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/*
* @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 SensorMotion_API.h
@detail SensorMotion_API external header file<BR>
SensorMotion_API External public header
******************************************************************************/
#ifndef POSITIONING_CLIENT_INCLUDE_SENSORMOTION_API_H_
#define POSITIONING_CLIENT_INCLUDE_SENSORMOTION_API_H_
/*****************************************************************************
* Include *
*****************************************************************************/
/*****************************************************************************
* Define *
*****************************************************************************/
/* Command ID */
/* Vehicle sensor information notification CID (Rate information) */
#define CID_VEHICLE_SENSORMOTION_SPEED (0x0203)
/* Vehicle sensor information notification CID (Orientation information) */
#define CID_VEHICLE_SENSORMOTION_HEADING (0x0204)
/* Vehicle sensor information notification CID (GyroTrouble information) */
#define CID_VEHICLE_SENSORMOTION_GYROTROUBLE (0x020A)
/* Vehicle sensor information notification CID (GyroParameter information) */
#define CID_VEHICLE_SENSORMOTION_GYROPARAMETER (0x020B)
/* Vehicle sensor information notification CID (SpeedParameter information) */
#define CID_VEHICLE_SENSORMOTION_SPEEDPULSEPARAMETER (0x020C)
/* SENSORMOTION_RET_API definition */
#define SENSORMOTION_RET_NORMAL (0) /* Successful completion */
#define SENSORMOTION_RET_ERROR_PARAM (-1) /* Parameter error */
#define SENSORMOTION_RET_ERROR_BUFFULL (-2) /* Number of registered FULL */
#define SENSORMOTION_RET_ERROR_INNER (-3) /* Internal error */
/* Delivery opportunity definition */
#define SENSORMOTION_DELIVERY_TIMING_CHANGE (0) /* Change */
#define SENSORMOTION_DELIVERY_TIMING_UPDATE (1) /* UpDate */
/* Presence information definitions DR */
#define SENSORMOTION_EXISTDR_NODR (0) /* Without DR */
#define SENSORMOTION_EXISTDR_DR (1) /* There DR */
/* DR state definition */
#define SENSORMOTION_DRSTATUS_INVALID (0) /* Invalid */
#define SENSORMOTION_DRSTATUS_GPS_NODR (1) /* Information use GPS, not yet implemented DR */
#define SENSORMOTION_DRSTATUS_NOGPS_DR (2) /* No information available GPS, DR implementation */
#define SENSORMOTION_DRSTATUS_GPS_DR (3) /* Information use GPS, DR implementation */
/*----------------------------------------------------------------------*
* General Purpose Definition
*----------------------------------------------------------------------*/
#define SENSORMOTION_NORMAL (0U)
#define SENSORMOTION_ERROR (1U)
#define SENSORMOTION_UNFIXED (2U)
/*****************************************************************************
* Typedef *
*****************************************************************************/
typedef int32 SENSORMOTION_RET_API;
/*****************************************************************************
* Struct *
*****************************************************************************/
/*****************************************************************************
* TAG : SENSORMOTION_SPEEDINFO_DAT
* ABSTRACT : Vehicle speed information data structure
* NOTE :
*****************************************************************************/
typedef struct {
u_int16 size; /* Size */
u_int8 sensor_cnt; /* Sensor counter value */
u_int8 is_exist_dr; /* Presence or absence information DR */
u_int8 dr_status; /* DR state */
u_int8 reserve; /* Reserve */
u_int16 speed; /* Speed(0.01m/sec) */
} SENSORMOTION_MSG_SPEEDINFO_DAT;
/*****************************************************************************
* TAG : SENSORMOTION_MSG_HEADINGINFO_DAT
* ABSTRACT : Orientation information data structure
* NOTE :
*****************************************************************************/
typedef struct {
u_int16 size; /* Size */
u_int8 sensor_cnt; /* Sensor counter value */
u_int8 is_exist_dr; /* Presence or absence information DR */
u_int8 dr_status; /* DR state */
u_int8 reserve; /* Reserve */
u_int16 heading; /* Heading */
} SENSORMOTION_MSG_HEADINGINFO_DAT;
/*****************************************************************************
* TAG : SENSORMOTION_MSG_GYROTROUBLEINFO_DAT
* ABSTRACT : GyroTrouble information data structure
* NOTE :
*****************************************************************************/
typedef struct {
u_int16 size; /* Size */
u_int8 gyro_trouble; /* Gyro Trouble Status */
u_int8 reserve; /* Reserve */
} SENSORMOTION_MSG_GYROTROUBLEINFO_DAT;
/*****************************************************************************
* TAG : SENSORMOTION_MSG_GYROTROUBLEINFO
* ABSTRACT : Delivery of the message GyroTrouble information
* NOTE : Message structure(VehicleSens -> User)
*****************************************************************************/
typedef struct {
T_APIMSG_MSGBUF_HEADER hdr; /* Message header */
SENSORMOTION_MSG_GYROTROUBLEINFO_DAT data; /* Delivery data (GyroTrouble) */
} SENSORMOTION_MSG_GYROTROUBLEINFO;
/*****************************************************************************
* TAG : SENSORMOTION_MSG_GYROPARAMETERINFO_DAT
* ABSTRACT : GyroParameter information data structure
* NOTE :
*****************************************************************************/
typedef struct {
u_int16 size; /* Size */
u_int16 gyro_offset; /* Gyro Offset */
u_int8 gyro_scale_factor; /* Gyro Scale Factor */
u_int8 gyro_scale_factor_level; /* Gyro Scale Factor Level */
u_int8 reserve[2]; /* Reserve */
} SENSORMOTION_MSG_GYROPARAMETERINFO_DAT;
/*****************************************************************************
* TAG : SENSORMOTION_MSG_GYROPARAMETERINFO
* ABSTRACT : Delivery of the message GyroParameter information
* NOTE : Message structure(VehicleSens -> User)
*****************************************************************************/
typedef struct {
T_APIMSG_MSGBUF_HEADER hdr; /* Message header */
SENSORMOTION_MSG_GYROPARAMETERINFO_DAT data; /* Delivery data (GyroParameter) */
} SENSORMOTION_MSG_GYROPARAMETERINFO;
/*****************************************************************************
* TAG : SENSORMOTION_MSG_SPEEDPULSEPARAMETERINFO_DAT
* ABSTRACT : SpeedPulseParameter information data structure
* NOTE :
*****************************************************************************/
typedef struct {
u_int16 size; /* Size */
u_int16 speed_pulse_scale_factor; /* Speed Pulse Scale Factor */
u_int8 speed_pulse_scale_factor_level; /* Speed Pulse Scale Factor Level */
u_int8 reserve[3]; /* Reserve */
} SENSORMOTION_MSG_SPEEDPULSEPARAMETERINFO_DAT;
/*****************************************************************************
* TAG : SENSORMOTION_MSG_SPEEDPULSEPARAMETERINFO
* ABSTRACT : Delivery of the message SpeedPulseParameter information
* NOTE : Message structure(VehicleSens -> User)
*****************************************************************************/
typedef struct {
T_APIMSG_MSGBUF_HEADER hdr; /* Message header */
SENSORMOTION_MSG_SPEEDPULSEPARAMETERINFO_DAT data; /* Delivery data (SpeedPulseParameter) */
} SENSORMOTION_MSG_SPEEDPULSEPARAMETERINFO;
/*****************************************************************************
* Function prototypes *
*****************************************************************************/
#endif // POSITIONING_CLIENT_INCLUDE_SENSORMOTION_API_H_
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