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Diffstat (limited to 'video_in_hal/positioning_hal/hal_api/positioning_hal.h')
| -rwxr-xr-x | video_in_hal/positioning_hal/hal_api/positioning_hal.h | 872 |
1 files changed, 0 insertions, 872 deletions
diff --git a/video_in_hal/positioning_hal/hal_api/positioning_hal.h b/video_in_hal/positioning_hal/hal_api/positioning_hal.h deleted file mode 100755 index 8a74b81..0000000 --- a/video_in_hal/positioning_hal/hal_api/positioning_hal.h +++ /dev/null @@ -1,872 +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_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*/ |