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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 LineSensDrv_Sensor.h
*/
#ifndef INC_LINESENSDRV_LINESENSDRV_SENSOR_H_
#define INC_LINESENSDRV_LINESENSDRV_SENSOR_H_
/*---------------------------------------------------------------------------*/
// Include files
#include "positioning_def.h"
/*---------------------------------------------------------------------------*/
// Macro definitions
/* Message related */
/* Message identification number definition received from the ICR */
#define LSDRV_RCVMSG_INVALID 0x00 /* Not applicable */
#define LSDRV_RCVMSG_SENSOR 0x12 /* Sensor data */
/* LineSensor vehicle signal notification */
#define LSDRV_SENS_MASK 0xFFF /* Sensor data MASK */
#define LSDRV_PLSMAX 65536 /* Maximum vehicle speed pulse number */
/* #011 start */
#define LSDRV_SENS_COEFFICIENT 14.1287284284144427 /* Vehicle speed calculation factor */
#define LSDRV_SPKMPH_METHOD_FST 0 /* Vehicle speed calculation method(Initial Sensor Data) */
#define LSDRV_SPKMPH_METHOD_NML 1 /* Vehicle speed calculation method(Sensor data) */
#define LSDRV_SPKMPH_AVE_TIME 29 /* Effective time for average calculation data(in units of 100ms) */ /* #013 */
#define LSDRV_SPKMPH_NOISE_TIME (LSDRV_SPKMPH_AVE_TIME + 2) /* Effective Time for Noise Detection(in units of 100ms) */ /* #017 */
#define LSDRV_SPKMPH_INVALID 1 /* No pulse of previous vehicle speed */
#define LSDRV_SPKMPH_VALID 0 /* Last vehicle speed pulse */
#define LSDRV_SENSCNT_BRW_ADD 256 /* Measures for borrow occurrence during search of sensor counters */
/* #011 end */
#define LSDRV_FSENS_NRCV 0 /* Not received */
#define LSDRV_FSENS_RCV 1 /* Receiving */
#define LSDRV_FSENS_RCVCOMP 2 /* Reception completion */
#define LSDRV_FSENS_NORMAL 0 /* Receive data normal */ /* #001 */
#define LSDRV_FSENS_ERROR 1 /* Receive data anomaly */ /* #001 */
/* #016 start */
#define LSDRV_PLSDATA_NRCV 0 /* Not received */
#define LSDRV_PLSDATA_RCV 1 /* Received */
#define LSDRV_SENSCNT_MAX 255 /* Maximum value of sensor counter */
#define LSDRV_SPKMPH_MIN_DATA_N 6 /* Number of data required for vehicle speed calculation */
#define LSDRV_FSPDPLS_NUM 3 /* Number of cumulative pulses registered for the first time */
/* #016 end */
#define LSDRV_REV_MASK 0x0040 /* REV-data MASK(Before endian conversion) */
#define LSDRV_BITSHIFT_REV 6 /* REV data bit shift */
#define LSDRV_TEMP_MASK 0x07FF /* Gyro temperature data MASK(after endian conversion) */
#define LSDRV_PLSTIME_LEN 232 /* Data length when inter-pulse time exists */
#define LSDRV_DETAILED_DATA_MULTI_ENABLE TRUE /* Detailed data multiplexing of initial sensor data Enabled/Disabled */
#if LSDRV_DETAILED_DATA_MULTI_ENABLE
#define LSDRV_DETAILED_DATA_MULTI_MAX_NUM 2 /* Detailed data multiplexing of initial sensor data Maximum number */
#else
#define LSDRV_DETAILED_DATA_MULTI_MAX_NUM 1 /* Detailed data multiplexing of initial sensor data Maximum number */
#endif
/* Total number of partitions of initial sensor data : Maximum value */
#define LSDRV_FSENS_TOTAL_NUM_MAX LSDRV_FSTSNS_SENSOR_FIRST_SEND_NUM
/* Detailed data of initial sensor data : Maximum number of acquisitions */
#define LSDRV_DETAILED_DATA_MAX_NUM (LSDRV_FSENS_TOTAL_NUM_MAX * LSDRV_DETAILED_DATA_MULTI_MAX_NUM)
/* Initial sensor data : Maximum number of saved messages */
#define LSDRV_FSENS_SAVE_MSG_NUM (LSDRV_FSENS_TOTAL_NUM_MAX + 1)
/* Initial sensor data : Maximum number of data stored */
#define LSDRV_FSENS_SAVE_DATA_NUM (LSDRV_FSENS_SAVE_MSG_NUM * LSDRV_DETAILED_DATA_MULTI_MAX_NUM)
#define LSDRV_DETAILED_DATA_GYRO_NUM LSDRV_FSTSNS_DETAILED_DATA_GYRO_NUM
#define LSDRV_DETAILED_DATA_GSENSOR_NUM LSDRV_FSTSNS_DETAILED_DATA_GSENSOR_NUM
#define LSDRV_DETAILED_DATA_GSENSOR_X_OFFSET 0 /* G-Sensor data X-axis offset included in detail data */
#define LSDRV_DETAILED_DATA_GSENSOR_Y_OFFSET 1 /* G-Sensor data Y-axis offsets included in the detail data */
#define LSDRV_DETAILED_DATA_GSENSOR_OFFSET 3 /* G-Sensor data access offset included in the detail data */
/* Gyro Output Specifications:11500 ~ 54036LSB */
#define GYRO_OUTPUPT_SPEC_LOWER_LIMIT 11500U
#define GYRO_OUTPUPT_SPEC_UPPER_LIMIT 54036U
/* Gyro Failure Status : How many normal status continues should be made to Gyro Failure Status normal when it is judged to be "error -> normal" */
#define GYRO_TROUBLE_NORMAL_COUNTER_THRESHOLD 10U /* 10 ms (Gyro data acquisition interval) * 10 times = 100ms */
/* Gyro Failure Status : How many error status continues should be made to Gyro Failure Status error when it is judged to be "normal -> error" */
#define GYRO_TROUBLE_ERROR_COUNTER_THRESHOLD 3000U /* 10 ms (Gyro data acquisition interval) * 3000 times = 30s */
/* SYS GPS Interrupt Signal : How many disable continues should be made to SYS GPS Interrupt Signal disable when it is judged to be "enable -> disable" */
#define SYS_GPS_INTERRUPT_SIGNAL_INVALID_COUNTER_THRESHOLD 10U
/* Gyro Failure Status : Match values with SENSORMOTION_NORMAL and ERROR,UNFIXED in SensorMotion_API.h */
#define GYRO_NORMAL (0U)
#define GYRO_ERROR (1U)
#define GYRO_UNFIXED (2U)
/* Gyro connection status : Match values with SENSOR_CONNECT and SENSOR_DISCONNECT in Sensor_API.h */
#define GYRO_DISCONNECT (0U)
#define GYRO_CONNECT (1U)
/*** Data table for calculating vehicle speed *****************************************/
#define LSDRV_SPKMPH_TBL_NUM 32 /* Number of data tables */ /* #50836 */
#define LSDRV_SPKMPH_DATA_EN 0x01 /* Data storage flag valid */
#define LSDRV_SPKMPH_DATA_DIS 0x00 /* Data storage flag invalid */
/*** Operation code *********************************************/
#define LSDRV_OPC_WILDCARD 0xFF /* Wildcarded #012 */
#define LSDRV_OPC_EXTTERM_R 0x89 /* External pin status request */
#define LSDRV_OPC_EXTTERM_A 0x99 /* External pin status notification */
#define LSDRV_OPC_SENSOR 0xC1 /* Sensor data */
#define LSDRV_OPC_FSENS_R 0xE4 /* Initial sensor data request */
#define LSDRV_OPC_FSENS_A 0xF4 /* Initial sensor data response */
/*---------------------------------------------------------------------------*/
// Enum
/*---------------------------------------------------------------------------*/
// Struct
typedef struct {
u_int16 uc_sensor_x; /* G-Sensor X data */
u_int16 uc_sensor_y; /* G-Sensor Y data */
u_int16 uc_sensor_z; /* G-Sensor Z data */
} SENSORINPUT_INFO_DAT_GSENS;
// TAG : LSDRV_SPEEDKMPH_DAT
// ABSTRACT : Data Table Structure for Vehicle Speed Calculation
typedef struct LsDrvSpeedKmph {
u_int8 uc_flag; /* Data storage flag */
u_int8 uc_sens_cnt; /* Sensor counter */
u_int16 us_speed_pulse; /* Vehicle speed pulse */
u_int8 uc_noise_flag; /* Noise flag */ /* #017 */
u_int8 u_reserve[3]; /* Reserved */ /* #017 */
} LSDRV_SPEEDKMPH_DAT_DAT;
typedef struct LsDrvSpeedKmphLast {
u_int8 uc_flag; /* Data storage flag */
u_int8 uc_sens_cnt; /* Sensor counter */
u_int16 us_speed_pulse; /* Vehicle speed pulse */
} LSDRV_SPEEDKMPH_LAST_DAT;
typedef struct LsDrvSpeedKmphDat {
u_int8 uc_ptr; /* Data storage pointer */
u_int8 uc_fstsns_rcv; /* Initial sensor data reception status */ /* #016 */
u_int8 uc_sns_rcv; /* Sensor data reception status */ /* #016 */
u_int8 uc_calc_start; /* Vehicle speed calculation start flag */ /* #016 */
LSDRV_SPEEDKMPH_LAST_DAT st_last_data; /* Previous vehicle speed pulse information */
LSDRV_SPEEDKMPH_DAT_DAT st_data[LSDRV_SPKMPH_TBL_NUM]; /* Data portion */
} LSDRV_SPEEDKMPH_DAT;
/*---------------------------------------------------------------------------*/
// Prototype
void LineSensDrvSensor(u_int8*);
u_int16 LineSensDrvSpeedCalc(u_int8);
void LineSensDrvSpeedKmphDataInit(void);
void LineSensDrvSpeedPulseSave(u_int16, u_int16, u_int8);
u_int8 LineSensDrvCheckNoise(u_int8);
u_int8 LineSensDrvGetLastSpeedPulse(u_int16*, u_int16, u_int8);
void LineSensDrvSetLastSpeedPulse(u_int16, u_int8);
/*---------------------------------------------------------------------------*/
#endif // INC_LINESENSDRV_LINESENSDRV_SENSOR_H_
/*---------------------------------------------------------------------------*/
/*EOF*/
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