2 * @copyright Copyright (c) 2016-2020 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 /*******************************************************************************
18 * File name :VehicleSens_Did_GyroExt_l.cpp
19 * System name :Polaris
20 * Subsystem name :Vehicle sensor process
21 * Program name :Vehicle sensor data master(POSHAL_DID_GYRO_EXT)
22 * Module configuration :VehicleSensInitGyroExtl() Vehicle Sensor GYRO (Initial Delivery) Initialization Functions
23 * :VehicleSensSetGyroExtlG() Vehicle Sensor GYRO (Initial Delivery) Set Functions
24 * :VehicleSensGetGyroExtl() Vehicle Sensor GYRO (Initial Delivery) Get Functions
25 ******************************************************************************/
27 #include <vehicle_service/positioning_base_library.h>
28 #include "VehicleSens_DataMaster.h"
30 /* Ignore->MISRA-C++:2008 Rule 2-7-2 */
31 #if CONFIG_SENSOR_EXT_VALID /* Initial Sensor Support */
32 /*************************************************/
34 /*************************************************/
35 static VEHICLESENS_DATA_MASTER_EXT gstGyroExt_l; // NOLINT(readability/nolint)
36 static VEHICLESENS_DATA_MASTER gstGyroRev_l; // NOLINT(readability/nolint)
38 /*******************************************************************************
39 * MODULE : VehicleSensInitGyroRevl
40 * ABSTRACT : Vehicle Sensor GYRO Initialization Functions(Extensions data)
41 * FUNCTION : GYRO data master initialization process
45 ******************************************************************************/
46 void VehicleSensInitGyroRevl(void) {
49 memset(&gstGyroRev_l, 0x00, sizeof(VEHICLESENS_DATA_MASTER));
50 /* POSHAL_DID_GYRO initialized by POSHAL_DID_GYRO_X because POSHAL_DID_GYRO is internally replaced by POSHAL_DID_GYRO_EXT */
51 gstGyroRev_l.ul_did = POSHAL_DID_GYRO_X;
52 gstGyroRev_l.us_size = VEHICLE_DSIZE_GYRO;
54 pus = reinterpret_cast<u_int16 *>(gstGyroRev_l.uc_data);
55 pus[0] = VEHICLE_DINIT_GYRO; /* Ignore->MISRA-C++:2008 Rule 5-0-15 */
56 pus[1] = VEHICLE_DINIT_GYRO; /* Ignore->MISRA-C++:2008 Rule 5-0-15 */
57 pus[2] = VEHICLE_DINIT_GYRO; /* Ignore->MISRA-C++:2008 Rule 5-0-15 */
60 /*******************************************************************************
61 * MODULE : VehicleSensInitGyroExtl
62 * ABSTRACT : Vehicle Sensor GYRO Initialization Functions(Initial delivery)
63 * FUNCTION : GYRO data master initialization process
67 ******************************************************************************/
68 void VehicleSensInitGyroExtl(void) {
71 memset(&gstGyroExt_l, 0x00, sizeof(VEHICLESENS_DATA_MASTER_EXT));
72 /* POSHAL_DID_GYRO initialized by POSHAL_DID_GYRO_X because POSHAL_DID_GYRO is internally replaced by POSHAL_DID_GYRO_EXT */
73 gstGyroExt_l.ul_did = POSHAL_DID_GYRO_X;
74 gstGyroExt_l.us_size = VEHICLE_DSIZE_GYRO_EXT_INIT;
76 pus = reinterpret_cast<u_int16 *>(gstGyroExt_l.uc_data);
77 memset(reinterpret_cast<void*>(pus), VEHICLE_DINIT_GYRO, VEHICLE_DSIZE_GYRO_EXT);
80 /*******************************************************************************
81 * MODULE : VehicleSensSetGyroRevl
82 * ABSTRACT : Vehicle Sensor GYRO SET Functions
83 * FUNCTION : Update the GYRO data master
84 * ARGUMENT : *pst_data : Pointer to the message data received by the direct line
86 * RETURN : VEHICLESENS_EQ : No data change
87 * VEHICLESENS_NEQ : Data change
88 ******************************************************************************/
89 u_int8 VehicleSensSetGyroRevl(const LSDRV_LSDATA *pst_data) { // LCOV_EXCL_START 8 : dead code
90 AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert
92 VEHICLESENS_DATA_MASTER *pst_master;
94 pst_master = &gstGyroRev_l;
96 /* Compare data master and received data */
97 uc_ret = VehicleSensmemcmp(pst_master->uc_data,
98 pst_data->uc_data, pst_data->uc_size); /* Ignore->MISRA-C++:2008 Rule 5-0-5 */
100 /* Received data is set in the data master. */
101 pst_master->ul_did = POSHAL_DID_GYRO_X;
102 pst_master->us_size = pst_data->uc_size; /* Ignore->MISRA-C++:2008 Rule 5-0-5 */
103 pst_master->uc_rcvflag = VEHICLE_RCVFLAG_ON;
104 pst_master->uc_snscnt = pst_data->uc_sns_cnt;
105 memset(pst_master->uc_data, 0x00, sizeof(pst_master->uc_data));
106 memcpy(pst_master->uc_data, pst_data->uc_data, pst_data->uc_size); /* Ignore->MISRA-C++:2008 Rule 5-0-5 */
112 /*******************************************************************************
113 * MODULE : VehicleSensSetGyroRevlG
114 * ABSTRACT : Vehicle Sensor GYRO SET Functions
115 * FUNCTION : Update the GYRO data master
116 * ARGUMENT : *pst_data : Pointer to the message data received by the direct line
118 * RETURN : VEHICLESENS_EQ : No data change
119 * VEHICLESENS_NEQ : Data change
120 ******************************************************************************/
121 u_int8 VehicleSensSetGyroRevlG(const LSDRV_LSDATA_G *pst_data) {
123 VEHICLESENS_DATA_MASTER *pst_master;
125 pst_master = &gstGyroRev_l;
127 /* Compare data master and received data */
128 /* Ignore->MISRA-C++:2008 Rule 5-0-5 */
129 uc_ret = VehicleSensmemcmp(pst_master->uc_data, pst_data->uc_data, pst_data->uc_size);
131 /* Received data is set in the data master. */
132 pst_master->ul_did = POSHAL_DID_GYRO_X;
133 pst_master->us_size = pst_data->uc_size; /* Ignore->MISRA-C++:2008 Rule 5-0-5 */
134 pst_master->uc_rcvflag = VEHICLE_RCVFLAG_ON;
135 pst_master->uc_snscnt = pst_data->uc_sns_cnt;
136 memcpy(pst_master->uc_data, pst_data->uc_data, pst_data->uc_size); /* Ignore->MISRA-C++:2008 Rule 5-0-5 */
141 /*******************************************************************************
142 * MODULE : VehicleSensSetGyroExtlG
143 * ABSTRACT : Vehicle Sensor GYRO SET Functions(Initial delivery)
144 * FUNCTION : Update the GYRO data master
145 * ARGUMENT : *pst_data : Pointer to the message data received by the direct line
147 * RETURN : VEHICLESENS_EQ : No data change
148 * VEHICLESENS_NEQ : Data change
149 ******************************************************************************/
150 void VehicleSensSetGyroExtlG(const LSDRV_LSDATA_G *pst_data) {
151 VEHICLESENS_DATA_MASTER_EXT *pst_master;
152 u_int16 us_start = 0;
156 pst_master = &gstGyroExt_l;
157 us_size = static_cast<u_int16>(sizeof(u_int16) * 10); /* Size of one data item: 2byte * 10 data items */
159 /* Retrieve the location where the received one is stored */
160 us_start = gstPkgTempExt.start_point[GyroExt];
162 /* Stored in data master(Order of reception)*/
163 if (us_start >= VEHICLE_DKEEP_MAX) {
164 /* Store the latest one at position 0 */
165 us_start = VEHICLE_DATA_POS_00;
166 /* If you are discarding old data,,Set a flag */
167 gstPkgTempExt.data_break = VEHICLE_SNS_BREAK;
169 pst_master->ul_did = POSHAL_DID_GYRO_X;
170 pst_master->uc_rcvflag = VEHICLE_RCVFLAG_ON;
171 for (us_cnt = 0; us_cnt < us_size; us_cnt++) {
172 pst_master->uc_data[us_start * us_size + us_cnt] = (u_int8)(pst_data->uc_data[us_cnt]);
175 /* Update next storage start position and latest data storage position */
177 gstPkgTempExt.start_point[GyroExt] = us_start;
179 /* Update data master size */
180 if (gstPkgTempExt.data_break == VEHICLE_SNS_BREAK) {
181 /* Make the size of all extended data masters */
182 pst_master->us_size = VEHICLE_DSIZE_GYRO_EXT;
184 /* Add the size of one received data item */
185 pst_master->us_size = static_cast<u_int16>(pst_master->us_size + us_size);
189 /*******************************************************************************
190 * MODULE : VehicleSensGetGyroExtl
191 * ABSTRACT : Vehicle Sensor GYRO GET Functions(Initial delivery)
192 * FUNCTION : Provide a GYRO data master
193 * ARGUMENT : *pst_data : Pointer to the data master acquisition destination
196 ******************************************************************************/
197 void VehicleSensGetGyroExtl(VEHICLESENS_DATA_MASTER_EXT *pst_data) {
198 const VEHICLESENS_DATA_MASTER_EXT *pst_master;
199 uint16_t us_size = 0;
200 uint16_t us_data_cnt = 0; // Number of data contained
201 uint16_t us_loop_cnt = 0; // 64 over index
203 /* Store the data master in the specified destination. */
204 pst_master = &gstGyroExt_l;
205 pst_data->ul_did = pst_master->ul_did;
206 pst_data->us_size = pst_master->us_size;
207 pst_data->uc_rcvflag = pst_master->uc_rcvflag;
209 us_size = static_cast<u_int16>(sizeof(u_int16) * 10); /* Size of one data item: 2byte * 10 data items */
211 /* Checking whether the number of stored entries is looped */
212 if (gstPkgTempExt.data_break == VEHICLE_SNS_BREAK) {
213 us_data_cnt = VEHICLE_DKEEP_MAX;
215 us_data_cnt = gstPkgTempExt.start_point[GyroExt];
218 /* Acquire data from the oldest data master */
219 for (uint16_t us_cnt = 0; us_cnt < us_data_cnt; us_cnt++) {
220 if (gstPkgTempExt.data_break == VEHICLE_SNS_BREAK) {
221 /* Get information before loop */
222 if (gstPkgTempExt.start_point[GyroExt] + us_cnt < VEHICLE_DKEEP_MAX) {
223 memcpy(&pst_data->uc_data[us_cnt * us_size],
224 &pst_master->uc_data[(gstPkgTempExt.start_point[GyroExt] + us_cnt) * us_size], us_size);
226 memcpy(&pst_data->uc_data[us_cnt * us_size],
227 &pst_master->uc_data[us_loop_cnt * us_size], us_size);
231 memcpy(&pst_data->uc_data[us_cnt * us_size],
232 &pst_master->uc_data[us_cnt * us_size], us_size);
237 /*******************************************************************************
238 * MODULE : VehicleSensGetGyroRevl
239 * ABSTRACT : Vehicle Sensor GYRO GET Functions(Initial delivery)
240 * FUNCTION : Provide a GYRO data master
241 * ARGUMENT : *pst_data : Pointer to the data master acquisition destination
244 ******************************************************************************/
245 void VehicleSensGetGyroRevl(VEHICLESENS_DATA_MASTER *pst_data) {
246 const VEHICLESENS_DATA_MASTER *pst_master;
248 pst_master = &gstGyroRev_l;
250 /* Store the data master in the specified destination. */
251 pst_data->ul_did = pst_master->ul_did;
252 pst_data->us_size = pst_master->us_size;
253 pst_data->uc_rcvflag = pst_master->uc_rcvflag;
254 pst_data->uc_snscnt = pst_master->uc_snscnt;
255 memcpy(pst_data->uc_data, pst_master->uc_data, pst_master->us_size); /* Ignore->MISRA-C++:2008 Rule 5-0-5 */