diff options
Diffstat (limited to 'video_in_hal/positioning_hal/hal_api/gps_hal.h')
| -rwxr-xr-x | video_in_hal/positioning_hal/hal_api/gps_hal.h | 932 |
1 files changed, 0 insertions, 932 deletions
diff --git a/video_in_hal/positioning_hal/hal_api/gps_hal.h b/video_in_hal/positioning_hal/hal_api/gps_hal.h deleted file mode 100755 index 3321275..0000000 --- a/video_in_hal/positioning_hal/hal_api/gps_hal.h +++ /dev/null @@ -1,932 +0,0 @@ -/* - * @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*/ |