diff options
Diffstat (limited to 'positioning_hal/src/GpsCommon/MDev_Gps_Nmea.cpp')
| -rw-r--r-- | positioning_hal/src/GpsCommon/MDev_Gps_Nmea.cpp | 928 |
1 files changed, 928 insertions, 0 deletions
diff --git a/positioning_hal/src/GpsCommon/MDev_Gps_Nmea.cpp b/positioning_hal/src/GpsCommon/MDev_Gps_Nmea.cpp new file mode 100644 index 00000000..60fa1d8d --- /dev/null +++ b/positioning_hal/src/GpsCommon/MDev_Gps_Nmea.cpp @@ -0,0 +1,928 @@ +/* + * @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_Gps_Nmea.cpp +*/ + +/*---------------------------------------------------------------------------*/ +// Include files + +#include "MDev_Gps_Nmea.h" +#include "positioning_common.h" +#include "MDev_Gps_API.h" +#include "MDev_Gps_Main.h" +#include "MDev_GpsRecv.h" +#include "MDev_Gps_Common.h" +#include "MDev_GpsRollOver.h" + +/*---------------------------------------------------------------------------*/ +// Value define +#define ROLOVR_GPSWEEKCOR_NG 0xFF /* WEEK COMP. CORRECT CORRECTOR INVALUE */ +#define TMT_TGET_INI_INTERVAL (100) /* GPS time compensation interval immediately after startup (value with 10[msec] as 1) */ +#define TMT_DISCONTINUITY_TIME_TOUT_SEQ (0x5051) /* Sequence number of GPS time acquisition timeout based on date/time discontinuity */ + +/*---------------------------------------------------------------------------*/ +// Global values + +static TG_GPS_RCVDATA g_st_gpscycle_data; +u_int8 g_gps_week_cor_cnt = ROLOVR_GPSWEEKCOR_NG; + +extern uint8_t g_gpstime_raw_tdsts; + +const TG_GPS_CMD_ANA_TBL kGpsCmdAnaTblUblox[MDEV_GPSCMDANATBLNMEA_MAX] = { + /* Sentences Maximum length Receiving type Presence of notification Receive Format */ + /* NMEA */ + {{GPS_CMD_NMEA_RMC}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_RMC }, /* RMC information */ + {{GPS_CMD_NMEA_VTG}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_VTG }, /* VTG information */ + {{GPS_CMD_NMEA_GGA}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_GGA }, /* GGA information */ + {{GPS_CMD_NMEA_GSA}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_GSA }, /* GSA information */ + {{GPS_CMD_NMEA_GSV_1}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_GSV1 }, /* GSV information1 */ + {{GPS_CMD_NMEA_GSV_2}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_GSV2 }, /* GSV information2 */ + {{GPS_CMD_NMEA_GSV_3}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_GSV3 }, /* GSV information3 */ + {{GPS_CMD_NMEA_GSV_4}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_GSV4 }, /* GSV information4 */ + {{GPS_CMD_NMEA_GSV_5}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_GSV5 }, /* GSV information5 */ + {{GPS_CMD_NMEA_GLL}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_GLL }, /* GLL information */ + {{GPS_CMD_NMEA_GST}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_GST }, /* GST information */ + /* UBX */ + {{0xB5, 0x62, 0x0A, 0x04}, GPS_NMEA_MAX_SZ, RCV_RESP, TRUE, GPS_FORMAT_MON_VER }, /* MON-VER */ + {{0xB5, 0x62, 0x0B, 0x01}, GPS_NMEA_MAX_SZ, RCV_RESP, TRUE, GPS_FORMAT_AID_INI }, /* AID-INI */ + {{0xB5, 0x62, 0x05 }, GPS_NMEA_MAX_SZ, RCV_RESP, TRUE, GPS_FORMAT_ACK_ACKNACK }, /* ACK-ACKNACK */ + {{0xB5, 0x62, 0x01, 0x21}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_NAV_TIMEUTC }, /* NAV-TIMEUTC */ + {{0xB5, 0x62, 0x01, 0x22}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_NAV_CLOCK }, /* NAV-CLOCK */ + {{0xB5, 0x62, 0x02, 0x23}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_RXM_RTC5 }, /* RXM-RTC5 */ + {{0xB5, 0x62, 0x01, 0x30}, GPS_NMEA_MAX_SZ, RCV_CYCLE, TRUE, GPS_FORMAT_NAV_SVINFO }, /* NAV-SVINFO */ + {{0xB5, 0x62, 0x06, 0x23}, GPS_NMEA_MAX_SZ, RCV_RESP, TRUE, GPS_FORMAT_CFG_NAVX5 }, /* CFG-NAVX5 */ + {{ENDMARK}, 0, 0, FALSE, GPS_FORMAT_MIN } /* Table termination */ +}; + +/*---------------------------------------------------------------------------*/ +// Functions +/** + * @brief + * Time Calculation Process Considering Rollover + * + * @param[in/out] + * + * @return none + * @retval none + */ +static BOOL DevCalcRollOverTime(TG_TIM_ROLOVR_YMD* base_ymd, TG_TIM_ROLOVR_YMD* conv_ymd) { + BOOL ret = TRUE; + static u_int16 year_old = 0; + static u_int16 confirm_cnt = 0; + u_int8 gps_week_corr = g_gps_week_cor_cnt; + + if (gps_week_corr == ROLOVR_GPSWEEKCOR_NG) { + gps_week_corr = 0; + ret = FALSE; + } else { + if (year_old > base_ymd->year) { + confirm_cnt++; + if (confirm_cnt >= 10) { + confirm_cnt = 0; + year_old = base_ymd->year; + g_gps_week_cor_cnt = ROLOVR_GPSWEEKCOR_NG; + /* Starting the GPS time acquisition timer (1 second timer) based on date/time discontinuity */ + _pb_ReqTimerStart(PNO_CLK_GPS, TMT_DISCONTINUITY_TIME_TOUT_SEQ, TIMER_TYPE_USN, TMT_TGET_INI_INTERVAL); + } + ret = FALSE; + } else { + confirm_cnt = 0; + year_old = base_ymd->year; + } + } + /* Calculate time for rollover */ + GPSRollOverConvTime(base_ymd, conv_ymd, gps_week_corr); + + return ret; +} +/******************************************************************************************************/ + + +/** + * @brief + * NMEA data notification + */ +void DevGpsSndCycleDataNmea(void) { + /* Notifying vehicle sensor of NMEA */ + + MDEV_GPS_NMEA st_nmea; + TG_GPS_NMEA_INFO st_gps_nmea_info; + RET_API l_ret = RET_NORMAL; + BOOL b_get = FALSE; + u_int8 uc_nmea_data[GPS_NMEA_MAX_SZ]; + u_int32 ul_strlen = 0; + u_int16 us_offset = sizeof(TG_GPS_NMEA_INFO); + + memset(&st_nmea, 0x00, sizeof(st_nmea) ); /* QAC 3200 */ + memset(&st_gps_nmea_info, 0x00, sizeof(st_gps_nmea_info) ); /* QAC 3200 */ + memset(uc_nmea_data, 0x00, sizeof(uc_nmea_data) ); /* QAC 3200 */ + + /* Get received NMEA data from storage area(GGA) */ + b_get = DevGpsCycleDataGetNmea(uc_nmea_data, sizeof(uc_nmea_data) , GPS_NMEA_INDEX_GGA); + if (b_get == TRUE) { + /* Data present */ + st_gps_nmea_info.ul_rcvsts |= POS_SNS_GPS_NMEA_GGA; /* Receive flag */ + ul_strlen = strlen(reinterpret_cast<const char *>(uc_nmea_data)); /* QAC 310 */ + + if (ul_strlen > GPS_NMEA_MAX_SZ) { + ul_strlen = GPS_NMEA_MAX_SZ; + } + + if ((us_offset + ul_strlen) < SENSOR_MSG_VSINFO_DSIZE) { + (void)memcpy(&(st_nmea.uc_nmea_data[us_offset]), uc_nmea_data, ul_strlen); /* Data storage */ + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GGA].uc_size = (u_int8)ul_strlen; + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GGA].us_offset = us_offset; + us_offset += (u_int16)ul_strlen; + } + } + + /* Get received NMEA data from storage area(GLL) */ + b_get = DevGpsCycleDataGetNmea(uc_nmea_data, sizeof(uc_nmea_data) , GPS_NMEA_INDEX_GLL); + if (b_get == TRUE) { + /* Data present */ + st_gps_nmea_info.ul_rcvsts |= POS_SNS_GPS_NMEA_GLL; /* Receive flag */ + ul_strlen = strlen(reinterpret_cast<const char *>(uc_nmea_data)); /* QAC 310 */ + + if (ul_strlen > GPS_NMEA_MAX_SZ) { + ul_strlen = GPS_NMEA_MAX_SZ; + } + + if ((us_offset + ul_strlen) < SENSOR_MSG_VSINFO_DSIZE) { + (void)memcpy(&(st_nmea.uc_nmea_data[us_offset]), uc_nmea_data, ul_strlen); /* Data storage */ + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GLL].uc_size = (u_int8)ul_strlen; + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GLL].us_offset = us_offset; + us_offset += (u_int16)ul_strlen; + } + } + + /* Get received NMEA data from storage area(GSA) */ + b_get = DevGpsCycleDataGetNmea(uc_nmea_data, sizeof(uc_nmea_data) , GPS_NMEA_INDEX_GSA); + if (b_get == TRUE) { + /* Data present */ + st_gps_nmea_info.ul_rcvsts |= POS_SNS_GPS_NMEA_GSA1; /* Receive flag */ + ul_strlen = strlen(reinterpret_cast<const char *>(uc_nmea_data)); /* QAC 310 */ + if (ul_strlen > GPS_NMEA_MAX_SZ) { + ul_strlen = GPS_NMEA_MAX_SZ; + } + + if ((us_offset + ul_strlen) < SENSOR_MSG_VSINFO_DSIZE) { + (void)memcpy(&(st_nmea.uc_nmea_data[us_offset]), uc_nmea_data, ul_strlen); /* Data storage */ + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GSA1].uc_size = (u_int8)ul_strlen; + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GSA1].us_offset = us_offset; + us_offset += (u_int16)ul_strlen; + } + } + + /* Get received NMEA data from storage area(GST) */ + b_get = DevGpsCycleDataGetNmea(uc_nmea_data, sizeof(uc_nmea_data) , GPS_NMEA_INDEX_GST); + if (b_get == TRUE) { + /* Data present */ + st_gps_nmea_info.ul_rcvsts |= POS_SNS_GPS_NMEA_GST; /* Receive flag */ + ul_strlen = strlen(reinterpret_cast<const char *>(uc_nmea_data)); /* QAC 310 */ + if (ul_strlen > GPS_NMEA_MAX_SZ) { + ul_strlen = GPS_NMEA_MAX_SZ; + } + + if ((us_offset + ul_strlen) < SENSOR_MSG_VSINFO_DSIZE) { + (void)memcpy(&(st_nmea.uc_nmea_data[us_offset]), uc_nmea_data, ul_strlen); /* Data storage */ + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GST].uc_size = (u_int8)ul_strlen; + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GST].us_offset = us_offset; + us_offset += (u_int16)ul_strlen; + } + } + + /* Get received NMEA data from storage area(RMC) */ + b_get = DevGpsCycleDataGetNmea(uc_nmea_data, sizeof(uc_nmea_data) , GPS_NMEA_INDEX_RMC); + if (b_get == TRUE) { + /* Data present */ + st_gps_nmea_info.ul_rcvsts |= POS_SNS_GPS_NMEA_RMC; /* Receive flag */ + ul_strlen = strlen(reinterpret_cast<const char *>(uc_nmea_data)); /* QAC 310 */ + if (ul_strlen > GPS_NMEA_MAX_SZ) { + ul_strlen = GPS_NMEA_MAX_SZ; + } + + if ((us_offset + ul_strlen) < SENSOR_MSG_VSINFO_DSIZE) { + (void)memcpy(&(st_nmea.uc_nmea_data[us_offset]), uc_nmea_data, ul_strlen); /* Data storage */ + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_RMC].uc_size = (u_int8)ul_strlen; + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_RMC].us_offset = us_offset; + us_offset += (u_int16)ul_strlen; + } + } + + /* Get received NMEA data from storage area(VTG) */ + b_get = DevGpsCycleDataGetNmea(uc_nmea_data, sizeof(uc_nmea_data) , GPS_NMEA_INDEX_VTG); + if (b_get == TRUE) { + /* Data present */ + st_gps_nmea_info.ul_rcvsts |= POS_SNS_GPS_NMEA_VTG; /* Receive flag */ + ul_strlen = strlen(reinterpret_cast<const char *>(uc_nmea_data)); /* QAC 310 */ + if (ul_strlen > GPS_NMEA_MAX_SZ) { + ul_strlen = GPS_NMEA_MAX_SZ; + } + + if ((us_offset + ul_strlen) < SENSOR_MSG_VSINFO_DSIZE) { + (void)memcpy(&(st_nmea.uc_nmea_data[us_offset]), uc_nmea_data, ul_strlen); /* Data storage */ + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_VTG].uc_size = (u_int8)ul_strlen; + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_VTG].us_offset = us_offset; + us_offset += (u_int16)ul_strlen; + } + } + + /* Get received NMEA data from storage area(GSV1) */ + b_get = DevGpsCycleDataGetNmea(uc_nmea_data, sizeof(uc_nmea_data) , GPS_NMEA_INDEX_GSV1); + if (b_get == TRUE) { + /* Data present */ + st_gps_nmea_info.ul_rcvsts |= POS_SNS_GPS_NMEA_GSV1; /* Receive flag */ + ul_strlen = strlen(reinterpret_cast<const char *>(uc_nmea_data)); /* QAC 310 */ + if (ul_strlen > GPS_NMEA_MAX_SZ) { + ul_strlen = GPS_NMEA_MAX_SZ; + } + + if ((us_offset + ul_strlen) < SENSOR_MSG_VSINFO_DSIZE) { + (void)memcpy(&(st_nmea.uc_nmea_data[us_offset]), uc_nmea_data, ul_strlen); /* Data storage */ + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GSV1].uc_size = (u_int8)ul_strlen; + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GSV1].us_offset = us_offset; + us_offset += (u_int16)ul_strlen; + } + } + + /* Get received NMEA data from storage area(GSV2) */ + b_get = DevGpsCycleDataGetNmea( uc_nmea_data, sizeof(uc_nmea_data), GPS_NMEA_INDEX_GSV2 ); + if (b_get == TRUE) { + /* Data present */ + st_gps_nmea_info.ul_rcvsts |= POS_SNS_GPS_NMEA_GSV2; /* Receive flag */ + ul_strlen = strlen(reinterpret_cast<const char *>(uc_nmea_data)); /* QAC 310 */ + if (ul_strlen > GPS_NMEA_MAX_SZ) { + ul_strlen = GPS_NMEA_MAX_SZ; + } + + if ((us_offset + ul_strlen) < SENSOR_MSG_VSINFO_DSIZE) { + (void)memcpy(&(st_nmea.uc_nmea_data[us_offset]), uc_nmea_data, ul_strlen); /* Data storage */ + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GSV2].uc_size = (u_int8)ul_strlen; + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GSV2].us_offset = us_offset; + us_offset += (u_int16)ul_strlen; + } + } + + /* Get received NMEA data from storage area(GSV3) */ + b_get = DevGpsCycleDataGetNmea( uc_nmea_data, sizeof(uc_nmea_data) , GPS_NMEA_INDEX_GSV3 ); + if (b_get == TRUE) { + /* Data present */ + st_gps_nmea_info.ul_rcvsts |= POS_SNS_GPS_NMEA_GSV3; /* Receive flag */ + ul_strlen = strlen(reinterpret_cast<const char *>(uc_nmea_data)); /* QAC 310 */ + if (ul_strlen > GPS_NMEA_MAX_SZ) { + ul_strlen = GPS_NMEA_MAX_SZ; + } + + if ((us_offset + ul_strlen) < SENSOR_MSG_VSINFO_DSIZE) { + (void)memcpy(&(st_nmea.uc_nmea_data[us_offset]), uc_nmea_data, ul_strlen); + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GSV3].uc_size = static_cast<u_int8>(ul_strlen); + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GSV3].us_offset = us_offset; + us_offset += (u_int16)ul_strlen; + } + } + + /* Get received NMEA data from storage area(GSV4) */ + b_get = DevGpsCycleDataGetNmea(uc_nmea_data, sizeof(uc_nmea_data), GPS_NMEA_INDEX_GSV4); + if (b_get == TRUE) { + /* Data present */ + st_gps_nmea_info.ul_rcvsts |= POS_SNS_GPS_NMEA_GSV4; /* Receive flag */ + ul_strlen = strlen(reinterpret_cast<const char *>(uc_nmea_data)); /* QAC 310 */ + if (ul_strlen > GPS_NMEA_MAX_SZ) { + ul_strlen = GPS_NMEA_MAX_SZ; + } + + if ((us_offset + ul_strlen) < SENSOR_MSG_VSINFO_DSIZE) { + (void)memcpy(&(st_nmea.uc_nmea_data[us_offset]), uc_nmea_data, ul_strlen); + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GSV4].uc_size = static_cast<u_int8>(ul_strlen); + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GSV4].us_offset = us_offset; + us_offset += (u_int16)ul_strlen; + } + } + + /* Get received NMEA data from storage area(GSV5) */ + b_get = DevGpsCycleDataGetNmea(uc_nmea_data, sizeof(uc_nmea_data), GPS_NMEA_INDEX_GSV5); + if (b_get == TRUE) { + /* Data present */ + st_gps_nmea_info.ul_rcvsts |= POS_SNS_GPS_NMEA_GSV5; /* Receive flag */ + ul_strlen = strlen(reinterpret_cast<const char *>(uc_nmea_data)); /* QAC 310 */ + if (ul_strlen > GPS_NMEA_MAX_SZ) { + ul_strlen = GPS_NMEA_MAX_SZ; + } + + if ((us_offset + ul_strlen) < SENSOR_MSG_VSINFO_DSIZE) { + (void)memcpy(&(st_nmea.uc_nmea_data[us_offset]), uc_nmea_data, ul_strlen); + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GSV5].uc_size = static_cast<u_int8>(ul_strlen); + st_gps_nmea_info.st_nmea_sentence_info[POS_SNS_GPS_NMEA_SNO_GSV5].us_offset = us_offset; + us_offset += (u_int16)ul_strlen; + } + } + + if (0 != st_gps_nmea_info.ul_rcvsts) { + /* Receive flag */ + (void)memcpy(&(st_nmea.uc_nmea_data[0]), &st_gps_nmea_info, sizeof(st_gps_nmea_info)); + + /* Provided to vehicle sensor */ + l_ret = SendNmeaGps(&st_nmea); + + if (RET_NORMAL != l_ret) { + POSITIONING_LOG("SendNmeaGps SndMsg Error\n"); + } + } else { + /* Do not provide to vehicle sensor when data acquisition fails or no data */ + } + + return; +} + +/** + * @brief + * Analysis of the received command + */ +void DevGpsRcvCyclCmd(void) { + int32 i_ret = 0; + TG_GPS_OUTPUT_FORMAT e_format = GPS_FORMAT_MIN; + + TG_GPS_RCV_DATA st_rcv_data; /* Pointer to the received message */ + (void)memcpy(&st_rcv_data, &(g_gps_msg_rcvr.msgdat[0]), sizeof(st_rcv_data) ); /* QAC 3200 */ + + /* Analysis of received commands */ + i_ret = JudgeFormatGpsCommon(reinterpret_cast<u_char*>(&(st_rcv_data.bygps_data[0])), + static_cast<u_int32>(st_rcv_data.bydata_len), + &e_format); + + if (i_ret == GPSRET_SNDCMD) { + /* For NMEA formats */ + if ((e_format == GPS_FORMAT_RMC) || + (e_format == GPS_FORMAT_VTG) || + (e_format == GPS_FORMAT_GGA) || + (e_format == GPS_FORMAT_GSA) || + (e_format == GPS_FORMAT_GSV1) || + (e_format == GPS_FORMAT_GSV2) || + (e_format == GPS_FORMAT_GSV3) || + (e_format == GPS_FORMAT_GSV4) || + (e_format == GPS_FORMAT_GSV5) || + (e_format == GPS_FORMAT_GLL) || + (e_format == GPS_FORMAT_GST)) { + /* NMEA reception process */ + RcvCyclCmdNmeaGpsCommon(&(st_rcv_data.bygps_data[0]), (u_int32)st_rcv_data.bydata_len, e_format); + } else if ((e_format == GPS_FORMAT_MON_VER) || + (e_format == GPS_FORMAT_AID_INI) || + (e_format == GPS_FORMAT_ACK_ACKNACK) || + (e_format == GPS_FORMAT_NAV_TIMEUTC) || + (e_format == GPS_FORMAT_NAV_CLOCK) || + (e_format == GPS_FORMAT_RXM_RTC5) || + (e_format == GPS_FORMAT_NAV_SVINFO)) { + /* UBX reception process */ + RcvCyclCmdExtGpsCommon(&(st_rcv_data.bygps_data[0]), (u_int32)st_rcv_data.bydata_len, e_format); + } else { + POSITIONING_LOG("Forbidden ERROR!![e_format=%d]", (int)e_format); + } + } else if (i_ret == GPSRET_CMDERR) { + /* Receive command error */ + + /* Discard previously received data */ + DevGpsCycleDataClear(); + /* Initialize receive format */ + g_rcv_format = GPS_FORMAT_MIN; + } else { + } + + return; +} + +/** + * @brief + * Check of the received command + */ +void DevGpsCmdEventCheckNmea(void) { + u_int32 ul_cnt = 0; + TG_GPS_RCV_DATA st_rcv_data; + u_char* pub_rcv_data = NULL; + BOOL brk_flg = FALSE; + + memset(&st_rcv_data, 0, sizeof(TG_GPS_RCV_DATA)); + memcpy( &st_rcv_data, &(g_gps_msg_rcvr.msgdat[0]), sizeof(TG_GPS_RCV_DATA) ); + pub_rcv_data = reinterpret_cast<u_char*>(&(st_rcv_data.bygps_data[0])); + + /* Analysis of received commands */ + for (ul_cnt = 0; ul_cnt < (u_int32)GPSCMDANATBL_MAX; ul_cnt++) { + /* End-of-table decision */ + if (CheckFrontStringPartGpsCommon(reinterpret_cast<const u_char*>(ENDMARK), + reinterpret_cast<const u_char*>(kGpsCmdAnaTbl[ul_cnt].c_sentence)) == RET_NORMAL ) { + g_wrecv_err++; + + /* Data error is set to Event ID. */ + g_gps_mngr.event = (u_int32)NG; + + brk_flg = TRUE; + } else if (CheckFrontStringPartGpsCommon(pub_rcv_data, kGpsCmdAnaTbl[ul_cnt].c_sentence) == RET_NORMAL) { + /* Reception type determination */ + + /* Using $GPRMC in responses to resets */ + if ((g_gps_mngr.sts == GPS_STS_SENT) && + (g_gps_mngr.resp_cmd == GPS_FORMAT_RMC) && + (kGpsCmdAnaTbl[ul_cnt].e_rcv_format == GPS_FORMAT_RMC)) { + POSITIONING_LOG("Received response ($GPRMC) form GPS device.\n"); + + /** Response command */ + g_gps_mngr.event = GPS_EVT_RECVRSPDAT; + + /** Receive format setting */ + g_gps_mngr.rcv_cmd = kGpsCmdAnaTbl[ul_cnt].e_rcv_format; + } else if (kGpsCmdAnaTbl[ul_cnt].ul_rcv_kind == RCV_CYCLE) { + /* Cyclic receive command */ + g_gps_mngr.event = GPS_EVT_RECVCYCLDAT; + + /* Receive format setting */ + g_gps_mngr.rcv_cmd = kGpsCmdAnaTbl[ul_cnt].e_rcv_format; + } else if (kGpsCmdAnaTbl[ul_cnt].ul_rcv_kind == RCV_RESP) { + /** Response command */ + g_gps_mngr.event = GPS_EVT_RECVRSPDAT; + + /** Receive format setting */ + g_gps_mngr.rcv_cmd = kGpsCmdAnaTbl[ul_cnt].e_rcv_format; + } else { + /* Undefined value */ + /* Data error is set to Event ID. */ + g_gps_mngr.event = (u_int32)NG; + } + + brk_flg = TRUE; + } + + if (brk_flg == TRUE) { + break; + } + } + + return; +} + +/** + * @brief + * Get GPS reception status + * + * By analyzing the last received GSA-sentence and using the satellite-number as the Satellite number + * Determines the reception status based on whether or not notification has been made, and returns it. + * + * @param[in] no_sv Satellite number + * + * @return NAVIINFO_DIAG_GPS_RCV_STS_NOTUSEFIX - Positioning not used + * NAVIIFNO_DIAG_GPS_RCV_STS_USEFIX - Positioning use + */ +u_int8 DevGpsGetGpsRcvSts(u_int8 sv) { + u_int8 rcv_sts = NAVIINFO_DIAG_GPS_RCV_STS_TRACHING; /* Tracking in progress */ + u_int8 uc_nmea_data[GPS_NMEA_MAX_SZ]; + u_int8 uc_no = 0; + BOOL b_get = FALSE; + int32 i = 0; + + /* Get received NMEA data from storage area(GSA) */ + b_get = DevGpsCycleDataGetNmea(uc_nmea_data, sizeof(uc_nmea_data), GPS_NMEA_INDEX_GSA); + + if (b_get == TRUE) { + for (i = 0; i < GPS_NMEA_NUM_GSA_SV; i++) { + /* Get satellite number */ + uc_no = (uint8_t)GetIntegerFromNmeaGpsCommon(GPS_NMEA_FNO_GSA_SV + (u_int8)(1 * i), uc_nmea_data); + + if (uc_no == sv) { + rcv_sts = NAVIINFO_DIAG_GPS_RCV_STS_USEFIX; /* Positioning use */ + break; + } + } + } + + return rcv_sts; +} + +/** + * @brief + * GPS information analysis + * + * Analyzing received NMEA sentences + * @param[out] navilocinfo Navigation information + */ +void DevGpsAnalyzeNmea(NAVIINFO_ALL* navilocinfo) { + u_int8 uc_nmea_data[GPS_NMEA_MAX_SZ]; + int32 no_sv = 0; /* number of Satellites in View */ + int32 __offset = 0; + char utc_time[12]; /* hhmmss.sss */ + char _date[6]; /* ddmmyy */ + char _status = 0; /* 'V' or 'A' */ + char indicator; /* 'N' or 'S' or 'E' or 'W' */ + char work[8]; /* Work buffer for converting String data */ + BOOL b_get = FALSE; + uint8_t fixsts = NAVIINFO_DIAG_GPS_FIX_STS_NON; + uint8_t fixsts_gga; + BOOL bvalid_lon = FALSE; + BOOL bvalid_lat = FALSE; + BOOL bvalid = FALSE; + TG_TIM_ROLOVR_YMD base_ymd; + TG_TIM_ROLOVR_YMD conv_ymd; + BOOL roll_over_sts; + u_int8 _tdsts = g_gpstime_raw_tdsts; + + GpsSatelliteInfo st_visible_satellite_list[GPS_MAX_NUM_VISIBLE_SATELLITES]; /* Visible satellite list */ + GpsSatelliteInfo st_tmp_buf; + + int32 i = 0; + int32 j = 0; + int32 k = 0; + + SENSORLOCATION_LONLATINFO_DAT st_lonlat; + SENSORLOCATION_ALTITUDEINFO_DAT st_altitude; + SENSORMOTION_HEADINGINFO_DAT st_heading; + // MDEV_GPS_RTC st_rtc; + SENSOR_MSG_GPSTIME st_gps_time; + SENSORMOTION_SPEEDINFO_DAT st_speed; + + memset(&st_lonlat, 0x00, sizeof(SENSORLOCATION_LONLATINFO_DAT)); + memset(&st_altitude, 0x00, sizeof(SENSORLOCATION_ALTITUDEINFO_DAT)); + memset(&st_heading, 0x00, sizeof(SENSORMOTION_HEADINGINFO_DAT)); + // memset(&st_rtc, 0x00, sizeof(MDEV_GPS_RTC)); + memset(&st_gps_time, 0x00, sizeof(SENSOR_MSG_GPSTIME)); + memset(&st_speed, 0x00, sizeof(SENSORMOTION_SPEEDINFO_DAT)); + + /* Satellite signal strength list initialization */ + (void)memset(st_visible_satellite_list, 0x00, sizeof(GpsSatelliteInfo) * GPS_MAX_NUM_VISIBLE_SATELLITES); + + /* Get received NMEA data from storage area(GSA) */ + b_get = DevGpsCycleDataGetNmea(uc_nmea_data, sizeof(uc_nmea_data), GPS_NMEA_INDEX_GSA); + + if (b_get == TRUE) { + fixsts = static_cast<uint8_t>(GetIntegerFromNmeaGpsCommon(GPS_NMEA_FNO_GSA_FS, uc_nmea_data)); + } + + /* Get received NMEA data from storage area(RMC) */ + b_get = DevGpsCycleDataGetNmea(uc_nmea_data, sizeof(uc_nmea_data) , GPS_NMEA_INDEX_RMC); + + if (b_get == TRUE) { + navilocinfo->stDiagGps.stFix.stWgs84.lLat = + GetLonLatFromNmeaGpsCommon(GPS_NMEA_FNO_RMC_LATITUDE, uc_nmea_data, &bvalid_lat); /* GPS location information and latitude */ + + GetStringFromNmeaGpsCommon(GPS_NMEA_FNO_RMC_NS, uc_nmea_data, &indicator, sizeof(indicator)); + + if (indicator != GPS_NMEA_RMC_IND_NORTH) { + navilocinfo->stDiagGps.stFix.stWgs84.lLat *= -1; + } + + POSITIONING_LOG("lLat = %d", navilocinfo->stDiagGps.stFix.stWgs84.lLat); + + navilocinfo->stDiagGps.stFix.stWgs84.lLon = + GetLonLatFromNmeaGpsCommon(GPS_NMEA_FNO_RMC_LONGITUDE, uc_nmea_data, &bvalid_lon); /* GPS position information and longitude */ + + GetStringFromNmeaGpsCommon(GPS_NMEA_FNO_RMC_EW, uc_nmea_data, &indicator, sizeof(indicator)); + + if (indicator != GPS_NMEA_RMC_IND_EAST) { + navilocinfo->stDiagGps.stFix.stWgs84.lLon *= -1; + } + + st_lonlat.Longitude = navilocinfo->stDiagGps.stFix.stWgs84.lLon; + st_lonlat.Latitude = navilocinfo->stDiagGps.stFix.stWgs84.lLat; + + POSITIONING_LOG("lLon = %d", navilocinfo->stDiagGps.stFix.stWgs84.lLon); + + /* Get Date information */ + (void)GetStringFromNmeaGpsCommon(GPS_NMEA_FNO_RMC_DATE, uc_nmea_data, _date, 6); + (void)memset(&base_ymd, 0, sizeof(base_ymd)); /* QAC 3200 */ + (void)memset(&conv_ymd, 0, sizeof(conv_ymd)); /* QAC 3200 */ + (void)memset(work, 0, sizeof(work)); /* QAC 3200 */ + + (void)strncpy(work, &_date[4], 2); /* QAC 3200 */ + base_ymd.year = (u_int16)(2000 + atoi(work)); /* YEAR */ + + st_gps_time.utc.year = (uint8_t)atoi(work); + + (void)strncpy(work, &_date[2], 2); /* QAC 3200 */ + base_ymd.month = (u_int16)(atoi(work)); /* MONTH */ + + st_gps_time.utc.month = (uint8_t)atoi(work); + + (void)strncpy(work, &_date[0], 2); /* QAC 3200 */ + base_ymd.day = (u_int16)(atoi(work)); /* DAY */ + + st_gps_time.utc.date = (uint8_t)atoi(work); + + POSITIONING_LOG("year = %d", base_ymd.year); + POSITIONING_LOG("month = %d", base_ymd.month); + POSITIONING_LOG("date = %d", base_ymd.day); + + /* UTC time information acquisition */ + (void)GetStringFromNmeaGpsCommon(GPS_NMEA_FNO_RMC_UTC, uc_nmea_data, utc_time, 12); + + (void)strncpy(work, &utc_time[0], 2); /* QAC 3200 */ + navilocinfo->stNaviGps.utc.hour = (uint8_t)atoi(work); /* HOUR */ + + st_gps_time.utc.hour = navilocinfo->stNaviGps.utc.hour; + POSITIONING_LOG("hour = %d", navilocinfo->stNaviGps.utc.hour); + + (void)strncpy(work, &utc_time[2], 2); /* QAC 3200 */ + navilocinfo->stNaviGps.utc.minute = (uint8_t)atoi(work); /* MINUTE */ + + st_gps_time.utc.minute = navilocinfo->stNaviGps.utc.minute; + POSITIONING_LOG("minute = %d", navilocinfo->stNaviGps.utc.minute); + + (void)strncpy(work, &utc_time[4], 2); /* QAC 3200 */ + navilocinfo->stNaviGps.utc.second = (uint8_t)atoi(work); /* SECOND */ + + st_gps_time.utc.second = navilocinfo->stNaviGps.utc.second; + POSITIONING_LOG("second = %d", navilocinfo->stNaviGps.utc.second); + + /* Compass information acquisition */ + navilocinfo->stNaviGps.heading = + GetHeadingFromNmeaGpsCommon(GPS_NMEA_FNO_RMC_COG, uc_nmea_data, &bvalid); + + st_heading.Heading = navilocinfo->stNaviGps.heading; + POSITIONING_LOG("heading = %u", navilocinfo->stNaviGps.heading); + + st_speed.Speed = GetSpeedFromNmeaGpsCommon(GPS_NMEA_FNO_RMC_SPEED, uc_nmea_data, &bvalid); + + /* Fix Status/Time Status Calculation */ + (void)GetStringFromNmeaGpsCommon(GPS_NMEA_FNO_RMC_STATUS, uc_nmea_data, &_status, sizeof(_status)); + + if ((_status == GPS_NMEA_RMC_STS_VALID) && (bvalid_lat == TRUE) && (bvalid_lon == TRUE)) { + /* Fix status information */ + switch (fixsts) { + case GPS_NMEA_GSA_FIX_STS_NON: + navilocinfo->stDiagGps.stFix.ucFixSts = NAVIINFO_DIAG_GPS_FIX_STS_NON; + break; + case GPS_NMEA_GSA_FIX_STS_2D: + navilocinfo->stDiagGps.stFix.ucFixSts = NAVIINFO_DIAG_GPS_FIX_STS_2D; + break; + case GPS_NMEA_GSA_FIX_STS_3D: + navilocinfo->stDiagGps.stFix.ucFixSts = NAVIINFO_DIAG_GPS_FIX_STS_3D; + break; + default: + POSITIONING_LOG("GSA Nav Mode Error [fixsts:%d]", fixsts); + break; + } + + if (_tdsts == POS_TIMESTS_OK) { + roll_over_sts = DevCalcRollOverTime(&base_ymd, &conv_ymd); + navilocinfo->stNaviGps.utc.year = conv_ymd.year; /* year (after conversion) */ + navilocinfo->stNaviGps.utc.month = (u_int8)(conv_ymd.month); /* month (after conversion) */ + navilocinfo->stNaviGps.utc.date = (u_int8)(conv_ymd.day); /* dat (after conversion) */ + if (roll_over_sts == FALSE) { + navilocinfo->stNaviGps.tdsts = POS_TIMESTS_NG; + /* Reserve[0] is time setting information: anomaly time, but can be calculated by rolling over. */ + navilocinfo->stNaviGps.reserve[0] = GPS_TIME_ROLOVR; + } else { + /* When the location information is normal, the time information is also judged to be normal. */ + navilocinfo->stNaviGps.tdsts = POS_TIMESTS_OK; /* Time calibration completed */ + /* Reserve[0] is time setting information: Use time status received from GPS device. */ + navilocinfo->stNaviGps.reserve[0] = GPS_TIME_RX; + } + } else { + navilocinfo->stNaviGps.tdsts = POS_TIMESTS_NG; /* Time uncalibrated */ + /* Reserve[0] is time setting information: Use time status received from GPS device. */ + navilocinfo->stNaviGps.reserve[0] = GPS_TIME_RX; + navilocinfo->stNaviGps.utc.year = base_ymd.year; /* year(after conversion) */ + navilocinfo->stNaviGps.utc.month = (u_int8)(base_ymd.month); /* month (after conversion) */ + navilocinfo->stNaviGps.utc.date = (u_int8)(base_ymd.day); /* day (after conversion) */ + } + + if (bvalid != TRUE) { + /* Invalid value if measurement orientation is invalid. */ + navilocinfo->stNaviGps.heading = GPS_HEADING_INVALID_VAL; + // POSITIONING_LOG("RMC Heading[cog] Invalid"); + } + } else { + /* Fix status information: Non-position fix is set regardless of FS of GSA. */ + navilocinfo->stDiagGps.stFix.ucFixSts = NAVIINFO_DIAG_GPS_FIX_STS_NON; + /* If the location information is invalid, the time information is also judged to be invalid. */ + /* Time not calibrated after receiver reset (time entry or master reset or CSF activation) */ + navilocinfo->stNaviGps.tdsts = POS_TIMESTS_NG; + /* Reserve[0] is time setting information: Use time status received from GPS device. */ + navilocinfo->stNaviGps.reserve[0] = GPS_TIME_RX; + navilocinfo->stNaviGps.utc.year = base_ymd.year; /* year (after conversion) */ + navilocinfo->stNaviGps.utc.month = (u_int8)(base_ymd.month); /* month (after conversion) */ + navilocinfo->stNaviGps.utc.date = (u_int8)(base_ymd.day); /* day (after conversion) */ + // POSITIONING_LOG("RMC Invalid[status:%d, bvalidLat:%d, bvalidLon:%d]", _status, bvalid_lat, bvalid_lon); + } + + // POSITIONING_LOG("year(Fix) = %d", navilocinfo->stNaviGps.utc.year); + // POSITIONING_LOG("month(Fix) = %d", navilocinfo->stNaviGps.utc.month); + // POSITIONING_LOG("date(Fix) = %d", navilocinfo->stNaviGps.utc.date); + // POSITIONING_LOG("tdsts = %d", navilocinfo->stNaviGps.tdsts); + } + + /* Get received NMEA data from storage area(GGA) */ + b_get = DevGpsCycleDataGetNmea(uc_nmea_data, sizeof(uc_nmea_data), GPS_NMEA_INDEX_GGA); + + if (b_get == TRUE) { + /* Data status acquisition */ + fixsts_gga = (uint8_t)GetIntegerFromNmeaGpsCommon(GPS_NMEA_FNO_GGA_FS, uc_nmea_data); + + /* Altitude information acquisition */ + if (((fixsts == GPS_NMEA_GSA_FIX_STS_2D) || + (fixsts == GPS_NMEA_GSA_FIX_STS_3D)) && + ((fixsts_gga == GPS_NMEA_GGA_FIX_STATUS_GPS) || + (fixsts_gga == GPS_NMEA_GGA_FIX_STATUS_DGPS) || + (fixsts_gga == GPS_NMEA_GGA_FIX_STATUS_DR))) { + navilocinfo->stNaviGps.altitude = + GetAltitudeFromNmeaGpsCommon(GPS_NMEA_FNO_GGA_MSL, uc_nmea_data, &bvalid); + + if (bvalid != TRUE) { + /* If the location information is invalid, set an invalid value. */ + navilocinfo->stNaviGps.altitude = GPS_ALTITUDE_INVALID_VAL; + // POSITIONING_LOG("GGA Altitude[msl] Invalid"); + } + } else { + /* If the location information is invalid, set an invalid value. */ + navilocinfo->stNaviGps.altitude = GPS_ALTITUDE_INVALID_VAL; + // POSITIONING_LOG("GGA Invalid[fixsts:%d, fixstsGGA:%d]", fixsts, fixsts_gga); + } + + st_altitude.Altitude = navilocinfo->stNaviGps.altitude; + // POSITIONING_LOG("altitude = %d", navilocinfo->stNaviGps.altitude); + } + + DevGpsCnvLonLatNavi(&st_lonlat, navilocinfo->stDiagGps.stFix.ucFixSts, navilocinfo->stDiagGps.stFix.stWgs84.lLon, + navilocinfo->stDiagGps.stFix.stWgs84.lLat); + + DevGpsCnvAltitudeNavi(&st_altitude, navilocinfo->stDiagGps.stFix.ucFixSts, navilocinfo->stNaviGps.altitude); + + DevGpsCnvHeadingNavi(&st_heading, navilocinfo->stDiagGps.stFix.ucFixSts, navilocinfo->stNaviGps.heading); + + SendCustomGps(&st_gps_time, &st_lonlat, &st_altitude, &st_heading, &navilocinfo->stDiagGps); + // For test todo don't needed + // SendTimeGps(&st_rtc); + // SendSpeedGps(&st_speed, 0); + + /* Create visual satellite information list from GSV1~GSV5 and GSV */ + for (i = 0; i < 5; i++) { + /* Get received NMEA data from storage area */ + b_get = DevGpsCycleDataGetNmea( uc_nmea_data, sizeof(uc_nmea_data), + (ENUM_GPS_NMEA_INDEX)(GPS_NMEA_INDEX_GSV1 + i)); + + if (b_get == TRUE) { + /* Get number of Satellites in View */ + no_sv = GetIntegerFromNmeaGpsCommon(GPS_NMEA_FNO_GSV_NOSV, uc_nmea_data); + + for (j = 0; j < GPS_NMEA_NUM_GSV_SINFO; j++) { + if (__offset >= no_sv) { + break; + } + + st_visible_satellite_list[__offset].sv = static_cast<uint8_t>( + GetIntegerFromNmeaGpsCommon(GPS_NMEA_FNO_GSV_SV + (u_int8)(4 * j), uc_nmea_data)); /* Satellite information_No */ + st_visible_satellite_list[__offset].elv = static_cast<uint8_t>( + GetIntegerFromNmeaGpsCommon(GPS_NMEA_FNO_GSV_ELV + (u_int8)(4 * j), uc_nmea_data)); /* Satellite information_elevation */ + st_visible_satellite_list[__offset].az = static_cast<uint16_t>( + GetIntegerFromNmeaGpsCommon(GPS_NMEA_FNO_GSV_AZ + (u_int8)(4 * j), uc_nmea_data)); /* Satellite Information_Azimuth */ + st_visible_satellite_list[__offset].cno = static_cast<uint8_t>( + GetIntegerFromNmeaGpsCommon(GPS_NMEA_FNO_GSV_CNO + (u_int8)(4 * j), uc_nmea_data)); /* Satellite information_level */ + st_visible_satellite_list[__offset].sts = DevGpsGetGpsRcvSts(st_visible_satellite_list[__offset].sv); + + /* Sort in ascending order of status (priority to use fix) and received signal strength */ + for (k = __offset; k > 0; k--) { + if (((st_visible_satellite_list[k].sts == NAVIINFO_DIAG_GPS_RCV_STS_USEFIX) && + (st_visible_satellite_list[k - 1].sts == NAVIINFO_DIAG_GPS_RCV_STS_TRACHING)) || + ((st_visible_satellite_list[k - 1].sts == st_visible_satellite_list[k].sts) && + (st_visible_satellite_list[k].cno > st_visible_satellite_list[k - 1].cno))) { + (void)memcpy(&st_tmp_buf, &st_visible_satellite_list[k], sizeof(GpsSatelliteInfo)); + (void)memcpy(&st_visible_satellite_list[k], &st_visible_satellite_list[k - 1], sizeof(GpsSatelliteInfo)); + (void)memcpy(&st_visible_satellite_list[k - 1], &st_tmp_buf, sizeof(GpsSatelliteInfo)); + } else { + break; + } + } + + __offset++; + } + } + } + + return; +} + +/**************************************************************************** +@brief DevGpsCycleDataClear<BR> + Cyclic data storage area clear processing +@outline Clear the cyclic data storage area +@param[in] none +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsCycleDataClear(void) { + int32 i = 0; + + /* Sensor counter, reception flag initialization */ + g_st_gpscycle_data.uc_sns_cnt = 0; + + for (i = 0; i < GPS_NMEA_INDEX_MAX; i++) { + g_st_gpscycle_data.st_nmea_data.uc_rcv_flag[i] = GPS_CYCLECMD_NOTRCV; + } + + g_st_gpscycle_data.st_binary_data.uc_rcv_flag = GPS_CYCLECMD_NOTRCV; + g_st_gpscycle_data.st_fullbin_data.uc_rcv_flag = GPS_CYCLECMD_NOTRCV; +} + +/****************************************************************************** +@brief DEV_Gps_CycleData_SetNmea<BR> + NMEA data setting process +@outline Set NMEA data in cyclic data storage area +@param[in] u_int8* : p_data ... NMEA data to be set +@param[in] u_int32 : ul_length ... Data length +@param[in] ENUM_GPS_NMEA_INDEX: e_format ... Sentence identification +@param[out] none +@return none +@retval none +*******************************************************************************/ +void DevGpsCycleDataSetNmea(const u_int8* p_data, u_int32 ul_length, ENUM_GPS_NMEA_INDEX e_format) { + u_int32 ul_copy_sz = 0; + + /** Anomaly detection */ + if (e_format >= GPS_NMEA_INDEX_MAX) { + POSITIONING_LOG("# GpsCommCtl_API # Set NMEA Sentence ERROR ! \r\n"); + } else { + /** Storage size determination */ + if (GPS_NMEA_MAX_SZ < ul_length) { + ul_copy_sz = GPS_NMEA_MAX_SZ; + POSITIONING_LOG("# GpsCommCtl_API # Set NMEA Cmd Size ERROR ! \r\n"); + } else { + ul_copy_sz = ul_length; + } + + /** Storing */ + g_st_gpscycle_data.st_nmea_data.uc_rcv_flag[e_format] = GPS_CYCLECMD_RCV; + memset(&(g_st_gpscycle_data.st_nmea_data.st_nmea[e_format].uc_data[0]), 0x00, GPS_NMEA_MAX_SZ); + memcpy(&(g_st_gpscycle_data.st_nmea_data.st_nmea[e_format].uc_data[0]), p_data, ul_copy_sz); + } + + return; +} + +/****************************************************************************** +@brief DevGpsCycleDataGetNmea<BR> + NMEA data setting process +@outline Set NMEA data in cyclic data storage area +@param[in] u_int32 : ul_buf_size ... Storage destination buffer size +@param[in] ENUM_GPS_NMEA_INDEX: e_format ... Sentence identification +@param[out] u_int8* : p_data ... Storage destination buffer pointer +@return BOOL +@retval TRUE : Data present +@retval FALSE : No data +*******************************************************************************/ +BOOL DevGpsCycleDataGetNmea(u_int8 *p_data, u_int32 ul_buf_size, ENUM_GPS_NMEA_INDEX e_format) { + BOOL ret = TRUE; + + /** Determining whether data exists in the cyclic data area */ + if (GPS_CYCLECMD_RCV == g_st_gpscycle_data.st_nmea_data.uc_rcv_flag[e_format]) { + if (GPS_NMEA_MAX_SZ <= ul_buf_size) { + /** Copy to storage destination buffer */ + memcpy(p_data, &(g_st_gpscycle_data.st_nmea_data.st_nmea[e_format].uc_data[0]), GPS_NMEA_MAX_SZ); + } else { + /** Storage destination buffer size is small */ + ret = FALSE; + } + } else { + /** Not received */ + ret = FALSE; + } + + return ret; +} + +/** + * @brief + * Setting of the check sum + * + * @param[in] buffer Pointer of data + * @param[in] length length of data + */ +void DevGpsSetChkSum(u_int8* buffer, u_int32 length) { + u_int16 i = 0; + u_int8 ck_a = 0; + u_int8 ck_b = 0; + + if (buffer != NULL) { + for (i = 2; i < (length - 2); i++) { + ck_a = ck_a + buffer[i]; + ck_b = ck_b + ck_a; + } + + /* Checksum_Set */ + buffer[length - 2] = ck_a; + buffer[length - 1] = ck_b; + } else { + } +} + +/*---------------------------------------------------------------------------*/ +/*EOF*/ |