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Diffstat (limited to 'positioning_hal/inc/Common/positioning_def.h')
| -rw-r--r-- | positioning_hal/inc/Common/positioning_def.h | 307 |
1 files changed, 307 insertions, 0 deletions
diff --git a/positioning_hal/inc/Common/positioning_def.h b/positioning_hal/inc/Common/positioning_def.h new file mode 100644 index 00000000..df95cb3a --- /dev/null +++ b/positioning_hal/inc/Common/positioning_def.h @@ -0,0 +1,307 @@ +/* + * @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 positioning_def.h +*/ + +#ifndef INC_COMMON_POSITIONING_DEF_H_ +#define INC_COMMON_POSITIONING_DEF_H_ + +/*---------------------------------------------------------------------------*/ +// Include files + +#include <string.h> +#include <stdlib.h> +#include <sys/ioctl.h> + +#include <native_service/frameworkunified_types.h> +#include <native_service/frameworkunified_application.h> +#include <native_service/frameworkunified_framework_if.h> +#include <native_service/frameworkunified_multithreading.h> +#include <native_service/frameworkunified_service_protocol.h> +#include <vehicle_service/std_types.h> +#include <vehicle_service/pos_message_header.h> +#include <vehicle_service/sys_timerapi.h> +#include <vehicle_service/WPF_STD.h> + +#include "gps_hal.h" +#include "positioning_hal.h" + +#include "positioning_log.h" + +/*---------------------------------------------------------------------------*/ +// Definition + +#define POS_THREAD_NAME "Positioning" + +/** + * @enum ENUM_GPS_NMEA_INDEX + * \~english NMEA index + */ +typedef enum { + GPS_NMEA_INDEX_GGA = 0, //!< \~english GGA + GPS_NMEA_INDEX_DGGA, //!< \~english DGGA + GPS_NMEA_INDEX_VTG, //!< \~english VTG + GPS_NMEA_INDEX_RMC, //!< \~english RMC + GPS_NMEA_INDEX_DRMC, //!< \~english DRMC + GPS_NMEA_INDEX_GLL, //!< \~english GLL + GPS_NMEA_INDEX_DGLL, //!< \~english DGLL + GPS_NMEA_INDEX_GSA, //!< \~english GSA + GPS_NMEA_INDEX_GSV1, //!< \~english GSV1 + GPS_NMEA_INDEX_GSV2, //!< \~english GSV2 + GPS_NMEA_INDEX_GSV3, //!< \~english GSV3 + GPS_NMEA_INDEX_GSV4, //!< \~english GSV4 + GPS_NMEA_INDEX_GSV5, //!< \~english GSV5 + GPS_NMEA_INDEX_GST, //!< \~english GST + GPS_NMEA_INDEX__CWORD44__GP_3, //!< \~english _CWORD44_,GP,3 + GPS_NMEA_INDEX__CWORD44__GP_4, //!< \~english _CWORD44_,GP,4 + GPS_NMEA_INDEX_P_CWORD82_F_GP_0, //!< \~english _CWORD44_,GP,0 + GPS_NMEA_INDEX_P_CWORD82_J_GP_1, //!< \~english _CWORD44_,GP,1 + GPS_NMEA_INDEX_MAX //!< \~english GGA +} ENUM_GPS_NMEA_INDEX; + +//!< \~english Gps cycle Data Event +#define GPS_EVT_CYCLEDATA_PROV ("GPS_EVT_CYCLEDATA_PROV") +//!< \~english Event value: Waiting. +#define GPS_EVT_PROV_WAIT (0x00000000) +//!< \~english Event value: Clear Waiting status. +#define GPS_EVT_PROV_RELEASE (0x00000001) + +//!< \~english Gps received +#define GPS_CYCLECMD_NOTRCV (0x00) +//!< \~english Gps no received +#define GPS_CYCLECMD_RCV (0x01) + +//!< \~english store position of Hour data +#define GPSCMD_DRMC_HOUR_POS (7) +//!< \~english store position of minute data +#define GPSCMD_DRMC_MIN_POS (9) +//!< \~english store position of second data +#define GPSCMD_DRMC_SEC_POS (11) +//!< \~english store position of status +#define GPSCMD_DRMC_STATUS_POS (14) +//!< \~english store position of day data +#define GPSCMD_DRMC_DAY_POS (54) +//!< \~english store position of month data +#define GPSCMD_DRMC_MONTH_POS (56) +//!< \~english store position of year data +#define GPSCMD_DRMC_YEAR_POS (58) + +//!< \~english store position of control code +#define GPSCMD_RTC_CTRLCODE_POS (0) +//!< \~english store position of year data (BCD) +#define GPSCMD_RTC_BCD_YEAR_POS (1) +//!< \~english store position of month data(BCD) +#define GPSCMD_RTC_BCD_MONTH_POS (2) +//!< \~english store position of day data(BCD) +#define GPSCMD_RTC_BCD_DAY_POS (3) +//!< \~english store position of hour data(BCD) +#define GPSCMD_RTC_BCD_HOUR_POS (4) +//!< \~english store position of minute data(BCD) +#define GPSCMD_RTC_BCD_MIN_POS (5) +//!< \~english store position of second data(BCD) +#define GPSCMD_RTC_BCD_SEC_POS (6) +//!< \~english store position of status +#define GPSCMD_RTC_STATUS_POS (7) + +#define GPSCMD_RTC_CTRLCODE (0xA4) //!< \~english control code (RTC) +#define GPSCMD_RTC_STATUS_UTCTIME (0x00) //!< \~english Normal +#define GPSCMD_RTC_STATUS_ERRTIME (0x03) //!< \~english AbNormal + +// Internal thread activation status determination +#define THREAD_STS_MSK_POS_MAIN (0x01) +#define THREAD_STS_MSK_POS_SENS (0x02) +#define THREAD_STS_MSK_POS_GPS (0x04) +#define THREAD_STS_MSK_POS_GPS_RECV (0x08) +#define THREAD_STS_MSK_POS_GPS_ROLLOVER (0x10) +#define POS_DID_GPS_NMEA 0x8000009AU /* QAC 1281 */ +#define POS_DID_GPS_CLOCK_DRIFT 0x800000B3U /* QAC 1281 */ +#define POS_DID_GPS_CLOCK_FREQ 0x800000B4U /* QAC 1281 */ +#define VEHICLE_DID_GPS_CUSTOMDATA 0x80000094U +#define VEHICLE_DID_GPS_CLOCK_DRIFT POS_DID_GPS_CLOCK_DRIFT +#define VEHICLE_DID_GPS_CLOCK_FREQ POS_DID_GPS_CLOCK_FREQ +#define CID_NAVIINFO_DELIVER (0x0205) /* Navigation information setting CID */ +#define CID_NAVIINFO_SPEED_DELIVER (0x0206) /* Vehicle speed setting CID */ +#define VEHICLE_DID_GPS_WKNROLLOVER 0x800000B2U +#define VEHICLE_DID_GPS_TIME_RAW 0x800000B1 +#define POS_DID_GYRO_TEMP 0x80000090 +#define VEHICLE_DID_SPEED_PULSE 0x80000012 +#define VEHICLE_DID_GYRO_X 0x80000014 +#define VEHICLE_DID_GYRO_Y 0x80000020 +#define VEHICLE_DID_GYRO_Z 0x80000021 +#define VEHICLE_DID_GYRO VEHICLE_DID_GYRO_X +#define VEHICLE_DID_REV 0x80000017 +#define VEHICLE_DID_SNS_COUNTER 0x8000001A +#define VEHICLE_DID_GPS_COUNTER 0x8000001B +#define VEHICLE_DID_GYRO_EXT 0x80000027 /* 3 ~ 14bit A/D value,0bit:REV */ +#define VEHICLE_DID_SPEED_PULSE_FST 0x80000028 /* Pulse(Number) */ +#define VEHICLE_DID_GYRO_FST_X 0x80000029 +#define VEHICLE_DID_GYRO_FST_Y 0x80000022 +#define VEHICLE_DID_GYRO_FST_Z 0x80000023 +#define VEHICLE_DID_GYRO_FST VEHICLE_DID_GYRO_FST +#define VEHICLE_DID_GYRO_TEMP POS_DID_GYRO_TEMP +#define VEHICLE_DID_SPEED_KMPH 0x80000013 +#define VEHICLE_DID_GSNS_X 0x80000015 +#define VEHICLE_DID_GSNS_Y 0x80000016 +#define VEHICLE_DID_GSNS_Z 0x80000024 +#define VEHICLE_DID_PULSE_TIME 0x8000003A +#define CID__CWORD83__CMD_RCV 0x0103 +#define CID__CWORD83__CMD_SND_STS 0x0104 +#define CID_GPS_SERIAL0 (CID)0x0100 +#define CID_GPS_REQRESET (CID)(CID_GPS_BASE | CID_GPS_SERIAL0) + +#define VEHICLE_CONFIG_GPS_UNITSET_NOGPS (0x00U) //!< \~english no Gps +#define VEHICLE_CONFIG_GPS_UNITSET__CWORD82_ (0x01U) //!< \~english _CWORD82_ Gps +#define VEHICLE_CONFIG_GPS_UNITSET_EXTBOX (0x02U) //!< \~english extern u-blox + +//!< \~english no Navi +#define VEHICLE_CONFIG_NAVI_FUNCTION_NONAVI (0x00U) +//!< \~english Navi has AW navi +#define VEHICLE_CONFIG_NAVI_FUNCTION_AWNAVI (0x01U) + +#define VEHICLE_GPS_SYSTIME_YEAR_MAX (2085U) //!< \~english Gps Time allowed max year +#define VEHICLE_GPS_SYSTIME_MONTH_MAX (12U) //!< \~english Gps Time allowed max month +#define VEHICLE_GPS_SYSTIME_DAY_MAX (31U) //!< \~english Gps Time allowed max day +#define VEHICLE_GPS_SYSTIME_HOUR_MAX (23U) //!< \~english Gps Time allowed max hour +#define VEHICLE_GPS_SYSTIME_MINUTE_MAX (59U) //!< \~english Gps Time allowed max minute +#define VEHICLE_GPS_SYSTIME_SECOND_MAX (59U) //!< \~english Gps Time allowed max second + +#define VEHICLE_GPS_SYSTIME_YEAR_MIN (1986U) //!< \~english Gps Time allowed min year +#define VEHICLE_GPS_SYSTIME_MONTH_MIN (1U) //!< \~english Gps Time allowed min month +#define VEHICLE_GPS_SYSTIME_DAY_MIN (1U) //!< \~english Gps Time allowed min day +#define VEHICLE_GPS_SYSTIME_HOUR_MIN (0U) //!< \~english Gps Time allowed min hour +#define VEHICLE_GPS_SYSTIME_MINUTE_MIN (0U) //!< \~english Gps Time allowed min minute +#define VEHICLE_GPS_SYSTIME_SECOND_MIN (0U) //!< \~english Gps Time allowed min second +#define VEHICLE_EVENT_VAL_INIT (-14) /* Event initial value */ +//!< \~english check OK (value not change) +#define MDEV_GPS_SRAM_CHK_OK (0) +//!< \~english check OK(vaule change) +#define MDEV_GPS_SRAM_CHK_CHG (1) +//!< \~english check NG +#define MDEV_GPS_SRAM_CHK_NG (-1) + +/*---------------------------------------------------------------------------*/ +// ENUMERATION + +/*! + @brief Positioning operating status definitions +*/ +typedef enum EnumExeStsPos { + EPOS_EXE_STS_STOP = 0, /* Stopped */ + EPOS_EXE_STS_RUNNING, /* Running (from FrameworkunifiedOnStart to FrameworkunifiedOnStop) */ + EPOS_EXE_STS_RUNNING_COLDSTART /* Running after cold start */ +} EnumExeSts_POS; + +/*! + @brief Positioning Thread Startup Modes +*/ +typedef enum EnumSetupModePos { + EPOS_SETUP_MODE_NORMAL = 0, /* Normal start */ + EPOS_SETUP_MODE_DATA_RESET /* Data reset start */ /* QAC 930 */ +} EnumSetupMode_POS; + +/** + * @struct TG_GPS_RCV_DATA + * \~english Struct of Gps receive data for VehicleSens + */ +typedef struct TgGpsRcvData { + uint32_t dwret_status; //!< \~english return status + uint16_t bydata_len; //!< \~english data length + uint8_t bygps_data[GPS_READ_LEN]; //!< \~english receive data + uint8_t u_reserve2[2]; //!< \~english reserve +} TG_GPS_RCV_DATA; + +/** + * @struct TG_GPS_NMEA_DAT + * \~english Struct of NMEA data + */ +typedef struct TgGpsNmeaDat { + u_int8 uc_data[GPS_NMEA_MAX_SZ]; //!< \~english NMEA data +} TG_GPS_NMEA_DAT; + +/** + * @struct TG_GPS_CYCLEDATA_NMEA + * \~english Struct of NMEA cycle data + */ +typedef struct TgGpsCycledataNmea { + //!< \~english receive flag + u_int8 uc_rcvflag[GPS_NMEA_INDEX_MAX]; + //!< \~english reserve + u_int8 u_reserve[3]; + //!< \~english structure of NMEA data + TG_GPS_NMEA_DAT st_nmea[GPS_NMEA_INDEX_MAX]; +} TG_GPS_CYCLEDATA_NMEA; + +/** + * @struct TG_GPS_CYCLEDATA_BINARY + * \~english Struct of binary cycle data + */ +typedef struct TgGpsCycledataBinary { + u_int8 uc_rcvflag; //!< \~english receive flag + u_int8 u_reserve[3]; //!< \~english reserve + u_int8 uc_data[GPS_CMD_BINARY_SZ]; //!< \~english binary data + u_int8 u_reserve2[3]; //!< \~english reserve flag +} TG_GPS_CYCLEDATA_BINARY; + +/** + * @struct TG_GPS_CYCLEDATA_FULLBIN + * \~english Struct of full bin cycle data + */ +typedef struct TgGpsCycledataFullbin { + u_int8 uc_rcvflag; //!< \~english receive flag + u_int8 u_reserve[3]; //!< \~english reserve + u_int8 uc_data[GPS_CMD_FULLBIN_SZ]; //!< \~english fullbin data + u_int8 u_reserve2; //!< \~english reserve +} TG_GPS_CYCLEDATA_FULLBIN; + +/** + * @struct TG_GPS_CYCLEDATA_RTC + * \~english Struct of RTC cycle data + */ +typedef struct TgGpsCycledataRtc { + u_int8 uc_rcvflag; //!< \~english receive flag + u_int8 u_reserve[3]; //!< \~english reserve + u_int8 uc_data[GPS_DATASIZE_RTC]; //!< \~english Rtc data +} TG_GPS_CYCLEDATA_RTC; + +/** + * @struct TG_GPS_CYCLEDATA + * \~english Struct of Gps cycle data + */ +typedef struct TgGpsCycledata { + u_int8 uc_sesncnt; //!< \~english count value + u_int8 u_reserve[3]; //!< \~english reserve + TG_GPS_CYCLEDATA_NMEA st_nmea_data; //!< \~english NMEA Data + TG_GPS_CYCLEDATA_BINARY st_binary_data; //!< \~english binary Data + TG_GPS_CYCLEDATA_FULLBIN st_fullbin_data; //!< \~english Full Bin Data + TG_GPS_CYCLEDATA_RTC st_rtc_data; //!< \~english RTC Data +} TG_GPS_CYCLEDATA; + +typedef struct { + u_int16 year; /* YEAR */ + u_int8 month; /* MONTH */ + u_int8 date; /* DAY */ + u_int8 hour; /* HOUR */ + u_int8 minute;/* MINUTE */ + u_int8 second;/* SECOND */ + u_int8 flag; /* Whether or not the time is set */ +} ST_GPS_SET_TIME; + +/*---------------------------------------------------------------------------*/ +#endif // INC_COMMON_POSITIONING_DEF_H_ + +/*---------------------------------------------------------------------------*/ +/*EOF*/ |