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Diffstat (limited to 'vehicleservice/positioning/client/include/Dead_Reckoning_API.h')
| -rw-r--r-- | vehicleservice/positioning/client/include/Dead_Reckoning_API.h | 229 |
1 files changed, 229 insertions, 0 deletions
diff --git a/vehicleservice/positioning/client/include/Dead_Reckoning_API.h b/vehicleservice/positioning/client/include/Dead_Reckoning_API.h new file mode 100644 index 00000000..bd2e0318 --- /dev/null +++ b/vehicleservice/positioning/client/include/Dead_Reckoning_API.h @@ -0,0 +1,229 @@ +/* + * @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. + */ + +#ifndef POSITIONING_CLIENT_INCLUDE_DEAD_RECKONING_API_H_ +#define POSITIONING_CLIENT_INCLUDE_DEAD_RECKONING_API_H_ +/**************************************************************************** + * File name :Dead_Reckoning_API.h + * System name :PastModel002 + * Subsystem name : + ******************************************************************************/ + +/***************************************************************************** + * Include * + *****************************************************************************/ +#include <vehicle_service/positioning_base_library.h> +#include "Sensor_Common_API.h" +#include <native_service/frameworkunified_types.h> + +/***************************************************************************** + * Define * + *****************************************************************************/ +#define NUM_OF_100msData (10) /* Number of gyro data items delivered every 100 ms */ + +/***************************************************************************** + * Typedef * + *****************************************************************************/ +typedef RET_API DR_RET_API; + +/***************************************************************************** + * Enumeration * + *****************************************************************************/ +/******************************************************************************* + TAG : NAVI_MATCHING_STATUS + ABSTRACT : Map matching data(Status) + NOTE : +*******************************************************************************/ +typedef enum NaviMatchingStatus { + NAVI_MATCHING_STS_2D_FIX = 0x00, + NAVI_MATCHING_STS_3D_FIX, + NAVI_MATCHING_STS_DR_COMBINED, + NAVI_MATCHING_STS_DR_ONLY, + NAVI_MATCHING_STS_MAP_2D_GPS_FIX, + NAVI_MATCHING_STS_MAP_3D_GPS_FIX, + NAVI_MATCHING_STS_MAP_DR_COMBINED, + NAVI_MATCHING_STS_MAP_DR_ONLY, + NAVI_MATCHING_STS_MAP_NO_FIX, + NAVI_MATCHING_STS_AWAITING_FIRST_FIX, + NAVI_MATCHING_STS_DATA_INVALID, + NAVI_MATCHING_STS_NO_FIX, + NAVI_MATCHING_STS_TIME_ONLY_FIX +} NAVI_MATCHING_STATUS; + +/******************************************************************************* + TAG : NAVI_MATCHING_DATA_AVAILABLE + ABSTRACT : Map matching data(Availability) + NOTE : +*******************************************************************************/ +typedef enum { + NAVI_MATCHING_DATA_INVALID = 0x00, + NAVI_MATCHING_DATA_VALID +} NAVI_MATCHING_DATA_AVAILABLE; + +/***************************************************************************** + * Struct * + *****************************************************************************/ +/* Sensor data */ +/******************************************************************************* + TAG : Struct_PulseRevTbl + ABSTRACT : Vehicle speed/REV data table structure + NOTE : 4byte +*******************************************************************************/ +typedef struct { + u_int8 reverse_flag; /* 0:Forward march 1:Backward 3:Disabled Reverse signal status */ + u_int8 pulse_flag; /* Vehicle speed pulse flag */ + /* 0:Enabled 1:Receive invalid value from CAN 2:Unable to receive at download timing */ + u_int16 pulse_sum_cyclic; /* Vehicle speed pulse counter value */ +} Struct_PulseRevTbl; +/******************************************************************************* + TAG : Struct_GyroTbl + ABSTRACT : Gyro Data Table Structure + NOTE : 20byte +*******************************************************************************/ +typedef struct { + u_int16 gyro_data[NUM_OF_100msData]; /* A/D-converted gyro data */ +} Struct_GyroTbl; +/******************************************************************************* + TAG : Struct_SensData + ABSTRACT : Sensor data structure + NOTE : +*******************************************************************************/ +typedef struct { + u_int8 sens_cnt_flag; /* Sensor data transmission counter flag */ + /* 0:Disabled(->Initial Sensor) 1:Enabled(->100 ms periodic transmission) */ + /* Set "0" for initial sensor transmission and "1" for periodic transmission. */ + u_int8 sens_cnt; /* Sensor data transmission counter value Set "0" at initial transmission of sensor */ + Struct_PulseRevTbl pulse_rev_tbl; /* Vehicle speed/REV Data table */ + Struct_GyroTbl gyro_x_tbl; /* Gyro(X axis) data table */ + Struct_GyroTbl gyro_y_tbl; /* Gyro(Y axis) data table */ + Struct_GyroTbl gyro_z_tbl; /* Gyro(Z axis) data table */ +} Struct_SensData; + +/* GPS data */ +/******************************************************************************* + TAG : Struct_GpsData + ABSTRACT : GPS data structure + NOTE : +*******************************************************************************/ +typedef struct { + u_int8 sens_cnt; /* Sensor data transmission counter value */ + u_int8 sens_cnt_flag; /* Sensor data transmission counter flag */ + /* 0:Disabled(Incorrect GPS sensor counter) */ + /* 1:Enabled */ + u_int16 gps_data_size; /* GPS data storage area size */ + DID did; /* Data ID */ + const void* gps_data; /* GPS data storage area */ +} Struct_GpsData; + +/* Estimated Navigation Calculation Result */ +/******************************************************************************* + TAG : Struct_DR_DATA + ABSTRACT : Estimated Navigation Calculation Result + NOTE : +*******************************************************************************/ +typedef struct { + int64_t latitude; /* Latitude(WGS-84) 10^-7deg */ + int64_t longitude; /* Longitude(WGS-84) 10^-7deg */ + int64_t altitude; /* Altitude 10^-2m */ + u_int16 rate; /* Speeds 10^-2m/sec */ + u_int16 heading; /* Orientation North-reference clockwise 10^-2deg */ + u_int16 reserve; /* RESERVE */ + u_int8 dr_status; /* DR calculation status */ + u_int8 positioning_time; /* Sensor Counter */ +} Struct_DR_DATA; + +/******************************************************************************* + TAG : DR_CALC_INFO + ABSTRACT : Estimated navigation information + NOTE : +*******************************************************************************/ +typedef struct { + u_int16 gyro_offset; /* Correction coefficient:Gyro offset */ + u_int8 gyro_scale_factor; /* Correction coefficient:Gyro Sensitivity */ + u_int8 gyro_scale_factor_level; /* Learning Level(Gyro Sensitivity) */ + u_int16 speed_pulse_scale_factor; /* Correction coefficient:Vehicle speed factor */ + u_int8 speed_pulse_scale_factor_level; /* Learning Level(Vehicle speed factor) */ + u_int8 reserve; /* Reserve(1Byte) */ +} DR_CALC_INFO; + +/******************************************************************************* + TAG : DR_POSITION_INFO + ABSTRACT : Location information + NOTE : +*******************************************************************************/ +typedef struct { + int64_t latitude; + int64_t longitude; + NAVI_MATCHING_DATA_AVAILABLE status; +} DR_POSITION_INFO; + +/******************************************************************************* + TAG : DR_RATE_INFO + ABSTRACT : Location information + NOTE : +*******************************************************************************/ +typedef struct { + u_int16 rate; + u_int8 reserve[2]; + NAVI_MATCHING_DATA_AVAILABLE status; +} DR_RATE_INFO; + +/******************************************************************************* + TAG : DR_ORIENT_INFO + ABSTRACT : Location information + NOTE : +*******************************************************************************/ +typedef struct { + u_int16 orient; + u_int8 reserve[2]; + NAVI_MATCHING_DATA_AVAILABLE status; +} DR_ORIENT_INFO; + +/******************************************************************************* + TAG : NAVI_MATCHING_DATA + ABSTRACT : Map matching data + NOTE : +*******************************************************************************/ +typedef struct { + DR_POSITION_INFO position_info; + DR_RATE_INFO rate_info; + DR_ORIENT_INFO orient_info; + NAVI_MATCHING_STATUS status; +} NAVI_MATCHING_DATA; + +/************************************************************************ +* Function prototype * +************************************************************************/ +#ifdef __cplusplus +extern "C" { +#endif + +DR_RET_API DeadReckoningLibraryInit(void); +DR_RET_API SetGpsData(Struct_GpsData *st_gps_data); +DR_RET_API CalculateDeadReckoningData(Struct_SensData *st_sensor_data, + Struct_DR_DATA *st_dr_data, DR_CALC_INFO *dr_calc_data); +DR_RET_API SetMatchingData(NAVI_MATCHING_DATA *st_matching_data); + +DR_RET_API ClearBackupData(void); /* Clear DR backup data */ +/* BOOL Problem Avoidance */ +DR_RET_API GetLocationLogSetting(int *log_sw, unsigned char *severity); /* Location log output ON/OFF acquisition */ +DR_RET_API SetLocationLogStatus(int log_sw, unsigned char severity); /* Location log output ON/OFF setting */ + +#ifdef __cplusplus +} +#endif + +#endif // POSITIONING_CLIENT_INCLUDE_DEAD_RECKONING_API_H_ |