diff options
Diffstat (limited to 'positioning_hal/inc/GpsCommon/MDev_Gps_Nmea.h')
| -rw-r--r-- | positioning_hal/inc/GpsCommon/MDev_Gps_Nmea.h | 313 |
1 files changed, 313 insertions, 0 deletions
diff --git a/positioning_hal/inc/GpsCommon/MDev_Gps_Nmea.h b/positioning_hal/inc/GpsCommon/MDev_Gps_Nmea.h new file mode 100644 index 00000000..a19e3d9a --- /dev/null +++ b/positioning_hal/inc/GpsCommon/MDev_Gps_Nmea.h @@ -0,0 +1,313 @@ +/* + * @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 MDev_GpsUblox.h +*/ + +#ifndef INC_GPSCOMMON_MDEV_GPS_NMEA_H_ +#define INC_GPSCOMMON_MDEV_GPS_NMEA_H_ + +/*---------------------------------------------------------------------------*/ + +#include "gps_hal.h" +#include "positioning_def.h" + +/*---------------------------------------------------------------------------*/ +// Value define + +#define TEST_NMEA (0) /* 0:Normal mode 1:Testing mode */ + +#define GPS_MAX_NUM_VISIBLE_SATELLITES (20) /* Maximum Number of Visible Satellites *Assume the GSV1~GSV5 */ + +/* UBX command *****************************/ + +/* CFG */ +#define UBX_CMD_SIZE_CFG_RST (12) /* size of CFG-RST of UBX sentences */ +#define UBX_CMD_SIZE_CFG_MSG (11) /* size of CFG-MSG of UBX sentences */ +#define UBX_CMD_SIZE_CFG_NAV5 (44) /* size of CFG-NAV5 of UBX sentences */ +#define UBX_CMD_SIZE_CFG_NAV5_POLL (8) +#define UBX_CMD_SIZE_CFG_NAV5_PLUS_POLL (UBX_CMD_SIZE_CFG_NAV5 + UBX_CMD_SIZE_CFG_NAV5_POLL) +#define UBX_CMD_SIZE_CFG_NAVX5_POLL (8) +#define UBX_CMD_OFFSET_WKNROLLOVER (18) /* offset from the top of 'payload' */ + +/* MON */ +#define UBX_CMD_SIZE_MON_VER (108) /* size of MON-VER of UBX sentences */ +#define UBX_CMD_SIZE_MON_VER_POLL (8) +#define UBX_CMD_SIZE_MON_VER_SW_VER (30) + +/* AID */ +#define UBX_CMD_SIZE_AID_INI (56) /* size of AID-INI of UBX sentences */ +#define UBX_CMD_SIZE_AID_INI_POLL (8) +#define UBX_CMD_SIZE_AID_INI_PLUS_POLL (UBX_CMD_SIZE_AID_INI + UBX_CMD_SIZE_AID_INI_POLL) + +/* ACK */ +#define UBX_CMD_OFFSET_ACKNAK (3) /* offset to Ack/Nack Infomation */ + +/* NAV */ +#define UBX_CMD_MSK_NAV_TIMEUTC_VALID_TOW (1) /* mask bit for 'validTow' of NAV-TIMEUTC */ +#define UBX_CMD_MSK_NAV_TIMEUTC_VALID_WKN (2) /* mask bit for 'validKwn' of NAV-TIMEUTC */ +#define UBX_CMD_MSK_NAV_TIMEUTC_VALID_UTC (4) /* mask bit for 'validUtc' of NAV-TIMEUTC */ + +/* Common */ +#define UBX_CMD_SIZE_HDR (2) /* size of 'header' of UBX sentence */ +#define UBX_CMD_SIZE_ID (2) /* size of 'id' of UBX sentence */ +#define UBX_CMD_SIZE_LEN (2) /* size of 'length' of UBX sentence */ +#define UBX_CMD_SIZE_MAX (400) /* size of NAV-SVINFO (numCh=32) */ +#define UBX_CMD_OFFSET_PAYLOAD (UBX_CMD_SIZE_HDR + UBX_CMD_SIZE_ID + UBX_CMD_SIZE_LEN) + /* offset to 'payload' of UBX sentence */ + +/* Types of UBX Poll Request Commands ************/ +#define UBX_POLL_CMD_KIND_AID_INI (1) +#define UBX_POLL_CMD_KIND_CFG_NAV5 (2) + +// GPS-command (_CWORD82_ NMEA) related definitions #GPF_60_024 +/* Command identification character string */ +#define GPS_CMD_NMEA_GGA ("$GPGGA") /* GGA/double precision GGAs */ +#define GPS_CMD_NMEA_VTG ("$GPVTG") /* VTG */ +#define GPS_CMD_NMEA_RMC ("$GPRMC") /* RMC/double precision RMCs */ +#define GPS_CMD_NMEA_GLL ("$GPGLL") /* GLL/double precision GLL */ +#define GPS_CMD_NMEA_GSA ("$GPGSA") /* GSA */ +#define GPS_CMD_NMEA_GSV_1 ("$GPGSV,*,1") /* GSV(1) */ +#define GPS_CMD_NMEA_GSV_2 ("$GPGSV,*,2") /* GSV(2) */ +#define GPS_CMD_NMEA_GSV_3 ("$GPGSV,*,3") /* GSV(3) */ +#define GPS_CMD_NMEA__CWORD44__GP_3 ("$_CWORD44_,GP,3") /* _CWORD44_,GP,3 */ +#define GPS_CMD_NMEA__CWORD44__GP_4 ("$_CWORD44_,GP,4") /* _CWORD44_,GP,4 */ +#define GPS_CMD_NMEA_P_CWORD82_F_GP_0 ("$P_CWORD82_F,GP,0") /* P_CWORD82_F,GP,0 */ +#define GPS_CMD_NMEA_P_CWORD82_J_GP_1 ("$P_CWORD82_J,GP,1") /* P_CWORD82_J,GP,1 */ +#define GPS_CMD_NMEA_P_CWORD82_I_GP ("$P_CWORD82_I,GP") /* P_CWORD82_I,GP */ +#define GPS_CMD_NMEA_P_CWORD82_E_GP_0 ("$P_CWORD82_E,GP,0") /* P_CWORD82_E,GP,0 */ +#define GPS_CMD_NMEA_P_CWORD82_J_GP_0 ("$P_CWORD82_J,GP,0") /* P_CWORD82_J,GP,0 */ +#define GPS_CMD_NMEA_P_CWORD82_E_GP_2 ("$P_CWORD82_E,GP,2") /* P_CWORD82_E,GP,2 */ +#define GPS_CMD_NMEA_P_CWORD82_G_GP_0 ("$P_CWORD82_G,GP,0") /* P_CWORD82_G,GP,0 */ +#define GPS_CMD_NMEA_P_CWORD82_J_GP_7 ("$P_CWORD82_J,GP,7") /* P_CWORD82_J,GP,7 */ +#define GPS_CMD_NMEA_P_CWORD82_J_GP_8 ("$P_CWORD82_J,GP,8") /* P_CWORD82_J,GP,8 */ +#define GPS_CMD_NMEA_GST ("$GPGST") /* GST */ +#define GPS_CMD_NMEA_GSV_4 ("$GPGSV,*,4") /* GSV(4) */ +#define GPS_CMD_NMEA_GSV_5 ("$GPGSV,*,5") /* GSV(5) */ + +/*------------------------------------------------------------------------------- + * GPS-command (_CWORD82_ Binary) related definitions #GPF_60_024 + -------------------------------------------------------------------------------*/ +#define GPS_CMD_BINARY (0xC6) /* Standard binary */ +#define GPS_CMD_FULLBIN (0xB0) /* FULL binaries */ + +#define ENDMARK "ENDENDEND" /* Table termination */ +#define GPSCMDANATBL_MAX 25 /* Maximum number of elements in table */ +#define RCV_CYCLE 0x01 /* Reception type cycle reception command*/ +#define RCV_RESP 0x02 /* Reception type response command */ + +// Length of FULLBINARY commands +#define GPS_CMD_FULLBIN1_SZ 30 +#define GPS_CMD_FULLBIN2_SZ 160 +#define GPS_CMD_FULLBIN3_SZ 25 +#define GPS_CMD_FULLBIN4_SZ 26 +#define GPS_CMD_FULLBIN5_SZ 14 +#define GPS_CMD_FULLBIN6_SZ 61 + +/* Start offset of FULLBINARY command */ +#define GPS_CMD_FULLBIN1_OFFSET 0 +#define GPS_CMD_FULLBIN2_OFFSET (GPS_CMD_FULLBIN1_OFFSET + GPS_CMD_FULLBIN1_SZ) +#define GPS_CMD_FULLBIN3_OFFSET (GPS_CMD_FULLBIN2_OFFSET + GPS_CMD_FULLBIN2_SZ) +#define GPS_CMD_FULLBIN4_OFFSET (GPS_CMD_FULLBIN3_OFFSET + GPS_CMD_FULLBIN3_SZ) +#define GPS_CMD_FULLBIN5_OFFSET (GPS_CMD_FULLBIN4_OFFSET + GPS_CMD_FULLBIN4_SZ) +#define GPS_CMD_FULLBIN6_OFFSET (GPS_CMD_FULLBIN5_OFFSET + GPS_CMD_FULLBIN6_SZ) + + +/* SUM value offset of FULLBINARY commands */ +#define GPS_CMD_FULLBIN1_SUMOFFSET (GPS_CMD_FULLBIN1_OFFSET + GPS_CMD_FULLBIN1_SZ - 2) +#define GPS_CMD_FULLBIN2_SUMOFFSET (GPS_CMD_FULLBIN2_OFFSET + GPS_CMD_FULLBIN2_SZ - 2) +#define GPS_CMD_FULLBIN3_SUMOFFSET (GPS_CMD_FULLBIN3_OFFSET + GPS_CMD_FULLBIN3_SZ - 2) +#define GPS_CMD_FULLBIN4_SUMOFFSET (GPS_CMD_FULLBIN4_OFFSET + GPS_CMD_FULLBIN4_SZ - 2) +#define GPS_CMD_FULLBIN5_SUMOFFSET (GPS_CMD_FULLBIN5_OFFSET + GPS_CMD_FULLBIN5_SZ - 2) +#define GPS_CMD_FULLBIN6_SUMOFFSET (GPS_CMD_FULLBIN6_OFFSET + GPS_CMD_FULLBIN6_SZ - 2) +#define GPS_CMD_FULLBIN_MASK 0x8F + +#define GPS_CMD_RESET 1 /* Reset request command */ +#define GPS_CMD_TIMESET 2 /* Time setting request command */ +#define GPS_CMD_VERSION 3 /* GPS version request command */ +#define GPS_CMD_SENTENCEADD_NMEAGST 4 /* Add sentence command NMEA GST */ +#define GPS_CMD_SENTENCEADD_NAVTIMEUTC 5 /* Add sentence command NAV-TIMEUTC */ +#define GPS_CMD_SENTENCEADD_NAVCLOCK 6 /* Add sentence command NAV-CLOCK */ +#define GPS_CMD_SENTENCEADD_RXMRTC5 7 /* Add sentence command RXM-RTC5 */ +#define GPS_CMD_SENTENCEADD_NAVSVINFO 8 /* Add sentence command NAV-SVINFO */ +#define GPS_CMD_AUTOMOTIVEMODE 9 /* Automatic mode request command */ +#define GPS_CMD_WKNROLLOVER 10 /* GPS rollover standard week number request command */ +#define GPS_CMD_NOTRST 0 /* Other request command */ + +/*---------------------------------------------------------------------------*/ +// Struct + +/*! + @brief UBX command headers +*/ +typedef struct GpsUbxPacketHeader { + u_int8 uc_sync_char1; /* u-blox starts with 2 Bytes 0xB5 0x62 */ + u_int8 uc_sync_char2; /* u-blox starts with 2 Bytes 0xB5 0x62 */ + u_int8 uc_class; /* Class */ + u_int8 uc_id; /* ID */ + u_int16 us_length; /* Length */ +} TG_GPS_UBX_PACKET_HEADER; + +/*! + @brief Command-structure without UBX data +*/ +typedef struct GpsUbxCmdNoData { + TG_GPS_UBX_PACKET_HEADER header; + u_int8 uc_cka; /* Checksum_A */ + u_int8 uc_ckb; /* Checksum_B */ +} TG_GPS_UBX_COMMAND_NO_DATA; + +/*! + @brief +*/ +typedef struct GpsUbxAidIniPolled { + u_int8 uc_sync_char1; /* u-blox starts with 2 Bytes 0xB5 0x62 */ + u_int8 uc_sync_char2; /* u-blox starts with 2 Bytes 0xB5 0x62 */ + u_int8 uc_class; /* Class */ + u_int8 uc_id; /* ID */ + u_int8 uc_length[2]; /* Length */ + u_int8 uc_ecefx_or_lat[4]; /* WGS84 ECEF X coordinate or latitude */ + u_int8 uc_ecefy_or_lon[4]; /* WGS84 ECEF Y coordinate or longitude */ + u_int8 uc_ecefz_or_alt[4]; /* WGS84 ECEF Z coordinate or altitude */ + u_int8 uc_pos_acc[4]; /* Position accuracy (stddev) */ + u_int8 uc_tm_cfg[2]; /* Time mark configuration */ + u_int8 wn[2]; /* Actual week number */ + u_int8 tow[4]; /* Actual time of week */ + u_int8 uc_tow_ns[4]; /* Sub-millisecond part of time of week */ + u_int8 uc_tacc_ms[4]; /* Milliseconds part of time accuracy */ + u_int8 uc_tacc_ns[4]; /* Nanoseconds part of time accuracy */ + u_int8 uc_clk_d_or_freq[4]; /* Clock drift or frequency */ + u_int8 uc_clk_dacc_or_freqacc[4]; /* Accuracy of clock drift or frequency */ + u_int8 uc_flags[4]; /* Bitmask with the following flags */ + u_int8 uc_cka; /* Checksum_A */ + u_int8 uc_ckb; /* Checksum_B */ +} TG_GPS_UBX_AID_INI_POLLED; + +/*! + @brief UBX ACK command data structures +*/ +typedef struct GpsUbxAckData { + uint8_t uc_msg_class; /* Message Class */ + uint8_t uc_msg_id; /* Message Identifier */ +} TG_GPS_UBX_ACK_DATA; + +/*! + @brief UBX NAV-TIMEUTC command data structures +*/ +typedef struct GpsUbxNavUTC { + uint32_t ul_itow; /* GPS time of week */ + uint32_t ul_tacc; /* Time accuracy estimate (UTC) */ + int32_t nano; /* Fraction of second */ + uint16_t year; /* Year, range 1999..2099 (UTC) */ + uint8_t month; /* Month, range 1..12 (UTC) */ + uint8_t day; /* Day of month, range 1..31 (UTC) */ + uint8_t hour; /* Hour of day, range 0..23 (UTC) */ + uint8_t min; /* Minute of hour, range 0..59 (UTC) */ + uint8_t sec; /* Seconds of minute, range 0..60 (UTC) */ + uint8_t valid; /* Validity Flags */ +} TG_GPS_UBX_NAV_TIMEUTC_DATA; + +/*! + @brief USB NAV-CLOCK command data structures +*/ +typedef struct GpsUbxNavClock { + uint32_t ul_itow; /**< GPS Time of week */ + int32_t l_clkb; /**< Clock bias */ + int32_t l_clkd; /**< Clock drift */ + uint32_t ul_tacc; /**< Time accuaracy estimate */ + uint32_t ul_facc; /**< Frequency accuracy estimate */ +} TG_GPS_UBX_NAV_CLOCK; + +/*! + @brief GPS RXM-RTC5 command data structures +*/ +typedef struct GpsUbxRxmRtc5 { + uint32_t ul_rtag_hw; /**< RTAG high word */ + uint32_t ul_rtag_lw; /**< RTAG low word */ + uint32_t freq; /**< Clock frequency */ + uint32_t ul_freq_frac; /**< Clock frequency fractional part */ + uint32_t ul_tow_frac; /**< Time of week fractional part */ + uint32_t tow; /**< Time of week */ + uint16_t wno; /**< GPS week number */ + uint8_t uc_tow_valid; /**< TOW is valid flag */ + uint8_t uc_freq_valid; /**< Frequency is valid flag */ +} TG_GPS_UBX_RXM_RTC5; + +/******************************************************************************** + * TAG :TG_GPS_RCVDATA_NMEA + * ABSTRACT :Cyclic data (NMEA) area + * NOTE :I/F information between communication management thread and vehicle sensor + ********************************************************************************/ +typedef struct GpsRcvDataNMEA { + u_int8 uc_rcv_flag[GPS_NMEA_INDEX_MAX]; /* Receive flag */ + u_int8 u_reserve[3]; /* Reserved */ + TG_GPS_NMEA_DAT st_nmea[GPS_NMEA_INDEX_MAX]; /* NMEA data area */ +} TG_GPS_RCVDATA_NMEA; + +/******************************************************************************** + * TAG :TG_GPS_RCVDATA_BINARY + * ABSTRACT :Cyclic data (standard binary) area + * NOTE :I/F information between communication management thread and vehicle sensor + ********************************************************************************/ +typedef struct GpsRcvDataBinary { + u_int8 uc_rcv_flag; /* Receive flag */ + u_int8 u_reserve[3]; /* Reserved */ + u_int8 uc_data[GPS_CMD_BINARY_SZ]; /* Standard binary data area */ + u_int8 u_reserve2[3]; /* Reserved */ +} TG_GPS_RCVDATA_BINARY; + +/******************************************************************************** + * TAG :TG_GPS_RCVDATA_FULLBIN + * ABSTRACT :Cyclic data (full binary) area + * NOTE :I/F information between communication management thread and vehicle sensor + ********************************************************************************/ +typedef struct GpsRcvDataFullbin { + u_int8 uc_rcv_flag; /* Receive flag */ + u_int8 u_reserve[3]; /* Reserved */ + u_int8 uc_data[GPS_CMD_FULLBIN_SZ]; /* Full binary data area */ + u_int8 u_reserve2; /* Reserved */ +} TG_GPS_RCVDATA_FULLBIN; + +/******************************************************************************** + * TAG :TG_GPS_RCVDATA + * ABSTRACT :Cyclic data storage area + * NOTE :I/F information between communication management thread and vehicle sensor + ********************************************************************************/ +typedef struct GpsRcvData { + u_int8 uc_sns_cnt; /* Sensor counter value */ + u_int8 u_reserve[3]; /* Reserved */ + TG_GPS_RCVDATA_NMEA st_nmea_data; /* NMEA data area */ + TG_GPS_RCVDATA_BINARY st_binary_data; /* Standard binary region */ + TG_GPS_RCVDATA_FULLBIN st_fullbin_data; /* Full binary data area */ +} TG_GPS_RCVDATA; + +/*---------------------------------------------------------------------------*/ +// Prototype + +void DevGpsSndCycleDataNmea(void); +void DevGpsRcvCyclCmd(void); +u_int8 DevGpsGetGpsRcvSts(u_int8 sv); +void DevGpsAnalyzeNmea(NAVIINFO_ALL* navilocinfo); +void DevGpsCycleDataClear(void); +void DevGpsCycleDataSetNmea(const u_int8*, u_int32, ENUM_GPS_NMEA_INDEX); +BOOL DevGpsCycleDataGetNmea(u_int8*, u_int32, ENUM_GPS_NMEA_INDEX); +void DevGpsCmdEventCheckNmea(void); +void DevGpsSetChkSum(u_int8* buffer, u_int32 length); +/*---------------------------------------------------------------------------*/ +#endif // INC_GPSCOMMON_MDEV_GPS_NMEA_H_ + +/*---------------------------------------------------------------------------*/ +/*EOF*/ |