hal/positioning_hal/inc/GpsCommon/MDev_Gps_Common.h

   1 /*
   2  * @copyright Copyright (c) 2016-2020 TOYOTA MOTOR CORPORATION.
   3  *
   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
   7  *
   8  *      http://www.apache.org/licenses/LICENSE-2.0
   9  *
  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.
  15  */
  16 /**
  17 * @file MDev_Gps_Common.h
  18 */
  19
  20 #ifndef  INC_GPSCOMMON_MDEV_GPS_COMMON_H_
  21 #define  INC_GPSCOMMON_MDEV_GPS_COMMON_H_
  22
  23 /*---------------------------------------------------------------------------*/
  24 // Include files
  25
  26 #include "positioning_def.h"
  27 #include "MDev_Gps_Main.h"
  28
  29 /*---------------------------------------------------------------------------*/
  30 // Define
  31
  32 #define NMEA_CHECKSUM_CHAR            '*'    /* *## (HEX) */
  33 #define NMEA_DATA_SEPARATOR           ','
  34
  35 #define GPS_NMEA_FIELD_LEN_MAX        (GPS_NMEA_MAX_SZ)
  36
  37 // NMEA GGA Sentence
  38 /* Fix Status */
  39 #define GPS_NMEA_GGA_FIX_STATUS_NON   0 /* invalid */
  40 #define GPS_NMEA_GGA_FIX_STATUS_GPS   1 /* GPS SPS Mode, Fix valid */
  41 #define GPS_NMEA_GGA_FIX_STATUS_DGPS  2 /* DGPS SPS Mode, Fix valid */
  42 #define GPS_NMEA_GGA_FIX_STATUS_DR    6 /* Estimated/Dead Reckoning */
  43 /* Field No */
  44 #define GPS_NMEA_FNO_GGA_FS           6
  45 #define GPS_NMEA_FNO_GGA_MSL          9
  46
  47 /* number of SV Fields */
  48 #define GPS_NMEA_NUM_GSA_SV           12
  49 /* Fix Status */
  50 #define GPS_NMEA_GSA_FIX_STS_NON      1
  51 #define GPS_NMEA_GSA_FIX_STS_2D       2
  52 #define GPS_NMEA_GSA_FIX_STS_3D       3
  53 /* Field No */
  54 #define GPS_NMEA_FNO_GSA_FS           2
  55 #define GPS_NMEA_FNO_GSA_SV           3
  56
  57 /* number of Satellite Infomation Fields (sv+elv+az+cno) */
  58 #define GPS_NMEA_NUM_GSV_SINFO        4
  59     /* Field No */
  60 #define GPS_NMEA_FNO_GSV_NOSV         3
  61 #define GPS_NMEA_FNO_GSV_SV           4
  62 #define GPS_NMEA_FNO_GSV_ELV          5
  63 #define GPS_NMEA_FNO_GSV_AZ           6
  64 #define GPS_NMEA_FNO_GSV_CNO          7
  65
  66 #define GPS_NMEA_RMC_STS_INVALID      'V'
  67 #define GPS_NMEA_RMC_STS_VALID        'A'
  68 #define GPS_NMEA_RMC_IND_NORTH        'N'
  69 #define GPS_NMEA_RMC_IND_EAST         'E'
  70
  71 /* Field No */
  72 #define GPS_NMEA_FNO_RMC_UTC          1
  73 #define GPS_NMEA_FNO_RMC_STATUS       2
  74 #define GPS_NMEA_FNO_RMC_LATITUDE     3
  75 #define GPS_NMEA_FNO_RMC_NS           4
  76 #define GPS_NMEA_FNO_RMC_LONGITUDE    5
  77 #define GPS_NMEA_FNO_RMC_EW           6
  78 #define GPS_NMEA_FNO_RMC_SPEED        7
  79 #define GPS_NMEA_FNO_RMC_COG          8
  80 #define GPS_NMEA_FNO_RMC_DATE         9
  81
  82 // Diag Fix Count
  83 #define GPS_DIAG_FIX_COUNT_3D         (0x01)
  84 #define GPS_DIAG_FIX_COUNT_2D         (0x02)
  85 #define GPS_DIAG_FIX_COUNT_ELSE       (0x04)
  86
  87 /* GPS time setting related */
  88 #define GPS_SETTIME_RANGE             5   /* 5 seconds : Valid range of GPS time setting */
  89 #define GPS_TIME_RANGE                10  /* 10 seconds : GPS time change range */
  90
  91 /* NAV-SVINFO logging status */
  92 #define GPS_NAVSVINFO_STS_INIT        0
  93 #define GPS_NAVSVINFO_STS_READY       1
  94 #define GPS_NAVSVINFO_STS_DONE        2
  95 #define GPS_NAVSVINFO_STS_SETTING     3
  96
  97 /* Time setting information  */
  98 #define GPS_TIME_RX                   0   /* Time not set */
  99 #define GPS_TIME_ROLOVR               1   /* First GPS reception(for rollover) */
 100 #define GPS_TIME_SET                  2   /* Time setting in progress */
 101
 102 /*!
 103     @brief Satellite position information
 104 */
 105 typedef struct GpsSatelliteInfoStr {
 106   uint8_t  sv;                    /* Satellite number       */
 107   uint8_t  elv;                   /* Height 0-99      */
 108   uint16_t az;                    /* Orientation 0-359     */
 109   uint8_t  cno;                   /* Signal strength       */
 110   uint8_t  sts;                   /* Reception status */
 111 } GpsSatelliteInfo;
 112
 113 /*---------------------------------------------------------------------------*/
 114 // Global values
 115
 116 extern BOOL g_gps_rcv_thread_stop;
 117 extern uint8_t g_is_gpstime_sts;
 118
 119 /*---------------------------------------------------------------------------*/
 120 // Prototype
 121
 122 void                ChangeStatusGpsCommon(u_int32 sts);
 123 void                RtyResetGpsCommon(void);
 124 void                SendRtyResetGpsCommon(void);
 125 void                SendReqGpsCommon(void);
 126 void                GPSResetReqGpsCommon(void);
 127 void                CyclDataTimeOutGpsCommon(void);
 128 RET_API             CheckFrontStringPartGpsCommon(const u_char *p_tartget, const u_char *p_start);
 129 int32               JudgeFormatGpsCommon(u_char *p_send_data, u_int32 ul_length, TG_GPS_OUTPUT_FORMAT *p_format);
 130 RET_API             CheckSumGpsCommon(const u_int8 p_uc_data[], u_int32 ul_length, TG_GPS_OUTPUT_FORMAT e_cmd_info);
 131 u_int8              AtoHGpsCommon(u_int8 ascii);
 132 RET_API             DevGpsSaveCmd(TG_GPS_SAVECMD *p_send_data);
 133 void                SendSaveCmdGpsCommon(void);
 134 void                DeleteSaveCmdGpsCommon(void);
 135 void                DeleteAllSaveCmdGpsCommon(void);
 136 void                RcvCyclCmdNmeaGpsCommon(u_int8 *p_uc_data, u_int32 ul_len, TG_GPS_OUTPUT_FORMAT s_output_format);
 137 int32               CheckSendCmdGpsCommon(const u_char *p_rcv_data, u_int32 ul_length, TG_GPS_OUTPUT_FORMAT *p_format);
 138 int32_t             GetStringFromNmeaGpsCommon(u_int8 field_number, u_int8 *p_src, char* p_dst, size_t size);
 139 double              GetNumericFromNmeaGpsCommon(u_int8 field_number, u_int8 *p_src, BOOL *p_valid);
 140 int32               GetIntegerFromNmeaGpsCommon(u_int8 field_number, u_int8 *p_src);
 141 int32               GetLonLatFromNmeaGpsCommon(u_int8 field_number, u_int8 *p_src, BOOL *p_valid);
 142 u_int16             GetHeadingFromNmeaGpsCommon(u_int8 field_number, u_int8 *p_src, BOOL *p_valid);
 143 int32               GetAltitudeFromNmeaGpsCommon(u_int8 field_number, u_int8 *p_src, BOOL *p_valid);
 144 u_int16             GetSpeedFromNmeaGpsCommon(u_int8 field_number, u_int8 *p_src, BOOL *p_valid);
 145 void                StopThreadGpsCommon(void);
 146 uint8_t             JudgeFormatOrderGpsCommon(TG_GPS_OUTPUT_FORMAT s_format_1, TG_GPS_OUTPUT_FORMAT s_format_2);
 147 ENUM_GPS_NMEA_INDEX GetNmeaIdxGpsCommon(TG_GPS_OUTPUT_FORMAT s_output_format);
 148 void                SendResetReqGpsCommon(void);
 149
 150
 151 void                WriteGpsTimeToBackup(uint8_t flag, POS_DATETIME* pst_datetime);
 152 void                DevGpsCommSettingTime(void);
 153 RET_API             GpsSetPosBaseEvent(uint16_t snd_pno, int32_t event_val);
 154 uint8_t             HardResetChkGpsCommon(void);
 155 void                RcvCyclCmdExtGpsCommon(u_int8 *p_data, u_int32 len, TG_GPS_OUTPUT_FORMAT format);
 156
 157 BOOL                DevGpsRcvProcGpsResetResp(TG_GPS_RCV_DATA*);
 158 void                DevGpsRcvProcTimeSetResp(TG_GPS_RCV_DATA*);
 159 void                DevGpsRcvProcWknRolloverGetResp(TG_GPS_RCV_DATA* p_data);
 160 void                DevGpsRcvProcNavSvinfoAddResp(TG_GPS_RCV_DATA* p_data);
 161 void                DevGpsReadGpsTime(POS_DATETIME* p_st_datetime);
 162 RET_API             DevGpsRcvProcCmnResp(TG_GPS_RCV_DATA* p_data, uint8_t cmd);
 163 RET_API             DevGpsResetReq(PNO us_pno, RID uc_rid);
 164 void                DevGpsSettingTime(POS_DATETIME* p_st_datetime);
 165 int                 DevGpsYMD2JD(int y, int m, int d);
 166 BOOL                DevGpsYMD2GPSTIME(const int32 y, const int32 m, const int32 d,
 167                                         const int32 hh, const int32 mm, const int32 ss,
 168                                         u_int16* gpsw, u_int32* gpsws);
 169 void                DevGpsSetChkSum(u_int8* uc_buffer, u_int32 ul_length);
 170 RET_API             DevGpsCatPollReq(uint8_t *p_ublox_data, uint16_t kind);
 171 void                DevGpsSetGpsweekcorcnt(void);
 172 RET_API             DevGpsNavTimeUTCAddReq(void);
 173 RET_API             DevGpsWknRolloverGetReq(void);
 174 BOOL                DevGpsCheckGpsTime(uint16_t set_gpsw, uint32_t set_gpsws,
 175                               uint16_t rcv_gpsw, uint32_t rcv_gpsws, int32_t offset_range);
 176
 177 void                DevGpsCnvLonLatNavi(SENSORLOCATION_LONLATINFO_DAT* p_lonlat,
 178                                                   u_int8 fix_sts, int32 lon, int32 lat);
 179 void                DevGpsCnvAltitudeNavi(SENSORLOCATION_ALTITUDEINFO_DAT* p_altitude,
 180                                                   u_int8 fix_sts, int32 alt);
 181 void                DevGpsCnvHeadingNavi(SENSORMOTION_HEADINGINFO_DAT* p_heading,
 182                                                   u_int8 fix_sts, u_int16 heading);
 183 /*---------------------------------------------------------------------------*/
 184 #endif  // INC_GPSCOMMON_MDEV_GPS_COMMON_H_
 185
 186 /*---------------------------------------------------------------------------*/
 187 /*EOF*/