positioning_hal/inc/GpsCommon/MDev_Gps_Main.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_Main.h
  18 */
  19
  20 #ifndef  INC_GPSCOMMON_MDEV_GPS_MAIN_H_
  21 #define  INC_GPSCOMMON_MDEV_GPS_MAIN_H_
  22
  23 /*---------------------------------------------------------------------------*/
  24 // Include files
  25
  26 #include "gps_hal.h"
  27 #include "positioning_def.h"
  28
  29 // #include "gps_hal.h"
  30 // #include "MDev_Gps_Nmea.h"
  31 // #include "LineSensDrv_Api.h"
  32
  33 /*---------------------------------------------------------------------------*/
  34 // Value define
  35
  36 #define OFF           0       /* OFF */
  37 #define ON            1       /* ON */
  38 #define OK            0       /* Normal */
  39 #define NG            (-1L)   /* Abnormality */
  40 #define DAT_END       0xff    /* Exit code */
  41
  42 // State
  43 typedef enum GpsMatrixSts {
  44   GPS_STS_STARTUP = 0,        /* Startup confirmation */
  45   GPS_STS_NORMAL,             /* In operation */
  46   GPS_STS_SENT,               /* Command sent status */
  47   GPS_STS_NUM
  48 }TG_GPS_MATRIX_STS;
  49
  50 // Event
  51 typedef enum GpsMatrixEvt {
  52   GPS_EVT_SENDREQ = 0,              /* Transmission request              */
  53   GPS_EVT_RESETREQ,                 /* GPS reset request        */
  54   GPS_EVT_RECVCYCLDAT,              /* Cyclic reception command reception        */
  55   GPS_EVT_RECVRSPDAT,               /* Receive response command          */
  56   GPS_EVT_TIMEOUT_RSPDAT,           /* Response monitoring timeout        */
  57   GPS_EVT_TIMEOUT_CYCLDAT,          /* Periodic reception data monitoring timeout  */
  58   GPS_EVT_TIMEOUT_NAVI,             /* Navigation providing data monitoring timeout  */
  59   GPS_EVT_TIMEOUT_DIAGCLKGUARD,     /* Diagnosis provision time guard monitoring timeout*/
  60   GPS_EVT_ACC_OFF,                  /* In-function ACC-OFF instructions        */
  61   GPS_EVT_NAVI_LOCATIONINFO,        /* Providing navigation information            */
  62   GPS_EVT_NAVI_SPEEDINFO,           /* Navigation speed information service          */
  63   GPS_EVT_TIMESETTING,              /* GPS time setting instruction          */
  64   GPS_EVT_TIMEOUT_NMEADATAGUARD,    /* NMEA data-providing guard monitoring timeout*/
  65   GPS_EVT_BACKUPDATA_LOAD,          /* Backup data read request       */
  66   GPS_EVT_STOPREQ,                  /* Thread stop request                 */
  67   GPS_EVT_WEEKCOR_CNT_NOTIFICATIO,  /* GPS Week Adjustment Counter Notification            */
  68   GPS_EVT_TIMEOUT_RECOVERY,         /* GPS error monitoring reset timer      */
  69   GPS_EVT_TIMEOUT_RECEIVERERR,      /* GPS receiver anomaly detection timeout  */
  70   GPS_EVT_NUM
  71 } TG_GPS_MATRIX_EVT;
  72
  73 typedef enum GpsOutputFormat {
  74   GPS_FORMAT_MIN = -1,        /* Minimum Receive Format(Initialization)  */
  75   GPS_FORMAT_BINARY,          /* Standard binary            */
  76   GPS_FORMAT_FULLBIN,         /* Full binary            */
  77   GPS_FORMAT_GGA,             /* GGA                */
  78   GPS_FORMAT_DGGA,            /* DGGA                */
  79   GPS_FORMAT_VTG,             /* VTG                */
  80   GPS_FORMAT_RMC,             /* RMC                */
  81   GPS_FORMAT_DRMC,            /* DRMC                */
  82   GPS_FORMAT_GLL,             /* GLL                */
  83   GPS_FORMAT_DGLL,            /* DGLL                */
  84   GPS_FORMAT_GSA,             /* GSA                */
  85   GPS_FORMAT_GSV1,            /* GSV(1)              */
  86   GPS_FORMAT_GSV2,            /* GSV(2)              */
  87   GPS_FORMAT_GSV3,            /* GSV(3)              */
  88   GPS_FORMAT_GSV4,            /* GSV(4)              */
  89   GPS_FORMAT_GSV5,            /* GSV(5)              */
  90   GPS_FORMAT_GST,             /* GST                */
  91   GPS_FORMAT__CWORD44__GP3,       /* _CWORD44_,GP,3            */
  92   GPS_FORMAT__CWORD44__GP4,       /* _CWORD44_,GP,4            */
  93   GPS_FORMAT_P_CWORD82_F_GP0,       /* P_CWORD82_F,GP,0            */
  94   GPS_FORMAT_P_CWORD82_J_GP1,       /* P_CWORD82_J,GP,1            */
  95   GPS_FORMAT_P_CWORD82_I_GP,        /* P_CWORD82_I,GP              */
  96   GPS_FORMAT_P_CWORD82_E_GP0,       /* P_CWORD82_E,GP,0            */
  97   GPS_FORMAT_P_CWORD82_J_GP0,       /* P_CWORD82_J,GP,0            */
  98   GPS_FORMAT_P_CWORD82_E_GP2,       /* P_CWORD82_E,GP,2            */
  99   GPS_FORMAT_P_CWORD82_G_GP0,       /* P_CWORD82_G,GP,0            */
 100   GPS_FORMAT_P_CWORD82_J_GP7,       /* P_CWORD82_J,GP,7            */
 101   GPS_FORMAT_P_CWORD82_J_GP8,       /* P_CWORD82_J,GP,8            */
 102   GPS_FORMAT_MON_VER,         /* MON-VER              */
 103   GPS_FORMAT_AID_INI,         /* AID-INI              */
 104   GPS_FORMAT_ACK_ACKNACK,     /* ACK-ACKNACK            */
 105   GPS_FORMAT_NAV_TIMEUTC,     /* NAV-TIMEUTC            */
 106   GPS_FORMAT_NAV_CLOCK,       /* NAV-CLOCK                        */
 107   GPS_FORMAT_RXM_RTC5,        /* RXM-RTC5                         */
 108   GPS_FORMAT_NAV_SVINFO,      /* NAV-SVINFO                       */
 109   GPS_FORMAT_CFG_NAVX5,       /* CFG-NAVX5            */
 110   GPS_FORMAT_NMEA,            /* NMEA (Sentence unspecified)      */
 111   GPS_FORMAT_UBX,             /* UBX Protocol (binary)      */
 112   GPS_FORMAT_MAX              /* Maximum Receive Format        */
 113 } TG_GPS_OUTPUT_FORMAT;
 114
 115 // Return value
 116 #define RETRY_OFF       0     /* No retry            */
 117 #define RETRY_ON        1     /* Retry exists            */
 118 #define RETRY_OUT       2     /* Retry out          */
 119 #define NG_RETRYOUT     4     /* Transmission failure retry out      */
 120
 121 #define GPSRET_NOPCMD   (0)   /* Non notification target command  #GPF_60_024 */
 122 #define GPSRET_SNDCMD   (1)   /* Notification target command    #GPF_60_024 */
 123 #define GPSRET_CMDERR   (-1)  /* No applicable command    #GPF_60_024 */
 124
 125 // Number of Retries
 126 #define SRSET_MAX       4     /* Maximum serial reset retry value  */
 127 #define HRSET_MAX       3     /* Maximum value of hard reset retry    */
 128 #define SNDNG_MAX       4     /* Maximum retry value of transmission failure      */
 129
 130 /* The actual number of retries is SNDNG_MAX-1. */
 131 #define GPS_RECV_ERR_MAX 5    /* Maximum number of reception errors  #GPF_60_024  */
 132
 133 // Others
 134 #define SAV_MAX                   11
 135 #define GPS_ALTITUDE_INVALID_VAL  (-1000000)  /* Value when fix altitude is invalid */
 136 #define GPS_HEADING_INVALID_VAL   36100       /* Value when measurement orientation is invalid */
 137
 138 #define GPS_RECVOK                0           /* Normal reception            #13 */
 139 #define GPS_RECVNG                1           /* Reception error            #13 */
 140 #define GPS_OVERRUN               2           /* Overrun detection        #13 */
 141 #define GPS_PARITY                3           /* Parity detection          #13 */
 142 #define GPS_FRAMING               4           /* Framing detection        #13 */
 143
 144 // For the communication management thread
 145 #define  GPS_NON_RECV             0           /* Not received              */
 146 #define  GPS_RECV_ACK             1           /* ACK received            */
 147 #define  GPS_RECV_DATA            2           /* Receive response command          */
 148
 149 #define GPS_SEND_ERR_MAX          5           /* Maximum number of transmission errors        */
 150 #define GPS_CNCT_ERR_MAX          5           /* Maximum number of connection errors        */
 151
 152 #define GPS_START_EVT             "GPS_EVT"   /* Interthread synchronization events      */
 153 #define GPS_EVT_VAL               99          /* Event settings          */
 154 #define GPS_MSGDAT_BUF_SZ         500         /* Receive message buffer size    */
 155
 156 // Definition for receive command analysis table  #GPF_60_024
 157 #define SENTENCE_STR_MAX          12      /* Maximum string for judging sentence  */
 158
 159 #define SENSOR_MSG_VSINFO_DSIZE  1904  //!< \~english message body max size
 160
 161 /*---------------------------------------------------------------------------*/
 162 // Structure
 163
 164 /********************************************************************************
 165  * TAG      :TG_GPS_MNG
 166  * ABSTRACT :GPS process management information
 167  * NOTE     :
 168  ********************************************************************************/
 169 typedef struct GpsMng {
 170   u_int32               sts;            /* Matrix state          */
 171   u_int32               event;          /* Matrix event code      */
 172   u_int32               rcvsts;         /* Response reception status            */
 173   u_int32               sndcnt;         /* Number of transmission attempts          */
 174   u_int32               hrsetcnt;       /* Number of tries before hard reset  */
 175   u_int32               sndngcnt;       /* Number of failed-to-send attempts        */
 176   TG_GPS_OUTPUT_FORMAT  rcv_cmd;        /* Types of received GPS commands      */
 177   TG_GPS_OUTPUT_FORMAT  resp_cmd;       /* Types of GPS commands during response monitoring  */
 178   PNO                   resp_pno;       /* Destination PNO            */
 179   RID                   resp_rid;       /* RID to be notified when responding        */
 180   u_int8                resp_rst_flag;  /* Response command reset flag    */
 181   BOOL                  rcv_err_flag;   /* GPS receiver error detection flag        */
 182 } TG_GPS_MNG;
 183
 184 /********************************************************************************
 185  * TAG      :TG_GPS_SAVECMD
 186  * ABSTRACT :GPS process pending command
 187  * NOTE     :
 188  ********************************************************************************/
 189 typedef struct GpsSaveCmd {
 190   TG_GPS_SND_DATA       sndcmd;       /* Sending commands(_CWORD82_ command)    */
 191   PNO                   us_pno;       /* Result notification destination process number(Unused)  */
 192   RID                   uc_rid;       /* Result Notification Resource ID(Unused)    */
 193   u_int8                uc_rst;       /* Reset flag          */
 194   TG_GPS_OUTPUT_FORMAT  e_cmd_info;   /* Command information          */
 195 } TG_GPS_SAVECMD;
 196
 197 /********************************************************************************
 198  * TAG      :TG_GPS_SAVEBUF
 199  * ABSTRACT :GPS process pending buffer management information
 200  * NOTE     :
 201  ********************************************************************************/
 202 typedef struct GpsSaveBuf {
 203   u_int32         saveno;             /* Current pending index number    */
 204   u_int32         sendno;             /* Current send index number    */
 205   u_int32         bufsav;             /* Number of pending buffers used        */
 206   TG_GPS_SAVECMD  savebuf[SAV_MAX];   /* Pending buffer            */
 207 } TG_GPS_SAVEBUF;
 208
 209 /********************************************************************************
 210  * TAG      :TG_GPS_MSGRCV
 211  * ABSTRACT :Receive message
 212  * NOTE     :
 213  ********************************************************************************/
 214 typedef struct GpsMsgRcv {
 215   T_APIMSG_MSGBUF_HEADER  header;     /* Message header          */
 216   u_int8                  msgdat[SENSOR_MSG_VSINFO_DSIZE + 12];
 217 } TG_GPS_MSGRCV;
 218
 219 /********************************************************************************
 220  * TAG      :TG_GPS_MSGEVTCHNG
 221  * ABSTRACT :GPS message event translation table
 222  * NOTE     :
 223  ********************************************************************************/
 224 typedef struct GpsMsgEvtChng {
 225   u_int32     cid;            /* Matrix state          */
 226   u_int32     event;          /* Matrix event code      */
 227 } TG_GPS_MSGEVTCHNG;
 228
 229 /********************************************************************************
 230  * TAG      :TG_GPS_TIMEVTCHNG
 231  * ABSTRACT :GPS timer ID and event translation table
 232  * NOTE     :
 233  ********************************************************************************/
 234 typedef struct GpsTimEvtChng {
 235   u_int16     tim_id;         /* Timer ID information          */
 236   u_int16     reserve;        /* Reserved              */
 237   u_int32     event;          /* Matrix event code      */
 238 } TG_GPS_TIMEVTCHNG;
 239
 240 /********************************************************************************
 241  * TAG      :Gps_Jmp_Tbl
 242  * ABSTRACT :GPS jump table
 243  * NOTE     :
 244  ********************************************************************************/
 245 typedef struct GpsJmpTbl {
 246   void        (*func)( void );    /* Jump-to module          */
 247 } TG_GPS_JMP_TBL;
 248
 249 /********************************************************************************
 250  * TAG      :TG_GPS_CMD_ANA_TBL
 251  * ABSTRACT :Receive command analysis table structure
 252  * NOTE     :
 253  ********************************************************************************/
 254 typedef struct TgGpsCmdAnaTbl {
 255   u_char                c_sentence[SENTENCE_STR_MAX];   /* Sentence identifier    */
 256   u_int32               ul_length;                      /* Length of the command      */
 257   u_int32               ul_rcv_kind;                    /* Receiving type        */
 258   BOOL                  b_snd_cmd_flg;                  /* Command notification flag  */
 259   TG_GPS_OUTPUT_FORMAT  e_rcv_format;                   /* Receive Format    */
 260 } TG_GPS_CMD_ANA_TBL;
 261
 262 /********************************************************************************
 263  * TAG      :TG_GPS_TIME_BCD
 264  * ABSTRACT :Time information (BCD) structure
 265  * NOTE     :
 266  ********************************************************************************/
 267 typedef struct GpsTimeBCD {
 268   u_int8          uc_year;      /* Year information    */
 269   u_int8          uc_month;     /* Month information    */
 270   u_int8          uc_day;       /* Day information    */
 271   u_int8          uc_hour;      /* Time information    */
 272   u_int8          uc_min;       /* Minute information    */
 273   u_int8          uc_sec;       /* Second information    */
 274 } TG_GPS_TIME_BCD;
 275
 276 /*---------------------------------------------------------------------------*/
 277 // Global values
 278
 279 #define MDEV_GPSMSGCHKC_MAX 10
 280 #define MDEV_PSTIMCHKC_MAX  11
 281 extern const TG_GPS_MSGEVTCHNG    kGpsMsgchkC[MDEV_GPSMSGCHKC_MAX];     /* Ignore -> MISRA-C:2004 Rule 8.12 */
 282 extern const TG_GPS_TIMEVTCHNG    kGpsTimchkC[MDEV_PSTIMCHKC_MAX];      /* Ignore -> MISRA-C:2004 Rule 8.12 */
 283 extern const TG_GPS_JMP_TBL       kGpsMatxC[GPS_STS_NUM][GPS_EVT_NUM];
 284
 285 #define MDEV_GPSCMDANATBLNMEA_MAX 20
 286 extern const TG_GPS_CMD_ANA_TBL*  kGpsCmdAnaTbl;
 287 extern const TG_GPS_CMD_ANA_TBL   kGpsCmdAnaTblUblox[MDEV_GPSCMDANATBLNMEA_MAX];
 288
 289 extern TG_GPS_SAVEBUF             g_gps_save_cmdr;
 290 extern TG_GPS_MSGRCV              g_gps_msg_rcvr;
 291 extern TG_GPS_MNG                 g_gps_mngr;
 292
 293 extern u_int16                    g_wsend_err;        /* Number of transmission errors          */
 294 extern u_int16                    g_wcnct_err;        /* Number of connection errors          */
 295 extern TG_GPS_OUTPUT_FORMAT       g_rcv_format;       /* Receive Format          */
 296
 297 /*---------------------------------------------------------------------------*/
 298 // Prototype
 299
 300 EFrameworkunifiedStatus  DevGpsMainThread(HANDLE h_app);
 301 BOOL        DevGpsInit(void);
 302 void        DevGpsRcvMsg(void);
 303 void        DevGpsMsgEventCheck(void);
 304 void        DevGpsTimEventCheck(void);
 305 void        DevGpsGpsVersionCheck(void);
 306
 307 /*---------------------------------------------------------------------------*/
 308 #endif  // INC_GPSCOMMON_MDEV_GPS_MAIN_H_
 309
 310 /*---------------------------------------------------------------------------*/
 311 /*EOF*/