diff options
Diffstat (limited to 'positioning/server/src/Sensor/VehicleSens_Did_GyroYExt_l.cpp')
| -rw-r--r-- | positioning/server/src/Sensor/VehicleSens_Did_GyroYExt_l.cpp | 148 |
1 files changed, 148 insertions, 0 deletions
diff --git a/positioning/server/src/Sensor/VehicleSens_Did_GyroYExt_l.cpp b/positioning/server/src/Sensor/VehicleSens_Did_GyroYExt_l.cpp new file mode 100644 index 00000000..898dafbb --- /dev/null +++ b/positioning/server/src/Sensor/VehicleSens_Did_GyroYExt_l.cpp @@ -0,0 +1,148 @@ +/* + * @copyright Copyright (c) 2019-2020 TOYOTA MOTOR CORPORATION. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +/******************************************************************************* + * File name :VehicleSens_Did_GyroYExt_l.cpp + * Subsystem name :Vehicle sensor process + * Program name :Vehicle sensor data master(POSHAL_DID_GYRO_EXT) + * Module configuration :VehicleSensInitGyroYExtl() Vehicle Sensor GYRO (Initial Delivery) Initialization Functions + * :VehicleSensSetGyroYExtlG() Vehicle Sensor GYRO (Initial Delivery) Set Functions + * :VehicleSensGetGyroYExtl() Vehicle Sensor GYRO (Initial Delivery) Get Functions + ******************************************************************************/ + +#include "VehicleSens_DataMaster.h" + +#if CONFIG_SENSOR_EXT_VALID /* Initial Sensor Support */ +/*************************************************/ +/* Global variable */ +/*************************************************/ +static VEHICLESENS_DATA_MASTER_EXT gstGyroYExt_l; // NOLINT(readability/nolint) + +/******************************************************************************* +* MODULE : VehicleSensInitGyroYExtl +* ABSTRACT : Vehicle Sensor GYRO_Y Initialization Functions(Initial delivery) +* FUNCTION : GYRO data master initialization process +* ARGUMENT : void +* NOTE : +* RETURN : void +******************************************************************************/ +void VehicleSensInitGyroYExtl(void) { + u_int16 *pus; + + memset(&gstGyroYExt_l, 0x00, sizeof(VEHICLESENS_DATA_MASTER_EXT)); + gstGyroYExt_l.ul_did = POSHAL_DID_GYRO_Y; + gstGyroYExt_l.us_size = VEHICLE_DSIZE_GYRO_EXT_INIT; + + pus = reinterpret_cast<u_int16 *>(gstGyroYExt_l.uc_data); + memset(reinterpret_cast<void*>(pus), VEHICLE_DINIT_GYRO, VEHICLE_DSIZE_GYRO_EXT); +} + +/******************************************************************************* +* MODULE : VehicleSensSetGyroYExtlG +* ABSTRACT : Vehicle Sensor GYRO_Y SET Functions(Initial delivery) +* FUNCTION : Update the GYRO data master +* ARGUMENT : *pst_data : Pointer to the message data received by the direct line +* NOTE : +* RETURN : VEHICLESENS_EQ : No data change +* VEHICLESENS_NEQ : Data change +******************************************************************************/ +void VehicleSensSetGyroYExtlG(const LSDRV_LSDATA_G *pst_data) { + VEHICLESENS_DATA_MASTER_EXT *pst_master; + u_int16 us_start = 0; + u_int16 us_size = 0; + u_int16 us_cnt = 0; + + pst_master = &gstGyroYExt_l; + us_size = static_cast<u_int16>(sizeof(u_int16) * 10); /* Size of one data item: 2byte * 10 data items */ + + /* Retrieve the location where the received one is stored */ + us_start = gstPkgTempExt.start_point[GyroY]; + + /* Stored in data master(Order of reception)*/ + if (us_start >= VEHICLE_DKEEP_MAX) { + /* Store the latest one at position 0 */ + us_start = VEHICLE_DATA_POS_00; + /* If you are discarding old data,,Set a flag */ + gstPkgTempExt.data_break = VEHICLE_SNS_BREAK; + } + pst_master->ul_did = pst_data->ul_did; + pst_master->uc_rcvflag = VEHICLE_RCVFLAG_ON; + for (us_cnt = 0; us_cnt < us_size; us_cnt++) { + pst_master->uc_data[us_start * us_size + us_cnt] = (u_int8)(pst_data->uc_data[us_cnt]); + } + + /* Update next storage start position and latest data storage position */ + us_start++; + gstPkgTempExt.start_point[GyroY] = us_start; + + /* Update data master size */ + if (gstPkgTempExt.data_break == VEHICLE_SNS_BREAK) { + /* Make the size of all extended data masters */ + pst_master->us_size = VEHICLE_DSIZE_GYRO_EXT; + } else { + /* Add the size of one received data item */ + pst_master->us_size = static_cast<u_int16>(pst_master->us_size + us_size); + } +} + +/******************************************************************************* +* MODULE : VehicleSensGetGyroYExtl +* ABSTRACT : Vehicle Sensor GYRO_Y GET Functions(Initial delivery) +* FUNCTION : Provide a GYRO data master +* ARGUMENT : *pst_data : Pointer to the data master acquisition destination +* NOTE : +* RETURN : void +******************************************************************************/ +void VehicleSensGetGyroYExtl(VEHICLESENS_DATA_MASTER_EXT *pst_data) { + const VEHICLESENS_DATA_MASTER_EXT *pst_master; + uint16_t us_size = 0; + uint16_t us_data_cnt = 0; // Number of data contained + uint16_t us_loop_cnt = 0; // 64 over index + + /* Store the data master in the specified destination. */ + pst_master = &gstGyroYExt_l; + pst_data->ul_did = pst_master->ul_did; + pst_data->us_size = pst_master->us_size; + pst_data->uc_rcvflag = pst_master->uc_rcvflag; + + us_size = static_cast<u_int16>(sizeof(u_int16) * 10); /* Size of one data item: 2byte * 10 data items */ + + /* Checking whether the number of stored entries is looped */ + if (gstPkgTempExt.data_break == VEHICLE_SNS_BREAK) { + us_data_cnt = VEHICLE_DKEEP_MAX; + } else { + us_data_cnt = gstPkgTempExt.start_point[GyroY]; + } + + /* Acquire data from the oldest data master */ + for (uint16_t us_cnt = 0; us_cnt < us_data_cnt; us_cnt++) { + if (gstPkgTempExt.data_break == VEHICLE_SNS_BREAK) { + /* Get information before loop */ + if (gstPkgTempExt.start_point[GyroY] + us_cnt < VEHICLE_DKEEP_MAX) { + memcpy(&pst_data->uc_data[us_cnt * us_size], + &pst_master->uc_data[(gstPkgTempExt.start_point[GyroY] + us_cnt) * us_size], us_size); + } else { + memcpy(&pst_data->uc_data[us_cnt * us_size], + &pst_master->uc_data[us_loop_cnt * us_size], us_size); + us_loop_cnt++; + } + } else { + memcpy(&pst_data->uc_data[us_cnt * us_size], + &pst_master->uc_data[us_cnt * us_size], us_size); + } + } +} +#endif // CONFIG_SENSOR_EXT_VALID |