diff options
Diffstat (limited to 'positioning_hal/src/LineSensDrv/LineSensDrv_Api.cpp')
| -rw-r--r-- | positioning_hal/src/LineSensDrv/LineSensDrv_Api.cpp | 136 |
1 files changed, 136 insertions, 0 deletions
diff --git a/positioning_hal/src/LineSensDrv/LineSensDrv_Api.cpp b/positioning_hal/src/LineSensDrv/LineSensDrv_Api.cpp new file mode 100644 index 00000000..d363a4bd --- /dev/null +++ b/positioning_hal/src/LineSensDrv/LineSensDrv_Api.cpp @@ -0,0 +1,136 @@ +/* + * @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_Api.cpp +*/ + +/*---------------------------------------------------------------------------*/ +// Include files + +#include "LineSensDrv_Api.h" +#include "positioning_def.h" + +/*---------------------------------------------------------------------------*/ +// Macro definitions + +#define LSDRV_GPS_DATA_TOP_TH 5 // Threshold for determining the beginning of GPS data +#define LSDRV_SENS_DATA_RCV_WAIT_TIME 400 // Sensor data wait time of GPS reception flag ON(Total) +#define LSDRV_SENS_DATA_RCV_WAIT_TERM 50 // Sensor data wait time of GPS reception flag ON(1 time) + +#define LSDRV_EST_GPS_CNT_ARRAY_NUM 3U // Number of arrays for holding estimated GPS counter +#define LSDRV_EST_GPS_CNT_ENABLE_TH 5U // Estimated GPS counter enable/disable determination threshold +#define LSDRV_EST_GPS_CNT_ADD_VALUE 10U // Estimated GPS counter update addition value + +// GPS data reception cycle:1sec sensor counters: 100ms + +// for debug +#define LINE_SENS_DRV_API_DEBUG_SWITCH 0 // 0:OFF 1:ON + +/*---------------------------------------------------------------------------*/ +// Global variable + +static HANDLE g_gps_irq_mutex = NULL; // GPS received flag Mutex handles +static BOOL g_rcv_pps_int = FALSE; // PPS interrupt reception flag (GPS->_CWORD102_) +static BOOL g_rcv_gps_irq = FALSE; // GPS reception flag (GPS->_CWORD56_) +static u_int8 g_rcv_gps_sens_cnt_tmp = 0; // Sensor counter when GPS reception flag is ON(for retention) +static u_int8 g_rcv_gps_sens_cnt = 0; // Sensor counter when GPS reception flag is ON +static u_int8 g_gps_sens_cnt_top = 0; // Sensor counter when first GPS data is received +static u_int8 g_est_gps_cnt[LSDRV_EST_GPS_CNT_ARRAY_NUM]; // Array for storing estimated GPS counter values +static BOOL g_est_gps_cnt_available = FALSE; // Estimated GPS counter value enable/disable judgment + +typedef struct VehicleSensDataMaster { + DID ul_did; // Data ID + u_int16 us_size; // Size of the data + u_int8 uc_rcv_flag; // Receive flag + u_int8 uc_sns_cnt; // Sensor counter + u_int8 uc_data[132]; // Vehicle sensor data +} VEHICLESENS_DATA_MASTER; + + +/******************************************************************************* + * MODULE : DeliveryLineSensorDataPositioning + * ABSTRACT : LineSensor vehicle signaling notification messages sending process + * FUNCTION : Send LineSensor vehicle signalling notification messages + * ARGUMENT : *pstSendBuf:Transmitted data + * : uc_data_num :Number of sent data + * NOTE : + * RETURN : None + ******************************************************************************/ +void DeliveryLineSensorDataPositioning(LSDRV_MSG_LSDATA_G* pst_send_buf, u_int8 uc_data_num) { + if (pst_send_buf != NULL) { + /* Initializing sent messages */ + memset(reinterpret_cast<void *>(&(pst_send_buf->st_head)), 0, sizeof(T_APIMSG_MSGBUF_HEADER)); + + /* Message Header Settings */ + pst_send_buf->st_head.hdr.sndpno = PNO_LINE_SENS_DRV; /* Source process number */ + pst_send_buf->st_head.hdr.cid = CID_LINESENS_VEHICLE_DATA_G; /* Command ID */ + pst_send_buf->st_head.hdr.msgbodysize = sizeof(LSDRV_MSG_LSDATA_DAT_G); /* Message data body length */ + + /* Message data is already set */ + pst_send_buf->st_para.uc_data_num = uc_data_num; + + /* Send messages */ + (void)_pb_ZcSndMsg(PNO_VEHICLE_SENSOR, sizeof( LSDRV_MSG_LSDATA_G ), 0); + } +} + +/******************************************************************************* + * MODULE : LineSensDrvApi_Initialize + * ABSTRACT : LineSensDrvApi initialization process + * FUNCTION : LineSensDrvApi initialization process + * ARGUMENT : - + * NOTE : + * RETURN : - + ******************************************************************************/ +BOOL LineSensDrvApiInitialize(void) { + BOOL ret = TRUE; + + g_gps_irq_mutex = _pb_CreateMutex(NULL, FALSE, MUTEX_GPS_IRQ_FLG); + + if (g_gps_irq_mutex == 0) { + ret = FALSE; + } else { + g_rcv_gps_irq = FALSE; + g_rcv_gps_sens_cnt_tmp = 0; + LineSensDrvApiInitEstGpsCnt(); + ret = TRUE; + } + + return (ret); +} + +/******************************************************************************* + * MODULE : LineSensDrvApi_InitEstGpsCnt + * ABSTRACT : Estimated GPS counter related parameter initialization processing + * FUNCTION : Estimated GPS counter related parameter initialization processing + * ARGUMENT : - + * NOTE : + * RETURN : - + ******************************************************************************/ +void LineSensDrvApiInitEstGpsCnt(void) { + /* Initializing process */ + g_rcv_pps_int = FALSE; + g_rcv_gps_sens_cnt = 0; + g_gps_sens_cnt_top = 0; + + (void)memset(reinterpret_cast<void *>(&g_est_gps_cnt[0]), 0, sizeof(g_est_gps_cnt)); + g_est_gps_cnt_available = FALSE; + + return; +} + +/*---------------------------------------------------------------------------*/ +/*EOF*/ |