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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 MDev_Gps_Main.h
*/
#ifndef INC_GPSCOMMON_MDEV_GPS_MAIN_H_
#define INC_GPSCOMMON_MDEV_GPS_MAIN_H_
/*---------------------------------------------------------------------------*/
// Include files
#include "gps_hal.h"
#include "positioning_def.h"
// #include "gps_hal.h"
// #include "MDev_Gps_Nmea.h"
// #include "LineSensDrv_Api.h"
/*---------------------------------------------------------------------------*/
// Value define
#define OFF 0 /* OFF */
#define ON 1 /* ON */
#define OK 0 /* Normal */
#define NG (-1L) /* Abnormality */
#define DAT_END 0xff /* Exit code */
// State
typedef enum GpsMatrixSts {
GPS_STS_STARTUP = 0, /* Startup confirmation */
GPS_STS_NORMAL, /* In operation */
GPS_STS_SENT, /* Command sent status */
GPS_STS_NUM
}TG_GPS_MATRIX_STS;
// Event
typedef enum GpsMatrixEvt {
GPS_EVT_SENDREQ = 0, /* Transmission request */
GPS_EVT_RESETREQ, /* GPS reset request */
GPS_EVT_RECVCYCLDAT, /* Cyclic reception command reception */
GPS_EVT_RECVRSPDAT, /* Receive response command */
GPS_EVT_TIMEOUT_RSPDAT, /* Response monitoring timeout */
GPS_EVT_TIMEOUT_CYCLDAT, /* Periodic reception data monitoring timeout */
GPS_EVT_TIMEOUT_NAVI, /* Navigation providing data monitoring timeout */
GPS_EVT_TIMEOUT_DIAGCLKGUARD, /* Diagnosis provision time guard monitoring timeout*/
GPS_EVT_ACC_OFF, /* In-function ACC-OFF instructions */
GPS_EVT_NAVI_LOCATIONINFO, /* Providing navigation information */
GPS_EVT_NAVI_SPEEDINFO, /* Navigation speed information service */
GPS_EVT_TIMESETTING, /* GPS time setting instruction */
GPS_EVT_TIMEOUT_NMEADATAGUARD, /* NMEA data-providing guard monitoring timeout*/
GPS_EVT_BACKUPDATA_LOAD, /* Backup data read request */
GPS_EVT_STOPREQ, /* Thread stop request */
GPS_EVT_WEEKCOR_CNT_NOTIFICATIO, /* GPS Week Adjustment Counter Notification */
GPS_EVT_TIMEOUT_RECOVERY, /* GPS error monitoring reset timer */
GPS_EVT_TIMEOUT_RECEIVERERR, /* GPS receiver anomaly detection timeout */
GPS_EVT_NUM
} TG_GPS_MATRIX_EVT;
typedef enum GpsOutputFormat {
GPS_FORMAT_MIN = -1, /* Minimum Receive Format(Initialization) */
GPS_FORMAT_BINARY, /* Standard binary */
GPS_FORMAT_FULLBIN, /* Full binary */
GPS_FORMAT_GGA, /* GGA */
GPS_FORMAT_DGGA, /* DGGA */
GPS_FORMAT_VTG, /* VTG */
GPS_FORMAT_RMC, /* RMC */
GPS_FORMAT_DRMC, /* DRMC */
GPS_FORMAT_GLL, /* GLL */
GPS_FORMAT_DGLL, /* DGLL */
GPS_FORMAT_GSA, /* GSA */
GPS_FORMAT_GSV1, /* GSV(1) */
GPS_FORMAT_GSV2, /* GSV(2) */
GPS_FORMAT_GSV3, /* GSV(3) */
GPS_FORMAT_GSV4, /* GSV(4) */
GPS_FORMAT_GSV5, /* GSV(5) */
GPS_FORMAT_GST, /* GST */
GPS_FORMAT__CWORD44__GP3, /* _CWORD44_,GP,3 */
GPS_FORMAT__CWORD44__GP4, /* _CWORD44_,GP,4 */
GPS_FORMAT_P_CWORD82_F_GP0, /* P_CWORD82_F,GP,0 */
GPS_FORMAT_P_CWORD82_J_GP1, /* P_CWORD82_J,GP,1 */
GPS_FORMAT_P_CWORD82_I_GP, /* P_CWORD82_I,GP */
GPS_FORMAT_P_CWORD82_E_GP0, /* P_CWORD82_E,GP,0 */
GPS_FORMAT_P_CWORD82_J_GP0, /* P_CWORD82_J,GP,0 */
GPS_FORMAT_P_CWORD82_E_GP2, /* P_CWORD82_E,GP,2 */
GPS_FORMAT_P_CWORD82_G_GP0, /* P_CWORD82_G,GP,0 */
GPS_FORMAT_P_CWORD82_J_GP7, /* P_CWORD82_J,GP,7 */
GPS_FORMAT_P_CWORD82_J_GP8, /* P_CWORD82_J,GP,8 */
GPS_FORMAT_MON_VER, /* MON-VER */
GPS_FORMAT_AID_INI, /* AID-INI */
GPS_FORMAT_ACK_ACKNACK, /* ACK-ACKNACK */
GPS_FORMAT_NAV_TIMEUTC, /* NAV-TIMEUTC */
GPS_FORMAT_NAV_CLOCK, /* NAV-CLOCK */
GPS_FORMAT_RXM_RTC5, /* RXM-RTC5 */
GPS_FORMAT_NAV_SVINFO, /* NAV-SVINFO */
GPS_FORMAT_CFG_NAVX5, /* CFG-NAVX5 */
GPS_FORMAT_NMEA, /* NMEA (Sentence unspecified) */
GPS_FORMAT_UBX, /* UBX Protocol (binary) */
GPS_FORMAT_MAX /* Maximum Receive Format */
} TG_GPS_OUTPUT_FORMAT;
// Return value
#define RETRY_OFF 0 /* No retry */
#define RETRY_ON 1 /* Retry exists */
#define RETRY_OUT 2 /* Retry out */
#define NG_RETRYOUT 4 /* Transmission failure retry out */
#define GPSRET_NOPCMD (0) /* Non notification target command #GPF_60_024 */
#define GPSRET_SNDCMD (1) /* Notification target command #GPF_60_024 */
#define GPSRET_CMDERR (-1) /* No applicable command #GPF_60_024 */
// Number of Retries
#define SRSET_MAX 4 /* Maximum serial reset retry value */
#define HRSET_MAX 3 /* Maximum value of hard reset retry */
#define SNDNG_MAX 4 /* Maximum retry value of transmission failure */
/* The actual number of retries is SNDNG_MAX-1. */
#define GPS_RECV_ERR_MAX 5 /* Maximum number of reception errors #GPF_60_024 */
// Others
#define SAV_MAX 11
#define GPS_ALTITUDE_INVALID_VAL (-1000000) /* Value when fix altitude is invalid */
#define GPS_HEADING_INVALID_VAL 36100 /* Value when measurement orientation is invalid */
#define GPS_RECVOK 0 /* Normal reception #13 */
#define GPS_RECVNG 1 /* Reception error #13 */
#define GPS_OVERRUN 2 /* Overrun detection #13 */
#define GPS_PARITY 3 /* Parity detection #13 */
#define GPS_FRAMING 4 /* Framing detection #13 */
// For the communication management thread
#define GPS_NON_RECV 0 /* Not received */
#define GPS_RECV_ACK 1 /* ACK received */
#define GPS_RECV_DATA 2 /* Receive response command */
#define GPS_SEND_ERR_MAX 5 /* Maximum number of transmission errors */
#define GPS_CNCT_ERR_MAX 5 /* Maximum number of connection errors */
#define GPS_START_EVT "GPS_EVT" /* Interthread synchronization events */
#define GPS_EVT_VAL 99 /* Event settings */
#define GPS_MSGDAT_BUF_SZ 500 /* Receive message buffer size */
// Definition for receive command analysis table #GPF_60_024
#define SENTENCE_STR_MAX 12 /* Maximum string for judging sentence */
#define SENSOR_MSG_VSINFO_DSIZE 1904 //!< \~english message body max size
/*---------------------------------------------------------------------------*/
// Structure
/********************************************************************************
* TAG :TG_GPS_MNG
* ABSTRACT :GPS process management information
* NOTE :
********************************************************************************/
typedef struct GpsMng {
u_int32 sts; /* Matrix state */
u_int32 event; /* Matrix event code */
u_int32 rcvsts; /* Response reception status */
u_int32 sndcnt; /* Number of transmission attempts */
u_int32 hrsetcnt; /* Number of tries before hard reset */
u_int32 sndngcnt; /* Number of failed-to-send attempts */
TG_GPS_OUTPUT_FORMAT rcv_cmd; /* Types of received GPS commands */
TG_GPS_OUTPUT_FORMAT resp_cmd; /* Types of GPS commands during response monitoring */
PNO resp_pno; /* Destination PNO */
RID resp_rid; /* RID to be notified when responding */
u_int8 resp_rst_flag; /* Response command reset flag */
BOOL rcv_err_flag; /* GPS receiver error detection flag */
} TG_GPS_MNG;
/********************************************************************************
* TAG :TG_GPS_SAVECMD
* ABSTRACT :GPS process pending command
* NOTE :
********************************************************************************/
typedef struct GpsSaveCmd {
TG_GPS_SND_DATA sndcmd; /* Sending commands(_CWORD82_ command) */
PNO us_pno; /* Result notification destination process number(Unused) */
RID uc_rid; /* Result Notification Resource ID(Unused) */
u_int8 uc_rst; /* Reset flag */
TG_GPS_OUTPUT_FORMAT e_cmd_info; /* Command information */
} TG_GPS_SAVECMD;
/********************************************************************************
* TAG :TG_GPS_SAVEBUF
* ABSTRACT :GPS process pending buffer management information
* NOTE :
********************************************************************************/
typedef struct GpsSaveBuf {
u_int32 saveno; /* Current pending index number */
u_int32 sendno; /* Current send index number */
u_int32 bufsav; /* Number of pending buffers used */
TG_GPS_SAVECMD savebuf[SAV_MAX]; /* Pending buffer */
} TG_GPS_SAVEBUF;
/********************************************************************************
* TAG :TG_GPS_MSGRCV
* ABSTRACT :Receive message
* NOTE :
********************************************************************************/
typedef struct GpsMsgRcv {
T_APIMSG_MSGBUF_HEADER header; /* Message header */
u_int8 msgdat[SENSOR_MSG_VSINFO_DSIZE + 12];
} TG_GPS_MSGRCV;
/********************************************************************************
* TAG :TG_GPS_MSGEVTCHNG
* ABSTRACT :GPS message event translation table
* NOTE :
********************************************************************************/
typedef struct GpsMsgEvtChng {
u_int32 cid; /* Matrix state */
u_int32 event; /* Matrix event code */
} TG_GPS_MSGEVTCHNG;
/********************************************************************************
* TAG :TG_GPS_TIMEVTCHNG
* ABSTRACT :GPS timer ID and event translation table
* NOTE :
********************************************************************************/
typedef struct GpsTimEvtChng {
u_int16 tim_id; /* Timer ID information */
u_int16 reserve; /* Reserved */
u_int32 event; /* Matrix event code */
} TG_GPS_TIMEVTCHNG;
/********************************************************************************
* TAG :Gps_Jmp_Tbl
* ABSTRACT :GPS jump table
* NOTE :
********************************************************************************/
typedef struct GpsJmpTbl {
void (*func)( void ); /* Jump-to module */
} TG_GPS_JMP_TBL;
/********************************************************************************
* TAG :TG_GPS_CMD_ANA_TBL
* ABSTRACT :Receive command analysis table structure
* NOTE :
********************************************************************************/
typedef struct TgGpsCmdAnaTbl {
u_char c_sentence[SENTENCE_STR_MAX]; /* Sentence identifier */
u_int32 ul_length; /* Length of the command */
u_int32 ul_rcv_kind; /* Receiving type */
BOOL b_snd_cmd_flg; /* Command notification flag */
TG_GPS_OUTPUT_FORMAT e_rcv_format; /* Receive Format */
} TG_GPS_CMD_ANA_TBL;
/********************************************************************************
* TAG :TG_GPS_TIME_BCD
* ABSTRACT :Time information (BCD) structure
* NOTE :
********************************************************************************/
typedef struct GpsTimeBCD {
u_int8 uc_year; /* Year information */
u_int8 uc_month; /* Month information */
u_int8 uc_day; /* Day information */
u_int8 uc_hour; /* Time information */
u_int8 uc_min; /* Minute information */
u_int8 uc_sec; /* Second information */
} TG_GPS_TIME_BCD;
/*---------------------------------------------------------------------------*/
// Global values
#define MDEV_GPSMSGCHKC_MAX 10
#define MDEV_PSTIMCHKC_MAX 11
extern const TG_GPS_MSGEVTCHNG kGpsMsgchkC[MDEV_GPSMSGCHKC_MAX]; /* Ignore -> MISRA-C:2004 Rule 8.12 */
extern const TG_GPS_TIMEVTCHNG kGpsTimchkC[MDEV_PSTIMCHKC_MAX]; /* Ignore -> MISRA-C:2004 Rule 8.12 */
extern const TG_GPS_JMP_TBL kGpsMatxC[GPS_STS_NUM][GPS_EVT_NUM];
#define MDEV_GPSCMDANATBLNMEA_MAX 20
extern const TG_GPS_CMD_ANA_TBL* kGpsCmdAnaTbl;
extern const TG_GPS_CMD_ANA_TBL kGpsCmdAnaTblUblox[MDEV_GPSCMDANATBLNMEA_MAX];
extern TG_GPS_SAVEBUF g_gps_save_cmdr;
extern TG_GPS_MSGRCV g_gps_msg_rcvr;
extern TG_GPS_MNG g_gps_mngr;
extern u_int16 g_wsend_err; /* Number of transmission errors */
extern u_int16 g_wcnct_err; /* Number of connection errors */
extern TG_GPS_OUTPUT_FORMAT g_rcv_format; /* Receive Format */
/*---------------------------------------------------------------------------*/
// Prototype
EFrameworkunifiedStatus DevGpsMainThread(HANDLE h_app);
BOOL DevGpsInit(void);
void DevGpsRcvMsg(void);
void DevGpsMsgEventCheck(void);
void DevGpsTimEventCheck(void);
void DevGpsGpsVersionCheck(void);
/*---------------------------------------------------------------------------*/
#endif // INC_GPSCOMMON_MDEV_GPS_MAIN_H_
/*---------------------------------------------------------------------------*/
/*EOF*/
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