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/*
* @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 positioning_def.h
*/
#ifndef INC_COMMON_POSITIONING_DEF_H_
#define INC_COMMON_POSITIONING_DEF_H_
/*---------------------------------------------------------------------------*/
// Include files
#include <string.h>
#include <stdlib.h>
#include <sys/ioctl.h>
#include <native_service/frameworkunified_types.h>
#include <native_service/frameworkunified_application.h>
#include <native_service/frameworkunified_framework_if.h>
#include <native_service/frameworkunified_multithreading.h>
#include <native_service/frameworkunified_service_protocol.h>
#include <vehicle_service/std_types.h>
#include <vehicle_service/pos_message_header.h>
#include <vehicle_service/sys_timerapi.h>
#include <vehicle_service/WPF_STD.h>
#include "gps_hal.h"
#include "positioning_hal.h"
#include "positioning_log.h"
/*---------------------------------------------------------------------------*/
// Definition
#define POS_THREAD_NAME "Positioning"
/**
* @enum ENUM_GPS_NMEA_INDEX
* \~english NMEA index
*/
typedef enum {
GPS_NMEA_INDEX_GGA = 0, //!< \~english GGA
GPS_NMEA_INDEX_DGGA, //!< \~english DGGA
GPS_NMEA_INDEX_VTG, //!< \~english VTG
GPS_NMEA_INDEX_RMC, //!< \~english RMC
GPS_NMEA_INDEX_DRMC, //!< \~english DRMC
GPS_NMEA_INDEX_GLL, //!< \~english GLL
GPS_NMEA_INDEX_DGLL, //!< \~english DGLL
GPS_NMEA_INDEX_GSA, //!< \~english GSA
GPS_NMEA_INDEX_GSV1, //!< \~english GSV1
GPS_NMEA_INDEX_GSV2, //!< \~english GSV2
GPS_NMEA_INDEX_GSV3, //!< \~english GSV3
GPS_NMEA_INDEX_GSV4, //!< \~english GSV4
GPS_NMEA_INDEX_GSV5, //!< \~english GSV5
GPS_NMEA_INDEX_GST, //!< \~english GST
GPS_NMEA_INDEX__CWORD44__GP_3, //!< \~english _CWORD44_,GP,3
GPS_NMEA_INDEX__CWORD44__GP_4, //!< \~english _CWORD44_,GP,4
GPS_NMEA_INDEX_P_CWORD82_F_GP_0, //!< \~english _CWORD44_,GP,0
GPS_NMEA_INDEX_P_CWORD82_J_GP_1, //!< \~english _CWORD44_,GP,1
GPS_NMEA_INDEX_MAX //!< \~english GGA
} ENUM_GPS_NMEA_INDEX;
//!< \~english Gps cycle Data Event
#define GPS_EVT_CYCLEDATA_PROV ("GPS_EVT_CYCLEDATA_PROV")
//!< \~english Event value: Waiting.
#define GPS_EVT_PROV_WAIT (0x00000000)
//!< \~english Event value: Clear Waiting status.
#define GPS_EVT_PROV_RELEASE (0x00000001)
//!< \~english Gps received
#define GPS_CYCLECMD_NOTRCV (0x00)
//!< \~english Gps no received
#define GPS_CYCLECMD_RCV (0x01)
//!< \~english store position of Hour data
#define GPSCMD_DRMC_HOUR_POS (7)
//!< \~english store position of minute data
#define GPSCMD_DRMC_MIN_POS (9)
//!< \~english store position of second data
#define GPSCMD_DRMC_SEC_POS (11)
//!< \~english store position of status
#define GPSCMD_DRMC_STATUS_POS (14)
//!< \~english store position of day data
#define GPSCMD_DRMC_DAY_POS (54)
//!< \~english store position of month data
#define GPSCMD_DRMC_MONTH_POS (56)
//!< \~english store position of year data
#define GPSCMD_DRMC_YEAR_POS (58)
//!< \~english store position of control code
#define GPSCMD_RTC_CTRLCODE_POS (0)
//!< \~english store position of year data (BCD)
#define GPSCMD_RTC_BCD_YEAR_POS (1)
//!< \~english store position of month data(BCD)
#define GPSCMD_RTC_BCD_MONTH_POS (2)
//!< \~english store position of day data(BCD)
#define GPSCMD_RTC_BCD_DAY_POS (3)
//!< \~english store position of hour data(BCD)
#define GPSCMD_RTC_BCD_HOUR_POS (4)
//!< \~english store position of minute data(BCD)
#define GPSCMD_RTC_BCD_MIN_POS (5)
//!< \~english store position of second data(BCD)
#define GPSCMD_RTC_BCD_SEC_POS (6)
//!< \~english store position of status
#define GPSCMD_RTC_STATUS_POS (7)
#define GPSCMD_RTC_CTRLCODE (0xA4) //!< \~english control code (RTC)
#define GPSCMD_RTC_STATUS_UTCTIME (0x00) //!< \~english Normal
#define GPSCMD_RTC_STATUS_ERRTIME (0x03) //!< \~english AbNormal
// Internal thread activation status determination
#define THREAD_STS_MSK_POS_MAIN (0x01)
#define THREAD_STS_MSK_POS_SENS (0x02)
#define THREAD_STS_MSK_POS_GPS (0x04)
#define THREAD_STS_MSK_POS_GPS_RECV (0x08)
#define THREAD_STS_MSK_POS_GPS_ROLLOVER (0x10)
#define POS_DID_GPS_NMEA 0x8000009AU /* QAC 1281 */
#define POS_DID_GPS_CLOCK_DRIFT 0x800000B3U /* QAC 1281 */
#define POS_DID_GPS_CLOCK_FREQ 0x800000B4U /* QAC 1281 */
#define VEHICLE_DID_GPS_CUSTOMDATA 0x80000094U
#define VEHICLE_DID_GPS_CLOCK_DRIFT POS_DID_GPS_CLOCK_DRIFT
#define VEHICLE_DID_GPS_CLOCK_FREQ POS_DID_GPS_CLOCK_FREQ
#define CID_NAVIINFO_DELIVER (0x0205) /* Navigation information setting CID */
#define CID_NAVIINFO_SPEED_DELIVER (0x0206) /* Vehicle speed setting CID */
#define VEHICLE_DID_GPS_WKNROLLOVER 0x800000B2U
#define VEHICLE_DID_GPS_TIME_RAW 0x800000B1
#define POS_DID_GYRO_TEMP 0x80000090
#define VEHICLE_DID_SPEED_PULSE 0x80000012
#define VEHICLE_DID_GYRO_X 0x80000014
#define VEHICLE_DID_GYRO_Y 0x80000020
#define VEHICLE_DID_GYRO_Z 0x80000021
#define VEHICLE_DID_GYRO VEHICLE_DID_GYRO_X
#define VEHICLE_DID_REV 0x80000017
#define VEHICLE_DID_SNS_COUNTER 0x8000001A
#define VEHICLE_DID_GPS_COUNTER 0x8000001B
#define VEHICLE_DID_GYRO_EXT 0x80000027 /* 3 ~ 14bit A/D value,0bit:REV */
#define VEHICLE_DID_SPEED_PULSE_FST 0x80000028 /* Pulse(Number) */
#define VEHICLE_DID_GYRO_FST_X 0x80000029
#define VEHICLE_DID_GYRO_FST_Y 0x80000022
#define VEHICLE_DID_GYRO_FST_Z 0x80000023
#define VEHICLE_DID_GYRO_FST VEHICLE_DID_GYRO_FST
#define VEHICLE_DID_GYRO_TEMP POS_DID_GYRO_TEMP
#define VEHICLE_DID_SPEED_KMPH 0x80000013
#define VEHICLE_DID_GSNS_X 0x80000015
#define VEHICLE_DID_GSNS_Y 0x80000016
#define VEHICLE_DID_GSNS_Z 0x80000024
#define VEHICLE_DID_PULSE_TIME 0x8000003A
#define CID__CWORD83__CMD_RCV 0x0103
#define CID__CWORD83__CMD_SND_STS 0x0104
#define CID_GPS_SERIAL0 (CID)0x0100
#define CID_GPS_REQRESET (CID)(CID_GPS_BASE | CID_GPS_SERIAL0)
#define VEHICLE_CONFIG_GPS_UNITSET_NOGPS (0x00U) //!< \~english no Gps
#define VEHICLE_CONFIG_GPS_UNITSET__CWORD82_ (0x01U) //!< \~english _CWORD82_ Gps
#define VEHICLE_CONFIG_GPS_UNITSET_EXTBOX (0x02U) //!< \~english extern u-blox
//!< \~english no Navi
#define VEHICLE_CONFIG_NAVI_FUNCTION_NONAVI (0x00U)
//!< \~english Navi has AW navi
#define VEHICLE_CONFIG_NAVI_FUNCTION_AWNAVI (0x01U)
#define VEHICLE_GPS_SYSTIME_YEAR_MAX (2085U) //!< \~english Gps Time allowed max year
#define VEHICLE_GPS_SYSTIME_MONTH_MAX (12U) //!< \~english Gps Time allowed max month
#define VEHICLE_GPS_SYSTIME_DAY_MAX (31U) //!< \~english Gps Time allowed max day
#define VEHICLE_GPS_SYSTIME_HOUR_MAX (23U) //!< \~english Gps Time allowed max hour
#define VEHICLE_GPS_SYSTIME_MINUTE_MAX (59U) //!< \~english Gps Time allowed max minute
#define VEHICLE_GPS_SYSTIME_SECOND_MAX (59U) //!< \~english Gps Time allowed max second
#define VEHICLE_GPS_SYSTIME_YEAR_MIN (1986U) //!< \~english Gps Time allowed min year
#define VEHICLE_GPS_SYSTIME_MONTH_MIN (1U) //!< \~english Gps Time allowed min month
#define VEHICLE_GPS_SYSTIME_DAY_MIN (1U) //!< \~english Gps Time allowed min day
#define VEHICLE_GPS_SYSTIME_HOUR_MIN (0U) //!< \~english Gps Time allowed min hour
#define VEHICLE_GPS_SYSTIME_MINUTE_MIN (0U) //!< \~english Gps Time allowed min minute
#define VEHICLE_GPS_SYSTIME_SECOND_MIN (0U) //!< \~english Gps Time allowed min second
#define VEHICLE_EVENT_VAL_INIT (-14) /* Event initial value */
//!< \~english check OK (value not change)
#define MDEV_GPS_SRAM_CHK_OK (0)
//!< \~english check OK(vaule change)
#define MDEV_GPS_SRAM_CHK_CHG (1)
//!< \~english check NG
#define MDEV_GPS_SRAM_CHK_NG (-1)
/*---------------------------------------------------------------------------*/
// ENUMERATION
/*!
@brief Positioning operating status definitions
*/
typedef enum EnumExeStsPos {
EPOS_EXE_STS_STOP = 0, /* Stopped */
EPOS_EXE_STS_RUNNING, /* Running (from FrameworkunifiedOnStart to FrameworkunifiedOnStop) */
EPOS_EXE_STS_RUNNING_COLDSTART /* Running after cold start */
} EnumExeSts_POS;
/*!
@brief Positioning Thread Startup Modes
*/
typedef enum EnumSetupModePos {
EPOS_SETUP_MODE_NORMAL = 0, /* Normal start */
EPOS_SETUP_MODE_DATA_RESET /* Data reset start */ /* QAC 930 */
} EnumSetupMode_POS;
/**
* @struct TG_GPS_RCV_DATA
* \~english Struct of Gps receive data for VehicleSens
*/
typedef struct TgGpsRcvData {
uint32_t dwret_status; //!< \~english return status
uint16_t bydata_len; //!< \~english data length
uint8_t bygps_data[GPS_READ_LEN]; //!< \~english receive data
uint8_t u_reserve2[2]; //!< \~english reserve
} TG_GPS_RCV_DATA;
/**
* @struct TG_GPS_NMEA_DAT
* \~english Struct of NMEA data
*/
typedef struct TgGpsNmeaDat {
u_int8 uc_data[GPS_NMEA_MAX_SZ]; //!< \~english NMEA data
} TG_GPS_NMEA_DAT;
/**
* @struct TG_GPS_CYCLEDATA_NMEA
* \~english Struct of NMEA cycle data
*/
typedef struct TgGpsCycledataNmea {
//!< \~english receive flag
u_int8 uc_rcvflag[GPS_NMEA_INDEX_MAX];
//!< \~english reserve
u_int8 u_reserve[3];
//!< \~english structure of NMEA data
TG_GPS_NMEA_DAT st_nmea[GPS_NMEA_INDEX_MAX];
} TG_GPS_CYCLEDATA_NMEA;
/**
* @struct TG_GPS_CYCLEDATA_BINARY
* \~english Struct of binary cycle data
*/
typedef struct TgGpsCycledataBinary {
u_int8 uc_rcvflag; //!< \~english receive flag
u_int8 u_reserve[3]; //!< \~english reserve
u_int8 uc_data[GPS_CMD_BINARY_SZ]; //!< \~english binary data
u_int8 u_reserve2[3]; //!< \~english reserve flag
} TG_GPS_CYCLEDATA_BINARY;
/**
* @struct TG_GPS_CYCLEDATA_FULLBIN
* \~english Struct of full bin cycle data
*/
typedef struct TgGpsCycledataFullbin {
u_int8 uc_rcvflag; //!< \~english receive flag
u_int8 u_reserve[3]; //!< \~english reserve
u_int8 uc_data[GPS_CMD_FULLBIN_SZ]; //!< \~english fullbin data
u_int8 u_reserve2; //!< \~english reserve
} TG_GPS_CYCLEDATA_FULLBIN;
/**
* @struct TG_GPS_CYCLEDATA_RTC
* \~english Struct of RTC cycle data
*/
typedef struct TgGpsCycledataRtc {
u_int8 uc_rcvflag; //!< \~english receive flag
u_int8 u_reserve[3]; //!< \~english reserve
u_int8 uc_data[GPS_DATASIZE_RTC]; //!< \~english Rtc data
} TG_GPS_CYCLEDATA_RTC;
/**
* @struct TG_GPS_CYCLEDATA
* \~english Struct of Gps cycle data
*/
typedef struct TgGpsCycledata {
u_int8 uc_sesncnt; //!< \~english count value
u_int8 u_reserve[3]; //!< \~english reserve
TG_GPS_CYCLEDATA_NMEA st_nmea_data; //!< \~english NMEA Data
TG_GPS_CYCLEDATA_BINARY st_binary_data; //!< \~english binary Data
TG_GPS_CYCLEDATA_FULLBIN st_fullbin_data; //!< \~english Full Bin Data
TG_GPS_CYCLEDATA_RTC st_rtc_data; //!< \~english RTC Data
} TG_GPS_CYCLEDATA;
typedef struct {
u_int16 year; /* YEAR */
u_int8 month; /* MONTH */
u_int8 date; /* DAY */
u_int8 hour; /* HOUR */
u_int8 minute;/* MINUTE */
u_int8 second;/* SECOND */
u_int8 flag; /* Whether or not the time is set */
} ST_GPS_SET_TIME;
/*---------------------------------------------------------------------------*/
#endif // INC_COMMON_POSITIONING_DEF_H_
/*---------------------------------------------------------------------------*/
/*EOF*/
|
