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Diffstat (limited to 'video_in_hal/positioning_hal/inc/GpsCommon/MDev_Gps_Nmea.h')
| -rwxr-xr-x | video_in_hal/positioning_hal/inc/GpsCommon/MDev_Gps_Nmea.h | 313 |
1 files changed, 0 insertions, 313 deletions
diff --git a/video_in_hal/positioning_hal/inc/GpsCommon/MDev_Gps_Nmea.h b/video_in_hal/positioning_hal/inc/GpsCommon/MDev_Gps_Nmea.h deleted file mode 100755 index a19e3d9..0000000 --- a/video_in_hal/positioning_hal/inc/GpsCommon/MDev_Gps_Nmea.h +++ /dev/null @@ -1,313 +0,0 @@ -/* - * @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*/ |