diff options
Diffstat (limited to 'positioning_hal/src/GpsCommon/MDev_Gps_Main.cpp')
| -rw-r--r-- | positioning_hal/src/GpsCommon/MDev_Gps_Main.cpp | 362 |
1 files changed, 362 insertions, 0 deletions
diff --git a/positioning_hal/src/GpsCommon/MDev_Gps_Main.cpp b/positioning_hal/src/GpsCommon/MDev_Gps_Main.cpp new file mode 100644 index 00000000..0b9a4be6 --- /dev/null +++ b/positioning_hal/src/GpsCommon/MDev_Gps_Main.cpp @@ -0,0 +1,362 @@ +/* + * @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.cpp +*/ + +/*---------------------------------------------------------------------------*/ +// Include files + +#include "MDev_Gps_Main.h" +#include "positioning_common.h" +#include "MDev_Gps_Mtrx.h" +#include "MDev_Gps_TimerCtrl.h" +#include "MDev_Gps_Common.h" +#include "MDev_Gps_Nmea.h" +#include "MDev_GpsRecv.h" +#include "LineSensDrv_Thread.h" + +/*---------------------------------------------------------------------------*/ +// Global values + +BOOL g_gps_rcv_thread_stop = FALSE; + +/******************************************************************************** + * Matrix event translation table(Message input) + ********************************************************************************/ +const TG_GPS_MSGEVTCHNG kGpsMsgchkC[MDEV_GPSMSGCHKC_MAX] = { + /* ++ #GPF_60_024 */ + /* Matrix Event Translation Table for _CWORD82_ NMEA */ + {CID_GPS__CWORD82__REQUEST, GPS_EVT_SENDREQ}, /* NMEA transmission request */ + {CID_INI_INTERNAL_ACCOFF_START, GPS_EVT_ACC_OFF}, /* In-function ACC-OFF instructions */ + {CID_GPS_REQRESET, GPS_EVT_RESETREQ}, /* GPS reset request */ + {CID_NAVIINFO_DELIVER, GPS_EVT_NAVI_LOCATIONINFO}, /* Providing navigation information */ + {CID_NAVIINFO_SPEED_DELIVER, GPS_EVT_NAVI_SPEEDINFO}, /* Navigation speed information service */ + {CID_GPS_TIMESETTING, GPS_EVT_TIMESETTING}, /* GPS time setting instruction */ + {CID_GPS_BACKUPDATA_LOAD, GPS_EVT_BACKUPDATA_LOAD}, /* Backup memory read request */ + {CID_THREAD_STOP_REQ, GPS_EVT_STOPREQ}, /* Thread stop request */ + {CID_GPSWEEKCOR_CNT_NOTIFICATION, GPS_EVT_WEEKCOR_CNT_NOTIFICATIO}, /* GPS Week Adjustment Counter Notification */ + {DAT_END, DAT_END} /* Table end */ + /* -- #GPF_60_024 */ +}; + +/******************************************************************************** + * Matrix event translation table(Input Timeout [ Timer ID]) + ********************************************************************************/ +const TG_GPS_TIMEVTCHNG kGpsTimchkC[MDEV_PSTIMCHKC_MAX] = { + {GPS_STARTUP_TIMER, 0, GPS_EVT_TIMEOUT_CYCLDAT}, /* Start confirmation monitoring timer */ + {GPS_CYCL_TIMER, 0, GPS_EVT_TIMEOUT_CYCLDAT}, /* Periodic reception data monitoring timer */ + {GPS_RECV_ACK_TIMER, 0, GPS_EVT_TIMEOUT_RSPDAT}, /* ACK reception monitoring timer */ + {GPS_NAVIFST_TIMER, 0, GPS_EVT_TIMEOUT_NAVI}, /* Initial NAVI monitoring timer */ + {GPS_NAVICYCLE_TIMER, 0, GPS_EVT_TIMEOUT_NAVI}, /* NAVIGATION monitoring timer */ + {GPS_NAVIDISRPT_TIMER, 0, GPS_EVT_TIMEOUT_NAVI}, /* NAVIGATION Disruption Log Output Timer */ + {GPS_DIAGCLK_GUARDTIMER, 0, GPS_EVT_TIMEOUT_DIAGCLKGUARD}, /* Diagnosis provision time guard monitoring timer */ + {GPS_NMEADATA_GUARDTIMER, 0, GPS_EVT_TIMEOUT_NMEADATAGUARD}, /* NMEA data-providing guard monitoring timer */ + {GPS_RECOVERY_TIMER, 0, GPS_EVT_TIMEOUT_RECOVERY}, /* GPS recovery timer */ + {GPS_RECEIVERERR_TIMER, 0, GPS_EVT_TIMEOUT_RECEIVERERR}, /* GPS receiver anomaly detection timer */ + {DAT_END, 0, DAT_END} /* Table end */ +}; + +/******************************************************************************** + * Processing Branch Table + ********************************************************************************/ +/******************************************************************************** + * TAG : TG_GPS_JMP_TBL + * ABSTRACT : GPS jump table + * NOTE : GPS Communication Management Matrix Table + ********************************************************************************/ +const TG_GPS_JMP_TBL kGpsMatxC[GPS_STS_NUM][GPS_EVT_NUM] = { + /* - - - - - Confirming Start - - - - - */ + { + {&DevGpsInitStartSendReq}, /* Transmission request */ + {&DevGpsInitStartGPSResetReq}, /* GPS reset request */ + {&DevGpsInitStartRcvCyclCmd}, /* Cyclic reception command reception */ + {&DevGpsNop}, /* Receive Response Command */ + {&DevGpsNop}, /* Response monitoring timeout */ + {&DevGpsInitStartCyclDataTimeOut}, /* Periodic reception data monitoring timeout */ + {&DevGpsInitStartNaviDataTimeOut}, /* Navigation providing data monitoring timeout */ + {&DevGpsInitStartDiagClkGuardTimeOut}, /* Diagnosis provision time guard monitoring timeout */ + {&DevGpsInitStartAccOffStart}, /* In-function ACC-OFF instructions */ + {&DevGpsInitStartNaviInfoDeliver}, /* Providing navigation information */ + {&DevGpsInitStartNaviSpeedDeliver}, /* Navigation speed information service */ + {&DevGpsInitStartSettingTime}, /* GPS time setting instruction */ + {&DevGpsInitStartNmeaDataGuardTimeOut}, /* NMEA data-providing guard monitoring timeout */ + {&DevGpsInitStartBackupDataLoadReq}, /* Backup data read request */ + {&DevGpsInitStartStopReq}, /* Thread stop request */ + {&DevGpsInitStartGpsweekcorcntNtf}, /* GPS Week Adjustment Counter Notification */ + {&DevGpsInitStartRecoveryTimeOut}, /* GPS error monitoring timer out */ + {&DevGpsInitStartGpsReceiverErrTimeOut} /* GPS receiver anomaly detection timeout */ + }, + /* - - - - - - In operation - - - - - - */ + { + {&DevGpsNormalSendReq}, /* Transmission request */ + {&DevGpsNormalGPSResetReq}, /* GPS reset request */ + {&DevGpsNormalRcvCyclCmd}, /* Cyclic reception command reception */ + {&DevGpsNop}, /* Receive Response Command */ + {&DevGpsNop}, /* Response monitoring timeout */ + {&DevGpsNormalCyclDataTimeOut}, /* Periodic reception data monitoring timeout */ + {&DevGpsNormalNaviDataTimeOut}, /* Navigation providing data monitoring timeout */ + {&DevGpsNormalDiagClkGuardTimeOut}, /* Diagnosis provision time guard monitoring timeout */ + {&DevGpsNormalAccOffStart}, /* In-function ACC-OFF instructions */ + {&DevGpsNormalNaviInfoDeliver}, /* Providing navigation information */ + {&DevGpsNormalNaviSpeedDeliver}, /* Navigation speed information service */ + {&DevGpsNormalSettingTime}, /* GPS time setting instruction */ + {&DevGpsNormalNmeaDataGuardTimeOut}, /* NMEA data-providing guard monitoring timeout */ + {&DevGpsNormalBackupDataLoadReq}, /* Backup data read request */ + {&DevGpsNormalStopReq}, /* Thread stop request */ + {&DevGpsNormalGpsweekcorcntNtf}, /* GPS Week Adjustment Counter Notification */ + {&DevGpsNormalRecoveryTimeOut}, /* GPS error monitoring timer out */ + {&DevGpsNormalGpsReceiverErrTimeOut} /* GPS receiver anomaly detection timeout */ + }, + /* - - - - -- Sending - - - - - - */ + { + {&DevGpsSendSendReq}, /* Transmission request */ + {&DevGpsSendGPSResetReq}, /* GPS reset request */ + {&DevGpsSendRcvCyclCmd}, /* Cyclic reception command reception */ + {&DevGpsSendRcvRspCmd}, /* Receive Response Command */ + {&DevGpsSendRspDataTimeOut}, /* Response monitoring timeout */ + {&DevGpsSendCyclDataTimeOut}, /* Periodic reception data monitoring timeout */ + {&DevGpsSendNaviDataTimeOut}, /* Navigation providing data monitoring timeout */ + {&DevGpsSendDiagClkGuardTimeOut}, /* Diagnosis provision time guard monitoring timeout */ + {&DevGpsSendAccOffStart}, /* In-function ACC-OFF instructions */ + {&DevGpsSendNaviInfoDeliver}, /* Providing navigation information */ + {&DevGpsSendNaviSpeedDeliver}, /* Navigation speed information service */ + {&DevGpsSendSettingTime}, /* GPS time setting instruction */ + {&DevGpsSendNmeaDataGuardTimeOut}, /* NMEA data-providing guard monitoring timeout */ + {&DevGpsSendBackupDataLoadReq}, /* Backup data read request */ + {&DevGpsSendStopReq}, /* Thread stop request */ + {&DevGpsSendGpsweekcorcntNtf}, /* GPS Week Adjustment Counter Notification */ + {&DevGpsSendRecoveryTimeOut}, /* GPS error monitoring timer out */ + {&DevGpsSendGpsReceiverErrTimeOut} /* GPS receiver anomaly detection timeout */ + } +}; + +// Receive command analysis table(NMEA format) +const TG_GPS_CMD_ANA_TBL* kGpsCmdAnaTbl = kGpsCmdAnaTblUblox; + +//GPS process pending buffer management table +TG_GPS_MSGRCV g_gps_msg_rcvr; /* Incoming message */ +TG_GPS_MNG g_gps_mngr; /* GPS process management information */ + +// Global variable for GPS communication management +u_int16 g_wsend_err; /* Number of transmission errors */ +u_int16 g_wcnct_err; /* Number of connection errors */ +TG_GPS_OUTPUT_FORMAT g_rcv_format; /* Receive Format */ + +// Global variable for the receive thread +TG_GPS_RECV_RcvData g_gps_rcvdata; /* Serial receive buffer */ +TG_GPS_RECV_RcvBuf g_gps_rcvbuf; /* Receive data storage buffer */ +TG_GPS_RECV_AnaDataBuf g_gps_ana_databuf; /* Analysis data buffer */ +TG_GPS_RECV_RcvFrameBuf g_gps_rcv_framebuf; /* Receive frame buffer */ +TG_GPS_SAVEBUF g_gps_save_cmdr; /* Command pending buffer */ +u_int16 g_wrecv_err; /* Number of reception errors */ + +/*---------------------------------------------------------------------------*/ +// Functions + +/******************************************************************************** + * MODULE : DEV_Gps_MainThread + * ABSTRACT : Communication Management Thread Domain Processing + * FUNCTION : Receive a request from the host application and send a command to the serial port. + * ARGUMENT : PVOID pv....Thread Creation Arguments + * NOTE : + * RETURN : TRUE :Normal completion + * FALSE:ABENDs + ********************************************************************************/ +EFrameworkunifiedStatus DevGpsMainThread(HANDLE h_app) { + BOOL ret = FALSE; + + PosSetupThread(h_app, ETID_POS_GPS); + + ret = DevGpsInit(); + + if (TRUE == ret) { + g_gps_rcv_thread_stop = FALSE; + + /* Start receiving message */ + DevGpsRcvMsg(); + } else { + /* Initialization failed */ + POSITIONING_LOG("DevGpsMainThread Init Fail \n"); + } + + return eFrameworkunifiedStatusFail; +} + + +/******************************************************************************** + * MODULE : DEV_Gps_Init + * ABSTRACT : Communication management thread initialization processing + * FUNCTION : Initialize internal tables and serial ports + * ARGUMENT : None + * NOTE : + * RETURN : TRUE :Normal completion + * FALSE:ABENDs + ********************************************************************************/ +BOOL DevGpsInit(void) { + BOOL ret = FALSE; + + /* Global variable initialization(GPS Communication Management Thread Internal Use Variable) */ + /* Clear process management information */ + memset(&g_gps_mngr, 0x00, sizeof(g_gps_mngr)); /* #05 */ + + /* Clear the message receive buffer */ + memset(&g_gps_msg_rcvr, 0x00, sizeof(g_gps_msg_rcvr)); /* #05 */ + + /* Clear the pending buffer */ + memset(&g_gps_save_cmdr, 0x00, sizeof(g_gps_save_cmdr)); /* #05 */ + + /* Clear RTC backup-related data */ + g_gps_mngr.rcv_cmd = GPS_FORMAT_MIN; /* #GPF_60_040 */ + g_gps_mngr.resp_cmd = GPS_FORMAT_MIN; /* #GPF_60_040 */ + g_gps_mngr.rcv_err_flag = FALSE; + + g_wsend_err = 0; /* Initialization of the number of transmission errors */ + g_wcnct_err = 0; /* Connection error count initialization */ + g_rcv_format = GPS_FORMAT_MIN; /* Initialize Receive Format #GPF_60_024*/ + + /* Initialize the timer function initialization processing management table */ + DevGpsTimInit(); + + /* Start confirmation monitoring timer setting(5Sec) */ + ret = DevGpsTimeSet(GPS_STARTUP_TIMER); + + /* GPS receiver anomaly detection timer setting(600Sec) */ + ret = DevGpsTimeSet(GPS_RECEIVERERR_TIMER); + + // Set command table + kGpsCmdAnaTbl = kGpsCmdAnaTblUblox; + + /* State transition processing(Start Confirmation Monitor) */ + ChangeStatusGpsCommon(GPS_STS_STARTUP); + + return(ret); +} + +/****************************************************************************** +@brief DEV_Gps_RcvMsg<BR> + Message reception processing +@outline Receive a message and distribute processing into a matrix +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsRcvMsg(void) { + RET_API ret = RET_NORMAL; + void* p_rcv_msg = &g_gps_msg_rcvr; + + while (1) { + p_rcv_msg = &g_gps_msg_rcvr; + + // Receive meaasge + ret = _pb_RcvMsg(PNO_NAVI_GPS_MAIN, sizeof(g_gps_msg_rcvr), &p_rcv_msg, RM_WAIT); + + if (RET_RCVMSG == ret) { + memcpy(&g_gps_msg_rcvr, p_rcv_msg, sizeof(g_gps_msg_rcvr)); + + /* Message Event Check Processing */ + DevGpsMsgEventCheck(); + + if ((u_int32)NG != g_gps_mngr.event) { + /* If the event check is successful */ + /* Start Processing by Matrix */ + (kGpsMatxC[g_gps_mngr.sts][g_gps_mngr.event].func)(); + } + } else { + /** MSG reception error */ + POSITIONING_LOG("DevGpsRcvMsg error ret[%d] \n", ret); + } + } +} + +static inline void SetStopFlag(void) { + g_gps_rcv_thread_stop = TRUE; +} + +/******************************************************************************** + * MODULE : DEV_Gps_MsgEventCheck + * ABSTRACT : Message Event Check Processing + * FUNCTION : Check received messages and convert them to events + * ARGUMENT : None + * NOTE : + * RETURN : None + ********************************************************************************/ +void DevGpsMsgEventCheck(void) { + u_int32 ul_cnt = 0; + + /* Set Error to Event No. */ + g_gps_mngr.event = (u_int32)NG; + + /* For timeout notification */ + if (g_gps_msg_rcvr.header.hdr.cid == CID_TIMER_TOUT) { + /* Get event number from sequence number */ + DevGpsTimEventCheck(); + } else if (g_gps_msg_rcvr.header.hdr.cid == CID_GPS_RECVDATA) { + DevGpsCmdEventCheckNmea(); + } else { + while (kGpsMsgchkC[ul_cnt].cid != DAT_END) { + if (g_gps_msg_rcvr.header.hdr.cid == kGpsMsgchkC[ul_cnt].cid) { + POSITIONING_LOG("DevGpsMsgEventCheck: cid = %d", g_gps_msg_rcvr.header.hdr.cid); + + /* Get event number */ + g_gps_mngr.event = kGpsMsgchkC[ul_cnt].event; + + if (GPS_EVT_STOPREQ == g_gps_mngr.event) { + SetStopFlag(); + LineSensDrvThreadStopProcess(); + } + + break; + } + + ul_cnt++; + } + } +} + +/******************************************************************************** + * MODULE : DEV_Gps_TimEventCheck + * ABSTRACT : Timeout-Event check processing + * FUNCTION : Check received timeout messages and convert them to events + * ARGUMENT : None + * NOTE : + * RETURN : None + ********************************************************************************/ +void DevGpsTimEventCheck(void) { + u_int8 uc_time_kind = 0; + TimerToutMsg st_rcv_msg; + BOOL ret = FALSE; + + // Set Error to Event No. + g_gps_mngr.event = (u_int32)NG; + + // Get message + memcpy(&st_rcv_msg, &g_gps_msg_rcvr, sizeof(TimerToutMsg)); + + // Time judge kind + ret = DevGpsTimeJdgKind((u_int16)st_rcv_msg.TimerSeq); + + if (TRUE == ret) { + /* If the sequence numbers match, */ + /* Set the conversion code to the event number */ + uc_time_kind = (u_int8)((st_rcv_msg.TimerSeq >> 8) & 0x00FF); + g_gps_mngr.event = kGpsTimchkC[uc_time_kind].event; + } +} + +/*---------------------------------------------------------------------------*/ +/*EOF*/ |