diff options
Diffstat (limited to 'positioning_hal/inc/LineSensDrv/LineSensDrv_Sensor.h')
| -rw-r--r-- | positioning_hal/inc/LineSensDrv/LineSensDrv_Sensor.h | 183 |
1 files changed, 183 insertions, 0 deletions
diff --git a/positioning_hal/inc/LineSensDrv/LineSensDrv_Sensor.h b/positioning_hal/inc/LineSensDrv/LineSensDrv_Sensor.h new file mode 100644 index 00000000..1b996b78 --- /dev/null +++ b/positioning_hal/inc/LineSensDrv/LineSensDrv_Sensor.h @@ -0,0 +1,183 @@ +/* + * @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 LineSensDrv_Sensor.h +*/ + +#ifndef INC_LINESENSDRV_LINESENSDRV_SENSOR_H_ +#define INC_LINESENSDRV_LINESENSDRV_SENSOR_H_ + +/*---------------------------------------------------------------------------*/ +// Include files + +#include "positioning_def.h" + +/*---------------------------------------------------------------------------*/ +// Macro definitions + +/* Message related */ +/* Message identification number definition received from the ICR */ +#define LSDRV_RCVMSG_INVALID 0x00 /* Not applicable */ +#define LSDRV_RCVMSG_SENSOR 0x12 /* Sensor data */ + +/* LineSensor vehicle signal notification */ + +#define LSDRV_SENS_MASK 0xFFF /* Sensor data MASK */ +#define LSDRV_PLSMAX 65536 /* Maximum vehicle speed pulse number */ +/* #011 start */ +#define LSDRV_SENS_COEFFICIENT 14.1287284284144427 /* Vehicle speed calculation factor */ +#define LSDRV_SPKMPH_METHOD_FST 0 /* Vehicle speed calculation method(Initial Sensor Data) */ +#define LSDRV_SPKMPH_METHOD_NML 1 /* Vehicle speed calculation method(Sensor data) */ +#define LSDRV_SPKMPH_AVE_TIME 29 /* Effective time for average calculation data(in units of 100ms) */ /* #013 */ +#define LSDRV_SPKMPH_NOISE_TIME (LSDRV_SPKMPH_AVE_TIME + 2) /* Effective Time for Noise Detection(in units of 100ms) */ /* #017 */ +#define LSDRV_SPKMPH_INVALID 1 /* No pulse of previous vehicle speed */ +#define LSDRV_SPKMPH_VALID 0 /* Last vehicle speed pulse */ +#define LSDRV_SENSCNT_BRW_ADD 256 /* Measures for borrow occurrence during search of sensor counters */ +/* #011 end */ +#define LSDRV_FSENS_NRCV 0 /* Not received */ +#define LSDRV_FSENS_RCV 1 /* Receiving */ +#define LSDRV_FSENS_RCVCOMP 2 /* Reception completion */ +#define LSDRV_FSENS_NORMAL 0 /* Receive data normal */ /* #001 */ +#define LSDRV_FSENS_ERROR 1 /* Receive data anomaly */ /* #001 */ +/* #016 start */ +#define LSDRV_PLSDATA_NRCV 0 /* Not received */ +#define LSDRV_PLSDATA_RCV 1 /* Received */ +#define LSDRV_SENSCNT_MAX 255 /* Maximum value of sensor counter */ +#define LSDRV_SPKMPH_MIN_DATA_N 6 /* Number of data required for vehicle speed calculation */ +#define LSDRV_FSPDPLS_NUM 3 /* Number of cumulative pulses registered for the first time */ +/* #016 end */ +#define LSDRV_REV_MASK 0x0040 /* REV-data MASK(Before endian conversion) */ +#define LSDRV_BITSHIFT_REV 6 /* REV data bit shift */ +#define LSDRV_TEMP_MASK 0x07FF /* Gyro temperature data MASK(after endian conversion) */ +#define LSDRV_PLSTIME_LEN 232 /* Data length when inter-pulse time exists */ + + +#define LSDRV_DETAILED_DATA_MULTI_ENABLE TRUE /* Detailed data multiplexing of initial sensor data Enabled/Disabled */ + +#if LSDRV_DETAILED_DATA_MULTI_ENABLE +#define LSDRV_DETAILED_DATA_MULTI_MAX_NUM 2 /* Detailed data multiplexing of initial sensor data Maximum number */ +#else +#define LSDRV_DETAILED_DATA_MULTI_MAX_NUM 1 /* Detailed data multiplexing of initial sensor data Maximum number */ +#endif + +/* Total number of partitions of initial sensor data : Maximum value */ +#define LSDRV_FSENS_TOTAL_NUM_MAX LSDRV_FSTSNS_SENSOR_FIRST_SEND_NUM + +/* Detailed data of initial sensor data : Maximum number of acquisitions */ +#define LSDRV_DETAILED_DATA_MAX_NUM (LSDRV_FSENS_TOTAL_NUM_MAX * LSDRV_DETAILED_DATA_MULTI_MAX_NUM) + +/* Initial sensor data : Maximum number of saved messages */ +#define LSDRV_FSENS_SAVE_MSG_NUM (LSDRV_FSENS_TOTAL_NUM_MAX + 1) + +/* Initial sensor data : Maximum number of data stored */ +#define LSDRV_FSENS_SAVE_DATA_NUM (LSDRV_FSENS_SAVE_MSG_NUM * LSDRV_DETAILED_DATA_MULTI_MAX_NUM) + +#define LSDRV_DETAILED_DATA_GYRO_NUM LSDRV_FSTSNS_DETAILED_DATA_GYRO_NUM +#define LSDRV_DETAILED_DATA_GSENSOR_NUM LSDRV_FSTSNS_DETAILED_DATA_GSENSOR_NUM +#define LSDRV_DETAILED_DATA_GSENSOR_X_OFFSET 0 /* G-Sensor data X-axis offset included in detail data */ +#define LSDRV_DETAILED_DATA_GSENSOR_Y_OFFSET 1 /* G-Sensor data Y-axis offsets included in the detail data */ +#define LSDRV_DETAILED_DATA_GSENSOR_OFFSET 3 /* G-Sensor data access offset included in the detail data */ + +/* Gyro Output Specifications:11500 ~ 54036LSB */ +#define GYRO_OUTPUPT_SPEC_LOWER_LIMIT 11500U +#define GYRO_OUTPUPT_SPEC_UPPER_LIMIT 54036U + +/* Gyro Failure Status : How many normal status continues should be made to Gyro Failure Status normal when it is judged to be "error -> normal" */ +#define GYRO_TROUBLE_NORMAL_COUNTER_THRESHOLD 10U /* 10 ms (Gyro data acquisition interval) * 10 times = 100ms */ + +/* Gyro Failure Status : How many error status continues should be made to Gyro Failure Status error when it is judged to be "normal -> error" */ +#define GYRO_TROUBLE_ERROR_COUNTER_THRESHOLD 3000U /* 10 ms (Gyro data acquisition interval) * 3000 times = 30s */ + +/* SYS GPS Interrupt Signal : How many disable continues should be made to SYS GPS Interrupt Signal disable when it is judged to be "enable -> disable" */ +#define SYS_GPS_INTERRUPT_SIGNAL_INVALID_COUNTER_THRESHOLD 10U + +/* Gyro Failure Status : Match values with SENSORMOTION_NORMAL and ERROR,UNFIXED in SensorMotion_API.h */ +#define GYRO_NORMAL (0U) +#define GYRO_ERROR (1U) +#define GYRO_UNFIXED (2U) + +/* Gyro connection status : Match values with SENSOR_CONNECT and SENSOR_DISCONNECT in Sensor_API.h */ +#define GYRO_DISCONNECT (0U) +#define GYRO_CONNECT (1U) + +/*** Data table for calculating vehicle speed *****************************************/ +#define LSDRV_SPKMPH_TBL_NUM 32 /* Number of data tables */ /* #50836 */ +#define LSDRV_SPKMPH_DATA_EN 0x01 /* Data storage flag valid */ +#define LSDRV_SPKMPH_DATA_DIS 0x00 /* Data storage flag invalid */ + +/*** Operation code *********************************************/ +#define LSDRV_OPC_WILDCARD 0xFF /* Wildcarded #012 */ + +#define LSDRV_OPC_EXTTERM_R 0x89 /* External pin status request */ +#define LSDRV_OPC_EXTTERM_A 0x99 /* External pin status notification */ +#define LSDRV_OPC_SENSOR 0xC1 /* Sensor data */ +#define LSDRV_OPC_FSENS_R 0xE4 /* Initial sensor data request */ +#define LSDRV_OPC_FSENS_A 0xF4 /* Initial sensor data response */ + +/*---------------------------------------------------------------------------*/ +// Enum + +/*---------------------------------------------------------------------------*/ +// Struct + +typedef struct { + u_int16 uc_sensor_x; /* G-Sensor X data */ + u_int16 uc_sensor_y; /* G-Sensor Y data */ + u_int16 uc_sensor_z; /* G-Sensor Z data */ +} SENSORINPUT_INFO_DAT_GSENS; + +// TAG : LSDRV_SPEEDKMPH_DAT +// ABSTRACT : Data Table Structure for Vehicle Speed Calculation +typedef struct LsDrvSpeedKmph { + u_int8 uc_flag; /* Data storage flag */ + u_int8 uc_sens_cnt; /* Sensor counter */ + u_int16 us_speed_pulse; /* Vehicle speed pulse */ + u_int8 uc_noise_flag; /* Noise flag */ /* #017 */ + u_int8 u_reserve[3]; /* Reserved */ /* #017 */ +} LSDRV_SPEEDKMPH_DAT_DAT; + +typedef struct LsDrvSpeedKmphLast { + u_int8 uc_flag; /* Data storage flag */ + u_int8 uc_sens_cnt; /* Sensor counter */ + u_int16 us_speed_pulse; /* Vehicle speed pulse */ +} LSDRV_SPEEDKMPH_LAST_DAT; + +typedef struct LsDrvSpeedKmphDat { + u_int8 uc_ptr; /* Data storage pointer */ + u_int8 uc_fstsns_rcv; /* Initial sensor data reception status */ /* #016 */ + u_int8 uc_sns_rcv; /* Sensor data reception status */ /* #016 */ + u_int8 uc_calc_start; /* Vehicle speed calculation start flag */ /* #016 */ + LSDRV_SPEEDKMPH_LAST_DAT st_last_data; /* Previous vehicle speed pulse information */ + LSDRV_SPEEDKMPH_DAT_DAT st_data[LSDRV_SPKMPH_TBL_NUM]; /* Data portion */ +} LSDRV_SPEEDKMPH_DAT; + +/*---------------------------------------------------------------------------*/ +// Prototype + +void LineSensDrvSensor(u_int8*); +u_int16 LineSensDrvSpeedCalc(u_int8); +void LineSensDrvSpeedKmphDataInit(void); +void LineSensDrvSpeedPulseSave(u_int16, u_int16, u_int8); +u_int8 LineSensDrvCheckNoise(u_int8); + +u_int8 LineSensDrvGetLastSpeedPulse(u_int16*, u_int16, u_int8); +void LineSensDrvSetLastSpeedPulse(u_int16, u_int8); + +/*---------------------------------------------------------------------------*/ +#endif // INC_LINESENSDRV_LINESENSDRV_SENSOR_H_ + +/*---------------------------------------------------------------------------*/ +/*EOF*/ |