANDLE h_app, PsmComStsT *p_com_sts); + +/** + * \ingroup PsmGetDramPowerSupplyAbnormalityCheckResultPower + * \~english @par Brief + * API to do get dram power supply abnormality check result + * \~english @param [in] h_app Handle for Application + * \~english @param [out] p_dram_sts DRAM power supply abnormality check result + * \~english @retval 0 : Ok + * \~english @retval -1 : Failed + * \~english @par Prerequisite + * - None + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - Internal IO error. [-1] + * \~english @par Detail + * - do get dram power supply abnormality check result process. + * - The API can only be used by 1 process + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * None + */ +int PsmGetDramPowerSupplyAbnormalityCheckResultPower(HANDLE h_app, PsmDramStsT *p_dram_sts); + +/** + * \ingroup PsmGetAccCustomizeSetting + * \~english @par Brief + * API to do get ACC customize setting + * \~english @param [in] h_app Handle for Application + * \~english @param [out] p_acc_customize ACC customize Setting + * \~english @retval 0 : Ok + * \~english @retval -1 : Failed + * \~english @par Prerequisite + * - None + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - Internal IO error. [-1] + * \~english @par Detail + * - do get ACC customize setting. + * - The API can only be used by 1 process + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * None + */ +int PsmGetAccCustomizeSetting(HANDLE h_app, PsmAccCustomizeT* p_acc_customize); + +/** + * \ingroup PsmChgAccCustomizeSetting + * \~english @par Brief + * API to do change ACC customize setting + * \~english @param [in] h_app Handle for Application + * \~english @param [in] acc_customize ACC customize Setting + * \~english @retval 0 : Ok + * \~english @retval -1 : Failed + * \~english @par Prerequisite + * - None + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - Internal IO error. [-1] + * \~english @par Detail + * - do set ACC customize setting. + * - The API can only be used by 1 process + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * None + */ +int PsmChgAccCustomizeSetting(HANDLE h_app, PsmAccCustomizeT acc_customize); + +/** + * \ingroup PsmGetStartupFactor + * \~english @par Brief + * API to do get start-up factor. + * \~english @param [in] h_app Handle for Application + * \~english @param [out] p_startup_factor Start-up factor + * \~english @retval 0 : Ok + * \~english @retval -1 : Failed + * \~english @par Prerequisite + * - None + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - Internal IO error. [-1] + * \~english @par Detail + * - do get Start-up factor. + * - After the API call, start-up factor is clear. + * - The API can only be used by 1 process + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * None + */ +int PsmGetStartupFactor(HANDLE h_app, PsmFactorT* p_startup_factor); + +/** + * \ingroup PowerHalSetResetInfo + * \~english @par Brief + * API to do set reset information. + * \~english @param [in] id Reset information type. + * \~english @param [in] val setting value. + * \~english @retval 0 : Ok + * \~english @retval -1 : Failed + * \~english @par Prerequisite + * - None + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - Internal IO error. [-1] + * - Save error to non-volatile memory. [-1] + * \~english @par Detail + * - Do set value to Reset information type(\ref PowerHalResetInfoId). \n + * \ref AGL_PROGUPDATE_STATE is not applicable(Only get value used by \ref PowerHalGetResetInfo). \n + * Domains of each reset information type are as below. \n + * \ref AGL_ERRLOG_COUNTER : 0 <= val <= UINT32_MAX \n + * \ref AGL_RESET_COUNTER : 0 <= val <= UINT32_MAX \n + * \ref AGL_DATARESET_STATE : It is set as below in each state of data reset. \n + * None reset state == \ref PWR_DATA_RESET_STATE_NONE \n + * Reset state for initialization of user information == \ref PWR_DATA_RESET_STATE_USER \n + * Reset state for factory initialization == \ref PWR_DATA_RESET_STATE_FACTORY \n + * \ref AGL_ILLRESET_FLAG : val = 0 or 1 (Abnormal reset is 1) + * - When the API is success, setting value is saved as non-volatile data. + * - Non-volatile memory is allocated \ref AGL_RESERVED_LIMIT for extendability. + * - Values setting by the API are saved when it is cold start(is_batterydiscon is true of PsmSysMcEVSysResUpChkPrmT notified from power_hal). + * - The API is completed within 1msec after the API is called. + * - The API can only be used by 1 process. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * PowerHalGetResetInfo + */ +int PowerHalSetResetInfo(enum PowerHalResetInfoId id, uint32_t val); + +/** + * \ingroup PowerHalGetResetInfo + * \~english @par Brief + * API to do get setting value of reset information . + * \~english @param [in] id Reset information type. + * \~english @param [out] val Buffer of value. + * \~english @retval 0 : Ok + * \~english @retval -1 : Failed + * \~english @par Prerequisite + * - None + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - Internal IO error. [-1] + * - Read fail of value. [-1] + * \~english @par Detail + * - Do get value from each reset information type(\ref PowerHalResetInfoId). + * - Value of \ref AGL_PROGUPDATE_STATE, low 3bits are assigned as below, \n + * and corresponding bit is set if state is updating. \n + * Low 1bit(\ref PWR_PROGUPDATE_STATE_UPDATED) : Program update \n + * Low 2bit(\ref PWR_PROGUPDATE_STATE_MAP_UPDATED) : Map update \n + * Low 3bit(\ref PWR_PROGUPDATE_STATE_MAPDIFF_UPDATED) : Map difference update \n + * - The API is completed within 1msec after the API is called. + * - Completeness of data getting by the API is assured by lower layer than power_hal, \n + * and return -1 as internal IO error when it is occurred abnormal error. + * - The API can only be used by 1 process. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * PowerHalSetResetInfo + */ +int PowerHalGetResetInfo(enum PowerHalResetInfoId id, uint32_t *val); + +/** @}*/ // end of power_hal +/** @}*/ // end of power_supply_manager_shadow + +#endif // HAL_API_POWER_HAL_H_ diff --git a/hal/power_hal/src/power_hal.cpp b/hal/power_hal/src/power_hal.cpp new file mode 100755 index 0000000..aba2d1e --- /dev/null +++ b/hal/power_hal/src/power_hal.cpp @@ -0,0 +1,97 @@ +/* + * @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. + */ + +#include "power_hal.h" + +int PsmNaviResetPower(HANDLE h_app, PsmFactorT reset_factor) { + if (NULL == h_app) { + return -1; + } + + return 0; +} + +int PsmClrRamJudgeFlgPower(HANDLE h_app) { + if (NULL == h_app) { + return -1; + } + + return 0; +} + +int PsmGetDramBackupStatusPower(HANDLE h_app, PsmSysupDramT *p_dram1, PsmSysupDramT *p_dram2, PsmSysupDramT *p_dram3) { + if (NULL == h_app) { + return -1; + } + + return 0; +} + +int PsmGetStartStatusPower(HANDLE h_app, PsmStartStatusT *p_start_sts) { + if (NULL == h_app) { + return -1; + } + + return 0; +} + +int PsmGetSyscomStatusPower(HANDLE h_app, PsmComStsT *p_com_sts) { + if (NULL == h_app) { + return -1; + } + + return 0; +} + +int PsmGetDramPowerSupplyAbnormalityCheckResultPower(HANDLE h_app, PsmDramStsT *p_dram_sts) { + if (NULL == h_app) { + return -1; + } + + return 0; +} + +int PsmGetAccCustomizeSetting(HANDLE h_app, PsmAccCustomizeT* p_acc_customize) { + if (NULL == h_app) { + return -1; + } + *p_acc_customize = PSM_ACC_CUSTOMIZE_ON; + return 0; +} + +int PsmChgAccCustomizeSetting(HANDLE h_app, PsmAccCustomizeT acc_customize) { + if (NULL == h_app) { + return -1; + } + + return 0; +} + +int PsmGetStartupFactor(HANDLE h_app, PsmFactorT* p_startup_factor) { + if (NULL == h_app) { + return -1; + } + *p_startup_factor = PSM_FACTOR_NONE; + return 0; +} + +int PowerHalSetResetInfo(enum PowerHalResetInfoId id, uint32_t val) { + return 0; +} + +int PowerHalGetResetInfo(enum PowerHalResetInfoId id, uint32_t *val) { + return 0; +} diff --git a/hal/security_hal/LICENSE b/hal/security_hal/LICENSE new file mode 100755 index 0000000..f433b1a --- /dev/null +++ b/hal/security_hal/LICENSE @@ -0,0 +1,177 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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+ * 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. + */ + +#ifndef HAL_API_SECURITY_HAL_H_ +#define HAL_API_SECURITY_HAL_H_ + +#include <stdint.h> +#include <native_service/frameworkunified_types.h> + +/** + * @file security_hal.h + */ + +/** @addtogroup update_service + * @{ + */ +/** @addtogroup security_hal + * @ingroup update_service + * @{ + */ + +/** + * \~english The max size of RSA modulus + */ +#define RSA_MODULUS_MAX_SIZE 2048 +/** + * \~english The max size of RSA public exponent + */ +#define RSA_PUBLIC_EXPONENT_MAX_SIZE 2048 +/** + * \~english The max size of RSA private exponent + */ +#define RSA_PRIVATE_EXPONENT_MAX_SIZE 2048 +/** + * \~english The minimum size of RSA padding + */ +#define RSA_PADDING_MINIMUM_SIZE 11 + +/** + * \~english Cipher type + */ +enum CipherType { + /** + * \~english AES symmetric cipher + */ + SYMMETRIC_CIPHER_AES = 1, + /** + * \~english BLOWFISH symmetric cipher + */ + SYMMETRIC_CIPHER_BLOWFISH, + /** + * \~english CAST5 symmetric cipher + */ + SYMMETRIC_CIPHER_CAST5, + /** + * \~english DES symmetric cipher + */ + SYMMETRIC_CIPHER_DES, + /** + * \~english DESEDA symmetric cipher + */ + SYMMETRIC_CIPHER_DESEDA, + /** + * \~english DESEDA3 symmetric cipher + */ + SYMMETRIC_CIPHER_DESEDA3, + /** + * \~english IDEA symmetric cipher + */ + SYMMETRIC_CIPHER_IDEA, + /** + * \~english RC2 symmetric cipher + */ + SYMMETRIC_CIPHER_RC2, + /** + * \~english RC4 symmetric cipher + */ + SYMMETRIC_CIPHER_RC4, + /** + * \~english RC5 symmetric cipher + */ + SYMMETRIC_CIPHER_RC5, + /** + * \~english RSA asymmetric cipher + */ + ASYMMETRIC_CIPHER_RSA, + /** + * \~english DSA asymmetric cipher + */ + ASYMMETRIC_CIPHER_DSA, + /** + * \~english ECDSA asymmetric cipher + */ + ASYMMETRIC_CIPHER_ECDSA +}; + +/** + * \~english Symmetric Cipher Mode + */ +enum SymmetricCipherMode { + /** + * \~english Stream symmetric cipher mode + */ + SYMMETRIC_CIPHER_MODE_STREAM = 0x00000001, + /** + * \~english ECB symmetric cipher mode + */ + SYMMETRIC_CIPHER_MODE_BLOCK_ECB = 0x00000002, + /** + * \~english CBC symmetric cipher mode + */ + SYMMETRIC_CIPHER_MODE_BLOCK_CBC = 0x00000004, + /** + * \~english CFB symmetric cipher mode + */ + SYMMETRIC_CIPHER_MODE_BLOCK_CFB = 0x00000008, + /** + * \~english OFB symmetric cipher mode + */ + SYMMETRIC_CIPHER_MODE_BLOCK_OFB = 0x00000010 +}; + +/** + * \~english Symmetric cipher Block Size + */ +enum SymmetricCipherBlockSize { + /** + * \~english Symmetric cipher block size is 4 bytes + */ + SYMMETRIC_CIPHER_BLOCK_SIZE_4 = 0x00000001, + /** + * \~english Symmetric cipher block size is 8 bytes + */ + SYMMETRIC_CIPHER_BLOCK_SIZE_8 = 0x00000002, + /** + * \~english Symmetric cipher block size is 16 bytes + */ + SYMMETRIC_CIPHER_BLOCK_SIZE_16 = 0x00000004, + /** + * \~english Symmetric cipher block size is 32 bytes + */ + SYMMETRIC_CIPHER_BLOCK_SIZE_32 = 0x00000008 +}; + +/** + * \~english Symmetric Cipher Round + */ +enum SymmetricCipherRound { + /** + * \~english Symmetric cipher round is 1 + */ + SYMMETRIC_CIPHER_ROUND_1 = 0x00000001, + /** + * \~english Symmetric cipher round is 2 + */ + SYMMETRIC_CIPHER_ROUND_2 = 0x00000002, + /** + * \~english Symmetric cipher round is 8.5 + */ + SYMMETRIC_CIPHER_ROUND_8_5 = 0x00000004, + /** + * \~english Symmetric cipher round is 10 + */ + SYMMETRIC_CIPHER_ROUND_10 = 0x00000008, + /** + * \~english Symmetric cipher round is 12 + */ + SYMMETRIC_CIPHER_ROUND_12 = 0x00000010, + /** + * \~english Symmetric cipher round is 14 + */ + SYMMETRIC_CIPHER_ROUND_14 = 0x00000020, + /** + * \~english Symmetric cipher round is 16 + */ + SYMMETRIC_CIPHER_ROUND_16 = 0x00000040 +}; + +/** + * \~english Asymmetric Padding Mode + */ +enum AsymmetricPaddingMode { + /** + * \~english RSA PKCS1 asymmetric padding mode + */ + ASYMMETRIC_PADDING_MODE_RSA_PKCS1 = 1, + /** + * \~english RSA SSLV23 asymmetric padding mode + */ + ASYMMETRIC_PADDING_MODE_RSA_SSLV23, + /** + * \~english RSA NOPADDING asymmetric padding mode + */ + ASYMMETRIC_PADDING_MODE_RSA_NOPADDING, + /** + * \~english RSA OAEP asymmetric padding mode + */ + ASYMMETRIC_PADDING_MODE_RSA_OAEP, + /** + * \~english RSA PSS asymmetric padding mode + */ + ASYMMETRIC_PADDING_MODE_RSA_PSS +}; + +/** + * @union CipherParameter + * \~english @par Brief + * Union of cipher parameter + */ +union CipherParameter { + /** + * \~english Struct of symmetric cipher parameter + */ + struct SymmetricCipherParameter { + /** + * \~english Symmetric cipher mode + */ + enum SymmetricCipherMode mode; + /** + * \~english Symmetric cipher block size + */ + enum SymmetricCipherBlockSize block_size; + /** + * \~english Symmetric cipher round + */ + enum SymmetricCipherRound round; + /** + * \~english Padding ON/OFF. Only used in CBC mode and ECB mode. + * Padding ON : + * Encrypt: + * 1.If plaintext length isn't aligned with block size, the + * ciphertext length is aligned with block size. + * 2.If plaintext length is aligned with block size, the + * ciphertext length is equal to plaintext length + 1 block size. + * Decrypt: + * 1.If ciphertext length isn't aligned with block size, return error. + * 2.If ciphertext length is aligned with block size, plaintext length + * is equal to ciphertext length minus padding length. Padding length + * is greater than 0 and not greater than block size. + * Padding OFF: + * Encrypt: + * 1.If plaintext length isn't aligned with block size, return error. + * 2.If plaintext length is aligned with block size, the + * ciphertext length is equal to plaintext length. + * Decrypt: + * 1.If ciphertext length isn't aligned with block size, return error. + * 2.If ciphertext length is aligned with block size, the + * plaintext length is equal to ciphertext length. + */ + bool to_pad; + } symmetric; + + /** + * \~english Struct of asymmetric cipher parameter + */ + struct AsymmetricCipherParameter { + /** + * \~english Asymmetric padding mode + */ + enum AsymmetricPaddingMode mode; + } asymmetric; +}; + + +/** + * \~english Symmetric cipher key type + */ +enum SymmetricCipherKeyType { + /** + * \~english Key is managed by hardware/chip + */ + SYMMETRIC_CIPHER_KEY_TYPE_MANAGED, + /** + * \~english Key is provided by user + */ + SYMMETRIC_CIPHER_KEY_TYPE_USER +}; + +/** + * @struct RsaPrivateKey + * \~english @par Brief + * Struct of RSA private key + */ +struct RsaPrivateKey { + /** + * \~english Private exponent + */ + uint8_t d[RSA_PRIVATE_EXPONENT_MAX_SIZE]; + /** + * \~english Modulus + */ + uint8_t n[RSA_MODULUS_MAX_SIZE]; + /** + * \~english The length of private exponent + */ + uint32_t d_length; + /** + * \~english The length of modulus + */ + uint32_t n_length; +}; + +/** + * @union PrivateKey + * \~english @par Brief + * Union of private key + */ +union PrivateKey { + /** + * \~english Rsa private key + */ + struct RsaPrivateKey rsa; +}; + +/** + * @struct RsaPublicKey + * \~english @par Brief + * Union of RSA public key + */ +struct RsaPublicKey { + /** + * \~english Public exponent + */ + uint8_t e[RSA_PUBLIC_EXPONENT_MAX_SIZE]; + /** + * \~english Modulus + */ + uint8_t n[RSA_MODULUS_MAX_SIZE]; + /** + * \~english The length of public exponent + */ + uint32_t e_length; + /** + * \~english The length of modulus + */ + uint32_t n_length; +}; + +/** + * @union PublicKey + * \~english @par Brief + * Union of public key + */ +union PublicKey { + /** + * \~english Struct of rsa public key + */ + struct RsaPublicKey rsa; +}; + +/** + * \~english Asymmetric cipher key type + */ +enum AsymmetricCipherKeyType { + /** + * \~english Key is managed by hardware/chip + */ + ASYMMETRIC_CIPHER_KEY_TYPE_MANAGED, + /** + * \~english Public key is provided by user + */ + ASYMMETRIC_CIPHER_KEY_TYPE_USER_PUBLIC, + /** + * \~english Private key is provided by user + */ + ASYMMETRIC_CIPHER_KEY_TYPE_USER_PRIVATE +}; + +/** + * @union KeyParam + * \~english @par Brief + * Union of key parameter + */ +union KeyParam { + /** + * \~english Struct of symmetric key paramater + */ + struct SymmetricKeyParam { + /** + * \~english Symmetric cipher key type + */ + enum SymmetricCipherKeyType key_type; + /** + * \~english Union of symmetric key parameter + */ + union { + /** + * \~english The symmetric key index + */ + uint32_t managed_key_index; + /** + * \~english Struct of user key + */ + struct { + /** + * \~english Key source + */ + uint8_t* key; + /** + * \~english Key length + */ + uint32_t key_len; + /** + * \~english Key Initialization vector. + */ + uint8_t* iv; + /** + * \~english Initialization vector length.The length should be + * equal to block size, otherwise return error. + */ + uint32_t iv_len; + } user_key; + } key_param; + } symmetric; + /** + * \~english Struct of asymmetric key parameter + */ + struct AsymmetricKeyParam { + /** + * \~english Asymmetric cipher key type + */ + enum AsymmetricCipherKeyType key_type; + /** + * \~english Union of asymmetric key parameter + */ + union { + /** + * \~english The asymmetric key index + */ + uint32_t managed_key_index; + /** + * \~english Union of user key + */ + union { + /** + * \~english Public key + */ + union PublicKey* public_key; + /** + * \~english Private key + */ + union PrivateKey* private_key; + } user_key; + } key_param; + } asymmetric; +}; + +/** + * \~english hash type + */ +enum HashType { + /** + * \~english hash type is md5 + */ + HASH_TYPE_MD5 = 1, + /** + * \~english hash type is sha1 + */ + HASH_TYPE_SHA1, + /** + * \~english hash type is sha224 + */ + HASH_TYPE_SHA224, + /** + * \~english hash type is sha256 + */ + HASH_TYPE_SHA256, + /** + * \~english hash type is sha384 + */ + HASH_TYPE_SHA384, + /** + * \~english hash type is sha512 + */ + HASH_TYPE_SHA512 +}; + +/** + * \ingroup EncryptStart + * \~english @par Brief + * Initialize the encrypt context information. + * \~english @param [in] cipher_type + * enum CipherType - Cipher type. + * \~english @param [in] param + * union CipherParameter* - Cipher parameter + * \~english @param [in] key + * union KeyParam* - Key parameter + * \~english @param [out] ctx + * void** - The encrypt information context handle. + * \~english @retval eFrameworkunifiedStatusOK : indicates success + * \~english @retval eFrameworkunifiedStatusFail : indicates the hardware/handle initialize + * fail or hardware I/O operation fail or + * hardware device busy or allocate context handle fail. + * \~english @retval eFrameworkunifiedStatusInvldParam : indicates parameter error. + * \~english @par Prerequisite + * - None. + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - If the parameter "cipher_type" is less than SYMMETRIC_CIPHER_AES + * or greater than ASYMMETRIC_CIPHER_ECDSA [eFrameworkunifiedStatusInvldParam] + * - If the parameter "param" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the parameter "key" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the parameter "ctx" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the hardware/handle initialize failed [eFrameworkunifiedStatusFail] + * - If the hardware I/O operation failed [eFrameworkunifiedStatusFail] + * - If the hardware device is busy [eFrameworkunifiedStatusFail] + * - If ctx can not be allocated [eFrameworkunifiedStatusFail] + * \~english @par Detail + * - Initialize the encrypt context information according to cipher type, + * cipher parameter and key parameter. + * - If EncryptStart() was called successfully, EncryptCleanup() should + * be called to clean up encrypt context information. + * - The API can be used by multiple processes. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * EncryptUpdate, EncryptFinish, EncryptCleanup + */ +EFrameworkunifiedStatus EncryptStart(enum CipherType cipher_type, union CipherParameter* param, + union KeyParam* key, void** ctx); + +/** + * \ingroup EncryptUpdate + * \~english @par Brief + * Encrypt plaintext information. + * \~english @param [in] ctx + * void* - The encrypt information context handle. + * \~english @param [in] in + * const uint8_t* - The plaintext to be encrypted. + * \~english @param [in] in_len + * uint32_t - The input buffer length + * in_len shall be greater than 0 for symmetric encrypt. + * in_len shall be greater than 0 and not greater than + * RSA_PRIVATE_EXPONENT_MAX_SIZE/8 - RSA_PADDING_MINIMUM_SIZE + * for RSA asymmetric encrypt. + * \~english @param [out] out + * uint8_t* - The ciphertext after plaintext had been encrypted. + * \~english @param [in] out_len + * uint32_t - The output buffer length. + * out_len shall not be less than in_len + 1 block size for symmetric encrypt. + * out_len shall not be less than RSA_PRIVATE_EXPONENT_MAX_SIZE/8 for RSA asymmetric encrypt. + * \~english @param [out] true_length + * uint32_t* - The ciphertext length. + * \~english @retval eFrameworkunifiedStatusOK : indicates success + * \~english @retval eFrameworkunifiedStatusFail : indicates the hardware/handle initialize fail, hardware I/O operation fail, + * hardware device busy or allocate context handle fail. + * \~english @retval eFrameworkunifiedStatusInvldParam : indicates parameter error. + * \~english @par Prerequisite + * - EncryptStart() was called successfully. + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur + * \~english @par Conditions of processing failure + * - If the parameter "ctx" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the parameter "in" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the parameter "in_len" is 0 for symmetric encrypt[eFrameworkunifiedStatusInvldParam] + * - If the parameter "in_len" is 0 or greater than + * RSA_PRIVATE_EXPONENT_MAX_SIZE/8 - RSA_PADDING_MINIMUM_SIZE for RSA asymmetric encrypt[eFrameworkunifiedStatusInvldParam] + * - If the parameter "out is NULL [eFrameworkunifiedStatusInvldParam] + * - If the parameter "out_len" is less than in_len + 1 block size + * for symmetric encrypt [eFrameworkunifiedStatusInvldParam] + * - If the parameter "out_len" is less than RSA_PRIVATE_EXPONENT_MAX_SIZE/8 + * for RSA asymmetric encrypt [eFrameworkunifiedStatusInvldParam] + * - If the parameter "true_length" is NULL [eFrameworkunifiedStatusFail] + * - If the hardware/handle init failed [eFrameworkunifiedStatusFail] + * - If the hardware I/O operation failed [eFrameworkunifiedStatusFail] + * - If the hardware device is busy [eFrameworkunifiedStatusFail] + * - If ctx can not be allocated [eFrameworkunifiedStatusFail] + * \~english @par Detail + * - Update the plaintext to ciphertext by symmetric or asymmetric encrypt algorithm. + * - The API can be used by multiple processes. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * EncryptStart, EncryptFinish, EncryptCleanup + */ +EFrameworkunifiedStatus EncryptUpdate(void* ctx, const uint8_t* in, uint32_t in_len, + uint8_t* out, uint32_t out_len, uint32_t* true_length); + +/** + * \ingroup EncryptFinish + * \~english @par Brief + * Encrypt the final plaintext information. + * \~english @param [in] ctx + * void* - The encrypt information context handle. + * \~english @param [out] out + * uint8_t* - The ciphertext after plaintext had been encrypted. + * out is useless for RSA asymmetric encrypt. + * \~english @param [in] out_len + * uint32_t - The final output buffer length. + * out_len shall not be less than 1 block size for symmetric encrypt. + * out_len is useless for RSA asymmetric encrypt. + * \~english @param [out] true_length + * uint32_t* - The ciphertext length. + * true_length is useless for RSA asymmetric encrypt. + * \~english @retval eFrameworkunifiedStatusOK : indicates success + * \~english @retval eFrameworkunifiedStatusFail : indicates the hardware/handle initialize fail, hardware I/O operation fail, + * hardware device busy or allocate context handle fail. + * \~english @retval eFrameworkunifiedStatusInvldParam : indicates parameter error. + * \~english @par Prerequisite + * - EncryptStart() and EncryptUpdate() were called successfully. + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur + * \~english @par Conditions of processing failure + * - If the parameter "ctx" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the parameter "out" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the parameter "out_len" is less than 1 block size + * for symmetric encrypt [eFrameworkunifiedStatusInvldParam] + * - If the parameter "true_length" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the hardware/handle init failed [eFrameworkunifiedStatusFail] + * - If the hardware I/O operation failed [eFrameworkunifiedStatusFail] + * - If the hardware device is busy [eFrameworkunifiedStatusFail] + * - If ctx can not be allocated [eFrameworkunifiedStatusFail] + * \~english @par Detail + * - Update the final plaintext to ciphertext for symmetric encrypt and do nothing for asymmetric encrypt. + * - The API can be used by multiple processes. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * EncryptStart, EncryptUpdate, EncryptCleanup + */ +EFrameworkunifiedStatus EncryptFinish(void* ctx, uint8_t* out, uint32_t out_len, uint32_t* true_length); + +/** + * \ingroup EncryptCleanup + * \~english @par Brief + * Clean up encrypt context information. + * \~english @param [in] ctx + * void* - The encrypt information context handle. + * \~english @retval eFrameworkunifiedStatusOK : indicates success + * \~english @retval eFrameworkunifiedStatusInvldParam : indicates parameter error. + * \~english @par Prerequisite + * - EncryptStart() was called successfully. + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur + * \~english @par Conditions of processing failure + * - If the parameter "ctx" is NULL [eFrameworkunifiedStatusInvldParam] + * \~english @par Detail + * - Clean up encrypt context information. + * - The API can be used by multiple processes. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * EncryptStart, EncryptUpdate, EncryptFinish + */ +EFrameworkunifiedStatus EncryptCleanup(void* ctx); + +/** + * \ingroup DecryptStart + * \~english @par Brief + * Initialize the decrypt context information. + * \~english @param [in] cipher_type + * enum CipherType - Cipher type. + * \~english @param [in] param + * union CipherParameter* - Cipher parameter + * \~english @param [in] key + * union KeyParam* - Key parameter + * \~english @param [out] ctx + * void** - The decrypt information context handle. + * \~english @retval eFrameworkunifiedStatusOK : indicates success + * \~english @retval eFrameworkunifiedStatusFail : indicates the hardware/handle initialize fail or hardware I/O + * operation fail or hardware device busy or allocate context handle fail. + * \~english @retval eFrameworkunifiedStatusInvldParam : indicates parameter error. + * \~english @par Prerequisite + * - None. + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - If the parameter "cipher_type" is less than SYMMETRIC_CIPHER_AES + * or greater than ASYMMETRIC_CIPHER_ECDSA [eFrameworkunifiedStatusInvldParam] + * - If the parameter "param" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the parameter "key" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the parameter "ctx" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the hardware/handle initialize failed [eFrameworkunifiedStatusFail] + * - If the hardware I/O operation failed [eFrameworkunifiedStatusFail] + * - If the hardware device is busy [eFrameworkunifiedStatusFail] + * - If ctx can not be allocated [eFrameworkunifiedStatusFail] + * \~english @par Detail + * - Initialize the decrypt context information according to cipher type, cipher parameter and key parameter. + * - If DecryptStart() was called successfully, DecryptCleanup() should be called + * to clean up decrypt context information. + * - The API can be used by multiple processes. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * DecryptUpdate, DecryptFinish, DecryptCleanup + */ +EFrameworkunifiedStatus DecryptStart(enum CipherType cipher_type, union CipherParameter* param, + union KeyParam *key, void** ctx); + +/** + * \ingroup DecryptUpdate + * \~english @par Brief + * Decrypt ciphertext information. + * \~english @param [in] ctx + * void* - The decrypt information context handle. + * \~english @param [in] in + * const uint8_t* - The ciphertext to be decrypted. + * \~english @param [in] in_len + * uint32_t - The input buffer length + * in_len shall be greater than 0 for symmetric decrypt. + * in_len shall be equal to RSA_PRIVATE_EXPONENT_MAX_SIZE/8 + * for RSA asymmetric decrypt. + * \~english @param [out] out + * uint8_t* - The plaintext after ciphertext had been decrypted. + * \~english @param [in] out_len + * uint32_t - The output buffer length. + * out_len shall not be less than in_len + 1 block size for symmetric decrypt. + * out_len shall not be less than RSA_PRIVATE_EXPONENT_MAX_SIZE/8 - RSA_PADDING_MINIMUM_SIZE + * for RSA asymmetric decrypt. + * \~english @param [out] true_length + * uint32_t* - The plaintext length. + * \~english @retval eFrameworkunifiedStatusOK : indicates success + * \~english @retval eFrameworkunifiedStatusFail : indicates the hardware/handle initialize fail, hardware I/O operation fail, + * hardware device busy or allocate context handle fail. + * \~english @retval eFrameworkunifiedStatusInvldParam : indicates parameter error. + * \~english @par Prerequisite + * - DecryptStart() was called successfully. + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur + * \~english @par Conditions of processing failure + * - If the parameter "ctx" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the parameter "in" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the parameter "in_len" is 0 for symmetric decrypt [eFrameworkunifiedStatusInvldParam] + * - If the parameter "in_len" isn't equal to + * RSA_PRIVATE_EXPONENT_MAX_SIZE/8 for RSA asymmetric decrypt [eFrameworkunifiedStatusInvldParam] + * - If the parameter "out is NULL [eFrameworkunifiedStatusInvldParam] + * - If the parameter "out_len" is less than in_len + * for symmetric decrypt [eFrameworkunifiedStatusInvldParam] + * - If the parameter "out_len" is less than RSA_PRIVATE_EXPONENT_MAX_SIZE/8 - RSA_PADDING_MINIMUM_SIZE + * for RSA asymmetric decrypt [eFrameworkunifiedStatusInvldParam] + * - If the parameter "true_length" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the hardware/handle init failed [eFrameworkunifiedStatusFail] + * - If the hardware I/O operation failed [eFrameworkunifiedStatusFail] + * - If the hardware device is busy [eFrameworkunifiedStatusFail] + * - If ctx can not be allocated [eFrameworkunifiedStatusFail] + * \~english @par Detail + * - Update the ciphertext to plaintext by symmetric or asymmetric decrypt algorithm. + * - The API can be used by multiple processes. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * DecryptStart, DecryptFinish, DecryptCleanup + */ +EFrameworkunifiedStatus DecryptUpdate(void* ctx, const uint8_t* in, uint32_t in_len, + uint8_t* out, uint32_t out_len, uint32_t* true_length); + +/** + * \ingroup DecryptFinish + * \~english @par Brief + * Decrypt the final ciphertext information. + * \~english @param [in] ctx + * void* - The decrypt information context handle. + * \~english @param [out] out + * uint8_t* - The plaintext after ciphertext had been decrypted. + * out is useless for RSA asymmetric decrypt. + * \~english @param [in] out_len + * uint32_t - The final output buffer length. + * out_len shall not be less than 1 block size for symmetric decrypt. + * out_len is useless for RSA asymmetric decrypt. + * \~english @param [out] true_length + * uint32_t* - The plaintext length. + * true_length is useless for RSA asymmetric decrypt. + * \~english @retval eFrameworkunifiedStatusOK : indicates success + * \~english @retval eFrameworkunifiedStatusFail : indicates the hardware/handle initialize fail, hardware I/O operation fail, + * hardware device busy or allocate context handle fail. + * \~english @retval eFrameworkunifiedStatusInvldParam : indicates parameter error. + * \~english @par Prerequisite + * - DecryptStart() and DecryptUpdate() were called successfully. + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur + * \~english @par Conditions of processing failure + * - If the parameter "ctx" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the parameter "out" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the parameter "out_len" is less than 1 block size + * for symmetric decrypt [eFrameworkunifiedStatusInvldParam] + * - If the parameter "true_length" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the hardware/handle init failed [eFrameworkunifiedStatusFail] + * - If the hardware I/O operation failed [eFrameworkunifiedStatusFail] + * - If the hardware device is busy [eFrameworkunifiedStatusFail] + * - If ctx can not be allocated [eFrameworkunifiedStatusFail] + * \~english @par Detail + * - Update the final ciphertext to plaintext for symmetric decrypt and do nothing for asymmetric decrypt. + * - The API can be used by multiple processes. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * DecryptStart, DecryptUpdate, DecryptCleanup + */ +EFrameworkunifiedStatus DecryptFinish(void* ctx, uint8_t* out, uint32_t out_len, uint32_t* true_length); + +/** + * \ingroup DecryptCleanup + * \~english @par Brief + * Clean up decrypt context information. + * \~english @param [in] ctx + * void* - The decrypt information context handle. + * \~english @retval eFrameworkunifiedStatusOK : indicates success + + * \~english @retval eFrameworkunifiedStatusInvldParam : indicates parameter error. + + * \~english @par Prerequisite + * - DecryptStart() was called successfully. + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur + * \~english @par Conditions of processing failure + * - If the parameter "ctx" is NULL [eFrameworkunifiedStatusInvldParam] + * \~english @par Detail + * - Clean up decrypt context information. + * - The API can be used by multiple processes. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * DecryptStart, DecryptUpdate, DecryptFinish + */ +EFrameworkunifiedStatus DecryptCleanup(void* ctx); + +/** + * \ingroup HashStart + * \~english @par Brief + * Initialize hash context information. + * \~english @param [in] hash_type + * enum HashType - Hash type. + * \~english @param [out] ctx + * void** - The hash information context handle. + * \~english @retval eFrameworkunifiedStatusOK : indicates success + * \~english @retval eFrameworkunifiedStatusFail : indicates the hardware/handle initialize fail or hardware I/O operation + * fail or hardware device busy or allocate context handle fail. + * \~english @retval eFrameworkunifiedStatusInvldParam : indicates parameter error. + * \~english @par Prerequisite + * - None. + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - If the parameter "hash_type" less than HASH_TYPE_MD5 + * or greater than HASH_TYPE_SHA512 [eFrameworkunifiedStatusInvldParam] + * - If the parameter "ctx" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the hardware/handle initialize failed [eFrameworkunifiedStatusFail] + * - If the hardware I/O operation failed [eFrameworkunifiedStatusFail] + * - If the hardware device is busy [eFrameworkunifiedStatusFail] + * - If ctx can not be allocated [eFrameworkunifiedStatusFail] + * \~english @par Detail + * - Initialize hash context information according to hash type. + * - If HashStart() was called successfully, HashCleanup() should be called + * to clean up hash context information. + * - The API can be used by multiple processes. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * HashUpdate, HashFinish, HashCleanup + */ +EFrameworkunifiedStatus HashStart(enum HashType hash_type, void** ctx); + +/** + * \ingroup HashUpdate + * \~english @par Brief + * Caculate hash value of input data. + * \~english @param [in] ctx + * void* - The hash information context handle. + * \~english @param [in] in + * const uint8_t* - The input data to be hashed. + * \~english @param [in] in_len + * uint32_t - The input buffer length + * \~english @retval eFrameworkunifiedStatusOK : indicates success + * \~english @retval eFrameworkunifiedStatusFail : indicates the hardware/handle initialize fail, hardware I/O operation fail, + * hardware device busy or allocate context handle fail. + * \~english @retval eFrameworkunifiedStatusInvldParam : indicates parameter error. + * \~english @par Prerequisite + * - HashStart() was called successfully. + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur + * \~english @par Conditions of processing failure + * - If the parameter "ctx" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the parameter "in" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the parameter "in_len" is 0 [eFrameworkunifiedStatusInvldParam] + * - If the hardware/handle init failed [eFrameworkunifiedStatusFail] + * - If the hardware I/O operation failed [eFrameworkunifiedStatusFail] + * - If the hardware device is busy [eFrameworkunifiedStatusFail] + * - If ctx can not be allocated [eFrameworkunifiedStatusFail] + * \~english @par Detail + * - Caculate hash value of input data. + * - The API can be used by multiple processes. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * HashStart, HashFinish, HashCleanup + */ +EFrameworkunifiedStatus HashUpdate(void* ctx, const uint8_t* in, uint32_t in_len); + +/** + * \ingroup HashFinish + * \~english @par Brief + * Caculate final message digest. + * \~english @param [in] ctx + * void* - The hash information context handle. + * \~english @param [out] out + * uint8_t* - The message digest after all input data had been hashed. + * \~english @param [in] out_len + * uint32_t - The output buffer length. + * \~english @param [out] true_length + * uint32_t* - The message digest length. + * \~english @retval eFrameworkunifiedStatusOK : indicates success + * \~english @retval eFrameworkunifiedStatusFail : indicates the hardware/handle initialize fail, hardware I/O operation fail, + * hardware device busy or allocate context handle fail. + * \~english @retval eFrameworkunifiedStatusInvldParam : indicates parameter error. + * \~english @par Prerequisite + * - HashStart() and HashUpdate() were called successfully. + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur + * \~english @par Conditions of processing failure + * - If the parameter "ctx" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the parameter "out" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the parameter "out_len" is 0 [eFrameworkunifiedStatusInvldParam] + * - If the parameter "true_length" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the hardware/handle init failed [eFrameworkunifiedStatusFail] + * - If the hardware I/O operation failed [eFrameworkunifiedStatusFail] + * - If the hardware device is busy [eFrameworkunifiedStatusFail] + * - If ctx can not be allocated [eFrameworkunifiedStatusFail] + * \~english @par Detail + * - Caculate final message digest. + * - The API can be used by multiple processes. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * HashStart, HashUpdate, HashCleanup + */ +EFrameworkunifiedStatus HashFinish(void* ctx, uint8_t* out, uint32_t out_len, uint32_t* true_length); + +/** + * \ingroup HashCleanup + * \~english @par Brief + * Clean up hash context information. + * \~english @param [in] ctx + * void* - The hash information context handle. + * \~english @retval eFrameworkunifiedStatusOK : indicates success + * \~english @retval eFrameworkunifiedStatusInvldParam : indicates parameter error. + * \~english @par Prerequisite + * - HashStart() was called successfully. + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur + * \~english @par Conditions of processing failure + * - If the parameter "ctx" is NULL [eFrameworkunifiedStatusInvldParam] + * \~english @par Detail + * - Clean up hash context information. + * - The API can be used by multiple processes. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * HashStart, HashUpdate, HashFinish + */ +EFrameworkunifiedStatus HashCleanup(void* ctx); + +/** + * \ingroup RandomInit + * \~english @par Brief + * Initialize random number context information. + * \~english @param [out] ctx + * void** - The random number information context handle. + * \~english @param [in] seed_buffer + * uint8_t* - The random number seed buffer. + * \~english @param [in] buffer_len + * uint32_t - The random number seed buffer length. + * \~english @retval eFrameworkunifiedStatusOK : indicates success + * \~english @retval eFrameworkunifiedStatusFail : indicates the hardware/handle initialize fail or hardware I/O operation + * fail or hardware device busy or allocate context handle fail. + * \~english @retval eFrameworkunifiedStatusInvldParam : indicates parameter error. + * \~english @par Prerequisite + * - None. + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - If the parameter "ctx" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the parameter "seed_buffer" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the parameter "buffer_len" is 0 [eFrameworkunifiedStatusInvldParam] + * - If the hardware/handle initialize failed [eFrameworkunifiedStatusFail] + * - If the hardware I/O operation failed [eFrameworkunifiedStatusFail] + * - If the hardware device is busy [eFrameworkunifiedStatusFail] + * - If ctx can not be allocated [eFrameworkunifiedStatusFail] + * \~english @par Detail + * - Initialize random number context information according to random number seed. + * - If RandomInit() was called successfully, RandomCleanup() should be called to + * clean up random number context information. If RandomInit() was called faild, + * RandomCleanup() must not be called. + * - The API can be used by multiple processes. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * RandomGet, RandomCleanup + */ +EFrameworkunifiedStatus RandomInit(void** ctx, uint8_t* seed_buffer, uint32_t buffer_len); + +/** + * \ingroup RandomGet + * \~english @par Brief + * Get random number. + * \~english @param [in] ctx + * void* - The random number information context handle. + * \~english @param [out] out + * uint8_t* - The random number that caculated by random number seed. + * \~english @param [in] out_len + * uint32_t - The output buffer length. + * \~english @param [out] true_length + * uint32_t* - The random number length. + * \~english @retval eFrameworkunifiedStatusOK : indicates success + * \~english @retval eFrameworkunifiedStatusFail : indicates the hardware/handle initialize fail, hardware I/O operation fail, + * hardware device busy or allocate context handle fail. + * \~english @retval eFrameworkunifiedStatusInvldParam : indicates parameter error. + * \~english @par Prerequisite + * - RandomInit() was called successfully. + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur + * \~english @par Conditions of processing failure + * - If the parameter "ctx" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the parameter "out" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the parameter "out_len" is 0 [eFrameworkunifiedStatusInvldParam] + * - If the parameter "true_length" is NULL [eFrameworkunifiedStatusInvldParam] + * - If the hardware/handle init failed [eFrameworkunifiedStatusFail] + * - If the hardware I/O operation failed [eFrameworkunifiedStatusFail] + * - If the hardware device is busy [eFrameworkunifiedStatusFail] + * - If ctx can not be allocated [eFrameworkunifiedStatusFail] + * \~english @par Detail + * - Get random number. + * - The API can be used by multiple processes. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * RandomInit, RandomCleanup + */ +EFrameworkunifiedStatus RandomGet(void* ctx, uint8_t* out, uint32_t out_len, uint32_t* true_length); + +/** + * \ingroup RandomCleanup + * \~english @par Brief + * Clean up random number context information. + * \~english @param [in] ctx + * void* - The random number information context handle. + * \~english @retval eFrameworkunifiedStatusOK : indicates success + * \~english @retval eFrameworkunifiedStatusInvldParam : indicates parameter error. + * \~english @par Prerequisite + * - RandomInit() was called successfully. + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur + * \~english @par Conditions of processing failure + * - If the parameter "ctx" is NULL [eFrameworkunifiedStatusInvldParam] + * \~english @par Detail + * - Clean up random number context information. + * - The API can be used by multiple processes. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * RandomInit, RandomGet + */ +EFrameworkunifiedStatus RandomCleanup(void* ctx); + +/** + * \ingroup ResetSecurityIC + * \~english @par Brief + * Security IC Reset. + * \~english @param none + * \~english @retval eFrameworkunifiedStatusOK : indicates success + * \~english @retval eFrameworkunifiedStatusFail : indicates the hardware initialize fail, hardware I/O operation fail, + * hardware device busy. + * \~english @par Prerequisite + * - None. + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur + * \~english @par Conditions of processing failure + * - If the hardware initialize failed [eFrameworkunifiedStatusFail] + * - If the hardware I/O operation failed [eFrameworkunifiedStatusFail] + * - If the hardware device is busy [eFrameworkunifiedStatusFail] + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @par Detail + * - Security IC Reset. + * - The API can be used by multiple processes. + * - This API does not cleanup context information when EncryptStart(), DecryptStart() or HashStart() is successfull. + * Use EncryptCleanup(), DecryptCleanup() or RandomCleanup() to cleanup context information. + * \~english @see + * None + */ +EFrameworkunifiedStatus ResetSecurityIC(void); + +/** @}*/ // end of security_hal +/** @}*/ // end of update_service + +#endif // HAL_API_SECURITY_HAL_H_ diff --git a/hal/security_hal/inc/security_hal_securityhallog.h b/hal/security_hal/inc/security_hal_securityhallog.h new file mode 100755 index 0000000..44de2ac --- /dev/null +++ b/hal/security_hal/inc/security_hal_securityhallog.h @@ -0,0 +1,76 @@ +/* + * @copyright Copyright (c) 2018-2020 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. + */ +#ifndef INC_SECURITY_HAL_SECURITYHALLOG_H_ +#define INC_SECURITY_HAL_SECURITYHALLOG_H_ + +#include <native_service/ns_logger_if.h> + +#define ZONE_INIT ZONEMASK(10) +#define ZONE_FUNC ZONEMASK(11) +#define ZONE_MEM ZONEMASK(12) +#define ZONE_13 ZONEMASK(13) +#define ZONE_14 ZONEMASK(14) +#define ZONE_15 ZONEMASK(15) +#define ZONE_16 ZONEMASK(16) +#define ZONE_17 ZONEMASK(17) +#define ZONE_18 ZONEMASK(18) +#define ZONE_19 ZONEMASK(19) +#define ZONE_20 ZONEMASK(20) +#define ZONE_21 ZONEMASK(21) +#define ZONE_22 ZONEMASK(22) +#define ZONE_23 ZONEMASK(23) +#define ZONE_24 ZONEMASK(24) +#define ZONE_25 ZONEMASK(25) +#define ZONE_26 ZONEMASK(26) +#define ZONE_27 ZONEMASK(27) +#define ZONE_28 ZONEMASK(28) +#define ZONE_INFO ZONEMASK(29) +#define ZONE_WARN ZONEMASK(30) +#define ZONE_ERR ZONEMASK(31) + +#define ZONE_TEXT_10 "Init" +#define ZONE_TEXT_11 "Function" +#define ZONE_TEXT_12 "Memory" +#define ZONE_TEXT_13 "" +#define ZONE_TEXT_14 "" +#define ZONE_TEXT_15 "" +#define ZONE_TEXT_16 "" +#define ZONE_TEXT_17 "" +#define ZONE_TEXT_18 "" +#define ZONE_TEXT_19 "" +#define ZONE_TEXT_20 "" +#define ZONE_TEXT_21 "" +#define ZONE_TEXT_22 "" +#define ZONE_TEXT_23 "" +#define ZONE_TEXT_24 "" +#define ZONE_TEXT_25 "" +#define ZONE_TEXT_26 "" +#define ZONE_TEXT_27 "" +#define ZONE_TEXT_28 "" +#define ZONE_TEXT_29 "Info" +#define ZONE_TEXT_30 "Warning" +#define ZONE_TEXT_31 "Error" + +#ifndef FRAMEWORKUNIFIEDLOGOPTIONS +#define FRAMEWORKUNIFIEDLOGOPTIONS (LSHAREDMEM) // LPRINT , LMSGQ, LSLOGGER +#endif + +#ifndef FRAMEWORKUNIFIEDLOGAPPZONES +#define FRAMEWORKUNIFIEDLOGAPPZONES ZONE_ERR, ZONE_WARN, ZONE_INFO +#endif + +extern const CHAR AppName[]; // NOLINT (defind outside) +#endif // INC_SECURITY_HAL_SECURITYHALLOG_H_ diff --git a/hal/security_hal/src/security_hal.cpp b/hal/security_hal/src/security_hal.cpp new file mode 100755 index 0000000..ee9f7ea --- /dev/null +++ b/hal/security_hal/src/security_hal.cpp @@ -0,0 +1,615 @@ +/* + * @copyright Copyright (c) 2018-2020 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. + */ +#include "security_hal.h" + +#include <errno.h> +#include <stdlib.h> +#include <string.h> + +#include "security_hal_securityhallog.h" + +#define MD5_DIGEST_LENGTH 16 // md5 digest length +#define SHA1_DIGEST_LENGTH 20 // sha1 digest length +#define SHA224_DIGEST_LENGTH 28 // sha224 digest length +#define SHA256_DIGEST_LENGTH 32 // sha256 digest length +#define SHA384_DIGEST_LENGTH 48 // sha384 digest length +#define SHA512_DIGEST_LENGTH 64 // sha512 digest length +#define BITS_PER_BYTE 8 // the number of bits per byte +#define KEY_SOURCE_SIZE_128 16 // the size of key source is 128 bits +#define KEY_SOURCE_SIZE_192 24 // the size of key source is 192 bits +#define KEY_SOURCE_SIZE_256 32 // the size of key source is 256 bits + +/** + * the max length of input buffer for RSA asymmetric encrypt or + * the minimum length of output buffer for RSA asymmetric decrypt + */ +#define RSA_PRIVATE_MAX_SIZE_BYTE \ + (RSA_PRIVATE_EXPONENT_MAX_SIZE/BITS_PER_BYTE - RSA_PADDING_MINIMUM_SIZE) + +/** + * cipher context information + */ +struct CipherContext { + enum CipherType cipher_type; + union CipherParameter cipher_parameter; + union KeyParam key_param; +}; + +/** + * hash context information + */ +struct HashContext { + enum HashType hash_type; +}; + +/** + * random number context information + */ +struct RandomContext { + uint8_t* seed_buffer; + uint32_t buffer_len; +}; + +bool CheckParameterVaildity(enum CipherType cipher_type, + union CipherParameter* param, union KeyParam* key) { + if (SYMMETRIC_CIPHER_AES == cipher_type) { + // check cipher mode for symmetric encrypt/decrypt + if (SYMMETRIC_CIPHER_MODE_BLOCK_ECB != param->symmetric.mode && + SYMMETRIC_CIPHER_MODE_BLOCK_CBC != param->symmetric.mode && + SYMMETRIC_CIPHER_MODE_BLOCK_CFB != param->symmetric.mode && + SYMMETRIC_CIPHER_MODE_BLOCK_OFB != param->symmetric.mode) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "don't support the cipher mode for AES symmetric encrypt/decrypt"); + return false; + } + // check cipher block size for AES symmetric encrypt/decrypt + if (SYMMETRIC_CIPHER_BLOCK_SIZE_16 != param->symmetric.block_size) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "don't support the block size for AES symmetric encrypt/decrypt"); + return false; + } + // check cipher key type for AES symmetric encrypt/decrypt + if (SYMMETRIC_CIPHER_KEY_TYPE_MANAGED != key->symmetric.key_type && + SYMMETRIC_CIPHER_KEY_TYPE_USER != key->symmetric.key_type) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "don't support the cipher key type for AES symmetric encrypt/decrypt"); + return false; + } + if (SYMMETRIC_CIPHER_KEY_TYPE_MANAGED == key->symmetric.key_type) { + // check cipher rounds for AES symmetric encrypt/decrypt + if (SYMMETRIC_CIPHER_ROUND_10 != param->symmetric.round && + SYMMETRIC_CIPHER_ROUND_12 != param->symmetric.round && + SYMMETRIC_CIPHER_ROUND_14 != param->symmetric.round) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "don't support the cipher round for AES symmetric encrypt/decrypt"); + return false; + } + } else { + // check parameter of key provided by user for AES symmetric encrypt/decrypt + if (NULL == key->symmetric.key_param.user_key.key) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "user_key.key is NULL"); + return false; + } + if (KEY_SOURCE_SIZE_128 == key->symmetric.key_param.user_key.key_len) { + if (SYMMETRIC_CIPHER_ROUND_10 != param->symmetric.round) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "cipher round should be 10 if key len is 128 bits"); + return false; + } + } else if (KEY_SOURCE_SIZE_192 == key->symmetric.key_param.user_key.key_len) { + if (SYMMETRIC_CIPHER_ROUND_12 != param->symmetric.round) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "cipher round should be 12 if key len is 192 bits"); + return false; + } + } else if (KEY_SOURCE_SIZE_256 == key->symmetric.key_param.user_key.key_len) { + if (SYMMETRIC_CIPHER_ROUND_14 != param->symmetric.round) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "cipher round should be 14 if key len is 256 bits"); + return false; + } + } else { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "key len should be 128, 192 or 256 bits for AES symmetric encrypt/decrypt"); + return false; + } + if (SYMMETRIC_CIPHER_MODE_BLOCK_ECB != param->symmetric.mode) { + if (NULL == key->symmetric.key_param.user_key.iv) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "user_key.iv is NULL"); + return false; + } + if (key->symmetric.key_param.user_key.iv_len != param->symmetric.block_size) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "user_key.iv_len is not equal to block size for AES symmetric encrypt/decrypt"); + return false; + } + } + } + } else if (ASYMMETRIC_CIPHER_RSA == cipher_type) { + // check the padding mode for RSA asymmetric encrypt/decrypt + if (ASYMMETRIC_PADDING_MODE_RSA_PKCS1 != param->asymmetric.mode && + ASYMMETRIC_PADDING_MODE_RSA_SSLV23 != param->asymmetric.mode && + ASYMMETRIC_PADDING_MODE_RSA_NOPADDING != param->asymmetric.mode && + ASYMMETRIC_PADDING_MODE_RSA_OAEP != param->asymmetric.mode && + ASYMMETRIC_PADDING_MODE_RSA_PSS != param->asymmetric.mode) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "don't support the cipher mode for asymmetric encrypt/decrypt"); + return false; + } + // check cipher key type for RSA asymmetric encrypt/decrypt + if (ASYMMETRIC_CIPHER_KEY_TYPE_MANAGED != key->asymmetric.key_type && + ASYMMETRIC_CIPHER_KEY_TYPE_USER_PUBLIC != key->asymmetric.key_type && + ASYMMETRIC_CIPHER_KEY_TYPE_USER_PRIVATE != key->asymmetric.key_type) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "don't support the cipher key type for asymmetric encrypt/decrypt"); + return false; + } + if (ASYMMETRIC_CIPHER_KEY_TYPE_USER_PUBLIC == key->asymmetric.key_type) { + // check parameter of public key provided by user for RSA asymmetric encrypt/decrypt + if (NULL == key->asymmetric.key_param.user_key.public_key) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "public_key is NULL"); + return false; + } + if (RSA_PUBLIC_EXPONENT_MAX_SIZE < + key->asymmetric.key_param.user_key.public_key->rsa.e_length || + RSA_MODULUS_MAX_SIZE < + key->asymmetric.key_param.user_key.public_key->rsa.n_length) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "e_length or n_length is too large, e_length:%d, n_length:%d", + key->asymmetric.key_param.user_key.public_key->rsa.e_length, + key->asymmetric.key_param.user_key.public_key->rsa.n_length); + return false; + } + } else if (ASYMMETRIC_CIPHER_KEY_TYPE_USER_PRIVATE == key->asymmetric.key_type) { + // check parameter of key provided by user for RSA asymmetric encrypt/decrypt + if (NULL == key->asymmetric.key_param.user_key.private_key) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "private_key is NULL"); + return false; + } + if (RSA_PRIVATE_EXPONENT_MAX_SIZE < + key->asymmetric.key_param.user_key.private_key->rsa.d_length || + RSA_MODULUS_MAX_SIZE < + key->asymmetric.key_param.user_key.private_key->rsa.n_length) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "d_length or n_length is too large, d_length:%d, n_length:%d", + key->asymmetric.key_param.user_key.private_key->rsa.d_length, + key->asymmetric.key_param.user_key.private_key->rsa.n_length); + return false; + } + } + } else { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "the cipher_type isn't support"); + return false; + } + return true; +} + +// Initialize the encrypt context information +EFrameworkunifiedStatus EncryptStart(enum CipherType cipher_type, union CipherParameter* param, + union KeyParam* key, void** ctx) { + if (SYMMETRIC_CIPHER_AES != cipher_type && ASYMMETRIC_CIPHER_RSA != cipher_type) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "the cipher_type isn't support"); + return eFrameworkunifiedStatusInvldParam; + } + if (NULL == param || NULL == key || NULL == ctx) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "param, key or ctx is NULL, param:%p key:%p ctx:%p", param, key, ctx); + return eFrameworkunifiedStatusInvldParam; + } + bool ret = CheckParameterVaildity(cipher_type, param, key); + if (true != ret) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "parameter error"); + return eFrameworkunifiedStatusInvldParam; + } + + void* ctx_temp = malloc(sizeof(CipherContext)); + if (NULL == ctx_temp) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Failed to malloc %lu byte for ctx, errno=%d", + sizeof(CipherContext), errno); + return eFrameworkunifiedStatusFail; + } + memset(ctx_temp, 0, sizeof(CipherContext)); + CipherContext* pcipher_context = reinterpret_cast<CipherContext*>(ctx_temp); + pcipher_context->cipher_type = cipher_type; + pcipher_context->cipher_parameter = *param; + pcipher_context->key_param = *key; + *ctx = ctx_temp; + return eFrameworkunifiedStatusOK; +} + +// Encrypt plaintext information +EFrameworkunifiedStatus EncryptUpdate(void* ctx, const uint8_t* in, uint32_t in_len, + uint8_t* out, uint32_t out_len, uint32_t* true_length) { + if (NULL == ctx || NULL == in || NULL == out || NULL == true_length) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "ctx, in, out or true_length is NULL, ctx:%p in:%p out:%p true_length:%p", + ctx, in, out, true_length); + return eFrameworkunifiedStatusInvldParam; + } + if (0 == in_len) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "in_len is equal to 0"); + return eFrameworkunifiedStatusInvldParam; + } + + CipherContext* pcipher_context = reinterpret_cast<CipherContext*>(ctx); + if (SYMMETRIC_CIPHER_AES == pcipher_context->cipher_type) { // symmetric encrypt + uint32_t block_size = pcipher_context->cipher_parameter.symmetric.block_size; + if (out_len < in_len + block_size) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "out_len is less than in_len plus block_size"); + return eFrameworkunifiedStatusInvldParam; + } + memcpy(out, in, in_len); + *true_length = in_len; + } else if (ASYMMETRIC_CIPHER_RSA == pcipher_context->cipher_type) { // asymmetric encrypt + if (RSA_PRIVATE_MAX_SIZE_BYTE < in_len) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "in_len is greater than RSA_PRIVATE_MAX_SIZE_BYTE"); + return eFrameworkunifiedStatusInvldParam; + } + if (RSA_PRIVATE_EXPONENT_MAX_SIZE/BITS_PER_BYTE > out_len) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "out_len is less than RSA_PRIVATE_EXPONENT_MAX_SIZE/BITS_PER_BYTE"); + return eFrameworkunifiedStatusInvldParam; + } + // out_len is greater than in_len + memcpy(out, in, in_len); + *true_length = in_len; + } else { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "the cipher_type isn't support, cipher_type:%d", pcipher_context->cipher_type); + return eFrameworkunifiedStatusInvldParam; + } + + return eFrameworkunifiedStatusOK; +} + +// Encrypt the final plaintext information +EFrameworkunifiedStatus EncryptFinish(void* ctx, uint8_t* out, uint32_t out_len, uint32_t* true_length) { + if (NULL == ctx) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "ctx is NULL"); + return eFrameworkunifiedStatusInvldParam; + } + CipherContext* pcipher_context = reinterpret_cast<CipherContext*>(ctx); + if (SYMMETRIC_CIPHER_AES == pcipher_context->cipher_type) { // symmetric encrypt + if (NULL == out || NULL == true_length) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "out or true_length is NULL, out:%p true_length:%p", out, true_length); + return eFrameworkunifiedStatusInvldParam; + } + uint32_t block_size = pcipher_context->cipher_parameter.symmetric.block_size; + if (out_len < block_size) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "out_len is less than block_size"); + return eFrameworkunifiedStatusInvldParam; + } + if (true == pcipher_context->cipher_parameter.symmetric.to_pad) { + // Padding on, the true_length is equal to block_size. + *true_length = block_size; + } else { + // Padding off, true_length is equal to 0. + *true_length = 0; + } + } else if (ASYMMETRIC_CIPHER_RSA == pcipher_context->cipher_type) { + // EncryptFinish is useless for RSA asymmetric encrypt. So do nothing. + } else { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "the cipher_type isn't support, cipher_type:%d", pcipher_context->cipher_type); + return eFrameworkunifiedStatusInvldParam; + } + return eFrameworkunifiedStatusOK; +} + +// Clean up encrypt context information +EFrameworkunifiedStatus EncryptCleanup(void* ctx) { + if (NULL == ctx) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "ctx is NULL"); + return eFrameworkunifiedStatusInvldParam; + } + memset(ctx, 0, sizeof(CipherContext)); + free(ctx); + return eFrameworkunifiedStatusOK; +} + +// Initialize the decrypt context information +EFrameworkunifiedStatus DecryptStart(enum CipherType cipher_type, union CipherParameter* param, + union KeyParam *key, void** ctx) { + if (SYMMETRIC_CIPHER_AES != cipher_type && ASYMMETRIC_CIPHER_RSA != cipher_type) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "the cipher_type isn't support"); + return eFrameworkunifiedStatusInvldParam; + } + if (NULL == param || NULL == key || NULL == ctx) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "param, key or ctx is NULL, param:%p key:%p ctx:%p", param, key, ctx); + return eFrameworkunifiedStatusInvldParam; + } + bool ret = CheckParameterVaildity(cipher_type, param, key); + if (true != ret) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "parameter error"); + return eFrameworkunifiedStatusInvldParam; + } + + void* ctx_temp = malloc(sizeof(CipherContext)); + if (NULL == ctx_temp) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Failed to malloc %lu byte for ctx, errno=%d", + sizeof(CipherContext), errno); + return eFrameworkunifiedStatusFail; + } + memset(ctx_temp, 0, sizeof(CipherContext)); + CipherContext* pcipher_context = reinterpret_cast<CipherContext*>(ctx_temp); + pcipher_context->cipher_type = cipher_type; + pcipher_context->cipher_parameter = *param; + pcipher_context->key_param = *key; + *ctx = ctx_temp; + return eFrameworkunifiedStatusOK; +} + +// Decrypt ciphertext information +EFrameworkunifiedStatus DecryptUpdate(void* ctx, const uint8_t* in, uint32_t in_len, + uint8_t* out, uint32_t out_len, uint32_t* true_length) { + if (NULL == ctx || NULL == in || NULL == out || NULL == true_length) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "ctx, in, out or true_length is NULL, ctx:%p in:%p out:%p true_length:%p", + ctx, in, out, true_length); + return eFrameworkunifiedStatusInvldParam; + } + + CipherContext* pcipher_context = reinterpret_cast<CipherContext*>(ctx); + if (SYMMETRIC_CIPHER_AES == pcipher_context->cipher_type) { // symmetric decrypt + if (0 == in_len) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "in_len is equal to 0"); + return eFrameworkunifiedStatusInvldParam; + } + uint32_t block_size = pcipher_context->cipher_parameter.symmetric.block_size; + if (out_len < in_len + block_size) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "out_len is less than in_len plus block_size"); + return eFrameworkunifiedStatusInvldParam; + } + memcpy(out, in, in_len); + *true_length = in_len; + } else if (ASYMMETRIC_CIPHER_RSA == pcipher_context->cipher_type) { // asymmetric decrypt + if (RSA_PRIVATE_EXPONENT_MAX_SIZE/BITS_PER_BYTE != in_len) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "in_len isn't equal to RSA_PRIVATE_EXPONENT_MAX_SIZE/BITS_PER_BYTE"); + return eFrameworkunifiedStatusInvldParam; + } + if (SHA256_DIGEST_LENGTH > out_len) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "out_len is less than SHA256_DIGEST_LENGTH"); + return eFrameworkunifiedStatusInvldParam; + } + memcpy(out, in, SHA256_DIGEST_LENGTH); + *true_length = SHA256_DIGEST_LENGTH; + } else { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "the cipher_type isn't support, cipher_type:%d", pcipher_context->cipher_type); + return eFrameworkunifiedStatusInvldParam; + } + + return eFrameworkunifiedStatusOK; +} + +// Decrypt the final ciphertext information +EFrameworkunifiedStatus DecryptFinish(void* ctx, uint8_t* out, uint32_t out_len, uint32_t* true_length) { + if (NULL == ctx) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "ctx is NULL"); + return eFrameworkunifiedStatusInvldParam; + } + CipherContext* pcipher_context = reinterpret_cast<CipherContext*>(ctx); + if (SYMMETRIC_CIPHER_AES == pcipher_context->cipher_type) { // symmetric encrypt + if (NULL == out || NULL == true_length) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "out or true_length is NULL, out:%p true_length:%p", out, true_length); + return eFrameworkunifiedStatusInvldParam; + } + uint32_t block_size = pcipher_context->cipher_parameter.symmetric.block_size; + if (out_len < block_size) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "out_len is less than block_size"); + return eFrameworkunifiedStatusInvldParam; + } + if (true == pcipher_context->cipher_parameter.symmetric.to_pad) { + // Padding on, the true_length is equal to block_size - padding_length. Because security_hal + // is stub implement, padding_length is unknown. Set true_length to 0. + *true_length = 0; + } else { + // Padding off, true_length is equal to 0. + *true_length = 0; + } + } else if (ASYMMETRIC_CIPHER_RSA == pcipher_context->cipher_type) { + // EncryptFinish is useless for RSA asymmetric decrypt. So do nothing. + } else { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "the cipher_type isn't support, cipher_type:%d", pcipher_context->cipher_type); + return eFrameworkunifiedStatusInvldParam; + } + return eFrameworkunifiedStatusOK; +} + +// Clean up decrypt context information +EFrameworkunifiedStatus DecryptCleanup(void* ctx) { + if (NULL == ctx) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "ctx is NULL"); + return eFrameworkunifiedStatusInvldParam; + } + memset(ctx, 0, sizeof(CipherContext)); + free(ctx); + return eFrameworkunifiedStatusOK; +} + +// Initialize hash context information +EFrameworkunifiedStatus HashStart(enum HashType hash_type, void** ctx) { + if (HASH_TYPE_MD5 > hash_type || HASH_TYPE_SHA512 < hash_type) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "the hash_type isn't support"); + return eFrameworkunifiedStatusInvldParam; + } + if (NULL == ctx) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "ctx is NULL"); + return eFrameworkunifiedStatusInvldParam; + } + void* ctx_temp = malloc(sizeof(HashContext)); + if (NULL == ctx_temp) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Failed to malloc %lu byte for ctx, errno=%d", + sizeof(HashContext), errno); + return eFrameworkunifiedStatusFail; + } + memset(ctx_temp, 0, sizeof(HashContext)); + HashContext* phash_context = reinterpret_cast<HashContext*>(ctx_temp); + phash_context->hash_type = hash_type; + *ctx = ctx_temp; + return eFrameworkunifiedStatusOK; +} + +// Caculate hash value of input data +EFrameworkunifiedStatus HashUpdate(void* ctx, const uint8_t* in, uint32_t in_len) { + if (NULL == ctx || NULL == in) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "ctx or in is NULL, ctx:%p in:%p", ctx, in); + return eFrameworkunifiedStatusInvldParam; + } + if (0 == in_len) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "in_len is equal to 0"); + return eFrameworkunifiedStatusInvldParam; + } + return eFrameworkunifiedStatusOK; +} + +// Caculate final message digest +EFrameworkunifiedStatus HashFinish(void* ctx, uint8_t* out, uint32_t out_len, uint32_t* true_length) { + if (NULL == ctx || NULL == out || NULL == true_length) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "ctx, out or true_length is NULL, ctx:%p out:%p true_length:%p", + ctx, out, true_length); + return eFrameworkunifiedStatusInvldParam; + } + HashContext* phash_context = reinterpret_cast<HashContext*>(ctx); + uint32_t digest_length = 0; + switch (phash_context->hash_type) { + case HASH_TYPE_MD5: + digest_length = HASH_TYPE_MD5; + break; + case HASH_TYPE_SHA1: + digest_length = SHA1_DIGEST_LENGTH; + break; + case HASH_TYPE_SHA224: + digest_length = SHA224_DIGEST_LENGTH; + break; + case HASH_TYPE_SHA256: + digest_length = SHA256_DIGEST_LENGTH; + break; + case HASH_TYPE_SHA384: + digest_length = SHA384_DIGEST_LENGTH; + break; + case HASH_TYPE_SHA512: + digest_length = SHA512_DIGEST_LENGTH; + break; + default: + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "the hash_type isn't support, hash_type:%d", phash_context->hash_type); + return eFrameworkunifiedStatusInvldParam; + } + if (out_len < digest_length) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "out_len is less than %u", digest_length); + return eFrameworkunifiedStatusInvldParam; + } + memset(out, 0x00, digest_length); + *true_length = digest_length; + return eFrameworkunifiedStatusOK; +} + +// Clean up hash context information +EFrameworkunifiedStatus HashCleanup(void* ctx) { + if (NULL == ctx) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "ctx is NULL"); + return eFrameworkunifiedStatusInvldParam; + } + memset(ctx, 0, sizeof(HashContext)); + free(ctx); + return eFrameworkunifiedStatusOK; +} + +// Initialize random number context information +EFrameworkunifiedStatus RandomInit(void** ctx, uint8_t* seed_buffer, uint32_t buffer_len) { + if (NULL == ctx || NULL == seed_buffer) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "ctx or seed_buffer is NULL, ctx:%p seed_buffer:%p", ctx, seed_buffer); + return eFrameworkunifiedStatusInvldParam; + } + if (0 == buffer_len) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "buffer_len is equal to 0"); + return eFrameworkunifiedStatusInvldParam; + } + void* ctx_temp = malloc(sizeof(RandomContext)); + if (NULL == ctx_temp) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Failed to malloc %lu byte for ctx, errno=%d", + sizeof(RandomContext), errno); + return eFrameworkunifiedStatusFail; + } + memset(ctx_temp, 0, sizeof(RandomContext)); + RandomContext* prandom_context = reinterpret_cast<RandomContext*>(ctx_temp); + prandom_context->seed_buffer = reinterpret_cast<uint8_t*>(malloc(buffer_len)); + if (NULL == prandom_context->seed_buffer) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Failed to malloc %d byte for seed_buffer, errno=%d", + buffer_len, errno); + free(ctx_temp); + ctx_temp = NULL; + return eFrameworkunifiedStatusFail; + } + memcpy(prandom_context->seed_buffer, seed_buffer, buffer_len); + prandom_context->buffer_len = buffer_len; + *ctx = ctx_temp; + return eFrameworkunifiedStatusOK; +} + +// Get random number +EFrameworkunifiedStatus RandomGet(void* ctx, uint8_t* out, uint32_t out_len, uint32_t* true_length) { + if (NULL == ctx || NULL == out || NULL == true_length) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "ctx, out or true_length is NULL, ctx:%p out:%p true_length:%p", + ctx, out, true_length); + return eFrameworkunifiedStatusInvldParam; + } + if (0 == out_len) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "out_len is equal to 0"); + return eFrameworkunifiedStatusInvldParam; + } + // Because security_hal is stub implement, don't assignment value to out or true_length. + return eFrameworkunifiedStatusOK; +} + +// Clean up random number context information +EFrameworkunifiedStatus RandomCleanup(void* ctx) { + if (NULL == ctx) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "ctx is NULL"); + return eFrameworkunifiedStatusInvldParam; + } + RandomContext* prandom_context; + prandom_context = reinterpret_cast<RandomContext*>(ctx); + if (NULL != prandom_context->seed_buffer) { + memset(prandom_context->seed_buffer, 0, prandom_context->buffer_len); + free(prandom_context->seed_buffer); + prandom_context->seed_buffer = NULL; + } + memset(prandom_context, 0, sizeof(RandomContext)); + free(prandom_context); + prandom_context = NULL; + return eFrameworkunifiedStatusOK; +} + +// Reset Security IC +EFrameworkunifiedStatus ResetSecurityIC(void) { + /* + * Note. + * This feature needs to be implemented by the vendor. + */ + return eFrameworkunifiedStatusOK; +} diff --git a/hal/soc_temperature_hal/LICENSE b/hal/soc_temperature_hal/LICENSE new file mode 100755 index 0000000..f433b1a --- /dev/null +++ b/hal/soc_temperature_hal/LICENSE @@ -0,0 +1,177 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS diff --git a/hal/soc_temperature_hal/Makefile b/hal/soc_temperature_hal/Makefile new file mode 100755 index 0000000..fa30b35 --- /dev/null +++ b/hal/soc_temperature_hal/Makefile @@ -0,0 +1,66 @@ +# +# @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. +# + +######### installed program/file ################ +TARGET := libsoc_temperature_hal.so + +HEADER := hal_api/soc_temperature_hal.h + +######### include paths/files ################### +CXXFLAGS := -I./inc/ +CXXFLAGS += -I./hal_api/ +CXXFLAGS += -I$(SDKTARGETSYSROOT)/usr/agl/include +CXXFLAGS += -include $(SDKTARGETSYSROOT)/usr/agl/include/agl_types_obsoluted.h + +######### compile options ####################### +CXXFLAGS += -Wall -fPIC + +######### link options ########################## +LDFLAGS += -shared +LDFLAGS += -Wl,--no-as-needed +LDFLAGS += -Wl,--no-undefined +LDFLAGS += -L$(SDKTARGETSYSROOT)/usr/agl/lib + +RPATH := + +######### linked library ######################## +LIBS += -Wl,-Bdynamic -lstdc++ +LIBS += -Wl,-Bdynamic -lNS_FrameworkUnified + +######### source files ########################## +VPATH := src +OBJS := soc_temperature_hal.o + +######### make targets ########################## +all: $(TARGET) + @echo $@ done. + +$(TARGET): $(OBJS) + $(CC) $(LDFLAGS) -Wl,-rpath=$(RPATH) $(OBJS) $(LIBS) -o $(TARGET) + @echo $@ done. + +######### make cleans ########################### +GCNO_FILES := $(filter %.gcno,$(OBJS:%.o=%.gcno)) + +clean: + rm -f $(OBJS) $(TARGET) $(GCNO_FILES) + @echo $@ done. + +######### make installs ######################### +install: + install -d -m 0755 $(DESTDIR)/usr/lib + install -m 0755 $(TARGET) $(DESTDIR)/usr/lib + @echo $@ done. diff --git a/hal/soc_temperature_hal/hal_api/soc_temperature_hal.h b/hal/soc_temperature_hal/hal_api/soc_temperature_hal.h new file mode 100755 index 0000000..16c5f6d --- /dev/null +++ b/hal/soc_temperature_hal/hal_api/soc_temperature_hal.h @@ -0,0 +1,89 @@ +/* + * @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 soc_temperature_hal.h + */ + +#ifndef HAL_API_SOC_TEMPERATURE_HAL_H_ +#define HAL_API_SOC_TEMPERATURE_HAL_H_ + +#include <native_service/frameworkunified_types.h> + +/** @addtogroup soc_temperature_hal + * @{ + */ + +#ifdef __cplusplus +extern "C" { +#endif // __cplusplus + +/** + * \ingroup GetSoCTemperature + * \~english @par Brief + * Get SoC temperature value(unit:celsius). + * \~english @param [out] temperature + * float* - degree celsius + * \~english @retval eFrameworkunifiedStatusOK Success + * \~english @retval eFrameworkunifiedStatusNullPointer NULL pointer specified + * \~english @retval eFrameworkunifiedStatusFail Abnormal Error (system error) + * \~english @par Prerequisite + * - The SoC has temperature sensor, and the thermal driver is available. + * \~english @par Change of internal state + * - Change of internal state according to the API does not occur. + * \~english @par Conditions of processing failure + * - Parameter temperature is NULL[eFrameworkunifiedStatusNullPointer] + * - System error(open/read/close failed)[eFrameworkunifiedStatusFail] + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @par Detail + * - Get SoC temperature value. + * - On success eFrameworkunifiedStatusOK is returned and the parameter temperature is set. + * - Not eFrameworkunifiedStatusOK is returned if an error occurred. + * - Return value shall be checked before temperature is refered. + * - Sample code: + * @code + * #include <stdio.h> + * #include <stdlib.h> + * #include <soc_temperature_hal.h> + * #include <native_service/frameworkunified_types.h> + * + * int main(int argc, char *argv[]) { + * float temperature = 0.0f; + * EFrameworkunifiedStatus status = GetSoCTemperature(&temperature); + * if (status != eFrameworkunifiedStatusOK) { + * printf("Get SoC temperature failed\n"); + * exit(EXIT_FAILURE); + * } + * printf("SoC temperature: %f\n", temperature); + * exit(EXIT_SUCCESS); + * } + * @endcode + * \~english @see + * - None + */ +EFrameworkunifiedStatus GetSoCTemperature(float* temperature); + +#ifdef __cplusplus +} +#endif // __cplusplus + +/** @}*/ // end of soc_temperature_hal + +#endif // HAL_API_SOC_TEMPERATURE_HAL_H_ + diff --git a/hal/soc_temperature_hal/inc/soc_temperature_hal_soctemperaturehallog.h b/hal/soc_temperature_hal/inc/soc_temperature_hal_soctemperaturehallog.h new file mode 100755 index 0000000..6e256e8 --- /dev/null +++ b/hal/soc_temperature_hal/inc/soc_temperature_hal_soctemperaturehallog.h @@ -0,0 +1,75 @@ +/* + * @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. + */ +#ifndef INC_SOC_TEMPERATURE_HAL_SOCTEMPERATUREHALLOG_H_ +#define INC_SOC_TEMPERATURE_HAL_SOCTEMPERATUREHALLOG_H_ + +#include <native_service/ns_logger_if.h> + +#define ZONE_INIT ZONEMASK(10) +#define ZONE_FUNC ZONEMASK(11) +#define ZONE_MEM ZONEMASK(12) +#define ZONE_13 ZONEMASK(13) +#define ZONE_14 ZONEMASK(14) +#define ZONE_15 ZONEMASK(15) +#define ZONE_16 ZONEMASK(16) +#define ZONE_17 ZONEMASK(17) +#define ZONE_18 ZONEMASK(18) +#define ZONE_19 ZONEMASK(19) +#define ZONE_20 ZONEMASK(20) +#define ZONE_21 ZONEMASK(21) +#define ZONE_22 ZONEMASK(22) +#define ZONE_23 ZONEMASK(23) +#define ZONE_24 ZONEMASK(24) +#define ZONE_25 ZONEMASK(25) +#define ZONE_26 ZONEMASK(26) +#define ZONE_27 ZONEMASK(27) +#define ZONE_28 ZONEMASK(28) +#define ZONE_INFO ZONEMASK(29) +#define ZONE_WARN ZONEMASK(30) +#define ZONE_ERR ZONEMASK(31) + +#define ZONE_TEXT_10 "Init" +#define ZONE_TEXT_11 "Function" +#define ZONE_TEXT_12 "Memory" +#define ZONE_TEXT_13 "" +#define ZONE_TEXT_14 "" +#define ZONE_TEXT_15 "" +#define ZONE_TEXT_16 "" +#define ZONE_TEXT_17 "" +#define ZONE_TEXT_18 "" +#define ZONE_TEXT_19 "" +#define ZONE_TEXT_20 "" +#define ZONE_TEXT_21 "" +#define ZONE_TEXT_22 "" +#define ZONE_TEXT_23 "" +#define ZONE_TEXT_24 "" +#define ZONE_TEXT_25 "" +#define ZONE_TEXT_26 "" +#define ZONE_TEXT_27 "" +#define ZONE_TEXT_28 "" +#define ZONE_TEXT_29 "Info" +#define ZONE_TEXT_30 "Warning" +#define ZONE_TEXT_31 "Error" + +#ifndef FRAMEWORKUNIFIEDLOGOPTIONS +#define FRAMEWORKUNIFIEDLOGOPTIONS (LSHAREDMEM) // LPRINT , LMSGQ, LSLOGGER +#endif + +#ifndef FRAMEWORKUNIFIEDLOGAPPZONES +#define FRAMEWORKUNIFIEDLOGAPPZONES ZONE_ERR, ZONE_WARN, ZONE_INFO +#endif + +#endif // INC_SOC_TEMPERATURE_HAL_SOCTEMPERATUREHALLOG_H_ diff --git a/hal/soc_temperature_hal/src/soc_temperature_hal.cpp b/hal/soc_temperature_hal/src/soc_temperature_hal.cpp new file mode 100755 index 0000000..33b96ee --- /dev/null +++ b/hal/soc_temperature_hal/src/soc_temperature_hal.cpp @@ -0,0 +1,106 @@ +/* + * @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. + */ +#include "soc_temperature_hal.h" + +#include <errno.h> +#include <fcntl.h> +#include <stdlib.h> +#include <string.h> +#include <unistd.h> +#include "soc_temperature_hal_soctemperaturehallog.h" + +#define MAX_TEMPERATURE_FROM_DRIVER_LENGTH (9) // 9bytes can content -999999\n\0 - 9999999\n\0 (unit:millicelsius) +#define DECIMAL (10) +#define THERMAL_ZONE0_TEMPERATURE_PATH "/sys/class/thermal/thermal_zone0/temp" +#define THERMAL_ZONE1_TEMPERATURE_PATH "/sys/class/thermal/thermal_zone1/temp" +#define THERMAL_ZONE2_TEMPERATURE_PATH "/sys/class/thermal/thermal_zone2/temp" + +EFrameworkunifiedStatus GetCoreTemperature(int64_t* temperature, const char* node_path) { + if ((NULL == temperature) || (NULL == node_path)) { + return eFrameworkunifiedStatusNullPointer; + } + + char sz_temperature[MAX_TEMPERATURE_FROM_DRIVER_LENGTH] = { 0 }; + + // read temperature + int fd = open(node_path, O_RDONLY); + if (0 > fd) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "open error(%d,%s)", errno, strerror(errno)); + return eFrameworkunifiedStatusFail; + } + + ssize_t ret = read(fd, sz_temperature, MAX_TEMPERATURE_FROM_DRIVER_LENGTH - 1); + int read_error = errno; + close(fd); + if (-1 == ret) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "read error(%d,%s)", read_error, strerror(read_error)); + return eFrameworkunifiedStatusFail; + } + + errno = 0; + int64_t temp = strtol(sz_temperature, NULL, DECIMAL); + if (errno) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "strtol error(%d,%s)", errno, strerror(errno)); + return eFrameworkunifiedStatusFail; + } + + *temperature = temp; + return eFrameworkunifiedStatusOK; +} + +// Get SoC temperature value. +EFrameworkunifiedStatus GetSoCTemperature(float *temperature) { + if (NULL == temperature) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "parameter *temperature is null"); + return eFrameworkunifiedStatusNullPointer; + } + + // Get temperature from thermal_zone0 + int64_t temperature0 = 0; + EFrameworkunifiedStatus e_status = GetCoreTemperature(&temperature0, THERMAL_ZONE0_TEMPERATURE_PATH); + if (eFrameworkunifiedStatusOK != e_status) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "get temperature0 failed"); + return eFrameworkunifiedStatusFail; + } + + // Get temperature from thermal_zone1 + int64_t temperature1 = 0; + e_status = GetCoreTemperature(&temperature1, THERMAL_ZONE1_TEMPERATURE_PATH); + if (eFrameworkunifiedStatusOK != e_status) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "get temperature1 failed"); + return eFrameworkunifiedStatusFail; + } + + // Get temperature from thermal_zone2 + int64_t temperature2 = 0; + e_status = GetCoreTemperature(&temperature2, THERMAL_ZONE2_TEMPERATURE_PATH); + if (eFrameworkunifiedStatusOK != e_status) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "get temperature2 failed"); + return eFrameworkunifiedStatusFail; + } + + // get max temperature + int64_t max_temperature = temperature0; + if (max_temperature < temperature1) { + max_temperature = temperature1; + } + if (max_temperature < temperature2) { + max_temperature = temperature2; + } + + *temperature = max_temperature / 1000.0f; + return eFrameworkunifiedStatusOK; +} diff --git a/hal/update_hal/LICENSE b/hal/update_hal/LICENSE new file mode 100755 index 0000000..f433b1a --- /dev/null +++ b/hal/update_hal/LICENSE @@ -0,0 +1,177 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. 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If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS diff --git a/hal/update_hal/Makefile b/hal/update_hal/Makefile new file mode 100755 index 0000000..8accb94 --- /dev/null +++ b/hal/update_hal/Makefile @@ -0,0 +1,34 @@ +# +# @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. +# + +######### installed program/file ################ +HEADER = hal_api/update_hal.h + +.PHONY:all + +######### make targets ########################## +all: + @echo $@ done. + +######### make cleans ########################### +clean: + @echo $@ done. + +######### make installs ######################### +install: + install -d -m 0755 $(DESTDIR)/usr/include + install -m 0644 $(HEADER) $(DESTDIR)/usr/include + @echo $@ done. diff --git a/hal/update_hal/hal_api/update_hal.h b/hal/update_hal/hal_api/update_hal.h new file mode 100755 index 0000000..92da9d7 --- /dev/null +++ b/hal/update_hal/hal_api/update_hal.h @@ -0,0 +1,165 @@ +/* + * @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. + */ + +/////////////////////////////////////////////////////////////////////////////// +/// \brief This file provides support for Software Download. +/// +/////////////////////////////////////////////////////////////////////////////// + +/** + * @file update_hal.h + */ + +/** @addtogroup update_service + * @{ + */ +/** @addtogroup update_hal + * @ingroup update_service + * @{ + */ + +#ifndef INCLUDE_UPDATE_HAL_H_ +#define INCLUDE_UPDATE_HAL_H_ +#include <stdint.h> + +/* status of VUP_COMPLETE */ +#define VUP_SUCCESS 0 //!< \~english Success +#define VUP_FAIL 1 //!< \~english Failed + +/* Inter process command codes */ + +/** +* \~english Start all updates\n +* Command ID that the user specifies when requesting update_hal to start all updates \n +* This command should be sent using the interface_unified FrameworkunifiedSendMsg. \n +* In this case, specify updater as the destination and UpdateDataInfo as the datatype. +* \~english @attention Do not send this command from multiple processes or threads at the same time. +*/ +#define VUP_REQ_VUPSTART 205 + +/** +* \~english Start differential update\n +* Command ID that the user specifies when requesting incremental update start from update_hal \n +* This command should be sent using the interface_unified FrameworkunifiedSendMsg. \n +* In this case, specify updater as the destination and UpdateDataInfo as the datatype. +* \~english @attention Do not send this command from multiple processes or threads at the same time. +*/ +#define VUP_REQ_DIFFVUPSTART 209 + +/** +* \~english Copy of the updated side\n +* Command ID that the user specifies when requesting update_hal to copy the update plane \n +* This command should be sent using the interface_unified FrameworkunifiedSendMsg. \n +* In this case, specify updater as the destination and UpdateDataInfo as the datatype. +* \~english @attention Do not send this command from multiple processes or threads at the same time. +*/ +#define VUP_REQ_COPY 216 + +/** +* \~english Cancel update\n +* Command ID that the user specifies when requesting update_hal to cancel the update \n +* This command should be sent using the interface_unified FrameworkunifiedSendMsg. \n +* At this time, specify updater as the destination. +* \~english @attention Do not send this command from multiple processes or threads at the same time. +*/ +#define VUP_REQ_CANCEL 207 + +/** +* \~english Update cancellation completion notice\n +* Command ID that notifies the user that update cancellation processing has been completed from update_hal \n +* When receiving the event of this command, +* Use of interfaces provided by interface_unified (such as FrameworkunifiedAttachCallbackToDispatcher) +* \~english @attention Do not send this command from multiple processes or threads at the same time. +*/ +#define VUP_RES_CANCEL 208 + +/** +* \~english Progress status notification\n +* Command ID that notifies the update progress status from update_hal to the user \n +* When receiving the event of this command, +* Use of interfaces provided by interface_unified (such as FrameworkunifiedAttachCallbackToDispatcher) +* \~english @attention Do not send this command from multiple processes or threads at the same time. +*/ +#define VUP_PROGRESS 203 + +/** +* \~english Update completion notice\n +* Command ID that notifies the end of update from update_hal to the user \n +* When receiving the event of this command, +* Use of interfaces provided by interface_unified (such as FrameworkunifiedAttachCallbackToDispatcher) +* \~english @attention Do not send this command from multiple processes or threads at the same time. +*/ +#define VUP_COMPLETE 204 + +#define UPDATE_START_TYPE_UPDATE 1 //!< \~english Type of Update +#define UPDATE_START_TYPE_VERIFY 2 //!< \~english Type of Verification + +/* Data format of request to updater to exec update(UpdateService -> updater) */ +// Formate is: +// num_of_fileset x 1 : UI_32 +// fileset x N : UpdateDataInfo(struct) x N +#define KWI_MAX_MOD_FPATH 128 //!< \~english Max file path of module in Detailed info +#define VUP_MAX_KWI_FNAME (KWI_MAX_MOD_FPATH+1) //!< \~english 129 Max size of the string which to save the file path +#define KWI_SIZE_HASH 32 //!< \~english HashSize length +#define VUP_MAX_KWI_DETAIL 15 //!< \~english Max file path of Data infos + +/** +* \~english Structure for starts update external update +*/ +typedef struct _UpdateDataInfo { + UI_32 ID; /*!< \~english ID originated by 0(ROOTFS:0, BOOT:1)*/ + char filename[VUP_MAX_KWI_FNAME]; /*!< \~english source file(device) name(fullpath)*/ + char srcname[VUP_MAX_KWI_FNAME]; /*!< \~english source file(device) name in diff update(fullpath)*/ + char destname[VUP_MAX_KWI_FNAME]; /*!< \~english destinamtion file(device) name(fullpath)*/ + UI_64 offset; /*!< \~english offset of source file*/ + UI_64 seek; /*!< \~english seek of destination file*/ + UI_32 size; /*!< \~english size of data*/ + char src_hash[KWI_SIZE_HASH]; /*!< \~english Original Data Hash(for diff update only)*/ + char dst_hash[KWI_SIZE_HASH]; /*!< \~english Restored Data Hash*/ + UI_32 num_of_div; /*!< \~english Num of Detail files*/ + UI_64 mod_offset; /*!< \~english offset of module in KWI file*/ + UI_64 div_offset; /*!< \~english offset of divide header in KWI file*/ +} UpdateDataInfo; + +/** +* \~english List of structure for starts update external update +*/ +typedef struct _UpdateDataInfos { + UI_32 units; /*!< \~english Num of Data Info*/ + UpdateDataInfo info[VUP_MAX_KWI_DETAIL]; /*!< \~english Data Infos*/ +} UpdateDataInfos; + +/** +* \~english Structure for notify update complete +*/ +typedef union _ResUpdCompletion { + // for Normal/SYS Updater + struct { + UI_32 type; /*!< \~english type*/ + UI_32 status; /*!< \~english result*/ + } inner; + // for Outer Updater + struct { + UI_32 status; /*!< \~english result*/ + UI_32 need_reboot; /*!< \~english Whether it is necessary to reboot system.*/ + } outer; +} ResUpdCompletion; + + +/** @}*/ // end of update_hal +/** @}*/ // end of update_service + +#endif // INCLUDE_UPDATE_HAL_H_ diff --git a/hal/update_hal/include/update_hal.h b/hal/update_hal/include/update_hal.h new file mode 100755 index 0000000..92da9d7 --- /dev/null +++ b/hal/update_hal/include/update_hal.h @@ -0,0 +1,165 @@ +/* + * @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. + */ + +/////////////////////////////////////////////////////////////////////////////// +/// \brief This file provides support for Software Download. +/// +/////////////////////////////////////////////////////////////////////////////// + +/** + * @file update_hal.h + */ + +/** @addtogroup update_service + * @{ + */ +/** @addtogroup update_hal + * @ingroup update_service + * @{ + */ + +#ifndef INCLUDE_UPDATE_HAL_H_ +#define INCLUDE_UPDATE_HAL_H_ +#include <stdint.h> + +/* status of VUP_COMPLETE */ +#define VUP_SUCCESS 0 //!< \~english Success +#define VUP_FAIL 1 //!< \~english Failed + +/* Inter process command codes */ + +/** +* \~english Start all updates\n +* Command ID that the user specifies when requesting update_hal to start all updates \n +* This command should be sent using the interface_unified FrameworkunifiedSendMsg. \n +* In this case, specify updater as the destination and UpdateDataInfo as the datatype. +* \~english @attention Do not send this command from multiple processes or threads at the same time. +*/ +#define VUP_REQ_VUPSTART 205 + +/** +* \~english Start differential update\n +* Command ID that the user specifies when requesting incremental update start from update_hal \n +* This command should be sent using the interface_unified FrameworkunifiedSendMsg. \n +* In this case, specify updater as the destination and UpdateDataInfo as the datatype. +* \~english @attention Do not send this command from multiple processes or threads at the same time. +*/ +#define VUP_REQ_DIFFVUPSTART 209 + +/** +* \~english Copy of the updated side\n +* Command ID that the user specifies when requesting update_hal to copy the update plane \n +* This command should be sent using the interface_unified FrameworkunifiedSendMsg. \n +* In this case, specify updater as the destination and UpdateDataInfo as the datatype. +* \~english @attention Do not send this command from multiple processes or threads at the same time. +*/ +#define VUP_REQ_COPY 216 + +/** +* \~english Cancel update\n +* Command ID that the user specifies when requesting update_hal to cancel the update \n +* This command should be sent using the interface_unified FrameworkunifiedSendMsg. \n +* At this time, specify updater as the destination. +* \~english @attention Do not send this command from multiple processes or threads at the same time. +*/ +#define VUP_REQ_CANCEL 207 + +/** +* \~english Update cancellation completion notice\n +* Command ID that notifies the user that update cancellation processing has been completed from update_hal \n +* When receiving the event of this command, +* Use of interfaces provided by interface_unified (such as FrameworkunifiedAttachCallbackToDispatcher) +* \~english @attention Do not send this command from multiple processes or threads at the same time. +*/ +#define VUP_RES_CANCEL 208 + +/** +* \~english Progress status notification\n +* Command ID that notifies the update progress status from update_hal to the user \n +* When receiving the event of this command, +* Use of interfaces provided by interface_unified (such as FrameworkunifiedAttachCallbackToDispatcher) +* \~english @attention Do not send this command from multiple processes or threads at the same time. +*/ +#define VUP_PROGRESS 203 + +/** +* \~english Update completion notice\n +* Command ID that notifies the end of update from update_hal to the user \n +* When receiving the event of this command, +* Use of interfaces provided by interface_unified (such as FrameworkunifiedAttachCallbackToDispatcher) +* \~english @attention Do not send this command from multiple processes or threads at the same time. +*/ +#define VUP_COMPLETE 204 + +#define UPDATE_START_TYPE_UPDATE 1 //!< \~english Type of Update +#define UPDATE_START_TYPE_VERIFY 2 //!< \~english Type of Verification + +/* Data format of request to updater to exec update(UpdateService -> updater) */ +// Formate is: +// num_of_fileset x 1 : UI_32 +// fileset x N : UpdateDataInfo(struct) x N +#define KWI_MAX_MOD_FPATH 128 //!< \~english Max file path of module in Detailed info +#define VUP_MAX_KWI_FNAME (KWI_MAX_MOD_FPATH+1) //!< \~english 129 Max size of the string which to save the file path +#define KWI_SIZE_HASH 32 //!< \~english HashSize length +#define VUP_MAX_KWI_DETAIL 15 //!< \~english Max file path of Data infos + +/** +* \~english Structure for starts update external update +*/ +typedef struct _UpdateDataInfo { + UI_32 ID; /*!< \~english ID originated by 0(ROOTFS:0, BOOT:1)*/ + char filename[VUP_MAX_KWI_FNAME]; /*!< \~english source file(device) name(fullpath)*/ + char srcname[VUP_MAX_KWI_FNAME]; /*!< \~english source file(device) name in diff update(fullpath)*/ + char destname[VUP_MAX_KWI_FNAME]; /*!< \~english destinamtion file(device) name(fullpath)*/ + UI_64 offset; /*!< \~english offset of source file*/ + UI_64 seek; /*!< \~english seek of destination file*/ + UI_32 size; /*!< \~english size of data*/ + char src_hash[KWI_SIZE_HASH]; /*!< \~english Original Data Hash(for diff update only)*/ + char dst_hash[KWI_SIZE_HASH]; /*!< \~english Restored Data Hash*/ + UI_32 num_of_div; /*!< \~english Num of Detail files*/ + UI_64 mod_offset; /*!< \~english offset of module in KWI file*/ + UI_64 div_offset; /*!< \~english offset of divide header in KWI file*/ +} UpdateDataInfo; + +/** +* \~english List of structure for starts update external update +*/ +typedef struct _UpdateDataInfos { + UI_32 units; /*!< \~english Num of Data Info*/ + UpdateDataInfo info[VUP_MAX_KWI_DETAIL]; /*!< \~english Data Infos*/ +} UpdateDataInfos; + +/** +* \~english Structure for notify update complete +*/ +typedef union _ResUpdCompletion { + // for Normal/SYS Updater + struct { + UI_32 type; /*!< \~english type*/ + UI_32 status; /*!< \~english result*/ + } inner; + // for Outer Updater + struct { + UI_32 status; /*!< \~english result*/ + UI_32 need_reboot; /*!< \~english Whether it is necessary to reboot system.*/ + } outer; +} ResUpdCompletion; + + +/** @}*/ // end of update_hal +/** @}*/ // end of update_service + +#endif // INCLUDE_UPDATE_HAL_H_ diff --git a/hal/usb_hal/LICENSE b/hal/usb_hal/LICENSE new file mode 100755 index 0000000..f433b1a --- /dev/null +++ b/hal/usb_hal/LICENSE @@ -0,0 +1,177 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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+ * 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 usb_hal.h + * @brief usb_hal API + */ + +#ifndef HAL_API_USB_HAL_H_ +#define HAL_API_USB_HAL_H_ + +#include "native_service/frameworkunified_types.h" + +/** @addtogroup device_detection_service + * @{ + */ +/** @addtogroup usb_hal + * @ingroup device_detection_service + * @{ + */ + +/** + * \~english Definition of Host/Function mode of USB OTG port. + */ +enum UsbRoleType { + /** + * \~english Host mode + */ + USB_ROLE_HOST = 0, + /** + * \~english Function mode + */ + USB_ROLE_FUNCTION, +}; + +/** + * \ingroup GetUsbRoleSwitch + * \~english @par Brief + * Get USB role + * \~english @param [out] usb_role + * UsbRoleType* - USB role + * \~english @retval eFrameworkunifiedStatusOK OK + * \~english @retval eFrameworkunifiedStatusNullPointer NULL Pointer + * \~english @retval eFrameworkunifiedStatusFail Abnormal Error + * \~english @par Prerequisite + * - When State value is "status faile", Can not get host/funtcion mode of USB OTG port. + * \~english @par Change of internal state + * - None. + * \~english @par Conditions of processing failure + * - Input parameter error + * - eFrameworkunifiedStatusNullPointer + * - Internal process error(open/read) + * - eFrameworkunifiedStatusFail + * - Internal process error(State value is "status faile") + * - eFrameworkunifiedStatusFail + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @par Detail + * - Get Host/Funtcion mode of USB OTG port. + * - The API can not be used by multiple processes, threads at the same time. + * \~english @see SetUsbRoleSwitch + */ +EFrameworkunifiedStatus GetUsbRoleSwitch(UsbRoleType* usb_role); + +/** + * \ingroup SetUsbRoleSwitch + * \~english @par Brief + * Set USB role. + * \~english @param [in] usb_role + * UsbRoleType - USB role + * \~english @retval eFrameworkunifiedStatusOK OK + * \~english @retval eFrameworkunifiedStatusInvldParam Invalid Parameter + * \~english @retval eFrameworkunifiedStatusFail Abnormal Error + * \~english @par Prerequisite + * - When State value is "status faile", Can not set host/funtcion mode of USB OTG port. + * \~english @par Change of internal state + * - Change "USB role is host mode"or"USB role is host mode" + * \~english @par Conditions of processing failure + * - Input parameter error + * - eFrameworkunifiedStatusInvldParam + * - Internal process error(open/read/write) + * - eFrameworkunifiedStatusFail + * - Internal process error(State value is "status faile") + * - eFrameworkunifiedStatusFail + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @par Detail + * - Set Host/Funtcion mode of USB OTG port. + * - The API can not be used by multiple processes, threads at the same time. + * \~english @see GetUsbRoleSwitch + */ +EFrameworkunifiedStatus SetUsbRoleSwitch(UsbRoleType usb_role); + +/** + * \~english USB authentication error information + */ +enum UsbAuthenticationError { + /** + * \~english USB authentication no error + */ + USB_AUTHENTICATION_ERROR_NONE = 0, + /** + * \~english The connected device has no response + */ + USB_AUTHENTICATION_ERROR_ENUMERATE, + /** + * \~english The device connected to bus-powered HUB is overcurrent + */ + USB_AUTHENTICATION_ERROR_HUB_OVERCURRENT, + /** + * \~english HUB tier levels + */ + USB_AUTHENTICATION_ERROR_HUB_TIER_LEVELS, + /** + * \~english The number of connected devices is more than supported + */ + USB_AUTHENTICATION_ERROR_CONNECTION_EXCESS +}; + +/** + * \ingroup CheckUsbAuthenticationError + * \~english @par Brief + * Check USB authentication error + * \~english @param [out] usb_auth_error + * UsbAuthenticationError* - USB authentication error + * \~english @retval eFrameworkunifiedStatusOK OK + * \~english @retval eFrameworkunifiedStatusNullPointer NULL Pointer + * \~english @retval eFrameworkunifiedStatusFail Abnormal Error + * \~english @par Prerequisite + * - When State value is "status faile", Can not check USB authentication error . + * \~english @par Change of internal state + * - None. + * \~english @par Conditions of processing failure + * - Input parameter error + * - eFrameworkunifiedStatusNullPointer + * - Internal process error(open/read) + * - eFrameworkunifiedStatusFail + * - Internal process error(State value is "status faile") + * - eFrameworkunifiedStatusFail + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @par Detail + * - Check USB authentication error information. + * - The API can not be used by multiple processes, threads at the same time. + * \~english @see None. + */ +EFrameworkunifiedStatus CheckUsbAuthenticationError(UsbAuthenticationError* usb_auth_error); + +/** + * \~english Definition of USB port number. + * - The USB port number is defined according to the RefHW, + * modification will be necessary if there's any change about USB port. + */ +enum UsbPortNumber { + /** + * \~english USB0(IF-BOX) + */ + USB_PORT_NUMBER_0 = 0, + /** + * \~english USB1(DCM) + */ + USB_PORT_NUMBER_1, + /** + * \~english USB2(DSRC/ETC) + */ + USB_PORT_NUMBER_2, + /** + * \~english USB3(External deck) + */ + USB_PORT_NUMBER_3, + /** + * \~english USB4(Drive recorder) + */ + USB_PORT_NUMBER_4, + /** + * \~english Maximum of USB port number. + */ + USB_PORT_NUMBER_MAX +}; + +/** + * \ingroup ResetUsbVbus + * \~english @par Brief + * USB VBus Reset. + * \~english @param [in] usb_port_no + * UsbPortNumber - USB port number + * \~english @retval eFrameworkunifiedStatusOK OK + * \~english @retval eFrameworkunifiedStatusInvldParam Invalid Parameter + * \~english @retval eFrameworkunifiedStatusFail Abnormal Error + * \~english @par Prerequisite + * - When State value is "status faile", Can not USB VBus reset . + * \~english @par Change of internal state + * - "USB power ON" from the "USB power OFF". + * \~english @par Conditions of processing failure + * - Input parameter error + * - eFrameworkunifiedStatusInvldParam + * - Internal process error(open/read/write) + * - eFrameworkunifiedStatusFail + * - Internal process error(State value is "status faile") + * - eFrameworkunifiedStatusFail + * - Not change internal state. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @par Detail + * - USB VBus Reset. + * - The API is a block I/F which costs a while due to the sleep time between power off and power on. + * - The API can not be used by multiple processes, threads at the same time. + * \~english @see IsUsbPortPowered, PowerOnUsbPort, PowerOffUsbPort + */ +EFrameworkunifiedStatus ResetUsbVbus(UsbPortNumber usb_port_no); + +/** + * \ingroup IsUsbPortPowered + * \~english @par Brief + * Check the power state of USB port. + * \~english @param [in] usb_port_no + * UsbPortNumber - USB port number + * \~english @param [out] is_powered + * bool*\n + * - true : Power is on + * - false : Power is off + * \~english @retval eFrameworkunifiedStatusOK OK + * \~english @retval eFrameworkunifiedStatusInvldParam Invalid Parameter + * \~english @retval eFrameworkunifiedStatusNullPointer NULL Pointer + * \~english @retval eFrameworkunifiedStatusFail Abnormal Error + * \~english @par Prerequisite + * - None. + * \~english @par Change of internal state + * - None. + * \~english @par Conditions of processing failure + * - Input parameter error + * - eFrameworkunifiedStatusInvldParam + * - eFrameworkunifiedStatusNullPointer + * - Internal process error(open/read) + * - eFrameworkunifiedStatusFail + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @par Detail + * - Check the power state of USB port. + * - The API can not be used by multiple processes, threads at the same time. + * \~english @see ResetUsbVbus, PowerOnUsbPort, PowerOffUsbPort + */ +EFrameworkunifiedStatus IsUsbPortPowered(UsbPortNumber usb_port_no, bool* is_powered); + +/** + * \ingroup PowerOnUsbPort + * \~english @par Brief + * Power on USB port. + * \~english @param [in] usb_port_no + * UsbPortNumber - USB port number + * \~english @retval eFrameworkunifiedStatusOK OK + * \~english @retval eFrameworkunifiedStatusInvldParam Invalid Parameter + * \~english @retval eFrameworkunifiedStatusFail Abnormal Error + * \~english @par Prerequisite + * - When State value is "status faile", Can not power on USB port. + * \~english @par Change of internal state + * - Change state "USB power on" + * \~english @par Conditions of processing failure + * - Input parameter error + * - eFrameworkunifiedStatusInvldParam + * - Internal process error(open/read/write) + * - eFrameworkunifiedStatusFail + * - Internal process error(State value is "status faile") + * - eFrameworkunifiedStatusFail + * - Not change internal state. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @par Detail + * - Power on USB port. + * - The API can not be used by multiple processes, threads at the same time. + * \~english @see ResetUsbVbus, IsUsbPortPowered, PowerOffUsbPort + */ +EFrameworkunifiedStatus PowerOnUsbPort(UsbPortNumber usb_port_no); + +/** + * \ingroup PowerOffUsbPort + * \~english @par Brief + * Power off USB port. + * \~english @param [in] usb_port_no + * UsbPortNumber - USB port number + * \~english @retval eFrameworkunifiedStatusOK OK + * \~english @retval eFrameworkunifiedStatusInvldParam Invalid Parameter + * \~english @retval eFrameworkunifiedStatusFail Abnormal Error + * \~english @par Prerequisite + * - None. + * \~english @par Change of internal state + * - Change state "USB power off" + * \~english @par Conditions of processing failure + * - Input parameter error + * - eFrameworkunifiedStatusInvldParam + * - Internal process error(open/read/write) + * - eFrameworkunifiedStatusFail + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @par Detail + * - Power off USB port. + * - The API can not be used by multiple processes, threads at the same time. + * \~english @see ResetUsbVbus, IsUsbPortPowered, PowerOnUsbPort + */ +EFrameworkunifiedStatus PowerOffUsbPort(UsbPortNumber usb_port_no); + +/** + * \~english USB abnormal status + */ +enum UsbAbnormalStatus { + /** + * \~english USB is not abnormal + */ + USB_ABNORMAL_STATUS_NONE = 0, + /** + * \~english USB is overcurrent + */ + USB_ABNORMAL_STATUS_OVERCURRENT +}; + +/** + * \ingroup CheckUsbAbnormalStatus + * \~english @par Brief + * Check the abnormal status of USB port + * \~english @param [in] usb_port_no + * UsbPortNumber - USB port number + * \~english @param [out] usb_abnormal_status + * UsbAbnormalStatus* - USB abnormal status + * \~english @retval eFrameworkunifiedStatusOK OK + * \~english @retval eFrameworkunifiedStatusInvldParam Invalid Parameter + * \~english @retval eFrameworkunifiedStatusNullPointer NULL Pointer + * \~english @retval eFrameworkunifiedStatusFail Abnormal Error + * \~english @par Prerequisite + * - None. + * \~english @par Change of internal state + * - change state "usb port status faile" or "usb port status ok". + * \~english @par Conditions of processing failure + * - Input parameter error + * - eFrameworkunifiedStatusInvldParam + * - eFrameworkunifiedStatusNullPointer + * - Internal process error(open/read) + * - eFrameworkunifiedStatusFail + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @par Detail + * - Check the abnormal status of USB port, including overcurrent and so on. + * - The API can not be used by multiple processes, threads at the same time. + * \~english @see None. + */ +EFrameworkunifiedStatus CheckUsbAbnormalStatus(UsbPortNumber usb_port_no, UsbAbnormalStatus* usb_abnormal_status); + +/** @}*/ // end of usb_hal +/** @}*/ // end of device_detection_service + +#endif // HAL_API_USB_HAL_H_ diff --git a/hal/usb_hal/inc/usb_hal_debug.h b/hal/usb_hal/inc/usb_hal_debug.h new file mode 100755 index 0000000..15b307a --- /dev/null +++ b/hal/usb_hal/inc/usb_hal_debug.h @@ -0,0 +1,31 @@ +/* + * @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. + */ + +#ifndef INC_USB_HAL_DEBUG_H_ +#define INC_USB_HAL_DEBUG_H_ + +#include "usb_hal_usbhallog.h" + +/* Log output control flag */ +#define USB_LOG_ENABLE_ERROR /* Error log */ + +#ifdef USB_LOG_ENABLE_ERROR +#define USB_ERROR_LOG(fmt, ...) FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, fmt, ##__VA_ARGS__) +#else +#define USB_ERROR_LOG(fmt, ...) +#endif + +#endif // INC_USB_HAL_DEBUG_H_ diff --git a/hal/usb_hal/inc/usb_hal_internal.h b/hal/usb_hal/inc/usb_hal_internal.h new file mode 100755 index 0000000..86c3905 --- /dev/null +++ b/hal/usb_hal/inc/usb_hal_internal.h @@ -0,0 +1,165 @@ +/* + * @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. + */ + +#ifndef INC_USB_HAL_INTERNAL_H_ +#define INC_USB_HAL_INTERNAL_H_ + +#define FILE_CONTENT_LENGTH (32) +#define FILE_PATH_LENGTH (128) + +/** + * USB role file + */ +#define USB_ROLE_FILE "/sys/devices/platform/soc/ee080200.usb-phy/role" + +/** + * USB host value + */ +#define USB_HOST_STRING "host\n" + +/** + * USB function value + */ +#define USB_FUNCTION_STRING "peripheral\n" + +/** + * gpio high value + */ +const char kUsbGpioHighValue = '1'; + +/** + * gpio low value + */ +const char kUsbGpioLowValue = '0'; + +/** + * gpio export file + */ +const char kUsbGpioExportFile[] = "/sys/class/gpio/export"; + +/** + * gpio file prefix + */ +const char kUsbGpioFilePrefix[] = "/sys/class/gpio/gpio"; + +/** + * gpio direction file + */ +const char kUsbGpioDirectionFile[] = "/direction"; + +/** + * gpio direction in + */ +const char kUsbGpioDirectionIn[] = "in"; + +/** + * gpio direction out high + */ +const char kUsbGpioDirectionHigh[] = "high"; + +/** + * gpio direction out low + */ +const char kUsbGpioDirectionLow[] = "low"; + +/** + * gpio value file + */ +const char kUsbGpioValueFile[] = "/value"; + +/** + * structure of USB role switch information + */ +struct UsbRoleSwitchInfo { + const char* file_path; //!< USB role switch file path + const char* usb_host_value; //!< USB host value + const char* usb_function_value; //!< USB function value +}; + +/** + * USB gpio port definition + */ +enum UsbGpioPort { + USB_GPIO_PORT_USB0_PWEN = 0, //!< USB0 power enable + USB_GPIO_PORT_USB1_PWEN, //!< USB1 power enable + USB_GPIO_PORT_USB2_PWEN, //!< USB2 power enable + USB_GPIO_PORT_USB0_OVC, //!< USB0 overcurrent + USB_GPIO_PORT_USB1_OVC, //!< USB1 overcurrent + USB_GPIO_PORT_USB2_OVC, //!< USB2 overcurrent + USB_GPIO_PORT_MAX +}; + +/** + * USB gpio port value definition + */ +enum GpioPortValue { + GPIO_PORT_OFF = 0, //!< gpio port on + GPIO_PORT_ON //!< gpio port off +}; + +/** + * Length for USB gpio port name + */ +#define USB_PORT_NAME_LENGTH (8) + +/** + * USB gpio port information + */ +struct UsbGpioPortInfo { + bool active_low; //!< active low or high + bool is_output; //!< direction output or input + const char* port_name; //!< gpio port name + char default_value; //!< output port default value (high or low) +}; + +/** + * USB gpio port config table + */ +const char kUsbGpioPortNameUsb0Pwen[] = "375"; +const char kUsbGpioPortNameUsb1Pwen[] = "387"; +const char kUsbGpioPortNameUsb2Pwen[] = "389"; +const char kUsbGpioPortNameUsb0Ovc[] = "376"; +const char kUsbGpioPortNameUsb1Ovc[] = "388"; +const char kUsbGpioPortNameUsb2Ovc[] = "390"; + +const UsbGpioPortInfo kUsbGpioInfo[] = { + { false, true, kUsbGpioPortNameUsb0Pwen, kUsbGpioHighValue }, + { false, true, kUsbGpioPortNameUsb1Pwen, kUsbGpioHighValue }, + { false, true, kUsbGpioPortNameUsb2Pwen, kUsbGpioHighValue }, + { false, false, kUsbGpioPortNameUsb0Ovc, kUsbGpioLowValue }, + { false, false, kUsbGpioPortNameUsb1Ovc, kUsbGpioLowValue }, + { false, false, kUsbGpioPortNameUsb2Ovc, kUsbGpioLowValue } +}; + +/** + * gpio port list of USB power enable + */ +const UsbGpioPort kUsbPowerEnableGpio[] = { + USB_GPIO_PORT_USB0_PWEN, + USB_GPIO_PORT_USB1_PWEN, + USB_GPIO_PORT_USB2_PWEN +}; + +/** + * gpio port list of USB overcurrent + */ +const UsbGpioPort kUsbOvercurrentGpio[] = { + USB_GPIO_PORT_USB0_OVC, + USB_GPIO_PORT_USB1_OVC, + USB_GPIO_PORT_USB2_OVC +}; + +#endif // INC_USB_HAL_INTERNAL_H_ diff --git a/hal/usb_hal/inc/usb_hal_usbhallog.h b/hal/usb_hal/inc/usb_hal_usbhallog.h new file mode 100755 index 0000000..53c0a6b --- /dev/null +++ b/hal/usb_hal/inc/usb_hal_usbhallog.h @@ -0,0 +1,77 @@ +/* + * @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. + */ + +#ifndef INC_USB_HAL_USBHALLOG_H_ +#define INC_USB_HAL_USBHALLOG_H_ + +#include <native_service/ns_logger_if.h> + +#define ZONE_INIT ZONEMASK(10) +#define ZONE_FUNC ZONEMASK(11) +#define ZONE_MEM ZONEMASK(12) +#define ZONE_13 ZONEMASK(13) +#define ZONE_14 ZONEMASK(14) +#define ZONE_15 ZONEMASK(15) +#define ZONE_16 ZONEMASK(16) +#define ZONE_17 ZONEMASK(17) +#define ZONE_18 ZONEMASK(18) +#define ZONE_19 ZONEMASK(19) +#define ZONE_20 ZONEMASK(20) +#define ZONE_21 ZONEMASK(21) +#define ZONE_22 ZONEMASK(22) +#define ZONE_23 ZONEMASK(23) +#define ZONE_24 ZONEMASK(24) +#define ZONE_25 ZONEMASK(25) +#define ZONE_26 ZONEMASK(26) +#define ZONE_27 ZONEMASK(27) +#define ZONE_28 ZONEMASK(28) +#define ZONE_INFO ZONEMASK(29) +#define ZONE_WARN ZONEMASK(30) +#define ZONE_ERR ZONEMASK(31) + +#define ZONE_TEXT_10 "Init" +#define ZONE_TEXT_11 "Function" +#define ZONE_TEXT_12 "Memory" +#define ZONE_TEXT_13 "" +#define ZONE_TEXT_14 "" +#define ZONE_TEXT_15 "" +#define ZONE_TEXT_16 "" +#define ZONE_TEXT_17 "" +#define ZONE_TEXT_18 "" +#define ZONE_TEXT_19 "" +#define ZONE_TEXT_20 "" +#define ZONE_TEXT_21 "" +#define ZONE_TEXT_22 "" +#define ZONE_TEXT_23 "" +#define ZONE_TEXT_24 "" +#define ZONE_TEXT_25 "" +#define ZONE_TEXT_26 "" +#define ZONE_TEXT_27 "" +#define ZONE_TEXT_28 "" +#define ZONE_TEXT_29 "Info" +#define ZONE_TEXT_30 "Warning" +#define ZONE_TEXT_31 "Error" + +#ifndef FRAMEWORKUNIFIEDLOGOPTIONS +#define FRAMEWORKUNIFIEDLOGOPTIONS (LSHAREDMEM) // LPRINT , LMSGQ, LSLOGGER +#endif + +#ifndef FRAMEWORKUNIFIEDLOGAPPZONES +#define FRAMEWORKUNIFIEDLOGAPPZONES ZONE_ERR, ZONE_WARN, ZONE_INFO +#endif + +extern const CHAR AppName[]; // NOLINT (defind outside) +#endif // INC_USB_HAL_USBHALLOG_H_ diff --git a/hal/usb_hal/src/usb_hal.cpp b/hal/usb_hal/src/usb_hal.cpp new file mode 100755 index 0000000..7e09ad4 --- /dev/null +++ b/hal/usb_hal/src/usb_hal.cpp @@ -0,0 +1,500 @@ +/* + * @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. + */ + +/* + * Information. + * This source code is a sample source code . + * Implementation of the function must be performed by the vendor. + */ + +#include "usb_hal.h" +#include "usb_hal_internal.h" +#include "usb_hal_debug.h" +#include <sys/types.h> +#include <sys/stat.h> +#include <fcntl.h> +#include <string.h> +#include <unistd.h> +#include <errno.h> +#include <stdio.h> + +/** + * USB role switch information table + */ +const UsbRoleSwitchInfo kUsbRoleSwitchTable = {USB_ROLE_FILE, USB_HOST_STRING, USB_FUNCTION_STRING}; + +/** + * Read content of USB role switch file, then determine HOST/FUNCTION role + * according to the specified HOST/FUNCTION value. + */ +static EFrameworkunifiedStatus GetUsbRoleType(const char* file_path, const char* usb_host_value, const char* usb_function_value, + UsbRoleType* usb_role) { + if (!file_path || !usb_host_value || !usb_function_value || !usb_role) { + USB_ERROR_LOG("parameter is NULL."); + return eFrameworkunifiedStatusFail; + } + + // 1. open role switch file + int fd = open(file_path, O_RDONLY); + if (-1 == fd) { + USB_ERROR_LOG("open [%s] failed.(%d, %s)", file_path, errno, strerror(errno)); + return eFrameworkunifiedStatusFail; + } + + // 2. read file content + char file_content[FILE_CONTENT_LENGTH]; + memset(file_content, 0, sizeof(file_content)); + ssize_t ret = read(fd, file_content, sizeof(file_content) - 1); + int read_error = errno; + + // 3. close file + close(fd); + + if (-1 == ret) { + USB_ERROR_LOG("read failed.(%d, %s)", read_error, strerror(read_error)); + return eFrameworkunifiedStatusFail; + } + + // 4. compare file content to HOST/FUNCTION value + if (!strcmp(usb_host_value, file_content)) { + *usb_role = USB_ROLE_HOST; + } else if (!strcmp(usb_function_value, file_content)) { + *usb_role = USB_ROLE_FUNCTION; + } else { + USB_ERROR_LOG("content error.[%s]", file_content); + return eFrameworkunifiedStatusFail; + } + + return eFrameworkunifiedStatusOK; +} + +/** + * Write the specified role value to USB role switch file. + */ +static EFrameworkunifiedStatus SetUsbRoleValue(const char* file_path, const char* role_value) { + if (!file_path || !role_value) { + USB_ERROR_LOG("parameter is NULL."); + return eFrameworkunifiedStatusFail; + } + + // 1. open role switch file + int fd = open(file_path, O_WRONLY | O_TRUNC); + if (-1 == fd) { + USB_ERROR_LOG("open [%s] failed.(%d, %s)", file_path, errno, strerror(errno)); + return eFrameworkunifiedStatusFail; + } + + // 2. write role file + ssize_t ret = write(fd, role_value, strlen(role_value)); + int write_error = errno; + + // 3. close file + close(fd); + + // 4. check write result + if (static_cast<ssize_t>(strlen(role_value)) != ret) { + USB_ERROR_LOG("write [%s] failed, ret=%zd.(%d, %s)", role_value, ret, write_error, strerror(write_error)); + return eFrameworkunifiedStatusFail; + } else { + return eFrameworkunifiedStatusOK; + } +} + +/** + * Check whether the specified USB port supports power control. + */ +static bool CheckSupportPowerControl(UsbPortNumber usb_port_no) { + if (USB_PORT_NUMBER_MAX <= usb_port_no) { + return false; + } + + return true; +} + +/** + * Check whether the specified gpio port is available. + */ +static bool CheckGpioPortAvailable(UsbGpioPort gpio_port) { + if (USB_GPIO_PORT_MAX <= gpio_port) { + USB_ERROR_LOG("port %d is invalid.", gpio_port); + return false; + } + + if (!kUsbGpioInfo[gpio_port].port_name || (0 == strlen(kUsbGpioInfo[gpio_port].port_name))) { + USB_ERROR_LOG("port %d is not available.", gpio_port); + return false; + } + + return true; +} + +/** + * Open gpio export file. + */ +static int OpenExportFile() { + return open(kUsbGpioExportFile, O_WRONLY); +} + +/** + * Open the direction file of the specified gpio port. + */ +static int OpenDirectionFile(const char* port_name) { + if (!port_name || (0 == strlen(port_name))) { + USB_ERROR_LOG("port name is invalid."); + return -1; + } + + char dir_file[FILE_PATH_LENGTH]; + // /sys/class/gpio/gpio123/direction + snprintf(dir_file, sizeof(dir_file), "%s%s%s", kUsbGpioFilePrefix, port_name, kUsbGpioDirectionFile); + return open(dir_file, O_RDWR); +} + +/** + * Open the value file of the specified gpio port. + */ +static int OpenValueFile(const char* port_name, bool ro) { + if (!port_name || (0 == strlen(port_name))) { + USB_ERROR_LOG("port name is invalid."); + return -1; + } + + char value_file[FILE_PATH_LENGTH]; + // /sys/class/gpio/gpio123/value + snprintf(value_file, sizeof(value_file), "%s%s%s", kUsbGpioFilePrefix, port_name, kUsbGpioValueFile); + return open(value_file, ro ? O_RDONLY : O_RDWR); +} + +/** + * Initialize gpio port value. + */ +static EFrameworkunifiedStatus InitializeGpioPort(UsbGpioPort gpio_port) { + if (!CheckGpioPortAvailable(gpio_port)) { + return eFrameworkunifiedStatusFail; + } + + char port_file[FILE_PATH_LENGTH]; + snprintf(port_file, sizeof(port_file), "%s%s", kUsbGpioFilePrefix, kUsbGpioInfo[gpio_port].port_name); + + // check if port is exported already + if (0 == access(port_file, F_OK)) { + return eFrameworkunifiedStatusOK; + } + + // open the export file + int export_fd = OpenExportFile(); + if (-1 == export_fd) { + USB_ERROR_LOG("open [%s] failed.(%d, %s)", "export", errno, strerror(errno)); + return eFrameworkunifiedStatusFail; + } + + // do export by writing the export file + ssize_t ret = write(export_fd, kUsbGpioInfo[gpio_port].port_name, strlen(kUsbGpioInfo[gpio_port].port_name)); + int write_error = errno; + + // close the export file + close(export_fd); + + // check write result + if (static_cast<ssize_t>(strlen(kUsbGpioInfo[gpio_port].port_name)) != ret) { + USB_ERROR_LOG("write [%s] failed, ret=%zd.(%d, %s)", kUsbGpioInfo[gpio_port].port_name, ret, write_error, + strerror(write_error)); + return eFrameworkunifiedStatusFail; + } + + // open the direction file + int direction_fd = OpenDirectionFile(kUsbGpioInfo[gpio_port].port_name); + if (-1 == direction_fd) { + USB_ERROR_LOG("open direction file failed.(%d, %s)", errno, strerror(errno)); + return eFrameworkunifiedStatusFail; + } + + // set direction + const char* direction_value; + if (!kUsbGpioInfo[gpio_port].is_output) { + // for input port, set direction as "in" + direction_value = kUsbGpioDirectionIn; + } else { + if (kUsbGpioHighValue == kUsbGpioInfo[gpio_port].default_value) { + // for output port, if default value is high, set direction as "high" + direction_value = kUsbGpioDirectionHigh; + } else if (kUsbGpioLowValue == kUsbGpioInfo[gpio_port].default_value) { + // for output port, if default value is low, set direction as "low" + direction_value = kUsbGpioDirectionLow; + } else { + USB_ERROR_LOG("unknown default value[%c]", kUsbGpioInfo[gpio_port].default_value); + return eFrameworkunifiedStatusFail; + } + } + + ret = write(direction_fd, direction_value, strlen(direction_value)); + write_error = errno; + close(direction_fd); + if (static_cast<ssize_t>(strlen(direction_value)) != ret) { + USB_ERROR_LOG("write direction %s failed, ret=%zd.(%d, %s)", direction_value, ret, write_error, + strerror(write_error)); + return eFrameworkunifiedStatusFail; + } + + return eFrameworkunifiedStatusOK; +} + +/** + * Get gpio port value. + */ +static EFrameworkunifiedStatus GetGpioPortValue(UsbGpioPort port_name, bool* port_value) { + if ((USB_GPIO_PORT_MAX <= port_name) || !port_value) { + USB_ERROR_LOG("parameter is invalid."); + return eFrameworkunifiedStatusFail; + } + + // initialize gpio port + EFrameworkunifiedStatus result = InitializeGpioPort(port_name); + if (eFrameworkunifiedStatusOK != result) { + return result; + } + + // open port value file + int fd = OpenValueFile(kUsbGpioInfo[port_name].port_name, true); + if (-1 == fd) { + USB_ERROR_LOG("open value file failed.(%d, %s)", errno, strerror(errno)); + return eFrameworkunifiedStatusFail; + } + + // read file content + char file_content = '\0'; + ssize_t ret = read(fd, &file_content, sizeof(file_content)); + int read_error = errno; + + // close file + close(fd); + + if (sizeof(file_content) != ret) { + USB_ERROR_LOG("read failed.(%d, %s)", read_error, strerror(read_error)); + return eFrameworkunifiedStatusFail; + } + + // compare file content to high/low value + if (kUsbGpioHighValue == file_content) { + *port_value = (kUsbGpioInfo[port_name].active_low ? false : true); + } else if (kUsbGpioLowValue == file_content) { + *port_value = (kUsbGpioInfo[port_name].active_low ? true : false); + } else { + USB_ERROR_LOG("content error.[%c]", file_content); + return eFrameworkunifiedStatusFail; + } + + return eFrameworkunifiedStatusOK; +} + +/** + * Set gpio port value. + */ +static EFrameworkunifiedStatus SetGpioPortValue(UsbGpioPort port_name, GpioPortValue port_value) { + if (USB_GPIO_PORT_MAX <= port_name) { + USB_ERROR_LOG("parameter is invalid."); + return eFrameworkunifiedStatusFail; + } + + // initialize gpio port + EFrameworkunifiedStatus result = InitializeGpioPort(port_name); + if (eFrameworkunifiedStatusOK != result) { + return result; + } + + // check direction is output + if (!kUsbGpioInfo[port_name].is_output) { + USB_ERROR_LOG("%d not an output port.", port_name); + return eFrameworkunifiedStatusFail; + } + + // open port value file + int fd = OpenValueFile(kUsbGpioInfo[port_name].port_name, false); + if (-1 == fd) { + USB_ERROR_LOG("open value file failed.(%d, %s)", errno, strerror(errno)); + return eFrameworkunifiedStatusFail; + } + + // write value + bool port_active = (GPIO_PORT_ON == port_value ? true : false); + bool write_low = (kUsbGpioInfo[port_name].active_low ? port_active : !port_active); + char write_value = (write_low ? kUsbGpioLowValue : kUsbGpioHighValue); + ssize_t ret = write(fd, &write_value, sizeof(write_value)); + int write_error = errno; + + // close file + close(fd); + + // check write result + if (sizeof(write_value) != ret) { + USB_ERROR_LOG("write [%c] failed, ret=%zd.(%d, %s)", write_value, ret, write_error, strerror(write_error)); + return eFrameworkunifiedStatusFail; + } else { + return eFrameworkunifiedStatusOK; + } +} + +/** + * Check overcurrent. + */ +static EFrameworkunifiedStatus CheckUsbOvercurrent(UsbPortNumber usb_port_no, bool* is_ovc) { + if ((USB_PORT_NUMBER_MAX <= usb_port_no) || !is_ovc) { + return eFrameworkunifiedStatusFail; + } + + return GetGpioPortValue(kUsbOvercurrentGpio[usb_port_no], is_ovc); +} + +EFrameworkunifiedStatus GetUsbRoleSwitch(UsbRoleType* usb_role) { + // check NULL pointer + if (!usb_role) { + USB_ERROR_LOG("parameter is NULL."); + return eFrameworkunifiedStatusNullPointer; + } + + return GetUsbRoleType(kUsbRoleSwitchTable.file_path, kUsbRoleSwitchTable.usb_host_value, + kUsbRoleSwitchTable.usb_function_value, usb_role); +} + +EFrameworkunifiedStatus SetUsbRoleSwitch(UsbRoleType usb_role) { + if ((USB_ROLE_HOST != usb_role) && (USB_ROLE_FUNCTION != usb_role)) { + USB_ERROR_LOG("parameter error.[%d]", usb_role); + return eFrameworkunifiedStatusInvldParam; + } + + // check current usb role: + // allow to switch only when usb_role is different from current usb role. + UsbRoleType current_role; + if (eFrameworkunifiedStatusOK != GetUsbRoleSwitch(¤t_role)) { + return eFrameworkunifiedStatusFail; + } + + if (current_role == usb_role) { + return eFrameworkunifiedStatusOK; + } + + // check usb role type + // - HOST: write HOST value to role file + // - FUNCTION: write FUNCTION value to role file + return SetUsbRoleValue(kUsbRoleSwitchTable.file_path, (USB_ROLE_HOST == usb_role) + ? kUsbRoleSwitchTable.usb_host_value + : kUsbRoleSwitchTable.usb_function_value); +} + +EFrameworkunifiedStatus CheckUsbAuthenticationError(UsbAuthenticationError* usb_auth_error) { + // check NULL pointer + if (!usb_auth_error) { + USB_ERROR_LOG("parameter is NULL."); + return eFrameworkunifiedStatusNullPointer; + } + + // Empty Stub implementations + *usb_auth_error = USB_AUTHENTICATION_ERROR_NONE; + return eFrameworkunifiedStatusOK; +} + +EFrameworkunifiedStatus ResetUsbVbus(UsbPortNumber usb_port_no) { + // check support power control + if (!CheckSupportPowerControl(usb_port_no)) { + return eFrameworkunifiedStatusInvldParam; + } + + // step 1: power off USB port + EFrameworkunifiedStatus result = SetGpioPortValue(kUsbPowerEnableGpio[usb_port_no], GPIO_PORT_OFF); + if (eFrameworkunifiedStatusOK != result) { + USB_ERROR_LOG("power off USB%d failed.", usb_port_no); + return result; + } + + // step 2: sleep 1.1 sec + usleep(1100 * 1000); + + // step 3: power on USB port + result = SetGpioPortValue(kUsbPowerEnableGpio[usb_port_no], GPIO_PORT_ON); + if (eFrameworkunifiedStatusOK != result) { + USB_ERROR_LOG("power on USB%d failed.", usb_port_no); + } + return result; +} + +EFrameworkunifiedStatus IsUsbPortPowered(UsbPortNumber usb_port_no, bool* is_powered) { + if (!is_powered) { + return eFrameworkunifiedStatusNullPointer; + } + + // check support power control + if (!CheckSupportPowerControl(usb_port_no)) { + return eFrameworkunifiedStatusInvldParam; + } + + return GetGpioPortValue(kUsbPowerEnableGpio[usb_port_no], is_powered); +} + +EFrameworkunifiedStatus PowerOnUsbPort(UsbPortNumber usb_port_no) { + // check support power control + if (!CheckSupportPowerControl(usb_port_no)) { + return eFrameworkunifiedStatusInvldParam; + } + bool current_power = false; + if (eFrameworkunifiedStatusOK != GetGpioPortValue(kUsbPowerEnableGpio[usb_port_no], ¤t_power)) { + return eFrameworkunifiedStatusFail; + } + + if (current_power) { + return eFrameworkunifiedStatusOK; + } + return SetGpioPortValue(kUsbPowerEnableGpio[usb_port_no], GPIO_PORT_ON); +} + +EFrameworkunifiedStatus PowerOffUsbPort(UsbPortNumber usb_port_no) { + // check support power control + if (!CheckSupportPowerControl(usb_port_no)) { + return eFrameworkunifiedStatusInvldParam; + } + bool current_power = false; + if (eFrameworkunifiedStatusOK != GetGpioPortValue(kUsbPowerEnableGpio[usb_port_no], ¤t_power)) { + return eFrameworkunifiedStatusFail; + } + + if (!current_power) { + return eFrameworkunifiedStatusOK; + } + + return SetGpioPortValue(kUsbPowerEnableGpio[usb_port_no], GPIO_PORT_OFF); +} + +EFrameworkunifiedStatus CheckUsbAbnormalStatus(UsbPortNumber usb_port_no, UsbAbnormalStatus* usb_abnormal_status) { + if (USB_PORT_NUMBER_MAX <= usb_port_no) { + return eFrameworkunifiedStatusInvldParam; + } + + // check NULL pointer + if (!usb_abnormal_status) { + return eFrameworkunifiedStatusNullPointer; + } + + // check overcurrent + bool is_ovc = false; + EFrameworkunifiedStatus result = CheckUsbOvercurrent(usb_port_no, &is_ovc); + if (eFrameworkunifiedStatusOK == result) { + if (is_ovc) { + *usb_abnormal_status = USB_ABNORMAL_STATUS_OVERCURRENT; + } else { + *usb_abnormal_status = USB_ABNORMAL_STATUS_NONE; + } + } + return result; +} diff --git a/hal/vehicle_hal/LICENSE b/hal/vehicle_hal/LICENSE new file mode 100755 index 0000000..f433b1a --- /dev/null +++ b/hal/vehicle_hal/LICENSE @@ -0,0 +1,177 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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+ * 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. + */ + +#ifndef HAL_API_VEHICLE_HAL_H_ +#define HAL_API_VEHICLE_HAL_H_ +/** + * @file vehicle_hal.h + */ + +/** @addtogroup vehicle + * @{ + */ +/** @addtogroup vehicle_hal + * @ingroup vehicle + * @{ + */ + +#include <native_service/frameworkunified_types.h> + +/** + * \~english Name of the send thread + */ +#define TN_LINE_SENS_READ "Vehicle Hal" + +/** + * @enum LineSensReadInternalServiceProtocol + * \~english Command ID used by Vehicle_hal to send the vehicle signal input from the jicage line to the user \n + To receive events with this command ID, use the interface defined in framework_unified as follows + * @code + * ret_status = FrameworkunifiedAttachCallbackToDispatcher(h_app, TN_LINE_SENS_READ, CID_VEHICLEHAL_LINESENS, CbCallbackFunc); + * @endcode + */ +enum LineSensReadInternalServiceProtocol { + CID_VEHICLEHAL_LINESENS = 0x00000101, //!< \~english LineSens Message Command ID + CID_VEHICLEHAL_SPDPULSE = 0x00000102, //!< \~english SpeedPulse Message Command ID + CID_VEHICLEHAL_SPD = 0x00000103, //!< \~english Speed Message Command ID + CID_VEHICLEHAL_LINESENS_POL = 0x00000104, + //!< \~english voltage and RHEOSTAT Message Command ID +}; + +/** + * @enum VehiclehalLinesenskindMicBit + * \~english MIC BIT + */ +enum VehiclehalLinesenskindMicBit { + VEHICLEHAL_LINESENSKIND_MIC_BIT_MIC = 0x01, //!< \~english MIC + VEHICLEHAL_LINESENSKIND_MIC_BIT_ANALOGMIC1 = 0x02, //!< \~english ANALOGMIC1 + VEHICLEHAL_LINESENSKIND_MIC_BIT_ANALOGMIC2 = 0x04, //!< \~english ANALOGMIC2 +}; + +/** + * @enum VehiclehalLinesenskindMic2Bit + * \~english MIC2 BIT + */ +enum VehiclehalLinesenskindMic2Bit { + VEHICLEHAL_LINESENSKIND_MIC2_BIT_A2BHUB = 0x01, //!< \~english A2BHUB + VEHICLEHAL_LINESENSKIND_MIC2_BIT_MULTIMIC1 = 0x02, //!< \~english MULTIMIC1 + VEHICLEHAL_LINESENSKIND_MIC2_BIT_MULTIMIC2 = 0x04, //!< \~english MULTIMIC2 + VEHICLEHAL_LINESENSKIND_MIC2_BIT_MULTIMIC3 = 0x08, //!< \~english MULTIMIC3 + VEHICLEHAL_LINESENSKIND_MIC2_BIT_MULTIMIC4 = 0x10, //!< \~english MULTIMIC4 + VEHICLEHAL_LINESENSKIND_MIC2_BIT_MULTIMIC5 = 0x20, //!< \~english MULTIMIC5 + VEHICLEHAL_LINESENSKIND_MIC2_BIT_MULTIMIC6 = 0x40, //!< \~english MULTIMIC6 + VEHICLEHAL_LINESENSKIND_MIC2_BIT_ANC = 0x80, //!< \~english ANC +}; + +/** + * @enum VehicleHalLineSensKind + * \~english Line Sensor kind + */ +enum VehicleHalLineSensKind { + VEHICLEHAL_LINESENSKIND_IG = 0, //!< \~english IG + VEHICLEHAL_LINESENSKIND_PKB, //!< \~english PKB + VEHICLEHAL_LINESENSKIND_REV, //!< \~english REV + VEHICLEHAL_LINESENSKIND_ILL, //!< \~english ILL + VEHICLEHAL_LINESENSKIND_LOWVOLTAGE, //!< \~english LOWVOLTAGE + VEHICLEHAL_LINESENSKIND_ADIM, //!< \~english ADIM + VEHICLEHAL_LINESENSKIND_MIC, //!< \~english MIC,ANALOGMIC1,ANALOGMIC2 + VEHICLEHAL_LINESENSKIND_USBPOWERSUPPLY, //!< \~english USB Power Supply[10mA] + VEHICLEHAL_LINESENSKIND_MIC2, //!< \~english A2BHUB,MULTIMIC1 to 6,ANC + VEHICLEHAL_LINESENSKIND_NUM, //!< \~english MAX Number +}; + +/** + * @enum VEHICLEHAL_RET_TYPE + * \~english The return value of vehicle_hal API + */ +typedef enum { + /** + * \~english Success + */ + VEHICLEHAL_RET_SUCCESS = 0, + /** + * \~english Car Signal Ctrl Api Initialize failed + */ + VEHICLEHAL_RET_ERR_HARDINIT, + /** + * \~english McSend Open failed + */ + VEHICLEHAL_RET_ERR_MCOPEN, + /** + * \~english Create Thread failed + */ + VEHICLEHAL_RET_ERR_THREADSTART, + /** + * \~english Invalid paramter + */ + VEHICLEHAL_RET_ERR_PARAM, +}VEHICLEHAL_RET_TYPE; + +/** + * @struct VehicleHalSpeedPulse + * \~english Struct of SpeedPulse + */ +struct VehicleHalSpeedPulse { + float pulse; //!< \~english speed pulse[Hz] + float period; //!< \~english pulse period[ms] +}; + +/** + * @struct VehicleHalLineSensMsg + * \~english Struct of Meassage + */ +struct VehicleHalLineSensMsg { + uint8_t stdata[VEHICLEHAL_LINESENSKIND_NUM]; //!< \~english line data +}; + +/** + * @struct VehicleHalPol + * \~english Struct of VehicleHalPolling + */ +struct VehicleHalPol { + uint8_t vb; //!< \~english voltage [10 * v] + uint8_t rheostat; //!< \~english RHEOSTAT [10 * v] +}; + +/** + * \ingroup VehicleHalStart + * \~english @par Brief + * API to start the vehicle_hal + * \~english @param [in] happ + * HANDLE - Handle for Application + * \~english @retval VEHICLEHAL_RET_SUCCESS : Success + * \~english @retval VEHICLEHAL_RET_ERR_HARDINIT : Car Signal Ctrl Api Initialize failed + * \~english @retval VEHICLEHAL_RET_ERR_MCOPEN : McSend Open failed + * \~english @retval VEHICLEHAL_RET_ERR_THREADSTART : Create Thread failed + * \~english @retval VEHICLEHAL_RET_ERR_PARAM : Invalid paramter + * \~english @par Prerequisite + * None + * \~english @par Change of internal state + * - If start successfully, vehicle_hal changes from stop to start. + * - If start failed, the state of the vehicle_hal remains no change. + * \~english @par Conditions of processing failure + * - Car Signal Ctrl Api Initialize failed. + * - McSend Open failed. + * - Create Thread failed. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @par Detail + * - Start the vehicle_hal service. + * - The API can only be used by 1 process. + * \~english @see + * None + */ +VEHICLEHAL_RET_TYPE VehicleHalStart(HANDLE happ); + +/** + * \ingroup VehicleHalStop + * \~english @par Brief + * API to stop the vehicle_hal + * \~english @param [in] happ + * HANDLE - Handle for Application + * \~english @retval VEHICLEHAL_RET_SUCCESS : Success + * \~english @retval VEHICLEHAL_RET_ERR_PARAM : Invalid paramter + * \~english @par Prerequisite + * vehicle_hal start successfully. + * \~english @par Change of internal state + * - If start successfully, vehicle_hal changes from start to stop. + * - If start failed, the state of the vehicle_hal remains no change. + * \~english @par Conditions of processing failure + * None. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @par Detail + * - Stop the vehicle_hal service. + * - The API can only be used by 1 process. + * \~english @see + * None + */ +VEHICLEHAL_RET_TYPE VehicleHalStop(HANDLE happ); + +/** @}*/ //!< end of vehicle_hal +/** @}*/ //!< end of vehicle +#endif // HAL_API_VEHICLE_HAL_H_ diff --git a/hal/vehicle_hal/inc/vehicle_hal_frameworkunifiedlog.h b/hal/vehicle_hal/inc/vehicle_hal_frameworkunifiedlog.h new file mode 100755 index 0000000..2cee8eb --- /dev/null +++ b/hal/vehicle_hal/inc/vehicle_hal_frameworkunifiedlog.h @@ -0,0 +1,78 @@ +/* + * @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. + */ + +#ifndef INC_VEHICLE_HAL_FRAMEWORKUNIFIEDLOG_H_ +#define INC_VEHICLE_HAL_FRAMEWORKUNIFIEDLOG_H_ + +#include <native_service/ns_logger_if.h> + +#define ZONE_INIT ZONEMASK(10) +#define ZONE_FUNC ZONEMASK(11) +#define ZONE_MEM ZONEMASK(12) +#define ZONE_13 ZONEMASK(13) +#define ZONE_14 ZONEMASK(14) +#define ZONE_15 ZONEMASK(15) +#define ZONE_16 ZONEMASK(16) +#define ZONE_17 ZONEMASK(17) +#define ZONE_18 ZONEMASK(18) +#define ZONE_19 ZONEMASK(19) +#define ZONE_20 ZONEMASK(20) +#define ZONE_21 ZONEMASK(21) +#define ZONE_22 ZONEMASK(22) +#define ZONE_23 ZONEMASK(23) +#define ZONE_24 ZONEMASK(24) +#define ZONE_25 ZONEMASK(25) +#define ZONE_26 ZONEMASK(26) +#define ZONE_27 ZONEMASK(27) +#define ZONE_28 ZONEMASK(28) +#define ZONE_INFO ZONEMASK(29) +#define ZONE_WARN ZONEMASK(30) +#define ZONE_ERR ZONEMASK(31) + +#define ZONE_TEXT_10 "Init" +#define ZONE_TEXT_11 "Function" +#define ZONE_TEXT_12 "Memory" +#define ZONE_TEXT_13 "" +#define ZONE_TEXT_14 "" +#define ZONE_TEXT_15 "" +#define ZONE_TEXT_16 "" +#define ZONE_TEXT_17 "" +#define ZONE_TEXT_18 "" +#define ZONE_TEXT_19 "" +#define ZONE_TEXT_20 "" +#define ZONE_TEXT_21 "" +#define ZONE_TEXT_22 "" +#define ZONE_TEXT_23 "" +#define ZONE_TEXT_24 "" +#define ZONE_TEXT_25 "" +#define ZONE_TEXT_26 "" +#define ZONE_TEXT_27 "" +#define ZONE_TEXT_28 "" +#define ZONE_TEXT_29 "Info" +#define ZONE_TEXT_30 "Warning" +#define ZONE_TEXT_31 "Error" + +#ifndef FRAMEWORKUNIFIEDLOGOPTIONS +#define FRAMEWORKUNIFIEDLOGOPTIONS (LSHAREDMEM) // LPRINT , LMSGQ, LSLOGGER +#endif + +#ifndef FRAMEWORKUNIFIEDLOGAPPZONES +#define FRAMEWORKUNIFIEDLOGAPPZONES ZONE_ERR, ZONE_WARN, ZONE_INFO +#endif + +extern const CHAR AppName[]; // NOLINT (defind outside) +#endif // INC_VEHICLE_HAL_FRAMEWORKUNIFIEDLOG_H_ + diff --git a/hal/vehicle_hal/src/vehicle_hal.cpp b/hal/vehicle_hal/src/vehicle_hal.cpp new file mode 100755 index 0000000..258c51a --- /dev/null +++ b/hal/vehicle_hal/src/vehicle_hal.cpp @@ -0,0 +1,398 @@ +/* + * @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. + */ + +#include <string.h> +#include <stdlib.h> +#include <stdio.h> +#include <unistd.h> +#include <agl_thread.h> +#include <native_service/frameworkunified_framework_if.h> +#include <native_service/frameworkunified_dispatcher.h> +#include <native_service/frameworkunified_multithreading.h> +#include "vehicle_hal_frameworkunifiedlog.h" + +extern "C" { +// #include "carsignal_mng_api.h" +} + +#include "vehicle_hal.h" + +/** +* \~english environment variable define +*/ +#define VEHICLEHAL_LINESENSKIND_ADIM_DATA "VEHICLEHAL_LINESENSKIND_ADIM" +/** +* \~english environment variable define +*/ +#define VEHICLEHAL_LINESENSKIND_MIC_DATA "VEHICLEHAL_LINESENSKIND_MIC" +/** +* \~english environment variable define +*/ +#define VEHICLEHAL_LINESENSKIND_VB_DATA "VEHICLEHAL_LINESENSKIND_VB" +/** +* \~english environment variable define +*/ +#define VEHICLEHAL_LINESENSKIND_RHEOSTAT_DATA "VEHICLEHAL_LINESENSKIND_RHEOSTAT" + +#define VEHICLEHAL_LOWVB_VALUE 75 + +// send message flag +static HANDLE g_sendmsg_handle = NULL; + +// work thread exit flag +static BOOL g_loopendflag = FALSE; + +// polling thread exit flag +static BOOL g_polloopendflag = FALSE; + +// isOpen flag +static BOOL g_isopenflag = FALSE; + +// thread id +static pthread_t g_threadid = 0; + +// hard object struct +//static VclCtlApiObj g_sclientobj; + +// app name +static CHAR g_appname[MAX_NAME_SIZE_APP]; + +// line sense list +const UINT8 kLineSensList[VEHICLEHAL_LINESENSKIND_NUM] = { +// CARSIGNAL_IG, +// CARSIGNAL_PKB, +// CARSIGNAL_REV, +// CARSIGNAL_ILL, +}; + +static void *VehicleHalProcess(void *arg); + +HANDLE g_vehiclehalext_thread; +HANDLE g_vehiclehalpol_thread; +EFrameworkunifiedStatus VehicleHalProcessExtStart(HANDLE happ); +EFrameworkunifiedStatus VehicleHalProcessExtStop(HANDLE happ); +EFrameworkunifiedStatus VehicleHalProcessRecvSpeed(HANDLE happ); + +EFrameworkunifiedStatus VehicleHalProcessPolStart(HANDLE happ); +EFrameworkunifiedStatus VehicleHalProcessPolStop(HANDLE happ); + +static const FrameworkunifiedProtocolCallbackHandler kVehicleHalSpd[] = { { + CID_VEHICLEHAL_SPD, VehicleHalProcessRecvSpeed } }; + +#define VEHICLEHAL_SPEED "VehicleHalSpd" +#define VEHICLEHAL_EXT "VehicleHalExt" +#define VEHICLEHAL_POL "VehicleHalPol" + +VEHICLEHAL_RET_TYPE VehicleHalStart(HANDLE happ) { + if (NULL == happ) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "Handle is NULL"); + return VEHICLEHAL_RET_ERR_PARAM; + } + + // check open flag + if (TRUE == g_isopenflag) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "Already Opened"); + return VEHICLEHAL_RET_SUCCESS; + } + +// memset(&g_sclientobj, 0, sizeof(g_sclientobj)); + + // enter loop + g_loopendflag = FALSE; + + g_polloopendflag = FALSE; + + // get app name + PCSTR app_name = FrameworkunifiedGetAppName(happ); + if (NULL == app_name) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "Get App Name Failed"); + return VEHICLEHAL_RET_ERR_PARAM; + } + + memset(g_appname, 0, sizeof(g_appname)); + memcpy(g_appname, app_name, sizeof(g_appname)); + g_appname[MAX_NAME_SIZE_APP] = '\0'; + +// // Start VLC data input control API +// UINT32 ret = VclCtlApiOpen(&g_sclientobj); +// if ( CARSIGNAL_CTL_RET_SUCCESS != ret ) { +// FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "Ten Api Open Failed"); +// return VEHICLEHAL_RET_ERR_HARDINIT; +// } + + // Open message queue for sending + g_sendmsg_handle = McOpenSender(g_appname); + if (NULL == g_sendmsg_handle) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "Open Mc Sender Failed"); +// VclCtlApiClose(&g_sclientobj); + return VEHICLEHAL_RET_ERR_MCOPEN; + } + + // create thread + int iret = pthread_create(&g_threadid, + NULL, + VehicleHalProcess, + NULL); + if ( 0 != iret ) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "Create Thread Failed"); + McClose(g_sendmsg_handle); +// VclCtlApiClose(&g_sclientobj); + return VEHICLEHAL_RET_ERR_THREADSTART; + } + + g_vehiclehalext_thread = FrameworkunifiedCreateChildThread(happ, VEHICLEHAL_EXT, + VehicleHalProcessExtStart, + VehicleHalProcessExtStop); + + EFrameworkunifiedStatus estatus = FrameworkunifiedStartChildThread(happ, g_vehiclehalext_thread, 0, NULL); + if (eFrameworkunifiedStatusOK != estatus) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "FrameworkunifiedStartChildThread Failed"); + McClose(g_sendmsg_handle); + return VEHICLEHAL_RET_ERR_THREADSTART; + } + + g_vehiclehalpol_thread = FrameworkunifiedCreateChildThread(happ, VEHICLEHAL_POL, + VehicleHalProcessPolStart, + VehicleHalProcessPolStop); + + EFrameworkunifiedStatus estatus_pol = FrameworkunifiedStartChildThread(happ, g_vehiclehalpol_thread, 0, NULL); + if (eFrameworkunifiedStatusOK != estatus_pol) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "FrameworkunifiedStartChildThread polling Failed"); + McClose(g_sendmsg_handle); + return VEHICLEHAL_RET_ERR_THREADSTART; + } + + + // set open flag true + g_isopenflag = TRUE; + + return VEHICLEHAL_RET_SUCCESS; +} + +VEHICLEHAL_RET_TYPE VehicleHalStop(HANDLE happ) { + if (NULL == happ) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "Handle is NULL"); + return VEHICLEHAL_RET_ERR_PARAM; + } + + if (NULL != g_vehiclehalext_thread) { + EFrameworkunifiedStatus estatus = FrameworkunifiedDestroyChildThread(happ, g_vehiclehalext_thread); + if (eFrameworkunifiedStatusOK != estatus) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "FrameworkunifiedDestroyChildThread Failed"); + return VEHICLEHAL_RET_ERR_PARAM; + } + g_vehiclehalext_thread = NULL; + } + + // set open flag of polling to fasle + g_polloopendflag = TRUE; + + if (NULL != g_vehiclehalpol_thread) { + EFrameworkunifiedStatus estatus = FrameworkunifiedStopChildThread(happ, g_vehiclehalpol_thread, 0, NULL); + if (eFrameworkunifiedStatusOK != estatus) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "FrameworkunifiedDestroyChildThread polling Failed"); + return VEHICLEHAL_RET_ERR_PARAM; + } + estatus = FrameworkunifiedDestroyChildThread(happ, g_vehiclehalpol_thread); + if (eFrameworkunifiedStatusOK != estatus) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "FrameworkunifiedDestroyChildThread polling Failed"); + return VEHICLEHAL_RET_ERR_PARAM; + } + g_vehiclehalpol_thread = NULL; + } + + // set open flag fasle + g_isopenflag = FALSE; + + // exit loop + g_loopendflag = TRUE; + + // destroy thead + pthread_join(g_threadid, NULL); + + // Close message queue + McClose(g_sendmsg_handle); + +// // End VLC data input control API +// VclCtlApiClose(&g_sclientobj); + + return VEHICLEHAL_RET_SUCCESS; +} + +void *VehicleHalProcess(void *arg) { + // Line Sense Message + VehicleHalLineSensMsg s_linesensmsg; + memset( &s_linesensmsg, 0xFF, sizeof(s_linesensmsg) ); + + // main loop + while (TRUE != g_loopendflag) { + char* p_env_vb = NULL; + p_env_vb = getenv(VEHICLEHAL_LINESENSKIND_VB_DATA); + if (NULL != p_env_vb) { + // low voltage + if (VEHICLEHAL_LOWVB_VALUE >= atoi(p_env_vb)) { + s_linesensmsg.stdata[VEHICLEHAL_LINESENSKIND_LOWVOLTAGE] = 1; + } else { + s_linesensmsg.stdata[VEHICLEHAL_LINESENSKIND_LOWVOLTAGE] = 0; + } + } + + // loop to get line sense status + for (UI_32 iloopnum = 0; iloopnum <= VEHICLEHAL_LINESENSKIND_ILL; ++iloopnum) { + // line sense status + UINT8 signalret = 0; + +// // get line sense status +// UINT32 ret = VclCtlApiRcvVclData(&g_sclientobj, kLineSensList[iloopnum], &signalret); +// if ( CARSIGNAL_CTL_RET_SUCCESS != ret ) { +// FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "Get LineSens [%d] status faild [%d]", kLineSensList[iloopnum], ret); +// continue; +// } + + // convert 0 to 1 or 1 to 0 for IG,REV according car signal api reference + switch (kLineSensList[iloopnum]) { +// case CARSIGNAL_IG: +// case CARSIGNAL_REV: +// signalret = 1 - signalret; +// break; + + default: + break; + } + + // check status + if (signalret != s_linesensmsg.stdata[iloopnum]) { + s_linesensmsg.stdata[iloopnum] = signalret; + } + } + + char* p_env_adim = NULL; + p_env_adim = getenv(VEHICLEHAL_LINESENSKIND_ADIM_DATA); + if (NULL != p_env_adim) { + s_linesensmsg.stdata[VEHICLEHAL_LINESENSKIND_ADIM] = atoi(p_env_adim); + } + + char* p_env_mic = NULL; + p_env_mic = getenv(VEHICLEHAL_LINESENSKIND_MIC_DATA); + if (NULL != p_env_mic) { + s_linesensmsg.stdata[VEHICLEHAL_LINESENSKIND_MIC] = atoi(p_env_mic); + } + + // send line sens + EFrameworkunifiedStatus eretval = McSend(g_sendmsg_handle, TN_LINE_SENS_READ, CID_VEHICLEHAL_LINESENS, + sizeof(s_linesensmsg), (PVOID)&s_linesensmsg); + if (eFrameworkunifiedStatusOK != eretval) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "McSend LineSens failed"); + } + + // wait 10ms + usleep(10000); + } + return NULL; +} + +EFrameworkunifiedStatus VehicleHalProcessExtStart(HANDLE happ) { + EFrameworkunifiedStatus estatus = FrameworkunifiedAttachCallbacksToDispatcher(happ, VEHICLEHAL_SPEED, + kVehicleHalSpd, + static_cast<UI_32>(_countof(kVehicleHalSpd))); + if (eFrameworkunifiedStatusOK != estatus) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __func__, + "Error FrameworkunifiedAttachCallbacksToDispatcher Vehicle_Hal_Speed:%d", estatus); + return estatus; + } + + return eFrameworkunifiedStatusOK; +} + +EFrameworkunifiedStatus VehicleHalProcessExtStop(HANDLE happ) { + return eFrameworkunifiedStatusOK; +} + +EFrameworkunifiedStatus VehicleHalProcessRecvSpeed(HANDLE happ) { + // Speed Pusle Message + VehicleHalSpeedPulse speedpulsemsg; + memset( &speedpulsemsg, 0xFF, sizeof(speedpulsemsg) ); + + // get vehicle speed + UINT16 speed = 0; + EFrameworkunifiedStatus estatus = eFrameworkunifiedStatusOK; + + estatus = FrameworkunifiedGetMsgDataOfSize(happ, &speed, sizeof(speed), eSMRRelease); + if (eFrameworkunifiedStatusOK != estatus) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "failed FrameworkunifiedGetMsgDataOfSize() Status=[%d]", estatus); + return estatus; + } + + // calculate speed to speed pulse + float speedpulse = static_cast<float>(speed * (4.0*637.0) / (60.0 * 60.0)); + if ( speedpulse != speedpulsemsg.pulse ) { + speedpulsemsg.pulse = speedpulse; + if (0.0 != speedpulse) { + speedpulsemsg.period = static_cast<float>((1 / speedpulse) * 1000); + } else { + speedpulsemsg.period = 0; + } + } + + // send line sens + EFrameworkunifiedStatus eretval = McSend(g_sendmsg_handle, TN_LINE_SENS_READ, CID_VEHICLEHAL_SPDPULSE, + sizeof(speedpulsemsg), (PVOID)&speedpulsemsg); + if (eFrameworkunifiedStatusOK != eretval) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "McSend Speed Pulse failed"); + } + + eretval = McSend(g_sendmsg_handle, TN_LINE_SENS_READ, CID_VEHICLEHAL_SPD, + sizeof(UINT16), (PVOID)&speed); + if (eFrameworkunifiedStatusOK != eretval) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "McSend Speed failed"); + } + + return eFrameworkunifiedStatusOK; +} + +EFrameworkunifiedStatus VehicleHalProcessPolStart(HANDLE happ) { + VehicleHalPol s_pol; + memset( &s_pol, 0xFF, sizeof(s_pol) ); + + while (!g_polloopendflag) { + char* p_env_vb = NULL; + char* p_env_rheostat = NULL; + p_env_vb = getenv(VEHICLEHAL_LINESENSKIND_VB_DATA); + p_env_rheostat = getenv(VEHICLEHAL_LINESENSKIND_RHEOSTAT_DATA); + if (NULL != p_env_vb) { + // covert voltage value + s_pol.vb = atoi(p_env_vb); + } + + if (NULL != p_env_rheostat) { + // covert RHEOSTAT value + s_pol.rheostat = atoi(p_env_rheostat); + } + // send vb and rheostat + EFrameworkunifiedStatus eretval = McSend(g_sendmsg_handle, TN_LINE_SENS_READ, CID_VEHICLEHAL_LINESENS_POL, + sizeof(s_pol), (PVOID)&s_pol); + if (eFrameworkunifiedStatusOK != eretval) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "McSend Vb and RHEOSTAT failed"); + } + // sleep 700ms + usleep(700000); + } + return eFrameworkunifiedStatusOK; +} + +EFrameworkunifiedStatus VehicleHalProcessPolStop(HANDLE happ) { + return eFrameworkunifiedStatusOK; +} diff --git a/hal/video_in_hal/LICENSE b/hal/video_in_hal/LICENSE new file mode 100755 index 0000000..f433b1a --- /dev/null +++ b/hal/video_in_hal/LICENSE @@ -0,0 +1,177 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. 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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. +# + +######### installed program/file ################ +TARGET = libvideo_in_hal.so + +HEADER = hal_api/video_in_hal.h + +######### include paths/files ################### +CFLAGS += -I./hal_api/ +CFLAGS += -include $(SDKTARGETSYSROOT)/usr/agl/include/agl_types_obsoluted.h + +######### compile options ####################### +CFLAGS += -Wall -fPIC + +######### link options ########################## +LDFLAGS += -shared +LDFLAGS += -Wl,--no-as-needed +LDFLAGS += -Wl,--no-undefined +LDFLAGS += -Wl,--warn-unresolved-symbols + +######### linked library ######################## + +######### source files ########################## +VPATH := ./src/ + +OBJS := video_in_hal.o + +######### make targets ########################## +all: $(TARGET) + @echo $@ done. + +$(TARGET): $(OBJS) + $(CC) $(LDFLAGS) -Wl,-rpath=$(RPATH) $(OBJS) $(LIBS) -o $(TARGET) + @echo $@ done. + +######### make cleans ########################### +GCNO_FILES := $(filter %.gcno,$(OBJS:%.o=%.gcno)) + +clean: + rm -f $(OBJS) $(TARGET) $(GCNO_FILES) + @echo $@ done. + +######### make installs ######################### +install: + install -d -m 0755 $(DESTDIR)/usr/lib + install -m 0755 $(TARGET) $(DESTDIR)/usr/lib + @echo $@ done. diff --git a/hal/video_in_hal/README.md b/hal/video_in_hal/README.md new file mode 100755 index 0000000..bb50e72 --- /dev/null +++ b/hal/video_in_hal/README.md @@ -0,0 +1,3 @@ +video_in_hal library +================== +video_in HAL implementation library for AGL Reference Board. diff --git a/hal/video_in_hal/hal_api/video_in_hal.h b/hal/video_in_hal/hal_api/video_in_hal.h new file mode 100755 index 0000000..20b45a0 --- /dev/null +++ b/hal/video_in_hal/hal_api/video_in_hal.h @@ -0,0 +1,567 @@ +/* + * @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. + */ + +#ifndef HAL_API_VIDEO_IN_HAL_H_ +#define HAL_API_VIDEO_IN_HAL_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * @file video_in_hal.h + * @brief API definition of the function to control video + */ + +/** @addtogroup graphics_service + * @{ + */ +/** @addtogroup video_in_hal + * @ingroup graphics_service + * @{ + */ + + +/* Monitor state */ +#define VIH_DISP_MONITOR_ON (0) //!< \~english Monitor on +#define VIH_DISP_MONITOR_OFF (1) //!< \~english Monitor Off + +/* Illumination */ +#define VIH_DISP_ILLUMI_INIT (0) //!< \~english Not configured +#define VIH_DISP_ILLUMI_DAY (1) //!< \~english Day screen +#define VIH_DISP_ILLUMI_NIGHT (2) //!< \~english Night screen +#define VIH_DISP_ILLUMI_FOURCE_DAY (3) //!< \~english Force day screen +#define VIH_DISP_ILLUMI_FOURCE_NIGHT (4) //!< \~english Force night screen + +/* Auto dimmer */ +#define VIH_DISP_AUTO_DIMMER_OFF (0) //!< \~english Auto dimmer off +#define VIH_DISP_AUTO_DIMMER_ON (1) //!< \~english Auto dimmer on + +/* MUTE */ +#define VIH_DISP_MUTE_OFF (0) //!< \~english Mute off +#define VIH_DISP_MUTE_ON (1) //!< \~english Mute on + +/* Back light */ +#define VIH_DISP_BACKLIGHT_OFF (0) //!< \~english Back light off +#define VIH_DISP_BACKLIGHT_ON (1) //!< \~english Back light on + +/* Type of video source */ +#define VIH_VIDEO_SOURCE_R_CAMERA (0x00) //!< \~english Rear video camera +#define VIH_VIDEO_SOURCE_F_CAMERA (0x01) //!< \~english Front video camera +#define VIH_VIDEO_SOURCE_S_CAMERA (0x02) //!< \~english Side video camera +#define VIH_VIDEO_SOURCE_STOP (0x03) //!< \~english Stop the video +#define VIH_VIDEO_SOURCE_DVD (0x04) //!< \~english DVD video +#define VIH_VIDEO_SOURCE_BD (0x05) //!< \~english BD video +#define VIH_VIDEO_SOURCE_DTV (0x06) //!< \~english DTV(Built-in) +#define VIH_VIDEO_SOURCE_EXT_DTV (0x07) //!< \~english DTV(External) +#define VIH_VIDEO_SOURCE_SD_VIDEO (0x08) //!< \~english SD video +#define VIH_VIDEO_SOURCE_VTR (0x09) //!< \~english VTR(Built-in) +#define VIH_VIDEO_SOURCE_VTR2 (0x0A) //!< \~english VTR2(Built-in) +#define VIH_VIDEO_SOURCE_EXT_VTR (0x0B) //!< \~english VTR(External) +#define VIH_VIDEO_SOURCE_EXT_NAVI (0x0C) //!< \~english NAVI(External) +#define VIH_VIDEO_SOURCE_EXT (0x0D) //!< \~english Extension box +#define VIH_VIDEO_SOURCE__CWORD57__VIDEO (0x0E) //!< \~english _CWORD57_(Video) +#define VIH_VIDEO_SOURCE__CWORD57__OUT (0x0F) //!< \~english _CWORD57_(Out) +#define VIH_VIDEO_SOURCE__CWORD57__NAVI (0x10) //!< \~english _CWORD57_(Navi) +#define VIH_VIDEO_SOURCE_MIRRORLINK (0x11) //!< \~english Mirror link +#define VIH_VIDEO_SOURCE_USB_VIDEO (0x12) //!< \~english USB video +#define VIH_VIDEO_SOURCE_MIRACAST (0x16) //!< \~english Miracast +#define VIH_VIDEO_SOURCE__CWORD27_ (0x17) //!< \~english _CWORD111_ +#define VIH_VIDEO_SOURCE_SD_VIDEO_CPRM (0x18) //!< \~english SD source(CPRM) +#define VIH_VIDEO_SOURCE_SD_VIDEO_AVCHD (0x19) //!< \~english SD source(AVCHD) +#define VIH_VIDEO_SOURCE_DIAG_CAMERA (0x1A) //!< \~english Camera diagnosis +#define VIH_VIDEO_SOURCE_BLANK (0xFE) //!< \~english Blank + +/* Type of TV system */ +#define VIH_VIDEO_TVTYPE_NONE (0) //!< \~english Not configured +#define VIH_VIDEO_TVTYPE_NTSC (1) //!< \~english NTSC +#define VIH_VIDEO_TVTYPE_PAL (2) //!< \~english PAL +#define VIH_VIDEO_TVTYPE_SECAM (3) //!< \~english SECAM +#define VIH_VIDEO_TVTYPE_AUTO (255) //!< \~english Auto + +/* de-interlace */ +#define VIH_VIDEO_INTERLACE_DEFAULT (0) //!< \~english Interlaced(Default) +#define VIH_VIDEO_INTERLACE_REPLICATE (1) //!< \~english Interlaced(Reprica) +#define VIH_VIDEO_INTERLACE_WEAVE (2) //!< \~english Interlaced(Weave) +#define VIH_VIDEO_INTERLACE_BOB (3) //!< \~english Interlaced(Bob) +#define VIH_VIDEO_INTERLACE_AUTO (4) //!< \~english Interlaces(Auto) +#define VIH_VIDEO_INTERLACE_LINE (5) //!< \~english Interlaces(Line) + +/* Aspect */ +#define VIH_VIDEO_ASPECT_NORMAL (0) //!< \~english Normal +#define VIH_VIDEO_ASPECT_WIDE (1) //!< \~english Wide +#define VIH_VIDEO_ASPECT_FULL (2) //!< \~english Full +#define VIH_VIDEO_ASPECT_ZOOM (3) //!< \~english Zoom + +/* Aspect Ratio */ +#define VIH_VIDEO_ASPECT_RATIO_DEFAULT (0) //!< \~english Default +#define VIH_VIDEO_ASPECT_RATIO_4_3 (1) //!< \~english 4:3 +#define VIH_VIDEO_ASPECT_RATIO_16_9 (2) //!< \~english 16:9 +#define VIH_VIDEO_ASPECT_RATIO_4_3_LB (3) //!< \~english 4:3(Letter box) + +/* Enable or disable */ +#define VIH_ENABLE (1) //!< \~english Enable +#define VIH_DISABLE (0) //!< \~english Disable + +/* Send information: Control module */ +#define VIH_DISP_SEQ_CTRL 0x0003 //!< \~english Sequence control +#define VIH_DISP_VCAP1_CTRL 0x0005 //!< \~english Video capture1 control +#define VIH_DISP_VCAP2_CTRL 0x0006 //!< \~english Video capture2 control + +/* Message ID: Put or delete diagnosis code */ +#define VIH_DISP_MAIN_IND_PUTDIAG (0x5200) //!< \~english Put diagnosis code +#define VIH_DISP_MAIN_IND_DELDIAG (0x5201) //!< \~english Delete diagnosis code + +/** + * \~english Event ID + */ +typedef enum TagVideoInHalEventID { + VIH_EVENT_ID_SOURCE, //!< \~english Display source change + VIH_EVENT_ID_QUALITY, //!< \~english Set quality(display) + VIH_EVENT_ID_VIDEOQUALITY, //!< \~english Set quality(video) + VIH_EVENT_ID_ASPECT, //!< \~english Set aspect + VIH_EVENT_ID_MONITOR, //!< \~english Set monitor(display) + VIH_EVENT_ID_VIDEOVISIBLE, //!< \~english Set video visible(video) + VIH_EVENT_ID_MUTE, //!< \~english Set mute + VIH_EVENT_ID_BACKLIGHT, //!< \~english Set backlight + VIH_EVENT_ID_NUM_MAX +} VIH_EVENTID; + +/** + * \~english Control ID + */ +typedef enum TagVideoInHalControlID { + VIH_CONTROL_ID_SOURCE, //!< \~english Display source change + VIH_CONTROL_ID_QUALITY, //!< \~english Set quality(display) + VIH_CONTROL_ID_VIDEOQUALITY, //!< \~english Set quality(video) + VIH_CONTROL_ID_ASPECT, //!< \~english Set aspect + VIH_CONTROL_ID_MONITOR, //!< \~english Set monitor(display) + VIH_CONTROL_ID_VIDEOVISIBLE, //!< \~english Set video visible(video) + VIH_CONTROL_ID_START_CAPTURE, //!< \~english Start capture + VIH_CONTROL_ID_STOP_CAPTURE, //!< \~english Stop capture + VIH_CONTROL_ID_TVTYPE, //!< \~english Set TV type + VIH_CONTROL_ID_DEINTERLACE, //!< \~english Set de-interlace + VIH_CONTROL_ID_VMUTE, //!< \~english Set mute + VIH_CONTROL_ID_BACKLIGHT, //!< \~english Set backlight + VIH_CONTROL_ID_NUM_MAX +} VIH_CONTROLID; + +/** + * \~english Type of video device's return value + */ +typedef enum TagVideoInHalRet { + VIH_RET_SUCCESS, //!< \~english OK + VIH_RET_INVALID_PARAMETER, //!< \~english Invalid parameter + VIH_RET_INTERNAL_ERROR, //!< \~english Internal error + VIH_RET_NUM_MAX +} VIH_RET; + +/** + * \~english context kind + */ +typedef enum TagVideoInHalContext { + VIH_CONTEXT_DISP = 0, //!< \~english Display + VIH_CONTEXT_VIDEO, //!< \~english Video + VIH_CONTEXT_NUM_MAX +} VIH_CONTEXT; + +/** + * \~english Display ID + */ +typedef enum TagVideoInHalDispIdx { + VIH_DISP_IDX_MONITOR0, //!< \~english Monitor0 (Front monitor) + VIH_DISP_IDX_MONITOR1, //!< \~english Monitor1 (Rear monitor) + VIH_DISP_IDX_MONITOR2, //!< \~english Monitor2 + VIH_DISP_IDX_MONITOR3, //!< \~english Monitor3 + VIH_DISP_IDX_MONITOR4, //!< \~english Monitor4 + VIH_DISP_IDX_MONITOR5, //!< \~english Monitor5 + VIH_DISP_IDX_NUM_MAX +} VIH_DISP_IDX; + +/** + * \~english Video ID + */ +typedef enum TagVideoInHalVideoOut { + VIH_VIDEO_OUT_MONITOR0 = 0, //!< \~english Monitor0 (Front monitor) + VIH_VIDEO_OUT_MONITOR1, //!< \~english Monitor1 (Rear monitor) + VIH_VIDEO_OUT_MONITOR2, //!< \~english Monitor2 + VIH_VIDEO_OUT_MONITOR3, //!< \~english Monitor3 + VIH_VIDEO_OUT_MONITOR4, //!< \~english Monitor4 + VIH_VIDEO_OUT_MONITOR5, //!< \~english Monitor5 + VIH_VIDEO_OUT_NONE, //!< \~english Monitor none + VIH_VIDEO_OUT_NUM_MAX +} VIH_VIDEO_OUT; + +/** + * \~english Structure for display tone color + */ +typedef struct TagVideoInHalDispTone { + int16_t day; //!< \~english Day screen + int16_t night; //!< \~english Night screen + int16_t force_day; //!< \~english Force day screen + int16_t force_night; //!< \~english Force night screen +} VIH_DISPTONE; + +/** + * \~english Structure for display tone hue + */ +typedef struct TagVideoInHalDispHue { + int16_t day; //!< \~english Day screen + int16_t night; //!< \~english Night screen + int16_t force_day; //!< \~english Force day screen + int16_t force_night; //!< \~english Force night screen +} VIH_DISPHUE; + +/** + * \~english Structure for display tone contrast + */ +typedef struct TagVideoInHalDispContrast { + int16_t day; //!< \~english Day screen + int16_t night; //!< \~english Night screen + int16_t force_day; //!< \~english Force day screen + int16_t force_night; //!< \~english Force night screen +} VIH_DISPCONTRAST; + +/** + * \~english Structure for display tone brightness + */ +typedef struct TagVideoInHalDispBrightness { + int16_t day; //!< \~english Day screen + int16_t night; //!< \~english Night screen + int16_t force_day; //!< \~english Force day screen + int16_t force_night; //!< \~english Force night screen +} VIH_DISPBRIGHTNESS; + +/** + * \~english Structure for display image quality parameters + */ +typedef struct TagVideoInHalDispParamSetUp { + u_int8_t source; //!< \~english Source type for quality setting + u_int8_t reserved[3]; //!< \~english Reserved + VIH_DISPTONE tone; //!< \~english Tone + VIH_DISPHUE hue; //!< \~english Hue + VIH_DISPCONTRAST contrast; //!< \~english Contrast + VIH_DISPBRIGHTNESS brightness; //!< \~english Brightness +} VIH_DISP_PARAM_SETUP; + +/** + * \~english Structure for display parameters + */ +typedef struct TagVideoInHalDispParam { + u_int8_t monitor; //!< \~english Monitor state + u_int8_t reserve[3]; //!< \~english Reserve + VIH_DISP_PARAM_SETUP setup; //!< \~english Quality setting + u_int8_t illumi; //!< \~english Illumination + u_int8_t dimmer; //!< \~english Auto dimmer + u_int8_t mute; //!< \~english Mute + u_int8_t backlight; //!< \~english Back light +} VIH_DISPPARAM; + +/** + * \~english Structure for video tone color + */ +typedef struct TagVideoInHalVideoTone { + int16_t day; //!< \~english Day screen + int16_t night; //!< \~english Night screen + int16_t force_day; //!< \~english Force day screen + int16_t force_night; //!< \~english Force night screen +} VIH_VIDEOTONE; + +/** + * \~english Structure for video tone hue + */ +typedef struct TagVideoInHalVideoHue { + int16_t day; //!< \~english Day screen + int16_t night; //!< \~english Night screen + int16_t force_day; //!< \~english Force day screen + int16_t force_night; //!< \~english Force night screen +} VIH_VIDEOHUE; + +/** + * \~english Structure for video tone contrast + */ +typedef struct TagVideoInHalVideoContrast { + int16_t day; //!< \~english Day screen + int16_t night; //!< \~english Night screen + int16_t force_day; //!< \~english Force day screen + int16_t force_night; //!< \~english Force night screen +} VIH_VIDEOCONTRAST; + +/** + * \~english Structure for video tone brightness + */ +typedef struct TagVideoInHalVideoBrightness { + int16_t day; //!< \~english Day screen + int16_t night; //!< \~english Night screen + int16_t force_day; //!< \~english Force day screen + int16_t force_night; //!< \~english Force night screen +} VIH_VIDEOBRIGHTNESS; + +/** + * \~english Structure for video image quality parameters + */ +typedef struct TagVideoInHalVideoParamSetUp { + u_int8_t source; //!< \~english Source type for quality setting + u_int8_t reserve[3]; //!< \~english reserve + VIH_VIDEOTONE tone; //!< \~english Tone + VIH_VIDEOHUE hue; //!< \~english Hue + VIH_VIDEOCONTRAST contrast; //!< \~english Contrast + VIH_VIDEOBRIGHTNESS brightness; //!< \~english Brightness +} VIH_VIDEO_PARAM_SETUP; + +/** + * \~english Structure for video position and angle + */ +typedef struct TagVideoInHalVideoPos { + u_int32_t aspect_x; //!< \~english Display position x + u_int32_t aspect_y; //!< \~english Display position y + u_int32_t aspect_w; //!< \~english Display width + u_int32_t aspect_h; //!< \~english Display height +} VIH_VIDEOPOS; + +/** + * \~english Structure for video parameters + */ +typedef struct TagVideoInHalVideoParam { + u_int8_t source; //!< \~english Video Source + u_int8_t type; //!< \~english TV type + u_int8_t interlace; //!< \~english De-interlace + u_int8_t aspect; //!< \~english Aspect Value + VIH_VIDEOPOS angle; //!< \~english Angle + VIH_VIDEO_PARAM_SETUP setup; //!< \~english Quality setting + u_int8_t monitor; //!< \~english Monitor + u_int8_t mute; //!< \~english Mute + u_int8_t aspect_ratio; //!< \~english Aspect ratio + u_int8_t reserve; //!< \~english Reserve + u_int32_t window_priority; //!< \~english Window priority +} VIH_VIDEOPARAM; + +/** + * \~english Structure for display identify + */ +typedef struct TagVideoInHalDispVideoID { + VIH_CONTEXT kind; //!< \~english Context type + struct timespec tp; //!< \~english Context create time +} VIH_DISPVIDEOID; + +/** + * \~english Structure for display information + */ +typedef struct TagVideoInHalDispVideoInfo { + VIH_DISPVIDEOID context_id; //!< \~english Context identify + u_int32_t dsp_idx; //!< \~english Display index + u_int32_t chgflg; //!< \~english Setting change flag +} VIH_DISPVIDEOINFO; + +/** + * \~english Structure for display context + */ +typedef struct TagVideoInHalDispMngCtx { + VIH_DISPVIDEOINFO info; //!< \~english Display information + VIH_DISPPARAM disp_param[VIH_DISP_IDX_NUM_MAX]; //!< \~english Display parameter + VIH_VIDEOPARAM video_param[VIH_VIDEO_OUT_NUM_MAX]; //!< \~english Video parameter +} VIH_DISPMNGCTX; + +/** + * \~english Structure for diagnosis code data + */ +typedef struct TagVideoInHalGRMainReqDiagData { + uint64_t err_id; //!< \~english Error ID + uint16_t videoinhal_code; //!< \~english Code + uint8_t reserve1[2]; //!< \~english Reserve +} VIH_GR_MAIN_REQ_DIAGDATA; + + +/** + * \ingroup SendDiagCodeCallBack + * \~english @par Brief + * Send diagnosis code call back. + * \~english @param [in] snd_info + * u_int16_t - Send information + * \~english @param [in] msg_id + * u_int32_t - Message ID + * \~english @param [in] diag_data + * VIH_GR_MAIN_REQ_DIAGDATA* - Diagnosis code data + * \~english @par + * u_int16_t snd_info + * \~english @code + * VIH_DISP_SEQ_CTRL 0x0003 // Sequence control + * VIH_DISP_VCAP1_CTRL 0x0005 // Video capture1 control + * VIH_DISP_VCAP2_CTRL 0x0006 // Video capture2 control + * @endcode + * \~english @par + * u_int32_t msg_id + * \~english @code + * VIH_DISP_MAIN_IND_PUTDIAG (0x5200) // Put diagnosis code + * VIH_DISP_MAIN_IND_DELDIAG (0x5201) // Delete diagnosis code + * @endcode + * \~english @par + * VIH_GR_MAIN_REQ_DIAGDATA struct + * \~english @code + * typedef struct TagVideoInHalGRMainReqDiagData + * { + * uint64_t err_id; // Error ID + * uint16_t videoinhal_code; // Videoinhal code + * uint8_t reserve1[2]; // Reserve + * } VIH_GR_MAIN_REQ_DIAGDATA; + * @endcode + * \~english @retval 0 : OK + * \~english @retval -1 : Invalid parameter + * \~english @par Detail + * - Notify diagnosis code request to graphics_service. + * \~english @par Prerequisite + * - None + * \~english @par Conditions of processing failure + * - When input parameter diag_data is NULL, return with error. [-1] + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * None + */ +typedef int (*SendDiagCodeCallBack)(u_int16_t snd_info, u_int32_t msg_id, VIH_GR_MAIN_REQ_DIAGDATA* diag_data); + +/** + * \ingroup InitVideo + * \~english @par Brief + * API to display device initialize. + * \~english @param [in] call_back + * SendDiagCodeCallBack - Send diagnosis trace code call back function + * \~english @retval VIH_RET_SUCCESS : OK + * \~english @retval VIH_RET_INVALID_PARAMETER : Invalid parameter + * \~english @par Detail + * - Display device initialize, init parameter and threads. + * - The API can only be used by 1 process. + * \~english @par Prerequisite + * - None + * \~english @par Conditions of processing failure + * - When display device driver can not be found, return with error. [VIH_RET_INVALID_PARAMETER] + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * None + */ +VIH_RET InitVideo(SendDiagCodeCallBack call_back); + +/** + * \ingroup ControlVideo + * \~english @par Brief + * API to Control display device. + * \~english @param [in] pctx + * VIH_DISPMNGCTX* - Point of parameter used by control display device + * \~english @param [in] event_id + * VIH_EVENTID - Event ID + * \~english @param [in] control_id + * VIH_CONTROLID - Control ID + * \~english @par + * VIH_DISPMNGCTX struct + * \~english @code + * typedef struct TagVideoInHalDispMngCtx + * { + * VIH_DISPVIDEOINFO info; // Information of display + * VIH_DISPPARAM disp_param[VIH_DISP_IDX_NUM_MAX]; // Paramter of diaplay + * VIH_VIDEOPARAM video_param[VIH_VIDEO_OUT_NUM_MAX]; // Paramter of video + * } VIH_DISPMNGCTX; + * @endcode + * \~english @par + * VIH_EVENTID enum + * \~english @code + * typedef enum TagVideoInHalEventID + * { + * VIH_EVENT_ID_SOURCE, // Display source change + * VIH_EVENT_ID_QUALITY, // Set quality(display) + * VIH_EVENT_ID_VIDEOQUALITY, // Set quality(video) + * VIH_EVENT_ID_ASPECT, // Set aspect + * VIH_EVENT_ID_MONITOR, // Set monitor(display) + * VIH_EVENT_ID_VIDEOVISIBLE, // Set video visible(video) + * VIH_EVENT_ID_MUTE, // Set mute + * VIH_EVENT_ID_BACKLIGHT, // Set backlight + * VIH_EVENT_ID_NUM_MAX + * } VIH_EVENTID; + * @endcode + * \~english @par + * VIH_CONTROLID enum + * \~english @code + * typedef enum TagVideoInHalControlID + * { + * VIH_CONTROL_ID_SOURCE, // Display source change + * VIH_CONTROL_ID_QUALITY, // Set quality(display) + * VIH_CONTROL_ID_VIDEOQUALITY, // Set quality(video) + * VIH_CONTROL_ID_ASPECT, // Set aspect + * VIH_CONTROL_ID_MONITOR, // Set monitor(display) + * VIH_CONTROL_ID_VIDEOVISIBLE, // Set video visible(video) + * VIH_CONTROL_ID_START_CAPTURE, // Start capture + * VIH_CONTROL_ID_STOP_CAPTURE, // Stop capture + * VIH_CONTROL_ID_TVTYPE, // Set TV type + * VIH_CONTROL_ID_DEINTERLACE, // Set de-interlace + * VIH_CONTROL_ID_VMUTE, // Set mute + * VIH_CONTROL_ID_BACKLIGHT, // Set backlight + * VIH_CONTROL_ID_NUM_MAX + * } VIH_CONTROLID; + * @endcode + * \~english @retval VIH_RET_SUCCESS : OK + * \~english @retval VIH_RET_INVALID_PARAMETER : Invalid parameter + * \~english @retval VIH_RET_INTERNAL_ERROR : Internal error + * \~english @par Detail + * - Control display device. Include display source, quality(display), quality(video), aspect , monitor, video visible, start capture, stop capture, mute, backlight, TV type, de-interlace. + * - The API can only be used by 1 process. + * \~english @par Prerequisite + * - Call InitVideo() + * \~english @par Conditions of processing failure + * - The point param is null [VIH_RET_INVALID_PARAMETER] + * - The display driver return error [VIH_RET_INTERNAL_ERROR] + * \~english @par Classification + * Public + * \~english @par Type + * Fire and Forget + * \~english @see + * None + */ +VIH_RET ControlVideo(VIH_DISPMNGCTX* pctx, VIH_EVENTID event_id, VIH_CONTROLID control_id); + +/** + * \ingroup TerminateVideo + * \~english @par Brief + * API to display device Terminate. + * \~english @param None + * \~english @retval VIH_RET_SUCCESS : OK + * \~english @par Detail + * - Display device Terminate, init parameter. + * - The API can only be used by 1 process. + * \~english @par Prerequisite + * - Call InitVideo(). + * \~english @par Conditions of processing failure + * - None + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @see + * None + */ +VIH_RET TerminateVideo(); + +#ifdef __cplusplus +} +#endif + +/** @}*/ //!< end of video_in_hal +/** @}*/ //!< end of graphics_service + +#endif // HAL_API_VIDEO_IN_HAL_H_ diff --git a/hal/video_in_hal/src/video_in_hal.c b/hal/video_in_hal/src/video_in_hal.c new file mode 100755 index 0000000..b639a83 --- /dev/null +++ b/hal/video_in_hal/src/video_in_hal.c @@ -0,0 +1,50 @@ +/* + * @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. + */ + +/* + * Information. + * This source code is a sample source code . + * Implementation of the function must be performed by the vendor. + */ + +#include "video_in_hal.h" + +VIH_RET InitVideo(SendDiagCodeCallBack call_back) +{ + /* + * Note. + * This feature needs to be implemented by the vendor. + */ + return VIH_RET_SUCCESS; +} + +VIH_RET ControlVideo(VIH_DISPMNGCTX* pctx, VIH_EVENTID event_id, VIH_CONTROLID control_id) +{ + /* + * Note. + * This feature needs to be implemented by the vendor. + */ + return VIH_RET_SUCCESS; +} + +VIH_RET TerminateVideo() +{ + /* + * Note. + * This feature needs to be implemented by the vendor. + */ + return VIH_RET_SUCCESS; +} |