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Diffstat (limited to 'positioning_hal/inc/GpsCommon/MDev_Gps_Main.h')
| -rw-r--r-- | positioning_hal/inc/GpsCommon/MDev_Gps_Main.h | 311 |
1 files changed, 311 insertions, 0 deletions
diff --git a/positioning_hal/inc/GpsCommon/MDev_Gps_Main.h b/positioning_hal/inc/GpsCommon/MDev_Gps_Main.h new file mode 100644 index 00000000..d40cb0ca --- /dev/null +++ b/positioning_hal/inc/GpsCommon/MDev_Gps_Main.h @@ -0,0 +1,311 @@ +/* + * @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. + * 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_Gps_Main.h +*/ + +#ifndef INC_GPSCOMMON_MDEV_GPS_MAIN_H_ +#define INC_GPSCOMMON_MDEV_GPS_MAIN_H_ + +/*---------------------------------------------------------------------------*/ +// Include files + +#include "gps_hal.h" +#include "positioning_def.h" + +// #include "gps_hal.h" +// #include "MDev_Gps_Nmea.h" +// #include "LineSensDrv_Api.h" + +/*---------------------------------------------------------------------------*/ +// Value define + +#define OFF 0 /* OFF */ +#define ON 1 /* ON */ +#define OK 0 /* Normal */ +#define NG (-1L) /* Abnormality */ +#define DAT_END 0xff /* Exit code */ + +// State +typedef enum GpsMatrixSts { + GPS_STS_STARTUP = 0, /* Startup confirmation */ + GPS_STS_NORMAL, /* In operation */ + GPS_STS_SENT, /* Command sent status */ + GPS_STS_NUM +}TG_GPS_MATRIX_STS; + +// Event +typedef enum GpsMatrixEvt { + GPS_EVT_SENDREQ = 0, /* Transmission request */ + GPS_EVT_RESETREQ, /* GPS reset request */ + GPS_EVT_RECVCYCLDAT, /* Cyclic reception command reception */ + GPS_EVT_RECVRSPDAT, /* Receive response command */ + GPS_EVT_TIMEOUT_RSPDAT, /* Response monitoring timeout */ + GPS_EVT_TIMEOUT_CYCLDAT, /* Periodic reception data monitoring timeout */ + GPS_EVT_TIMEOUT_NAVI, /* Navigation providing data monitoring timeout */ + GPS_EVT_TIMEOUT_DIAGCLKGUARD, /* Diagnosis provision time guard monitoring timeout*/ + GPS_EVT_ACC_OFF, /* In-function ACC-OFF instructions */ + GPS_EVT_NAVI_LOCATIONINFO, /* Providing navigation information */ + GPS_EVT_NAVI_SPEEDINFO, /* Navigation speed information service */ + GPS_EVT_TIMESETTING, /* GPS time setting instruction */ + GPS_EVT_TIMEOUT_NMEADATAGUARD, /* NMEA data-providing guard monitoring timeout*/ + GPS_EVT_BACKUPDATA_LOAD, /* Backup data read request */ + GPS_EVT_STOPREQ, /* Thread stop request */ + GPS_EVT_WEEKCOR_CNT_NOTIFICATIO, /* GPS Week Adjustment Counter Notification */ + GPS_EVT_TIMEOUT_RECOVERY, /* GPS error monitoring reset timer */ + GPS_EVT_TIMEOUT_RECEIVERERR, /* GPS receiver anomaly detection timeout */ + GPS_EVT_NUM +} TG_GPS_MATRIX_EVT; + +typedef enum GpsOutputFormat { + GPS_FORMAT_MIN = -1, /* Minimum Receive Format(Initialization) */ + GPS_FORMAT_BINARY, /* Standard binary */ + GPS_FORMAT_FULLBIN, /* Full binary */ + GPS_FORMAT_GGA, /* GGA */ + GPS_FORMAT_DGGA, /* DGGA */ + GPS_FORMAT_VTG, /* VTG */ + GPS_FORMAT_RMC, /* RMC */ + GPS_FORMAT_DRMC, /* DRMC */ + GPS_FORMAT_GLL, /* GLL */ + GPS_FORMAT_DGLL, /* DGLL */ + GPS_FORMAT_GSA, /* GSA */ + GPS_FORMAT_GSV1, /* GSV(1) */ + GPS_FORMAT_GSV2, /* GSV(2) */ + GPS_FORMAT_GSV3, /* GSV(3) */ + GPS_FORMAT_GSV4, /* GSV(4) */ + GPS_FORMAT_GSV5, /* GSV(5) */ + GPS_FORMAT_GST, /* GST */ + GPS_FORMAT__CWORD44__GP3, /* _CWORD44_,GP,3 */ + GPS_FORMAT__CWORD44__GP4, /* _CWORD44_,GP,4 */ + GPS_FORMAT_P_CWORD82_F_GP0, /* P_CWORD82_F,GP,0 */ + GPS_FORMAT_P_CWORD82_J_GP1, /* P_CWORD82_J,GP,1 */ + GPS_FORMAT_P_CWORD82_I_GP, /* P_CWORD82_I,GP */ + GPS_FORMAT_P_CWORD82_E_GP0, /* P_CWORD82_E,GP,0 */ + GPS_FORMAT_P_CWORD82_J_GP0, /* P_CWORD82_J,GP,0 */ + GPS_FORMAT_P_CWORD82_E_GP2, /* P_CWORD82_E,GP,2 */ + GPS_FORMAT_P_CWORD82_G_GP0, /* P_CWORD82_G,GP,0 */ + GPS_FORMAT_P_CWORD82_J_GP7, /* P_CWORD82_J,GP,7 */ + GPS_FORMAT_P_CWORD82_J_GP8, /* P_CWORD82_J,GP,8 */ + GPS_FORMAT_MON_VER, /* MON-VER */ + GPS_FORMAT_AID_INI, /* AID-INI */ + GPS_FORMAT_ACK_ACKNACK, /* ACK-ACKNACK */ + GPS_FORMAT_NAV_TIMEUTC, /* NAV-TIMEUTC */ + GPS_FORMAT_NAV_CLOCK, /* NAV-CLOCK */ + GPS_FORMAT_RXM_RTC5, /* RXM-RTC5 */ + GPS_FORMAT_NAV_SVINFO, /* NAV-SVINFO */ + GPS_FORMAT_CFG_NAVX5, /* CFG-NAVX5 */ + GPS_FORMAT_NMEA, /* NMEA (Sentence unspecified) */ + GPS_FORMAT_UBX, /* UBX Protocol (binary) */ + GPS_FORMAT_MAX /* Maximum Receive Format */ +} TG_GPS_OUTPUT_FORMAT; + +// Return value +#define RETRY_OFF 0 /* No retry */ +#define RETRY_ON 1 /* Retry exists */ +#define RETRY_OUT 2 /* Retry out */ +#define NG_RETRYOUT 4 /* Transmission failure retry out */ + +#define GPSRET_NOPCMD (0) /* Non notification target command #GPF_60_024 */ +#define GPSRET_SNDCMD (1) /* Notification target command #GPF_60_024 */ +#define GPSRET_CMDERR (-1) /* No applicable command #GPF_60_024 */ + +// Number of Retries +#define SRSET_MAX 4 /* Maximum serial reset retry value */ +#define HRSET_MAX 3 /* Maximum value of hard reset retry */ +#define SNDNG_MAX 4 /* Maximum retry value of transmission failure */ + +/* The actual number of retries is SNDNG_MAX-1. */ +#define GPS_RECV_ERR_MAX 5 /* Maximum number of reception errors #GPF_60_024 */ + +// Others +#define SAV_MAX 11 +#define GPS_ALTITUDE_INVALID_VAL (-1000000) /* Value when fix altitude is invalid */ +#define GPS_HEADING_INVALID_VAL 36100 /* Value when measurement orientation is invalid */ + +#define GPS_RECVOK 0 /* Normal reception #13 */ +#define GPS_RECVNG 1 /* Reception error #13 */ +#define GPS_OVERRUN 2 /* Overrun detection #13 */ +#define GPS_PARITY 3 /* Parity detection #13 */ +#define GPS_FRAMING 4 /* Framing detection #13 */ + +// For the communication management thread +#define GPS_NON_RECV 0 /* Not received */ +#define GPS_RECV_ACK 1 /* ACK received */ +#define GPS_RECV_DATA 2 /* Receive response command */ + +#define GPS_SEND_ERR_MAX 5 /* Maximum number of transmission errors */ +#define GPS_CNCT_ERR_MAX 5 /* Maximum number of connection errors */ + +#define GPS_START_EVT "GPS_EVT" /* Interthread synchronization events */ +#define GPS_EVT_VAL 99 /* Event settings */ +#define GPS_MSGDAT_BUF_SZ 500 /* Receive message buffer size */ + +// Definition for receive command analysis table #GPF_60_024 +#define SENTENCE_STR_MAX 12 /* Maximum string for judging sentence */ + +#define SENSOR_MSG_VSINFO_DSIZE 1904 //!< \~english message body max size + +/*---------------------------------------------------------------------------*/ +// Structure + +/******************************************************************************** + * TAG :TG_GPS_MNG + * ABSTRACT :GPS process management information + * NOTE : + ********************************************************************************/ +typedef struct GpsMng { + u_int32 sts; /* Matrix state */ + u_int32 event; /* Matrix event code */ + u_int32 rcvsts; /* Response reception status */ + u_int32 sndcnt; /* Number of transmission attempts */ + u_int32 hrsetcnt; /* Number of tries before hard reset */ + u_int32 sndngcnt; /* Number of failed-to-send attempts */ + TG_GPS_OUTPUT_FORMAT rcv_cmd; /* Types of received GPS commands */ + TG_GPS_OUTPUT_FORMAT resp_cmd; /* Types of GPS commands during response monitoring */ + PNO resp_pno; /* Destination PNO */ + RID resp_rid; /* RID to be notified when responding */ + u_int8 resp_rst_flag; /* Response command reset flag */ + BOOL rcv_err_flag; /* GPS receiver error detection flag */ +} TG_GPS_MNG; + +/******************************************************************************** + * TAG :TG_GPS_SAVECMD + * ABSTRACT :GPS process pending command + * NOTE : + ********************************************************************************/ +typedef struct GpsSaveCmd { + TG_GPS_SND_DATA sndcmd; /* Sending commands(_CWORD82_ command) */ + PNO us_pno; /* Result notification destination process number(Unused) */ + RID uc_rid; /* Result Notification Resource ID(Unused) */ + u_int8 uc_rst; /* Reset flag */ + TG_GPS_OUTPUT_FORMAT e_cmd_info; /* Command information */ +} TG_GPS_SAVECMD; + +/******************************************************************************** + * TAG :TG_GPS_SAVEBUF + * ABSTRACT :GPS process pending buffer management information + * NOTE : + ********************************************************************************/ +typedef struct GpsSaveBuf { + u_int32 saveno; /* Current pending index number */ + u_int32 sendno; /* Current send index number */ + u_int32 bufsav; /* Number of pending buffers used */ + TG_GPS_SAVECMD savebuf[SAV_MAX]; /* Pending buffer */ +} TG_GPS_SAVEBUF; + +/******************************************************************************** + * TAG :TG_GPS_MSGRCV + * ABSTRACT :Receive message + * NOTE : + ********************************************************************************/ +typedef struct GpsMsgRcv { + T_APIMSG_MSGBUF_HEADER header; /* Message header */ + u_int8 msgdat[SENSOR_MSG_VSINFO_DSIZE + 12]; +} TG_GPS_MSGRCV; + +/******************************************************************************** + * TAG :TG_GPS_MSGEVTCHNG + * ABSTRACT :GPS message event translation table + * NOTE : + ********************************************************************************/ +typedef struct GpsMsgEvtChng { + u_int32 cid; /* Matrix state */ + u_int32 event; /* Matrix event code */ +} TG_GPS_MSGEVTCHNG; + +/******************************************************************************** + * TAG :TG_GPS_TIMEVTCHNG + * ABSTRACT :GPS timer ID and event translation table + * NOTE : + ********************************************************************************/ +typedef struct GpsTimEvtChng { + u_int16 tim_id; /* Timer ID information */ + u_int16 reserve; /* Reserved */ + u_int32 event; /* Matrix event code */ +} TG_GPS_TIMEVTCHNG; + +/******************************************************************************** + * TAG :Gps_Jmp_Tbl + * ABSTRACT :GPS jump table + * NOTE : + ********************************************************************************/ +typedef struct GpsJmpTbl { + void (*func)( void ); /* Jump-to module */ +} TG_GPS_JMP_TBL; + +/******************************************************************************** + * TAG :TG_GPS_CMD_ANA_TBL + * ABSTRACT :Receive command analysis table structure + * NOTE : + ********************************************************************************/ +typedef struct TgGpsCmdAnaTbl { + u_char c_sentence[SENTENCE_STR_MAX]; /* Sentence identifier */ + u_int32 ul_length; /* Length of the command */ + u_int32 ul_rcv_kind; /* Receiving type */ + BOOL b_snd_cmd_flg; /* Command notification flag */ + TG_GPS_OUTPUT_FORMAT e_rcv_format; /* Receive Format */ +} TG_GPS_CMD_ANA_TBL; + +/******************************************************************************** + * TAG :TG_GPS_TIME_BCD + * ABSTRACT :Time information (BCD) structure + * NOTE : + ********************************************************************************/ +typedef struct GpsTimeBCD { + u_int8 uc_year; /* Year information */ + u_int8 uc_month; /* Month information */ + u_int8 uc_day; /* Day information */ + u_int8 uc_hour; /* Time information */ + u_int8 uc_min; /* Minute information */ + u_int8 uc_sec; /* Second information */ +} TG_GPS_TIME_BCD; + +/*---------------------------------------------------------------------------*/ +// Global values + +#define MDEV_GPSMSGCHKC_MAX 10 +#define MDEV_PSTIMCHKC_MAX 11 +extern const TG_GPS_MSGEVTCHNG kGpsMsgchkC[MDEV_GPSMSGCHKC_MAX]; /* Ignore -> MISRA-C:2004 Rule 8.12 */ +extern const TG_GPS_TIMEVTCHNG kGpsTimchkC[MDEV_PSTIMCHKC_MAX]; /* Ignore -> MISRA-C:2004 Rule 8.12 */ +extern const TG_GPS_JMP_TBL kGpsMatxC[GPS_STS_NUM][GPS_EVT_NUM]; + +#define MDEV_GPSCMDANATBLNMEA_MAX 20 +extern const TG_GPS_CMD_ANA_TBL* kGpsCmdAnaTbl; +extern const TG_GPS_CMD_ANA_TBL kGpsCmdAnaTblUblox[MDEV_GPSCMDANATBLNMEA_MAX]; + +extern TG_GPS_SAVEBUF g_gps_save_cmdr; +extern TG_GPS_MSGRCV g_gps_msg_rcvr; +extern TG_GPS_MNG g_gps_mngr; + +extern u_int16 g_wsend_err; /* Number of transmission errors */ +extern u_int16 g_wcnct_err; /* Number of connection errors */ +extern TG_GPS_OUTPUT_FORMAT g_rcv_format; /* Receive Format */ + +/*---------------------------------------------------------------------------*/ +// Prototype + +EFrameworkunifiedStatus DevGpsMainThread(HANDLE h_app); +BOOL DevGpsInit(void); +void DevGpsRcvMsg(void); +void DevGpsMsgEventCheck(void); +void DevGpsTimEventCheck(void); +void DevGpsGpsVersionCheck(void); + +/*---------------------------------------------------------------------------*/ +#endif // INC_GPSCOMMON_MDEV_GPS_MAIN_H_ + +/*---------------------------------------------------------------------------*/ +/*EOF*/ |