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/*
* @copyright Copyright (c) 2016-2019 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_tbl; /* Gyro 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_
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