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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 MDev_GpsUblox.h
*/
#ifndef INC_GPSCOMMON_MDEV_GPS_NMEA_H_
#define INC_GPSCOMMON_MDEV_GPS_NMEA_H_
/*---------------------------------------------------------------------------*/
#include "gps_hal.h"
#include "positioning_def.h"
/*---------------------------------------------------------------------------*/
// Value define
#define TEST_NMEA (0) /* 0:Normal mode 1:Testing mode */
#define GPS_MAX_NUM_VISIBLE_SATELLITES (20) /* Maximum Number of Visible Satellites *Assume the GSV1~GSV5 */
/* UBX command *****************************/
/* CFG */
#define UBX_CMD_SIZE_CFG_RST (12) /* size of CFG-RST of UBX sentences */
#define UBX_CMD_SIZE_CFG_MSG (11) /* size of CFG-MSG of UBX sentences */
#define UBX_CMD_SIZE_CFG_NAV5 (44) /* size of CFG-NAV5 of UBX sentences */
#define UBX_CMD_SIZE_CFG_NAV5_POLL (8)
#define UBX_CMD_SIZE_CFG_NAV5_PLUS_POLL (UBX_CMD_SIZE_CFG_NAV5 + UBX_CMD_SIZE_CFG_NAV5_POLL)
#define UBX_CMD_SIZE_CFG_NAVX5_POLL (8)
#define UBX_CMD_OFFSET_WKNROLLOVER (18) /* offset from the top of 'payload' */
/* MON */
#define UBX_CMD_SIZE_MON_VER (108) /* size of MON-VER of UBX sentences */
#define UBX_CMD_SIZE_MON_VER_POLL (8)
#define UBX_CMD_SIZE_MON_VER_SW_VER (30)
/* AID */
#define UBX_CMD_SIZE_AID_INI (56) /* size of AID-INI of UBX sentences */
#define UBX_CMD_SIZE_AID_INI_POLL (8)
#define UBX_CMD_SIZE_AID_INI_PLUS_POLL (UBX_CMD_SIZE_AID_INI + UBX_CMD_SIZE_AID_INI_POLL)
/* ACK */
#define UBX_CMD_OFFSET_ACKNAK (3) /* offset to Ack/Nack Infomation */
/* NAV */
#define UBX_CMD_MSK_NAV_TIMEUTC_VALID_TOW (1) /* mask bit for 'validTow' of NAV-TIMEUTC */
#define UBX_CMD_MSK_NAV_TIMEUTC_VALID_WKN (2) /* mask bit for 'validKwn' of NAV-TIMEUTC */
#define UBX_CMD_MSK_NAV_TIMEUTC_VALID_UTC (4) /* mask bit for 'validUtc' of NAV-TIMEUTC */
/* Common */
#define UBX_CMD_SIZE_HDR (2) /* size of 'header' of UBX sentence */
#define UBX_CMD_SIZE_ID (2) /* size of 'id' of UBX sentence */
#define UBX_CMD_SIZE_LEN (2) /* size of 'length' of UBX sentence */
#define UBX_CMD_SIZE_MAX (400) /* size of NAV-SVINFO (numCh=32) */
#define UBX_CMD_OFFSET_PAYLOAD (UBX_CMD_SIZE_HDR + UBX_CMD_SIZE_ID + UBX_CMD_SIZE_LEN)
/* offset to 'payload' of UBX sentence */
/* Types of UBX Poll Request Commands ************/
#define UBX_POLL_CMD_KIND_AID_INI (1)
#define UBX_POLL_CMD_KIND_CFG_NAV5 (2)
// GPS-command (_CWORD82_ NMEA) related definitions #GPF_60_024
/* Command identification character string */
#define GPS_CMD_NMEA_GGA ("$GPGGA") /* GGA/double precision GGAs */
#define GPS_CMD_NMEA_VTG ("$GPVTG") /* VTG */
#define GPS_CMD_NMEA_RMC ("$GPRMC") /* RMC/double precision RMCs */
#define GPS_CMD_NMEA_GLL ("$GPGLL") /* GLL/double precision GLL */
#define GPS_CMD_NMEA_GSA ("$GPGSA") /* GSA */
#define GPS_CMD_NMEA_GSV_1 ("$GPGSV,*,1") /* GSV(1) */
#define GPS_CMD_NMEA_GSV_2 ("$GPGSV,*,2") /* GSV(2) */
#define GPS_CMD_NMEA_GSV_3 ("$GPGSV,*,3") /* GSV(3) */
#define GPS_CMD_NMEA__CWORD44__GP_3 ("$_CWORD44_,GP,3") /* _CWORD44_,GP,3 */
#define GPS_CMD_NMEA__CWORD44__GP_4 ("$_CWORD44_,GP,4") /* _CWORD44_,GP,4 */
#define GPS_CMD_NMEA_P_CWORD82_F_GP_0 ("$P_CWORD82_F,GP,0") /* P_CWORD82_F,GP,0 */
#define GPS_CMD_NMEA_P_CWORD82_J_GP_1 ("$P_CWORD82_J,GP,1") /* P_CWORD82_J,GP,1 */
#define GPS_CMD_NMEA_P_CWORD82_I_GP ("$P_CWORD82_I,GP") /* P_CWORD82_I,GP */
#define GPS_CMD_NMEA_P_CWORD82_E_GP_0 ("$P_CWORD82_E,GP,0") /* P_CWORD82_E,GP,0 */
#define GPS_CMD_NMEA_P_CWORD82_J_GP_0 ("$P_CWORD82_J,GP,0") /* P_CWORD82_J,GP,0 */
#define GPS_CMD_NMEA_P_CWORD82_E_GP_2 ("$P_CWORD82_E,GP,2") /* P_CWORD82_E,GP,2 */
#define GPS_CMD_NMEA_P_CWORD82_G_GP_0 ("$P_CWORD82_G,GP,0") /* P_CWORD82_G,GP,0 */
#define GPS_CMD_NMEA_P_CWORD82_J_GP_7 ("$P_CWORD82_J,GP,7") /* P_CWORD82_J,GP,7 */
#define GPS_CMD_NMEA_P_CWORD82_J_GP_8 ("$P_CWORD82_J,GP,8") /* P_CWORD82_J,GP,8 */
#define GPS_CMD_NMEA_GST ("$GPGST") /* GST */
#define GPS_CMD_NMEA_GSV_4 ("$GPGSV,*,4") /* GSV(4) */
#define GPS_CMD_NMEA_GSV_5 ("$GPGSV,*,5") /* GSV(5) */
/*-------------------------------------------------------------------------------
* GPS-command (_CWORD82_ Binary) related definitions #GPF_60_024
-------------------------------------------------------------------------------*/
#define GPS_CMD_BINARY (0xC6) /* Standard binary */
#define GPS_CMD_FULLBIN (0xB0) /* FULL binaries */
#define ENDMARK "ENDENDEND" /* Table termination */
#define GPSCMDANATBL_MAX 25 /* Maximum number of elements in table */
#define RCV_CYCLE 0x01 /* Reception type cycle reception command*/
#define RCV_RESP 0x02 /* Reception type response command */
// Length of FULLBINARY commands
#define GPS_CMD_FULLBIN1_SZ 30
#define GPS_CMD_FULLBIN2_SZ 160
#define GPS_CMD_FULLBIN3_SZ 25
#define GPS_CMD_FULLBIN4_SZ 26
#define GPS_CMD_FULLBIN5_SZ 14
#define GPS_CMD_FULLBIN6_SZ 61
/* Start offset of FULLBINARY command */
#define GPS_CMD_FULLBIN1_OFFSET 0
#define GPS_CMD_FULLBIN2_OFFSET (GPS_CMD_FULLBIN1_OFFSET + GPS_CMD_FULLBIN1_SZ)
#define GPS_CMD_FULLBIN3_OFFSET (GPS_CMD_FULLBIN2_OFFSET + GPS_CMD_FULLBIN2_SZ)
#define GPS_CMD_FULLBIN4_OFFSET (GPS_CMD_FULLBIN3_OFFSET + GPS_CMD_FULLBIN3_SZ)
#define GPS_CMD_FULLBIN5_OFFSET (GPS_CMD_FULLBIN4_OFFSET + GPS_CMD_FULLBIN4_SZ)
#define GPS_CMD_FULLBIN6_OFFSET (GPS_CMD_FULLBIN5_OFFSET + GPS_CMD_FULLBIN6_SZ)
/* SUM value offset of FULLBINARY commands */
#define GPS_CMD_FULLBIN1_SUMOFFSET (GPS_CMD_FULLBIN1_OFFSET + GPS_CMD_FULLBIN1_SZ - 2)
#define GPS_CMD_FULLBIN2_SUMOFFSET (GPS_CMD_FULLBIN2_OFFSET + GPS_CMD_FULLBIN2_SZ - 2)
#define GPS_CMD_FULLBIN3_SUMOFFSET (GPS_CMD_FULLBIN3_OFFSET + GPS_CMD_FULLBIN3_SZ - 2)
#define GPS_CMD_FULLBIN4_SUMOFFSET (GPS_CMD_FULLBIN4_OFFSET + GPS_CMD_FULLBIN4_SZ - 2)
#define GPS_CMD_FULLBIN5_SUMOFFSET (GPS_CMD_FULLBIN5_OFFSET + GPS_CMD_FULLBIN5_SZ - 2)
#define GPS_CMD_FULLBIN6_SUMOFFSET (GPS_CMD_FULLBIN6_OFFSET + GPS_CMD_FULLBIN6_SZ - 2)
#define GPS_CMD_FULLBIN_MASK 0x8F
#define GPS_CMD_RESET 1 /* Reset request command */
#define GPS_CMD_TIMESET 2 /* Time setting request command */
#define GPS_CMD_VERSION 3 /* GPS version request command */
#define GPS_CMD_SENTENCEADD_NMEAGST 4 /* Add sentence command NMEA GST */
#define GPS_CMD_SENTENCEADD_NAVTIMEUTC 5 /* Add sentence command NAV-TIMEUTC */
#define GPS_CMD_SENTENCEADD_NAVCLOCK 6 /* Add sentence command NAV-CLOCK */
#define GPS_CMD_SENTENCEADD_RXMRTC5 7 /* Add sentence command RXM-RTC5 */
#define GPS_CMD_SENTENCEADD_NAVSVINFO 8 /* Add sentence command NAV-SVINFO */
#define GPS_CMD_AUTOMOTIVEMODE 9 /* Automatic mode request command */
#define GPS_CMD_WKNROLLOVER 10 /* GPS rollover standard week number request command */
#define GPS_CMD_NOTRST 0 /* Other request command */
/*---------------------------------------------------------------------------*/
// Struct
/*!
@brief UBX command headers
*/
typedef struct GpsUbxPacketHeader {
u_int8 uc_sync_char1; /* u-blox starts with 2 Bytes 0xB5 0x62 */
u_int8 uc_sync_char2; /* u-blox starts with 2 Bytes 0xB5 0x62 */
u_int8 uc_class; /* Class */
u_int8 uc_id; /* ID */
u_int16 us_length; /* Length */
} TG_GPS_UBX_PACKET_HEADER;
/*!
@brief Command-structure without UBX data
*/
typedef struct GpsUbxCmdNoData {
TG_GPS_UBX_PACKET_HEADER header;
u_int8 uc_cka; /* Checksum_A */
u_int8 uc_ckb; /* Checksum_B */
} TG_GPS_UBX_COMMAND_NO_DATA;
/*!
@brief
*/
typedef struct GpsUbxAidIniPolled {
u_int8 uc_sync_char1; /* u-blox starts with 2 Bytes 0xB5 0x62 */
u_int8 uc_sync_char2; /* u-blox starts with 2 Bytes 0xB5 0x62 */
u_int8 uc_class; /* Class */
u_int8 uc_id; /* ID */
u_int8 uc_length[2]; /* Length */
u_int8 uc_ecefx_or_lat[4]; /* WGS84 ECEF X coordinate or latitude */
u_int8 uc_ecefy_or_lon[4]; /* WGS84 ECEF Y coordinate or longitude */
u_int8 uc_ecefz_or_alt[4]; /* WGS84 ECEF Z coordinate or altitude */
u_int8 uc_pos_acc[4]; /* Position accuracy (stddev) */
u_int8 uc_tm_cfg[2]; /* Time mark configuration */
u_int8 wn[2]; /* Actual week number */
u_int8 tow[4]; /* Actual time of week */
u_int8 uc_tow_ns[4]; /* Sub-millisecond part of time of week */
u_int8 uc_tacc_ms[4]; /* Milliseconds part of time accuracy */
u_int8 uc_tacc_ns[4]; /* Nanoseconds part of time accuracy */
u_int8 uc_clk_d_or_freq[4]; /* Clock drift or frequency */
u_int8 uc_clk_dacc_or_freqacc[4]; /* Accuracy of clock drift or frequency */
u_int8 uc_flags[4]; /* Bitmask with the following flags */
u_int8 uc_cka; /* Checksum_A */
u_int8 uc_ckb; /* Checksum_B */
} TG_GPS_UBX_AID_INI_POLLED;
/*!
@brief UBX ACK command data structures
*/
typedef struct GpsUbxAckData {
uint8_t uc_msg_class; /* Message Class */
uint8_t uc_msg_id; /* Message Identifier */
} TG_GPS_UBX_ACK_DATA;
/*!
@brief UBX NAV-TIMEUTC command data structures
*/
typedef struct GpsUbxNavUTC {
uint32_t ul_itow; /* GPS time of week */
uint32_t ul_tacc; /* Time accuracy estimate (UTC) */
int32_t nano; /* Fraction of second */
uint16_t year; /* Year, range 1999..2099 (UTC) */
uint8_t month; /* Month, range 1..12 (UTC) */
uint8_t day; /* Day of month, range 1..31 (UTC) */
uint8_t hour; /* Hour of day, range 0..23 (UTC) */
uint8_t min; /* Minute of hour, range 0..59 (UTC) */
uint8_t sec; /* Seconds of minute, range 0..60 (UTC) */
uint8_t valid; /* Validity Flags */
} TG_GPS_UBX_NAV_TIMEUTC_DATA;
/*!
@brief USB NAV-CLOCK command data structures
*/
typedef struct GpsUbxNavClock {
uint32_t ul_itow; /**< GPS Time of week */
int32_t l_clkb; /**< Clock bias */
int32_t l_clkd; /**< Clock drift */
uint32_t ul_tacc; /**< Time accuaracy estimate */
uint32_t ul_facc; /**< Frequency accuracy estimate */
} TG_GPS_UBX_NAV_CLOCK;
/*!
@brief GPS RXM-RTC5 command data structures
*/
typedef struct GpsUbxRxmRtc5 {
uint32_t ul_rtag_hw; /**< RTAG high word */
uint32_t ul_rtag_lw; /**< RTAG low word */
uint32_t freq; /**< Clock frequency */
uint32_t ul_freq_frac; /**< Clock frequency fractional part */
uint32_t ul_tow_frac; /**< Time of week fractional part */
uint32_t tow; /**< Time of week */
uint16_t wno; /**< GPS week number */
uint8_t uc_tow_valid; /**< TOW is valid flag */
uint8_t uc_freq_valid; /**< Frequency is valid flag */
} TG_GPS_UBX_RXM_RTC5;
/********************************************************************************
* TAG :TG_GPS_RCVDATA_NMEA
* ABSTRACT :Cyclic data (NMEA) area
* NOTE :I/F information between communication management thread and vehicle sensor
********************************************************************************/
typedef struct GpsRcvDataNMEA {
u_int8 uc_rcv_flag[GPS_NMEA_INDEX_MAX]; /* Receive flag */
u_int8 u_reserve[3]; /* Reserved */
TG_GPS_NMEA_DAT st_nmea[GPS_NMEA_INDEX_MAX]; /* NMEA data area */
} TG_GPS_RCVDATA_NMEA;
/********************************************************************************
* TAG :TG_GPS_RCVDATA_BINARY
* ABSTRACT :Cyclic data (standard binary) area
* NOTE :I/F information between communication management thread and vehicle sensor
********************************************************************************/
typedef struct GpsRcvDataBinary {
u_int8 uc_rcv_flag; /* Receive flag */
u_int8 u_reserve[3]; /* Reserved */
u_int8 uc_data[GPS_CMD_BINARY_SZ]; /* Standard binary data area */
u_int8 u_reserve2[3]; /* Reserved */
} TG_GPS_RCVDATA_BINARY;
/********************************************************************************
* TAG :TG_GPS_RCVDATA_FULLBIN
* ABSTRACT :Cyclic data (full binary) area
* NOTE :I/F information between communication management thread and vehicle sensor
********************************************************************************/
typedef struct GpsRcvDataFullbin {
u_int8 uc_rcv_flag; /* Receive flag */
u_int8 u_reserve[3]; /* Reserved */
u_int8 uc_data[GPS_CMD_FULLBIN_SZ]; /* Full binary data area */
u_int8 u_reserve2; /* Reserved */
} TG_GPS_RCVDATA_FULLBIN;
/********************************************************************************
* TAG :TG_GPS_RCVDATA
* ABSTRACT :Cyclic data storage area
* NOTE :I/F information between communication management thread and vehicle sensor
********************************************************************************/
typedef struct GpsRcvData {
u_int8 uc_sns_cnt; /* Sensor counter value */
u_int8 u_reserve[3]; /* Reserved */
TG_GPS_RCVDATA_NMEA st_nmea_data; /* NMEA data area */
TG_GPS_RCVDATA_BINARY st_binary_data; /* Standard binary region */
TG_GPS_RCVDATA_FULLBIN st_fullbin_data; /* Full binary data area */
} TG_GPS_RCVDATA;
/*---------------------------------------------------------------------------*/
// Prototype
void DevGpsSndCycleDataNmea(void);
void DevGpsRcvCyclCmd(void);
u_int8 DevGpsGetGpsRcvSts(u_int8 sv);
void DevGpsAnalyzeNmea(NAVIINFO_ALL* navilocinfo);
void DevGpsCycleDataClear(void);
void DevGpsCycleDataSetNmea(const u_int8*, u_int32, ENUM_GPS_NMEA_INDEX);
BOOL DevGpsCycleDataGetNmea(u_int8*, u_int32, ENUM_GPS_NMEA_INDEX);
void DevGpsCmdEventCheckNmea(void);
void DevGpsSetChkSum(u_int8* buffer, u_int32 length);
/*---------------------------------------------------------------------------*/
#endif // INC_GPSCOMMON_MDEV_GPS_NMEA_H_
/*---------------------------------------------------------------------------*/
/*EOF*/
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