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Diffstat (limited to 'positioning_hal/hal_api/positioning_hal.h')
| -rw-r--r-- | positioning_hal/hal_api/positioning_hal.h | 872 |
1 files changed, 872 insertions, 0 deletions
diff --git a/positioning_hal/hal_api/positioning_hal.h b/positioning_hal/hal_api/positioning_hal.h new file mode 100644 index 00000000..8a74b814 --- /dev/null +++ b/positioning_hal/hal_api/positioning_hal.h @@ -0,0 +1,872 @@ +/* + * @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*/ |