diff options
Diffstat (limited to 'positioning/client/include/vehicle_service/POS_sensor_API.h')
| -rw-r--r-- | positioning/client/include/vehicle_service/POS_sensor_API.h | 138 |
1 files changed, 87 insertions, 51 deletions
diff --git a/positioning/client/include/vehicle_service/POS_sensor_API.h b/positioning/client/include/vehicle_service/POS_sensor_API.h index eade3790..a7a35c4a 100644 --- a/positioning/client/include/vehicle_service/POS_sensor_API.h +++ b/positioning/client/include/vehicle_service/POS_sensor_API.h @@ -1,5 +1,5 @@ /* - * @copyright Copyright (c) 2016-2019 TOYOTA MOTOR CORPORATION. + * @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. @@ -44,24 +44,35 @@ #define POS_DID_SPEED_KMPH 0x80000013 //!< \~english Data ID of KMPH speed #define POS_DID_SNS_COUNTER 0x8000001A //!< \~english Data ID of sensor counter -#define POS_DID_GYRO 0x80000014 //!< \~english Data ID of gyro +#define POS_DID_GYRO_X 0x80000014 //!< \~english Data ID of X axis gyro +#define POS_DID_GYRO_Y 0x80000085 //!< \~english Data ID of Y axis gyro +#define POS_DID_GYRO_Z 0x80000086 //!< \~english Data ID of Z axis gyro +#define POS_DID_GYRO POS_DID_GYRO_X +//!< \~english Data ID of POS_DID_GYRO is same as POS_DID_GYRO_X #define POS_DID_GSNS_X 0x80000015 //!< \~english Data ID of x axis gsensor #define POS_DID_GSNS_Y 0x80000016 //!< \~english Data ID of Y axis gsensor +#define POS_DID_GSNS_Z 0x80000026 //!< \~english Data ID of Z axis gsensor #define POS_DID_REV 0x80000017 //!< \~english Data ID of reverse signal #define POS_DID_GPS_ANTENNA 0x80000019 //!< \~english Data ID of GPS antenna status #define POS_DID_SPEED_PULSE_FST 0x80000028 //!< \~english Data ID of first time speed pulse -#define POS_DID_GYRO_FST 0x80000029 //!< \~english Data ID of first time gyro +#define POS_DID_GYRO_X_FST 0x80000029 //!< \~english Data ID of first time X axis gyro +#define POS_DID_GYRO_Y_FST 0x80000043 //!< \~english Data ID of first time Y axis gyro +#define POS_DID_GYRO_Z_FST 0x80000023 //!< \~english Data ID of first time Z axis gyro +#define POS_DID_GYRO_FST POS_DID_GYRO_X_FST +//!< \~~english Data ID of POS_DID_GYRO_FST is same as POS_DID_GYRO_X_FST #define POS_DID_REV_FST 0x8000007E //!< \~english Data ID of first time reverse signal #define POS_DID_GYRO_TEMP 0x80000090 //!< \~english Data ID of gyro temperature #define POS_DID_GYRO_TEMP_FST 0x80000091 //!< \~english Data ID of first time gyro temperature -#define POS_DID_GSNS_X_FST 0x80000092 +#define POS_DID_GSNS_X_FST 0x80000087 //!< \~english Data ID of first time x axis gsensor -#define POS_DID_GSNS_Y_FST 0x80000093 +#define POS_DID_GSNS_Y_FST 0x80000088 //!< \~english Data ID of first time Y axis gsensor +#define POS_DID_GSNS_Z_FST 0x80000089 +//!< \~english Data ID of first time Z axis gsensor #define POS_DID_PULSE_TIME 0x8000003A //!< \~english Data ID of pulse time #define POS_DID_GPS__CWORD82__NMEA 0x80000030U @@ -77,13 +88,25 @@ #define POS_DID_GPS_CLOCK_FREQ 0x800000B4U //!< \~english Data ID of GPS time frequency data +/** + * \~english @brief Delivery sensor extra package command ID + * \~english @brief If you want to catch above envents, use NSFW like below. + * \~english @code + * l_eStatus = FrameworkUnifiedAttachCallbackToDispatcher(h_app, POS_NTFY_SEND_THREAD, CID_POSIF_REGISTER_LISTENER_PKG_SENSOR_DATA, CBCallbackA); + * @endcode + */ #define CID_POSIF_REGISTER_LISTENER_PKG_SENSOR_DATA 0x0700 -//!< \~english sensor extra package register command ID +/** + * \~english @brief Delivery sensor information command ID + * \~english @brief If you want to catch above envents, use NSFW like below. + * \~english @code + * l_eStatus = FrameworkUnifiedAttachCallbackToDispatcher(h_app, POS_NTFY_SEND_THREAD, CID_POSIF_REGISTER_LISTENER_SENSOR_DATA, CBCallbackA); + * @endcode + */ #define CID_POSIF_REGISTER_LISTENER_SENSOR_DATA 0x0200 -//!< \~english sensor information register command ID -#define SENSOR_MSGBUF_DSIZE 2264 +#define SENSOR_MSGBUF_DSIZE 4096 //!< \~english message body maximum size #define SENSOR_VSHEAD_DSIZE 36 @@ -92,8 +115,12 @@ #define SENSOR_VSINFO_DSIZE (SENSOR_MSGBUF_DSIZE - SENSOR_VSHEAD_DSIZE) //!< \~english vehicle sensor data size -#define SENSOR_MSG_VSINFO_DSIZE 1272 +// Same name/value is defined, but client doesn't include HAL header. +// It defines SENSOR_MSG_VSINFO_DSIZE if not included HAL. +#ifndef HAL_API_POSITIONING_HAL_H_ +#define SENSOR_MSG_VSINFO_DSIZE 1904u //!< \~english vehicle sensor message body maximum size +#endif #define SENSOR_PKG_DELIVERY_MAX 16 //!< \~english number of data ID per a package @@ -161,15 +188,19 @@ extern "C" { /// - buffer pointer of the data ID array in package(pulDid) \n /// The data ID set to the first in pulDid is the delivery key. \n /// If the data ID not one of the following be set, return SENSOR_RET_ERROR_PARAM. -/// - POS_DID_SNS_COUNTER - sensor counter(get from sys) -/// - POS_DID_GYRO - gyro output -/// - POS_DID_SPEED_PULSE - speed pulse(count of pulse) +/// - POS_DID_SNS_COUNTER - sensor counter +/// - POS_DID_GYRO_X - gyro output (X axis) +/// - POS_DID_GYRO_Y - gyro output (Y axis) +/// - POS_DID_GYRO_Z - gyro output (Z axis) +/// - POS_DID_SPEED_PULSE - speed pulse /// - POS_DID_REV - REV signal(0:forward 1:backward) -/// - POS_DID_GSNS_X - Gsensor output X axis(15 to 4bit A/D value) -/// - POS_DID_GSNS_Y - Gsensor output Y axis(15 to 4bit A/D value) +/// - POS_DID_GSNS_X - Gsensor output X axis +/// - POS_DID_GSNS_Y - Gsensor output Y axis +/// - POS_DID_GSNS_Z - Gsensor output Z axis /// - POS_DID_GYRO_TEMP - gyro temperature -/// - POS_DID_PULSE_TIME - pulse time(32bit pulse time store count(0-32), \n -/// 32bitx max32 time between pulse[ micro s](1-4294967295 micro s)) \n +/// - POS_DID_PULSE_TIME - pulse time\n +/// \~english @par +/// - Because positioning is G/W between Navi and HAL, value depends on the design of HAL. /// \~english @par /// - Note:The Gsensor output is 0 in the environment without Gsensor hardware.\n /// \~english @par @@ -266,43 +297,43 @@ extern "C" { /// This API return the result of registering. \n /// The data from sensor data received to registering will be deliveried. \n /// The first delivery data is the sensor data(max 64 number of sensor counter, \n -/// reverse signal,gyro temperature, max 640 number of gyro output,speed pulse,Gsensor output(X axis), \n -/// Gsensor output(Y axis), max 2048 number of pulse time) in 6.4 second. \n +/// reverse signal,gyro temperature, max 640 number of gyro output(X axis), gyro output(X axis), gyro output(Z axis), \n +/// speed pulse,Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis), max 2048 number of pulse time) in 6.4 second. \n /// If the data number is more than max number, delivery the data in newest 6.4 second. \n -/// If the sensor data accumulated more than max number, set VEHICLE_SNS_BREAK to data missing information.\n +/// If the sensor data accumulated more than max number, set VEHICLE_SNS_BREAK to data missing information. \n /// If sensor data number is more than the data number send in one time(10 number of \n -/// sensor counter,reverse signal,gyro temperature, 100 number of gyro output,speed pulse, \n -/// Gsensor output(X axis),Gsensor output(Y axis), 320 number of pulse time), \n -/// the new data is divided into partitions(every partition with 10 number of sensor counter, \n -/// reverse signal,gyro temperature, 100 number of gyro output,speed pulse,Gsensor output(X axis), \n -/// Gsensor output(Y axis), 320 number of pulse time) to delivery. \n +/// sensor counter,reverse signal,gyro temperature, 100 number of gyro output(X axis), gyro output(X axis), gyro output(Z axis), \n +/// speed pulse, Gsensor output(X axis),Gsensor output(Y axis), Gsensor output(Z axis), 320 number of pulse time), \n +/// the old data is divided into partitions(every partition with 10 number of sensor counter, \n +/// reverse signal,gyro temperature, 100 number of gyro output(X axis), gyro output(X axis), gyro output(Z axis), \n +/// speed pulse,Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis), 320 number of pulse time) to delivery. \n /// The last message for first delivery is the message that the partition count equal to partition No. \n /// After first delivery, the message data(1 number of sensor counter,reverse signal, \n -/// gyro temperature, 10 number of gyro output,speed pulse,Gsensor output(X axis), \n -/// Gsensor output(Y axis), 32 number of pulse time) deliveried. \n +/// gyro temperature, 10 number of gyro output(X axis), gyro output(X axis), gyro output(Z axis),speed pulse, \n +/// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis), 32 number of pulse time) deliveried. \n /// And because the data missing information, divided partition count, \n /// diveided partition No is not used, they will be set to 0 in message.\n /// (sample)The sensor data in 6.4 second divided to delivery -/// - 1st message(sensor counter,reverse signal,gyro temperature=10 number, gyro output,speed pulse, \n -/// Gsensor output(X axis),Gsensor output(Y axis)=100 number,pulse time=320 number), divided \n -/// partition count=7,divided partition No=1) -/// - 2nd message(sensor counter,reverse signal,gyro temperature=10 number, gyro output,speed pulse, \n -/// Gsensor output(X axis),Gsensor output(Y axis)=100 number,pulse time=320 number), divided \n -/// partition count=7,divided partition No=2) -/// - 3rd message(sensor counter,reverse signal,gyro temperature=10 number, gyro output,speed pulse, \n -/// Gsensor output(X axis),Gsensor output(Y axis)=100 number,pulse time=320 number), divided \n +/// - 1st message(sensor counter, reverse signal, gyro temperature=10 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n +/// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=100 number, pulse time=320 number), divided \n +/// partition count=7, divided partition No=1) +/// - 2nd message(sensor counter, reverse signal, gyro temperature=10 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n +/// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=100 number, pulse time=320 number), divided \n +/// partition count=7, divided partition No=2) +/// - 3rd message(sensor counter, reverse signal, gyro temperature=10 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n +/// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=100 number, pulse time=320 number), divided \n /// partition count=7,divided partition No=3) -/// - 4th message(sensor counter,reverse signal,gyro temperature=10 number, gyro output,speed pulse, \n -/// Gsensor output(X axis),Gsensor output(Y axis)=100 number,pulse time=320 number), divided \n +/// - 4th message(sensor counter, reverse signal, gyro temperature=10 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n +/// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=100 number, pulse time=320 number), divided \n /// partition count=7,divided partition No=4) -/// - 5th message(sensor counter,reverse signal,gyro temperature=10 number, gyro output,speed pulse, \n -/// Gsensor output(X axis),Gsensor output(Y axis)=100 number,pulse time=320 number), divided \n +/// - 5th message(sensor counter, reverse signal, gyro temperature=10 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n +/// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=100 number, pulse time=320 number), divided \n /// partition count=7,divided partition No=5) -/// - 6th message(sensor counter,reverse signal,gyro temperature=10 number, gyro output,speed pulse, \n -/// Gsensor output(X axis),Gsensor output(Y axis)=100 number,pulse time=320 number), divided \n +/// - 6th message(sensor counter, reverse signal, gyro temperature=10 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n +/// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=100 number, pulse time=320 number), divided \n /// partition count=7,divided partition No=6) -/// - 7th message(sensor counter,reverse signal,gyro temperature=10 number, gyro output,speed pulse, \n -/// Gsensor output(X axis),Gsensor output(Y axis)=100 number,pulse time=320 number), divided \n +/// - 7th message(sensor counter, reverse signal, gyro temperature=4 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n +/// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=40 number, pulse time=128 number), divided \n /// partition count=7,divided partition No=7) /// /// \~english @par @@ -320,10 +351,10 @@ extern "C" { /// \~english @par /// message structure /// - After success to register, vehicle sensor will send message as system API message with following format. -/// Command ID : CID_POSIF_REGISTER_LISTENER_PKG_SENSOR_DATA \n +/// Command ID : @ref CID_POSIF_REGISTER_LISTENER_PKG_SENSOR_DATA \n /// Definition of structure /// \~english @code -/// #define SENSOR_MSGBUF_DSIZE 2264 /* max size of message body */ +/// #define SENSOR_MSGBUF_DSIZE 4096 /* max size of message body */ /// #define SENSOR_VSHEAD_DSIZE 36 /* vehicle sensor header size(1+3+16*2) */ /// #define SENSOR_PKG_DELIVERY_MAX 16 /* max number of Data ID in package */ /// #define SENSOR_VSINFO_DSIZE (SENSOR_MSGBUF_DSIZE - SENSOR_VSHEAD_DSIZE) @@ -496,10 +527,10 @@ SENSOR_RET_API POS_RegisterListenerPkgSensData(HANDLE hApp, PCSTR notifyName, /// - After success to register, vehicle sensor will send message as system API message with following format. /// - If the register successed, certainly delivery first data. And then delivery data according to /// the delivery timing. \n -/// Command ID : CID_POSIF_REGISTER_LISTENER_SENSOR_DATA \n +/// Command ID : @ref CID_POSIF_REGISTER_LISTENER_SENSOR_DATA \n /// /// \~english @code -/// #define SENSOR_MSG_VSINFO_DSIZE 1272 /* max size of message body */ +/// #define SENSOR_MSG_VSINFO_DSIZE 1904 /* max size of message body */ /// typedef struct /// { /// DID did; /* data ID */ @@ -543,18 +574,23 @@ SENSOR_RET_API POS_RegisterListenerSensData(HANDLE hApp, PCSTR notifyName, DI /// \~english @par /// - Data ID of vehicle info(ulDid) /// - POS_DID_SPEED_PULSE - speed pulse(count of pulse) -/// - POS_DID_GYRO - gyro output(16bit A/D value) -/// - POS_DID_GSNS_X - Gsensor output (X axis)(12bit A/D value(left justified:15 to 4bit)) -/// - POS_DID_GSNS_Y - Gsensor output (Y axis)(12bit A/D value(left justified:15 to 4bit)) +/// - POS_DID_GYRO_X - gyro output (X axis) +/// - POS_DID_GYRO_Y - gyro output (Y axis) +/// - POS_DID_GYRO_Z - gyro output (Z axis) +/// - POS_DID_GSNS_X - Gsensor output (X axis) +/// - POS_DID_GSNS_Y - Gsensor output (Y axis) +/// - POS_DID_GSNS_Z - Gsensor output (Z axis) /// - POS_DID_GPS_ANTENNA - GPS antenna connection status /// - POS_DID_GPS__CWORD82__NMEA - GPS NMEA(_CWORD82_) /// - POS_DID_GPS__CWORD82__FULLBINARY - GPS _CWORD82_ full binary(_CWORD82_) /// - POS_DID_GPS_NMEA - GPS NMEA /// - POS_DID_GYRO_TEMP - gyro temperature -/// - POS_DID_GPS_CLOCK_DRIFT - GPS clock drift([ns/s]) -/// - POS_DID_GPS_CLOCK_FREQ - GPS clock frequency([Hz]) +/// - POS_DID_GPS_CLOCK_DRIFT - GPS clock drift +/// - POS_DID_GPS_CLOCK_FREQ - GPS clock frequency /// - The avaliable data ID of each hardware type is as following. /// \~english @par +/// - Because positioning is G/W between Navi and HAL, value depends on the design of HAL. +/// \~english @par /// - Note:The Gsensor output is 0 in the environment without Gsensor hardware. /// - vehicle sensor data buffer size(usDestSize) \n /// Please note it is the size of output buffer, not the size of data. |