2 * @copyright Copyright (c) 2018-2020 TOYOTA MOTOR CORPORATION.
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
8 * http://www.apache.org/licenses/LICENSE-2.0
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
17 #ifndef HAL_API_GPS_HAL_H_
18 #define HAL_API_GPS_HAL_H_
24 /** @addtogroup positioning
27 /** @addtogroup positioning_hal
28 * @ingroup positioning
32 /*---------------------------------------------------------------------------*/
35 #include <native_service/frameworkunified_types.h>
36 #include <vehicle_service/pos_message_header.h>
37 #include <vehicle_service/std_types.h>
39 /*---------------------------------------------------------------------------*/
42 typedef int32 RET_API;
45 /*************************************************************************
47 *************************************************************************/
48 /*--- for message ---*/
49 #define POS_TIMESTS_NG 0x00
50 //!< \~english time has not been adjusted after GPS receiver reset(time input or master reset or CSF start)
51 #define POS_TIMESTS_RTC 0x01
52 //!< \~english time output from RTC Backup(have time adjustment)
53 #define POS_TIMESTS_OK 0x02 //!< \~english time adjustment completed
56 #define CID_POSIF_REGISTER_LISTENER_GPS_TIME 0x0201
57 //!< \~english GPS time delivery command ID
59 #define POS_DID_GPS__CWORD82__SETINITIAL 0x80000033
60 //!< \~english data ID of setting initial location and time to GPS
62 #define POS_DID_GPS__CWORD82__SETRMODEEX 0x80000035
63 //!< \~english data ID of setting GPS receiver mode(pull extension sentence)
65 #define POS_DID_GPS__CWORD82__SELSENT 0x80000036
66 //!< \~english data ID of setting command to GPS that output any sentence
68 /* NAVIINFO_RET_API */
69 #define NAVIINFO_RET_NORMAL (0) //!< \~english normal finish
70 #define NAVIINFO_RET_ERROR_PARAM (-1) //!< \~english parameter error
71 #define NAVIINFO_RET_ERROR_INNER (-2) //!< \~english internal error
72 #define NAVIINFO_RET_ERROR_BUFFULL (-3) //!< \~english buffer full
73 #define NAVIINFO_RET_ERROR_NOSUPPORT (-4) //!< \~english no support
74 #define NAVIINFO_RET_ERROR_RESOURCE (-5) //!< \~english lack of resource
76 /* Positioning Level/GPS Information Positioning Status Information Definition */
77 #define NAVIINFO_DIAG_GPS_FIX_STS_NON (0) //!< \~english position not fix
78 #define NAVIINFO_DIAG_GPS_FIX_STS_2D (1) //!< \~english 2D position fix
79 #define NAVIINFO_DIAG_GPS_FIX_STS_3D (2) //!< \~english 3D position fix
81 /* Reception status definition */
82 #define NAVIINFO_DIAG_GPS_RCV_STS_NOTUSE (0) //!< \~english not used
83 #define NAVIINFO_DIAG_GPS_RCV_STS_SEARCHING (1) //!< \~english searching
84 #define NAVIINFO_DIAG_GPS_RCV_STS_TRACHING (2) //!< \~english tracking
85 #define NAVIINFO_DIAG_GPS_RCV_STS_NOTUSEFIX (3) //!< \~english not used for position fix
86 #define NAVIINFO_DIAG_GPS_RCV_STS_USEFIX (4) //!< \~english used for position fix
88 /* GPS Response Status Definition */
89 #define GPS_SENDOK 0 //!< \~english send result OK
90 #define GPS_SENDNG 1 //!< \~english send result NG
92 /* GPS reset request mode definition */
93 #define GPS_RST_COLDSTART 0xff
94 //!< \~english GPS reset request(cold start)
96 #define RET_NORMAL 0 //!< \~english normally end
98 #define RET_RCVMSG 1 //!< \~english receive message only
99 #define RET_RCVSIG 2 //!< \~english receive signal only
100 #define RET_RCVBOTH 3 //!< \~english receive message and signal
101 #define RET_NOMSG 4 //!< \~english receive no message
103 #define RET_QUE 5 //!< \~english insert signal
104 #define RET_NOTQUE 6 //!< \~english do not insert signal
105 #define RET_PROCDOWN 7 //!< \~english sub process down found
106 #define RET_SLEEP 100 //!< \~english sleep time
109 #define RET_OSERROR (-127) //!< \~english OS system call error
111 #define RET_ERROR (-1)
112 //!< \~english abnormally end(do not know reason)
113 #define RET_ERRPARAM (-2) //!< \~english parameter error
114 #define RET_ERRNOTRDY (-3)
115 //!< \~english port or semphore ID is not created
116 #define RET_ERRPROC (-4) //!< \~english error occurs in API process
117 #define RET_ERRTIMEOUT (-5)
118 //!< \~english timeout occurs but process unfinished
119 #define RET_ERRMSGFULL (-6) //!< \~english message table full
122 #define RET_ERROVERFLW (-7)
123 //!< \~english message size exceeds receive buffer size
125 #define RET_ERRINIT (-8) //!< \~english abnormally initialization
127 #define RET_EV_NONE (-20) //!< \~english event does not exist
128 #define RET_EV_MAX (-21) //!< \~english event value exceeds max value
129 #define RET_EV_MIN (-22)
130 //!< \~english event value is lower than min value
133 #define POS_RET_NORMAL 0 //!< \~english normal finish
134 #define POS_RET_ERROR (-1) //!< \~english error occured
135 #define POS_RET_ERROR_DID (-2) //!< \~english data ID error
136 #define POS_RET_ERROR_INNER (-3) //!< \~english internal error
137 #define POS_RET_ERROR_PARAM (-4) //!< \~english parameter error
138 #define POS_RET_ERROR_BUFFULL (-5) //!< \~english buffer full error
139 #define POS_RET_ERROR_CREATE_EVENT (-6) //!< \~english create event error
140 #define POS_RET_ERROR_OUTOF_MEMORY (-8)
141 //!< \~english share memory allocation size error
143 #define POS_RET_ERROR_SIZE (-9) //!< \~english memory size error
144 #define POS_RET_ERROR_TIMEOUT (-10) //!< \~english timeout error
145 #define POS_RET_ERROR_NOSUPPORT (-11) //!< \~english no support
146 #define POS_RET_ERROR_BUSY (-12) //!< \~english busy
147 #define POS_RET_ERROR_RESOURCE (-13) //!< \~english lack of resources
148 #define POS_RET_ERROR_MIN (-13) //!< \~english min value of error
151 #define NUM_OF_100msData (10)
152 //!< \~english number of gyro data every 100ms
155 #define CID_GPS_SERIAL1 (CID)0x0101
156 //!< \~english Defination of notification about Gps Data has been receiced
158 #define CID_GPS_SERIAL2 (CID)0x0102 //!< \~english notification about 1PPS interupt
161 #define CID_GPS_SERIAL3 (CID)0x0103
162 //!< \~english Defination of SIF2 Data
164 #define CID_GPS_SERIAL4 (CID)0x0104
165 //!< \~english Defination of _CWORD82_ command send
167 #define CID_GPS_SERIAL5 (CID)0x0105
168 //!< \~english Defination of _CWORD82_ command send
170 #define CID_GPS_SERIAL6 (CID)0x0106
171 //!< \~english Defination of u-blox request data
173 #define CID_GPS_SERIAL7 (CID)0x0107
174 //!< \~english Defination of u-blox ack data
176 #define CID_GPS_RECVDATA (CID)(CID_GPS_BASE | CID_GPS_SERIAL1)
177 //!< \~english gps data receiced CID
179 #define CID_GPS_1PPSINT (CID)(CID_GPS_BASE | CID_GPS_SERIAL2)
180 //!< \~english 1PPS interupt CID
182 #define CID_GPS_SIF2DATA (CID)(CID_GPS_BASE | CID_GPS_SERIAL3)
183 //!< \~english SIF2 Data CID
186 * \~english @brief _CWORD82_ command send CID
187 * \~english @brief Message structure\n
188 * \~english @brief Message buffer header structure @ref T_APIMSG_MSGBUF_HEADER\n
189 * \~english @brief Message header structure @ref T_APIMSG_HEADER\n
190 * \~english @brief Message main structure @ref TgGpsSndData\n
191 * \~english @brief Message data(Vehicle sensor information setting message) structure @ref VEHICLE_MSG_SEND_DAT\n
193 #define CID_GPS__CWORD82__REQUEST (CID)(CID_GPS_BASE | CID_GPS_SERIAL4)
195 #define CID_GPS_CYCLEDATA_PROV (CID)(CID_GPS_BASE | CID_GPS_SERIAL5)
196 //!< \~english Gps cycle data CID
198 #define CID_GPS_RCV_REQUESTDATA (CID)(CID_GPS_BASE | CID_GPS_SERIAL6)
199 //!< \~english u-blox request data CID
201 #define CID_GPS_RCV_ACKDATA (CID)(CID_GPS_BASE | CID_GPS_SERIAL7)
202 //!< \~english u-blox ack data CID
204 #define CID_GPS_SERIAL8 (CID)0x0108
205 //!< \~english Defination of Time Setting request
207 #define CID_GPS_SERIAL9 (CID)0x0109
208 //!< \~english Defination of Time Setting ack
210 #define CID_GPS_SERIAL10 (CID)0x010A
211 //!< \~english Defination of back up data read request
213 #define CID_GPS_SERIAL11 (CID)0x010B
214 //!< \~english Defination gps of week count request
217 * \~english @brief Defination of Time Setting request
218 * \~english @brief Message structure\n
219 * \~english @brief Message header structure @ref T_APIMSG_MSGBUF_HEADER\n
220 * \~english @brief Message body structure @ref TgGpsSndData\n
221 * \~english @brief Positioning information structure @ref POS_MSGINFO\n
223 #define CID_GPS_TIMESETTING (CID)(CID_GPS_BASE | CID_GPS_SERIAL8)
226 * \~english @brief Defination of Time Setting ack
227 * \~english @brief Message structure\n
228 * \~english @brief Message body structure @ref TG_GPS_RET_TIMESET_MSG\n
230 #define CID_GPS_RETTIMESETTING (CID)(CID_GPS_BASE | CID_GPS_SERIAL9)
233 * \~english @brief Read backup data request CID
234 * \~english @brief When this command is received, the backup data is read.\n
235 * \~english @brief Message-Related Structures\n
236 * \~english @brief Message buffer header structure @ref T_APIMSG_MSGBUF_HEADER
238 #define CID_GPS_BACKUPDATA_LOAD (CID)(CID_GPS_BASE | CID_GPS_SERIAL10)
241 * \~english @brief Gps Week count request CID
242 * \~english @brief Message structure\n
243 * \~english @brief Message buffer header structure @ref T_APIMSG_MSGBUF_HEADER\n
244 * \~english @brief Message header structure @ref T_APIMSG_HEADER\n
245 * \~english @brief Message data(Gps Week correction count notify message) structure @ref GpsWeekCorCntMsg\n
247 #define CID_GPSWEEKCOR_CNT_NOTIFICATION (CID)(CID_GPS_BASE | CID_GPS_SERIAL11)
252 * \~english @brief GPS reset result delivery command ID
253 * \~english @brief If you want to catch above envents, use NSFW like below.
255 * l_eStatus = FrameworkunifiedAttachCallbackToDispatcher(hThread, TN_POSITIONING_GPS, CID_POSIF_REQ_GPS_RESET, OnRecivePosResetMsg);
258 #define CID_POSIF_REQ_GPS_RESET 0x0784
260 #define POSHAL_DID_GPS_CONNECT_ERROR 0x800000B5U
261 //!< \~english GPS receive error DID
263 #define GPS_READ_LEN 316
264 //!< \~english Gps NMEA FULLBINARY max length
266 #define GPS_CMD_NMEA_GGA_SZ (71U) //!< \~english GGA
267 #define GPS_CMD_NMEA_DGGA_SZ (75U) //!< \~english double precison GGA
268 #define GPS_CMD_NMEA_VTG_SZ (37U) //!< \~english VTG
269 #define GPS_CMD_NMEA_RMC_SZ (61U) //!< \~english RMC
270 #define GPS_CMD_NMEA_DRMC_SZ (67U) //!< \~english double precison RMC
271 #define GPS_CMD_NMEA_GLL_SZ (44U) //!< \~english GLL
272 #define GPS_CMD_NMEA_DGLL_SZ (50U) //!< \~english double precison GLL
273 #define GPS_CMD_NMEA_GSA_SZ (66U) //!< \~english GSA
274 #define GPS_CMD_NMEA_GSV_SZ (70U) //!< \~english GSV
275 #define GPS_CMD_NMEA__CWORD44__GP_3_SZ (78U) //!< \~english _CWORD44_,GP,3
276 #define GPS_CMD_NMEA__CWORD44__GP_4_SZ (25U) //!< \~english _CWORD44_,GP,4
277 #define GPS_CMD_NMEA_P_CWORD82_F_GP_0_SZ (50U) //!< \~english _CWORD44_,GP,0
278 #define GPS_CMD_NMEA_P_CWORD82_J_GP_1_SZ (31U) //!< \~english _CWORD44_,GP,1
279 #define GPS_CMD_NMEA_P_CWORD82_I_GP_SZ (71U) //!< \~english P_CWORD82_I,GP
280 #define GPS_CMD_NMEA_P_CWORD82_E_GP_0_SZ (50U) //!< \~english P_CWORD82_E,GP,0
281 #define GPS_CMD_NMEA_P_CWORD82_J_GP_0_SZ (63U) //!< \~english P_CWORD82_J,GP,0
282 #define GPS_CMD_NMEA_P_CWORD82_E_GP_2_SZ (21U) //!< \~english P_CWORD82_E,GP,2
283 #define GPS_CMD_NMEA_P_CWORD82_G_GP_0_SZ (34U) //!< \~english P_CWORD82_G,GP,0
284 #define GPS_CMD_NMEA_P_CWORD82_J_GP_7_SZ (37U) //!< \~english P_CWORD82_J,GP,7
285 #define GPS_CMD_NMEA_P_CWORD82_J_GP_8_SZ (45U) //!< \~english P_CWORD82_J,GP,8
286 #define GPS_CMD_BINARY_SZ (81U) //!< \~english standard binary
288 #define GPS_CMD_FULLBIN_SZ (316U)
289 //!< \~english FULL binary(GPS10 format)
291 #define GPS_CMD_FULLBIN_VINFO (30U + 160U + 25U + 8U)
292 //!< \~english FULL bianry version
294 #define GPS_NMEA_MAX_SZ (255U) //!< \~english NMEA max size
295 #define GPS_DATASIZE_RTC (13U) //!< \~english RTC Data size
296 #define GPS_NMEARCVSTS_SZ (1U) //!< \~english received NMEA size
298 #define GPS_GPSANT_SZ (1U) //!< \~english gps antenna status size
299 #define GPS_SNSCNT_SZ (1U) //!< \~english Sensor Count value size
302 #define GPS_CMD_NMEA_PROV_SZ (GPS_CMD_NMEA_DRMC_SZ + GPS_CMD_NMEA_GSA_SZ + \
303 (GPS_CMD_NMEA_GSV_SZ*3) + GPS_CMD_NMEA__CWORD44__GP_3_SZ)
304 //!< \~english NMEA size
306 #define GPS_NMEA_SZ (GPS_NMEARCVSTS_SZ + GPS_GPSANT_SZ + GPS_SNSCNT_SZ + GPS_CMD_NMEA_PROV_SZ)
307 //!< \~english NEMA size
309 #define GPS_FULLBIN_SZ (GPS_GPSANT_SZ + GPS_SNSCNT_SZ + GPS_CMD_FULLBIN_SZ)
310 //!< \~english FULLBIN size
312 #define GPS__CWORD44_GP4_SZ (GPS_GPSANT_SZ + GPS_SNSCNT_SZ + GPS_CMD_NMEA__CWORD44__GP_4_SZ)
313 //!< \~english _CWORD44_GP4 size
315 #define GPS_MSGDATA_SZ_MAX (512U) //!< \~english message maximum data size
316 #define GPS_TLGRM_LEN 253 //!< \~english message data length
317 #define GPS_MSG_VSINFO_DSIZE 1904 //!< \~english message body size
319 #define POS_MSG_INFO_DSIZE 1028 //!< \~english message body maximum size
322 * @enum MdevGpsDataKind
323 * \~english enumeration of gps data kind
325 typedef enum MdevGpsDataKind {
326 MDEV_GPS_DATA_RAWDATA_NMEA = 0, //!< \~english raw NMEA data of GPS
327 MDEV_GPS_DATA_RAWDATA_FULLBIN, //!< \~english raw binary data of GPS
328 MDEV_GPS_DATA_RAWDATA__CWORD44_GP4, //!< \~english raw _CWORD44_ data of GPS
329 MDEV_GPS_DATA_NAVISPEED, //!< \~english speed data
330 MDEV_GPS_DATA_CUSTOMDATA, //!< \~english position information
331 MDEV_GPS_DATA_GPSTIME, //!< \~english GPS time
332 MDEV_GPS_DATA_GPSTIME_RAW, //!< \~english raw time of GPS
333 MDEV_GPS_DATA_INITIAL //!< \~english initialize data
334 } MDEV_GPS_DATA_KIND;
337 * @struct NAVIINFO_UTCTIME
338 * \~english UTC time information structure
341 uint16_t year; //!< \~english year
342 uint8_t month; //!< \~english month
343 uint8_t date; //!< \~english day
344 uint8_t hour; //!< \~english hour
345 uint8_t minute; //!< \~english minute
346 uint8_t second; //!< \~english second
347 uint8_t reserved; //!< \~english reserve
351 * @struct SENSORLOCATION_LONLATINFO_DAT
352 * \~english longitude and latitude information data
353 * - Get method(getMethod)
354 * - SENSOR_GET_METHOD_GPS - longitude and latitude from GPS
355 * - SENSOR_GET_METHOD_NAVI - longitude and latitude from Navigation
356 * - Synchrony count(SyncCnt)
357 * - Count for position data synchronous \n
358 * When delivery altitude and heading data, position data can be synchronized by SyncCnt.\n
359 * But the data of different method can not be synchronized by SyncCnt.\n
360 * Example 1: [LonLat from GPS] and [Heading from GPS] can be synchronized by SyncCnt.\n
361 * Example 2: [LonLat from GPS] and [LonLat from Navi] can not be synchronized by SyncCnt.\n
362 * Caution: The sensor count in sensor data delivery is another data.
363 * - Enable or not(isEnable) \n
364 * To describe this delivery message is whether can be used or not
365 * - 0 - not avaliable
366 * - not 0 - avaliable
367 * - when GPS data is specified,longitude and latitude is invalid at following condition:\n
368 * so [not avaliable] provieded
369 * - After system start, GPS unit has not received current location data and GPS unit \n
370 * status is not positioning fixed.
371 * - If it is not initialized status, certainly provide [avaliable] when Navigation data specified
372 * - If the status is [not avaliable], data following can not be guaranteed.
373 * - Position status(posSts)
374 * - It is valid only when "Get method is Navigation" and "evironment is _CWORD80_".(otherwise it will be set as 0)
375 * - Bit0 : GPS data used result(1:used, 0:not used, definition of maskbit:POS_LOC_INFO_USE_GSP)
376 * - Bit1 : DGPS data used result(1:used, 0:not used, definition of maskbit:POS_LOC_INFO_USE_DGPS)
377 * - Bit3 : MapMatching data used result(1:used, 0:not used, definition of \n
378 * maskbit:POS_LOC_INFO_USE_MAPMATCHING)
379 * - Position accuracy(posAcc)
380 * - Detected accruray of current position:1LSB=1m \n
381 * - It is valid only when "Get method is Navigation" and "evironment is _CWORD80_".(otherwise it will be set as 0)\n
386 * FFFEH:65534m and larger than 65534m \n
388 * - Longitude : (WGS-84)(10^ -7degree as 1) \n
389 * East longitude is positive value and west longitude is negative value.
390 * - Latitude : (WGS-84)(10^ -7degree as 1) \n
391 * North latitude positive value and south latitude is negative value.
394 uint8_t getMethod; //!< \~english get method
395 uint8_t SyncCnt; //!< \~english Synchrony count
396 uint8_t isEnable; //!< \~english enable or not
397 uint8_t posSts; //!< \~english position status
398 uint16_t posAcc; //!< \~english position accuracy
399 int32_t Longitude; //!< \~english longitude(10^-7degree)
400 //!< \~english max: +180.0000000degree[east longitude]
401 //!< \~english min: -170.9999999degree[west longitude]
402 int32_t Latitude; //!< \~english latitude(10^-7degree)
403 //!< \~english max: +90.0000000degree[north Latitude]
404 //!< \~english min: -90.0000000degree[south Latitude]
405 } SENSORLOCATION_LONLATINFO_DAT;
409 * @struct SENSORLOCATION_ALTITUDEINFO_DAT
410 * \~english altitude information data
411 * - Get method(getMethod)
412 * - SENSOR_GET_METHOD_GPS - altitude from GPS
413 * - SENSOR_GET_METHOD_NAVI - altitude from Navigation
414 * - Synchrony count(SyncCnt)
415 * - Count for position data synchronous \n
416 * When delivery altitude and heading data, position data can be synchronized by SyncCnt. \n
417 * But the data of different method can not be synchronized by SyncCnt.\n
418 * example 1: [longitude and latitude from GPS] and [heading from GPS] can be synchronized by SyncCnt.\n
419 * example 2: [longitude and latitude from GPS] and [longitude and latitude from Navi] can not be
420 * synchronized by SyncCnt. \n
421 * Caution: The sensor count in sensor data delivery is another data.
422 * - Enable or not(isEnable) \n
423 * To describe this delivery message is whether can be used or not.
424 * - 0 - not avaliable
425 * - not 0 - avaliable
426 * - when GPS data specified, Altitude is invalid at following condition(so [not avaliable] provieded):
427 * - Immediately after system start, GPS unit has not received current location data and GPS unit status \n
428 * is not positioning fix
429 * - If it is not initialization status, certainly provide [avaliable] when Navi data specified
430 * - If the status is [not avaliable], data following can not be guaranteed.
432 * - altitude data(unit 0.01m)
435 uint8_t getMethod; //!< \~english get method
436 uint8_t SyncCnt; //!< \~english Synchrony count
437 uint8_t isEnable; //!< \~english enable or not
438 uint8_t Reserved[3]; //!< \~english reserve
439 int32_t Altitude; //!< \~english altitude(0.01m)
440 } SENSORLOCATION_ALTITUDEINFO_DAT;
444 * @struct SENSORMOTION_HEADINGINFO_DAT
445 * \~english heading information data
446 * - Get method(getMethod)
447 * - SENSOR_GET_METHOD_GPS - Heading from GPS
448 * - SENSOR_GET_METHOD_NAVI - Heading from Navi
449 * - Synchrony count(SyncCnt)
450 * - Count for position data synchronous \n
451 * When delivery altitude and heading data, position data can be synchronized by this count. \n
452 * But the data of different method can not be synchronized by this count.\n
453 * example 1: [longitude and latitude from GPS] and [heading from GPS] can be synchronized by the count. \n
454 * example 2: [longitude and latitude from GPS] and [longitude and latitude from Navi] can not be \n
455 * synchronized by the count. \n
456 * Caution: The sensor count in sensor data delivery is another data.
457 * - Enable or not(isEnable) \n
458 * To describe this data is whether enable or not
459 * - 0 - not avaliable
460 * - not 0 - avaliable
461 * - Heading is invalid at following condition when GPS data specified, so [not avaliable] provieded \n
462 * - Immediately after system start, GPS unit has not received current location data and GPS unit status \n
463 * is not positioning fix
464 * - If it is not initialization status, certainly provide [avaliable] when Navi data specified
465 * - If the status is [not avaliable], data following can not be guaranteed.
466 * - Position status(posSts)
467 * - It is valid only when "Get method is Navi" and "evironment is _CWORD80_".(otherwise it will be set as 0)
468 * - Bit0 : GPS data used result(1:used, 0:not used, definition of maskbit:POS_LOC_INFO_USE_GSP)
469 * - Bit1 : DGPS data used result(1:used, 0:not used, definition of maskbit:POS_LOC_INFO_USE_DGPS)
470 * - Bit3 : MapMatching data used result(1:used, 0:not used, definition of \n
471 * maskbit:POS_LOC_INFO_USE_MAPMATCHING)
473 * - Heading data(0.01degree as 1, based on north and clockwise count)\n
474 * But in environment _CWORD95_/_CWORD101___CWORD84_,the heading from Navi is a approximate that separate 360 degree \n
476 * example: 0, 2300, 4500, ..., 31500, 33800
479 uint8_t getMethod; //!< \~english get method
480 uint8_t SyncCnt; //!< \~english Synchrony count
481 uint8_t isEnable; //!< \~english enable or not
482 uint8_t posSts; //!< \~english position status
483 uint8_t Reserved1[2]; //!< \~english reserve
484 uint16_t Heading; //!< \~english heading(0.01degree)
485 //!< \~english max: 359.99 degree
486 //!< \~english min: 0.00 degree
487 uint8_t Reserved2[2]; //!< \~english reserve
488 } SENSORMOTION_HEADINGINFO_DAT;
491 * @struct NAVIINFO_DIAG_GPS_FIX_CNT
492 * \~english position fix count data structure
495 uint32_t ulCnt3d; //!< \~english position fix count:3D
496 uint32_t ulCnt2d; //!< \~english position fix count:2D
497 uint32_t ulCntElse; //!< \~english position fix count:not fix
498 } NAVIINFO_DIAG_GPS_FIX_CNT;
501 * @struct NAVIINFO_DIAG_GPS_FIX_XYZ
502 * \~english longitude and latitude data structure
505 int32_t lLat; //!< \~english GPS latitude
506 int32_t lLon; //!< \~english GPS longitude
507 } NAVIINFO_DIAG_GPS_FIX_XYZ;
510 * @struct NAVIINFO_DIAG_GPS_FIX
511 * \~english position fix information structure
514 uint8_t ucFixSts; //!< \~english fix status
515 uint8_t ucReserve[3]; //!< \~english reserve
516 NAVIINFO_DIAG_GPS_FIX_CNT stCnt; //!< \~english fix count data
517 NAVIINFO_DIAG_GPS_FIX_XYZ stWgs84; //!< \~english longitude and latitude data
518 } NAVIINFO_DIAG_GPS_FIX;
521 * @struct NAVIINFO_DIAG_GPS_PRN
522 * \~english satellite information structure
523 * - reception status(ucRcvSts)
524 * - NAVIINFO_DIAG_GPS_RCV_STS_NOTUSE : not used
525 * - NAVIINFO_DIAG_GPS_RCV_STS_SEARCHING : searching
526 * - NAVIINFO_DIAG_GPS_RCV_STS_TRACHING : tracking
527 * - NAVIINFO_DIAG_GPS_RCV_STS_NOTUSEFIX : not used for position fix
528 * - NAVIINFO_DIAG_GPS_RCV_STS_USEFIX : used for position fix
531 uint8_t ucRcvSts; //!< \~english reception status
532 uint8_t ucPrn; //!< \~english satellite No.
533 uint8_t ucelv; //!< \~english satellite dramatic angle
534 uint8_t ucLv; //!< \~english satellite signal level
535 uint16_t usAzm; //!< \~english satellite azimuth
536 uint8_t ucReserve[2]; //!< \~english reserve
537 } NAVIINFO_DIAG_GPS_PRN;
540 * @struct NAVIINFO_DIAG_GPS_SAT
541 * \~english all satellite information structure
544 NAVIINFO_DIAG_GPS_PRN stPrn[12]; //!< \~english all satellite information
545 } NAVIINFO_DIAG_GPS_SAT;
548 * @struct NAVIINFO_DIAG_GPS
549 * \~english position fixed and satellite information structure
552 NAVIINFO_DIAG_GPS_FIX stFix; //!< \~english position fixed information
553 NAVIINFO_DIAG_GPS_SAT stSat; //!< \~english all satellite information
557 * @struct NAVIINFO_NAVI_GPS
558 * \~english other GPS related information structure
559 * - altitude(altitude) \n
560 * As the altitude is used as unit [0.01m] in internal, \n
561 * the altitude data range is (-21,474,839~21,474,839).
563 * - The time set after rollover.
564 * - date and time status(tdsts)
565 * - 0= time has not been adjusted after GPS receiver reset(time input or master reset or CSF start)
566 * - 1= time output from RTC Backup(have time adjustment result)
567 * - 2= time adjustment completed
570 int32_t altitude; //!< \~english altitude
571 uint16_t speed; //!< \~english speed
572 uint16_t heading; //!< \~english heading
573 NAVIINFO_UTCTIME utc; //!< \~english UTC time
574 uint8_t tdsts; //!< \~english date and time status
575 uint8_t reserve[3]; //!< \~english reserve
579 * @struct NAVIINFO_ALL
580 * \~english Navi data structure
583 uint8_t ucSensorCnt; //!< \~english sensor count
584 uint8_t reserve[3]; //!< \~english reserve
585 NAVIINFO_DIAG_GPS stDiagGps; //!< \~english position fix related information
586 NAVIINFO_NAVI_GPS stNaviGps; //!< \~english other GPS related information
590 * @struct POS_MSGINFO
591 * \~english message delivery positioning sensor information
594 DID did; //!< \~english data ID
595 PNO pno; //!< \~english delivery destination PNO
596 uint16_t size; //!< \~english data body size
597 uint8_t rcv_flag; //!< \~english received flag
598 uint8_t reserve; //!< \~english reserve
599 uint8_t data[POS_MSG_INFO_DSIZE]; //!< \~english data body
603 * @struct SENSOR_GPSTIME
604 * \~english GPS time information
605 * - date amd time status(tdsts)
606 * - 0= time has not been adjusted after GPS receiver reset(time input or master reset or CSF start)
607 * - 1= time output from RTC Backup(have time adjustment result)
608 * - 2= time adjustment completed
611 NAVIINFO_UTCTIME utc; //!< \~english UTC time
612 uint8_t tdsts; //!< \~english time status
613 uint8_t reserve[3]; //!< \~english reserve
616 #define SENSOR_MSG_GPSTIME SENSOR_GPSTIME //!< \~english GPS time information
617 #define SENSOR_GPSTIME_RAW SENSOR_GPSTIME //!< \~english GPS time information
620 * @struct MdevGpsCustomData
621 * \~english Struct of Gps custom data
623 typedef struct MdevGpsCustomData {
624 MDEV_GPS_DATA_KIND e_kind; //!< \~english kind
625 SENSORLOCATION_LONLATINFO_DAT st_lonlat; //!< \~english longtitude,latitude
626 SENSORLOCATION_ALTITUDEINFO_DAT st_altitude; //!< \~english altitude
627 SENSORMOTION_HEADINGINFO_DAT st_heading; //!< \~english headings
628 SENSOR_MSG_GPSTIME st_gps_time; //!< \~english Gps Time
629 NAVIINFO_DIAG_GPS st_diag_gps; //!< \~english Gps data from diag
630 } MDEV_GPS_CUSTOMDATA;
633 * @struct MdevGpsCustomDataMgs
634 * \~english Struct of Gps custom data message
636 typedef struct MdevGpsCustomDataMgs {
637 T_APIMSG_MSGBUF_HEADER h_dr; //!< \~english header
638 MDEV_GPS_CUSTOMDATA st_data; //!< \~english Gps Custom Data
639 } MDEV_GPS_CUSTOMDATA_MGS;
643 * \~english Struct of Gps RTC data
645 typedef struct MdevGpsRtc {
646 u_int32 ul_retsts; //!< \~english return status
647 u_int8 uc_datalen; //!< \~english data length
648 u_int8 uc_ctrlcode; //!< \~english control code
649 u_int8 uc_bcd_year; //!< \~english year
650 u_int8 uc_bcd_month; //!< \~english month
651 u_int8 uc_bcd_day; //!< \~english day
652 u_int8 uc_bcd_hour; //!< \~english hour
653 u_int8 uc_bcd_min; //!< \~english minute
654 u_int8 uc_bcd_sec; //!< \~english second
655 u_int8 uc_status; //!< \~english status
656 u_int8 u_reserve[3]; //!< \~english reserve
660 * @struct MdevGpsGpsTime
661 * \~english Struct of Gps Time
663 typedef struct MdevGpsGpsTime {
664 MDEV_GPS_DATA_KIND e_kind; //!< \~english kind
665 MDEV_GPS_RTC st_rtc_data; //!< \~english Gps Time
669 * @struct MdevGpsGpsTimeMgs
670 * \~english Struct of Gps Time message
672 typedef struct MdevGpsGpsTimeMgs {
673 T_APIMSG_MSGBUF_HEADER h_dr; //!< \~english header
674 MDEV_GPS_GPSTIME st_data; //!< \~english Gps Time Data
675 } MDEV_GPS_GPSTIME_MGS;
678 * @struct DevGpsUtcTime
679 * \~english Struct of Gps UTC time
681 typedef struct DevGpsUtcTime {
682 u_int16 us_year; //!< \~english Year
683 u_int8 uc_month; //!< \~english month
684 u_int8 uc_date; //!< \~english day
685 u_int8 uc_hour; //!< \~english hour
686 u_int8 uc_minute; //!< \~english minute
687 u_int8 uc_second; //!< \~english second
688 u_int8 u_reserved; //!< \~english reserve
692 * @enum MdevGpsFixSts
693 * \~english enumeration of gps fix status
695 typedef enum MdevGpsFixSts {
696 MDEV_GPS_NOTFIX = 0, //!< \~english not fix
697 MDEV_GPS_FIX //!< \~english fix
701 * @struct MdevGpsNmea
702 * \~english Struct of gps NMEA Data
704 typedef struct MdevGpsNmea {
705 u_int8 uc_nmea_data[GPS_MSG_VSINFO_DSIZE]; //!< \~english NMEA Data
709 * @struct MdevGpsFullbin
710 * \~english Struct of Gps full bin data
712 typedef struct MdevGpsFullbin {
713 u_int8 uc_fullbin_data[GPS_FULLBIN_SZ]; //!< \~english gps full bin data
714 u_int8 u_reserve[3]; //!< \~english reserve
718 * @struct MdevGps_CWORD44_gp4
719 * \~english Struct of Gps _CWORD44_GP4 data
721 typedef struct MdevGps_CWORD44_gp4 {
722 u_int8 uc__CWORD44_gp4_data[GPS__CWORD44_GP4_SZ]; //!< \~english gps _CWORD44_GP4 data
723 u_int8 u_reserve; //!< \~english reserve
724 } MDEV_GPS__CWORD44_GP4;
727 * @struct MdevGpsCycledata
728 * \~english Struct of Gps cycle data
730 typedef struct MdevGpsCycledata {
731 MDEV_GPS_DATA_KIND e_kind; //!< \~english kind
732 u_int8 uc_data[GPS_MSGDATA_SZ_MAX - sizeof(MDEV_GPS_DATA_KIND)]; //!< \~english data
733 } MDEV_GPS_CYCLEDATA;
736 * @struct MdevGpsCycledataMsg
737 * \~english Struct of Gps cycle data message
739 typedef struct MdevGpsCycledataMsg {
740 T_APIMSG_MSGBUF_HEADER h_dr; //!< \~english header
741 MDEV_GPS_CYCLEDATA st_data; //!< \~english data
742 } MDEV_GPS_CYCLEDATA_MSG;
745 * @struct MdevGpsRawdataNmea
746 * \~english Struct of Gps NMEA Raw Data
748 typedef struct MdevGpsRawdataNmea {
749 MDEV_GPS_DATA_KIND e_kind; //!< \~english kind
750 MDEV_GPS_NMEA st_nmea_data; //!< \~english NMEA Data
751 } MDEV_GPS_RAWDATA_NMEA;
754 * @struct MdevGpsRawdataNmeaMsg
755 * \~english Struct of Gps NMEA Raw Data message
757 typedef struct MdevGpsRawdataNmeaMsg {
758 T_APIMSG_MSGBUF_HEADER h_dr; //!< \~english header(see vs-positioning-base-library)
759 MDEV_GPS_RAWDATA_NMEA st_data; //!< \~english data
760 } MDEV_GPS_RAWDATA_NMEA_MSG;
763 * @struct MdevGpsRawdataFullbin
764 * \~english Struct of Gps Full Bin Raw Data
766 typedef struct MdevGpsRawdataFullbin {
767 MDEV_GPS_DATA_KIND e_kind; //!< \~english kind
768 MDEV_GPS_FULLBIN st_fullbin_data; //!< \~english Full Binary Data
769 } MDEV_GPS_RAWDATA_FULLBIN;
772 * @struct MdevGpsRawdataFullbinMsg
773 * \~english Struct of Gps Full Bin Raw Data message
775 typedef struct MdevGpsRawdataFullbinMsg {
776 T_APIMSG_MSGBUF_HEADER h_dr; //!< \~english header
777 MDEV_GPS_RAWDATA_FULLBIN st_data; //!< \~english Gps Full Bin Data
778 } MDEV_GPS_RAWDATA_FULLBIN_MSG;
781 * @struct MdevGpsRawdata_CWORD44_gp4
782 * \~english Struct of Gps _CWORD44_GP4 Raw Data
784 typedef struct MdevGpsRawdata_CWORD44_gp4 {
785 MDEV_GPS_DATA_KIND e_kind; //!< \~english kind
786 MDEV_GPS__CWORD44_GP4 st__CWORD44_gp4; //!< \~english Gps _CWORD44_GP4 Data
787 } MDEV_GPS_RAWDATA__CWORD44_GP4;
790 * @struct MdevGpsRawdata_CWORD44_gp4Msg
791 * \~english Struct of Gps _CWORD44_GP4 Raw Data message
793 typedef struct MdevGpsRawdata_CWORD44_gp4Msg {
794 T_APIMSG_MSGBUF_HEADER h_dr; //!< \~english header
795 MDEV_GPS_RAWDATA__CWORD44_GP4 st_data; //!< \~english Gps _CWORD44_GP4 Raw Data
796 } MDEV_GPS_RAWDATA__CWORD44_GP4_MSG;
799 * @struct SENSORMOTION_SPEEDINFO_DAT
800 * \~english speed information data
801 * - Get method(getMethod)
802 * - SENSOR_GET_METHOD_POS - The speed calculated in positioning based on speed pulse will be deliveried.
803 * - SENSOR_GET_METHOD_NAVI - speed from Navi
804 * - Synchrony count(SyncCnt)
806 * - Enable or not(isEnable) \n
807 * To describe this data is whether enable or not
808 * - 0 - not avaliable
809 * - not 0 - avaliable
810 * - Speed is invalid at following condition when speed pulse specified, so [not avaliable] provieded
811 * - Immediately after system start, the sensor data have not been received from SYS micon
812 * - If it is not initialization status, certainly provide [avaliable] when Navi data specified
813 * - If the status is [not avaliable], data following can not be guaranteed.
815 * - speed data(unit 0.01m/sec)
818 uint8_t getMethod; //!< \~english get method
819 uint8_t SyncCnt; //!< \~english Synchrony count
820 uint8_t isEnable; //!< \~english enable or not
821 uint8_t Reserved1[3]; //!< \~english reserve
822 uint16_t Speed; //!< \~english speed(0.01m/sec)
823 uint8_t Reserved2[2]; //!< \~english reserve
824 } SENSORMOTION_SPEEDINFO_DAT;
827 * @struct MdevGpsNavispeed
828 * \~english Struct of Gps speed data
830 typedef struct MdevGpsNavispeed {
831 MDEV_GPS_DATA_KIND e_kind; //!< \~english kind
832 u_int16 us_speed_kmph; //!< \~english Speed(km/h)
833 u_int8 u_reserve[2]; //!< \~english reserve
834 SENSORMOTION_SPEEDINFO_DAT st_speed; //!< \~english speed data
835 } MDEV_GPS_NAVISPEED;
838 * @struct MdevGpsNavispeedMsg
839 * \~english Struct of Gps speed data message
841 typedef struct MdevGpsNavispeedMsg {
842 T_APIMSG_MSGBUF_HEADER h_dr; //!< \~english header
843 MDEV_GPS_NAVISPEED st_data; //!< \~english Gps Speed Data
844 } MDEV_GPS_NAVISPEED_MSG;
847 * @struct TgGpsSndData
848 * \~english Struct of _CWORD82_ Gps send data
850 typedef struct TgGpsSndData {
851 uint8_t reserve[4]; //!< \~english reserve
852 u_int16 us_size; //!< \~english send data length
853 u_int8 ub_data[502]; //!< \~english send data
857 * @struct TgGpsRetPram
858 * \~english Gps Response data
860 typedef struct TgGpsRetPram {
861 unsigned int ret_status; //!< \~english response flag
862 unsigned char data_len; //!< \~english data size
863 unsigned char ctrl_code; //!< \~english control code
864 unsigned char gps_data[GPS_TLGRM_LEN]; //!< \~english data contents
868 * @struct SensorWknRollOverHal
869 * \~english Struct of GPS week number
871 typedef struct SensorWknRollOverHal {
872 uint16_t us_wkn; //!< \~english GPS week number
873 } SENSOR_WKN_ROLLOVER_HAL;
876 * @struct POS_DATETIME
877 * \~english GPS time information structure
880 uint16_t year; //!< \~english year
881 uint8_t month; //!< \~english month
882 uint8_t date; //!< \~english day
883 uint8_t hour; //!< \~english hour
884 uint8_t minute; //!< \~english minute
885 uint8_t second; //!< \~english second
886 uint8_t reserved; //!< \~english reserve
890 * @struct TG_GPS_RET_RESET
891 * \~english GPS reset status
894 unsigned long ret_rst_status; //!< \~english response GPS reset status
898 * @struct TG_GPS_RET_RESET_MSG
899 * \~english GPS reset information message
902 TG_GPS_RET_RESET data; //!< \~english GPS reset status data
903 } TG_GPS_RET_RESET_MSG;
906 * @struct VEHICLE_MSG_SEND_DAT
907 * \~english Vehicle information setting message structure
910 DID did; //!< \~english Data ID
911 u_int16 size; //!< \~english Data size
912 u_int8 data[502]; //!< \~english Data
913 } VEHICLE_MSG_SEND_DAT;
916 * @struct GpsWeekCorCntMsg
917 * \~english Gps Week correction count notify message structure
919 typedef struct GpsWeekCorCntMsg {
920 T_APIMSG_MSGBUF_HEADER stHead; //!< \~english Message header
921 u_int8 gpsweekcorcnt; //!< \~english Gps Week correction count
922 int8 dummy[3]; //!< \~english Alignment adjustment
923 } CLOCKGPS_GPSWEEKCOR_CNT_MSG;
925 /** @}*/ // end of positioning_hal
926 /** @}*/ // end of positioning
928 /*---------------------------------------------------------------------------*/
929 #endif // HAL_API_GPS_HAL_H_
931 /*---------------------------------------------------------------------------*/