video_in_hal/positioning_hal/inc/GpsCommon/MDev_Gps_Nmea.h

   1 /*
   2  * @copyright Copyright (c) 2017-2020 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_GpsUblox.h
  18 */
  19
  20 #ifndef INC_GPSCOMMON_MDEV_GPS_NMEA_H_
  21 #define INC_GPSCOMMON_MDEV_GPS_NMEA_H_
  22
  23 /*---------------------------------------------------------------------------*/
  24
  25 #include "gps_hal.h"
  26 #include "positioning_def.h"
  27
  28 /*---------------------------------------------------------------------------*/
  29 // Value define
  30
  31 #define TEST_NMEA                       (0)                 /* 0:Normal mode 1:Testing mode */
  32
  33 #define GPS_MAX_NUM_VISIBLE_SATELLITES  (20)                /* Maximum Number of Visible Satellites  *Assume the GSV1~GSV5 */
  34
  35 /* UBX command *****************************/
  36
  37 /* CFG */
  38 #define UBX_CMD_SIZE_CFG_RST            (12)  /* size of CFG-RST of UBX sentences       */
  39 #define UBX_CMD_SIZE_CFG_MSG            (11)  /* size of CFG-MSG of UBX sentences       */
  40 #define UBX_CMD_SIZE_CFG_NAV5           (44)  /* size of CFG-NAV5 of UBX sentences      */
  41 #define UBX_CMD_SIZE_CFG_NAV5_POLL      (8)
  42 #define UBX_CMD_SIZE_CFG_NAV5_PLUS_POLL (UBX_CMD_SIZE_CFG_NAV5 + UBX_CMD_SIZE_CFG_NAV5_POLL)
  43 #define UBX_CMD_SIZE_CFG_NAVX5_POLL     (8)
  44 #define UBX_CMD_OFFSET_WKNROLLOVER      (18)  /* offset from the top of 'payload'       */
  45
  46 /* MON */
  47 #define UBX_CMD_SIZE_MON_VER            (108) /* size of MON-VER of UBX sentences       */
  48 #define UBX_CMD_SIZE_MON_VER_POLL       (8)
  49 #define UBX_CMD_SIZE_MON_VER_SW_VER     (30)
  50
  51 /* AID */
  52 #define UBX_CMD_SIZE_AID_INI            (56)  /* size of AID-INI of UBX sentences       */
  53 #define UBX_CMD_SIZE_AID_INI_POLL       (8)
  54 #define UBX_CMD_SIZE_AID_INI_PLUS_POLL  (UBX_CMD_SIZE_AID_INI + UBX_CMD_SIZE_AID_INI_POLL)
  55
  56 /* ACK */
  57 #define UBX_CMD_OFFSET_ACKNAK           (3)   /* offset to Ack/Nack Infomation          */
  58
  59 /* NAV */
  60 #define UBX_CMD_MSK_NAV_TIMEUTC_VALID_TOW   (1)     /* mask bit for 'validTow' of NAV-TIMEUTC */
  61 #define UBX_CMD_MSK_NAV_TIMEUTC_VALID_WKN   (2)     /* mask bit for 'validKwn' of NAV-TIMEUTC */
  62 #define UBX_CMD_MSK_NAV_TIMEUTC_VALID_UTC   (4)     /* mask bit for 'validUtc' of NAV-TIMEUTC */
  63
  64 /* Common */
  65 #define UBX_CMD_SIZE_HDR                    (2)     /* size of 'header' of UBX sentence       */
  66 #define UBX_CMD_SIZE_ID                     (2)     /* size of 'id' of UBX sentence           */
  67 #define UBX_CMD_SIZE_LEN                    (2)     /* size of 'length' of UBX sentence       */
  68 #define UBX_CMD_SIZE_MAX                    (400)   /* size of NAV-SVINFO (numCh=32)          */
  69 #define UBX_CMD_OFFSET_PAYLOAD              (UBX_CMD_SIZE_HDR + UBX_CMD_SIZE_ID + UBX_CMD_SIZE_LEN)
  70                                                     /* offset to 'payload' of UBX sentence    */
  71
  72 /* Types of UBX Poll Request Commands ************/
  73 #define UBX_POLL_CMD_KIND_AID_INI           (1)
  74 #define UBX_POLL_CMD_KIND_CFG_NAV5          (2)
  75
  76 // GPS-command (_CWORD82_ NMEA) related definitions      #GPF_60_024
  77 /* Command identification character string */
  78 #define  GPS_CMD_NMEA_GGA               ("$GPGGA")        /* GGA/double precision GGAs  */
  79 #define  GPS_CMD_NMEA_VTG               ("$GPVTG")        /* VTG        */
  80 #define  GPS_CMD_NMEA_RMC               ("$GPRMC")        /* RMC/double precision RMCs  */
  81 #define  GPS_CMD_NMEA_GLL               ("$GPGLL")        /* GLL/double precision GLL  */
  82 #define  GPS_CMD_NMEA_GSA               ("$GPGSA")        /* GSA        */
  83 #define  GPS_CMD_NMEA_GSV_1             ("$GPGSV,*,1")    /* GSV(1)      */
  84 #define  GPS_CMD_NMEA_GSV_2             ("$GPGSV,*,2")    /* GSV(2)      */
  85 #define  GPS_CMD_NMEA_GSV_3             ("$GPGSV,*,3")    /* GSV(3)      */
  86 #define  GPS_CMD_NMEA__CWORD44__GP_3        ("$_CWORD44_,GP,3")   /* _CWORD44_,GP,3    */
  87 #define  GPS_CMD_NMEA__CWORD44__GP_4        ("$_CWORD44_,GP,4")   /* _CWORD44_,GP,4    */
  88 #define  GPS_CMD_NMEA_P_CWORD82_F_GP_0        ("$P_CWORD82_F,GP,0")   /* P_CWORD82_F,GP,0    */
  89 #define  GPS_CMD_NMEA_P_CWORD82_J_GP_1        ("$P_CWORD82_J,GP,1")   /* P_CWORD82_J,GP,1    */
  90 #define  GPS_CMD_NMEA_P_CWORD82_I_GP          ("$P_CWORD82_I,GP")     /* P_CWORD82_I,GP      */
  91 #define  GPS_CMD_NMEA_P_CWORD82_E_GP_0        ("$P_CWORD82_E,GP,0")   /* P_CWORD82_E,GP,0    */
  92 #define  GPS_CMD_NMEA_P_CWORD82_J_GP_0        ("$P_CWORD82_J,GP,0")   /* P_CWORD82_J,GP,0    */
  93 #define  GPS_CMD_NMEA_P_CWORD82_E_GP_2        ("$P_CWORD82_E,GP,2")   /* P_CWORD82_E,GP,2    */
  94 #define  GPS_CMD_NMEA_P_CWORD82_G_GP_0        ("$P_CWORD82_G,GP,0")   /* P_CWORD82_G,GP,0    */
  95 #define  GPS_CMD_NMEA_P_CWORD82_J_GP_7        ("$P_CWORD82_J,GP,7")   /* P_CWORD82_J,GP,7    */
  96 #define  GPS_CMD_NMEA_P_CWORD82_J_GP_8        ("$P_CWORD82_J,GP,8")   /* P_CWORD82_J,GP,8    */
  97 #define  GPS_CMD_NMEA_GST               ("$GPGST")        /* GST        */
  98 #define  GPS_CMD_NMEA_GSV_4             ("$GPGSV,*,4")    /* GSV(4)      */
  99 #define  GPS_CMD_NMEA_GSV_5             ("$GPGSV,*,5")    /* GSV(5)      */
 100
 101 /*-------------------------------------------------------------------------------
 102  * GPS-command (_CWORD82_ Binary) related definitions  #GPF_60_024
 103  -------------------------------------------------------------------------------*/
 104 #define  GPS_CMD_BINARY                 (0xC6)        /* Standard binary    */
 105 #define  GPS_CMD_FULLBIN                (0xB0)        /* FULL binaries    */
 106
 107 #define ENDMARK                         "ENDENDEND"   /* Table termination        */
 108 #define GPSCMDANATBL_MAX                25            /* Maximum number of elements in table    */
 109 #define RCV_CYCLE                       0x01          /* Reception type cycle reception command*/
 110 #define RCV_RESP                        0x02          /* Reception type response command  */
 111
 112 // Length of FULLBINARY commands
 113 #define GPS_CMD_FULLBIN1_SZ             30
 114 #define GPS_CMD_FULLBIN2_SZ             160
 115 #define GPS_CMD_FULLBIN3_SZ             25
 116 #define GPS_CMD_FULLBIN4_SZ             26
 117 #define GPS_CMD_FULLBIN5_SZ             14
 118 #define GPS_CMD_FULLBIN6_SZ             61
 119
 120 /* Start offset of FULLBINARY command */
 121 #define GPS_CMD_FULLBIN1_OFFSET         0
 122 #define GPS_CMD_FULLBIN2_OFFSET         (GPS_CMD_FULLBIN1_OFFSET + GPS_CMD_FULLBIN1_SZ)
 123 #define GPS_CMD_FULLBIN3_OFFSET         (GPS_CMD_FULLBIN2_OFFSET + GPS_CMD_FULLBIN2_SZ)
 124 #define GPS_CMD_FULLBIN4_OFFSET         (GPS_CMD_FULLBIN3_OFFSET + GPS_CMD_FULLBIN3_SZ)
 125 #define GPS_CMD_FULLBIN5_OFFSET         (GPS_CMD_FULLBIN4_OFFSET + GPS_CMD_FULLBIN4_SZ)
 126 #define GPS_CMD_FULLBIN6_OFFSET         (GPS_CMD_FULLBIN5_OFFSET + GPS_CMD_FULLBIN6_SZ)
 127
 128
 129 /* SUM value offset of FULLBINARY commands */
 130 #define GPS_CMD_FULLBIN1_SUMOFFSET      (GPS_CMD_FULLBIN1_OFFSET + GPS_CMD_FULLBIN1_SZ - 2)
 131 #define GPS_CMD_FULLBIN2_SUMOFFSET      (GPS_CMD_FULLBIN2_OFFSET + GPS_CMD_FULLBIN2_SZ - 2)
 132 #define GPS_CMD_FULLBIN3_SUMOFFSET      (GPS_CMD_FULLBIN3_OFFSET + GPS_CMD_FULLBIN3_SZ - 2)
 133 #define GPS_CMD_FULLBIN4_SUMOFFSET      (GPS_CMD_FULLBIN4_OFFSET + GPS_CMD_FULLBIN4_SZ - 2)
 134 #define GPS_CMD_FULLBIN5_SUMOFFSET      (GPS_CMD_FULLBIN5_OFFSET + GPS_CMD_FULLBIN5_SZ - 2)
 135 #define GPS_CMD_FULLBIN6_SUMOFFSET      (GPS_CMD_FULLBIN6_OFFSET + GPS_CMD_FULLBIN6_SZ - 2)
 136 #define GPS_CMD_FULLBIN_MASK            0x8F
 137
 138 #define GPS_CMD_RESET                   1             /* Reset request command */
 139 #define GPS_CMD_TIMESET                 2             /* Time setting request command                  */
 140 #define GPS_CMD_VERSION                 3             /* GPS version request command             */
 141 #define GPS_CMD_SENTENCEADD_NMEAGST     4             /* Add sentence command NMEA GST       */
 142 #define GPS_CMD_SENTENCEADD_NAVTIMEUTC  5             /* Add sentence command NAV-TIMEUTC    */
 143 #define GPS_CMD_SENTENCEADD_NAVCLOCK    6             /* Add sentence command NAV-CLOCK      */
 144 #define GPS_CMD_SENTENCEADD_RXMRTC5     7             /* Add sentence command RXM-RTC5       */
 145 #define GPS_CMD_SENTENCEADD_NAVSVINFO   8             /* Add sentence command NAV-SVINFO     */
 146 #define GPS_CMD_AUTOMOTIVEMODE          9             /* Automatic mode request command    */
 147 #define GPS_CMD_WKNROLLOVER             10            /* GPS rollover standard week number request command */
 148 #define GPS_CMD_NOTRST                  0             /* Other request command */
 149
 150 /*---------------------------------------------------------------------------*/
 151 // Struct
 152
 153 /*!
 154     @brief UBX command headers
 155 */
 156 typedef struct GpsUbxPacketHeader {
 157   u_int8                  uc_sync_char1;        /* u-blox starts with 2 Bytes 0xB5 0x62 */
 158   u_int8                  uc_sync_char2;        /* u-blox starts with 2 Bytes 0xB5 0x62 */
 159   u_int8                  uc_class;             /* Class                                */
 160   u_int8                  uc_id;                /* ID                                   */
 161   u_int16                 us_length;            /* Length                               */
 162 } TG_GPS_UBX_PACKET_HEADER;
 163
 164 /*!
 165     @brief Command-structure without UBX data
 166 */
 167 typedef struct GpsUbxCmdNoData {
 168   TG_GPS_UBX_PACKET_HEADER header;
 169   u_int8                  uc_cka;               /* Checksum_A                           */
 170   u_int8                  uc_ckb;               /* Checksum_B                           */
 171 } TG_GPS_UBX_COMMAND_NO_DATA;
 172
 173 /*!
 174     @brief
 175 */
 176 typedef struct GpsUbxAidIniPolled {
 177   u_int8                  uc_sync_char1;        /* u-blox starts with 2 Bytes 0xB5 0x62 */
 178   u_int8                  uc_sync_char2;        /* u-blox starts with 2 Bytes 0xB5 0x62 */
 179   u_int8                  uc_class;             /* Class                                */
 180   u_int8                  uc_id;                /* ID                                   */
 181   u_int8                  uc_length[2];         /* Length                               */
 182   u_int8                  uc_ecefx_or_lat[4];   /* WGS84 ECEF X coordinate or latitude  */
 183   u_int8                  uc_ecefy_or_lon[4];   /* WGS84 ECEF Y coordinate or longitude */
 184   u_int8                  uc_ecefz_or_alt[4];   /* WGS84 ECEF Z coordinate or altitude  */
 185   u_int8                  uc_pos_acc[4];        /* Position accuracy (stddev)           */
 186   u_int8                  uc_tm_cfg[2];         /* Time mark configuration              */
 187   u_int8                  wn[2];                /* Actual week number                   */
 188   u_int8                  tow[4];               /* Actual time of week                  */
 189   u_int8                  uc_tow_ns[4];         /* Sub-millisecond part of time of week */
 190   u_int8                  uc_tacc_ms[4];        /* Milliseconds part of time accuracy   */
 191   u_int8                  uc_tacc_ns[4];        /* Nanoseconds part of time accuracy    */
 192   u_int8                  uc_clk_d_or_freq[4];  /* Clock drift or frequency             */
 193   u_int8                  uc_clk_dacc_or_freqacc[4];  /* Accuracy of clock drift or frequency */
 194   u_int8                  uc_flags[4];          /* Bitmask with the following flags     */
 195   u_int8                  uc_cka;               /* Checksum_A                           */
 196   u_int8                  uc_ckb;               /* Checksum_B                           */
 197 } TG_GPS_UBX_AID_INI_POLLED;
 198
 199 /*!
 200     @brief UBX ACK command data structures
 201 */
 202 typedef struct GpsUbxAckData {
 203   uint8_t                 uc_msg_class;         /* Message Class             */
 204   uint8_t                 uc_msg_id;            /* Message Identifier        */
 205 } TG_GPS_UBX_ACK_DATA;
 206
 207 /*!
 208     @brief UBX NAV-TIMEUTC command data structures
 209 */
 210 typedef struct GpsUbxNavUTC {
 211   uint32_t    ul_itow;    /* GPS time of week                     */
 212   uint32_t    ul_tacc;    /* Time accuracy estimate (UTC)         */
 213   int32_t     nano;       /* Fraction of second                   */
 214   uint16_t    year;       /* Year, range 1999..2099 (UTC)         */
 215   uint8_t     month;      /* Month, range 1..12 (UTC)             */
 216   uint8_t     day;        /* Day of month, range 1..31 (UTC)      */
 217   uint8_t     hour;       /* Hour of day, range 0..23 (UTC)       */
 218   uint8_t     min;        /* Minute of hour, range 0..59 (UTC)    */
 219   uint8_t     sec;        /* Seconds of minute, range 0..60 (UTC) */
 220   uint8_t     valid;      /* Validity Flags                       */
 221 } TG_GPS_UBX_NAV_TIMEUTC_DATA;
 222
 223 /*!
 224     @brief   USB NAV-CLOCK command data structures
 225 */
 226 typedef struct GpsUbxNavClock {
 227   uint32_t    ul_itow;    /**< GPS Time of week               */
 228   int32_t     l_clkb;     /**< Clock bias                     */
 229   int32_t     l_clkd;     /**< Clock drift                    */
 230   uint32_t    ul_tacc;    /**< Time accuaracy estimate        */
 231   uint32_t    ul_facc;    /**< Frequency accuracy estimate    */
 232 } TG_GPS_UBX_NAV_CLOCK;
 233
 234 /*!
 235     @brief   GPS RXM-RTC5 command data structures
 236 */
 237 typedef struct GpsUbxRxmRtc5 {
 238   uint32_t    ul_rtag_hw;     /**< RTAG high word                  */
 239   uint32_t    ul_rtag_lw;     /**< RTAG low word                   */
 240   uint32_t    freq;           /**< Clock frequency                 */
 241   uint32_t    ul_freq_frac;   /**< Clock frequency fractional part */
 242   uint32_t    ul_tow_frac;    /**< Time of week fractional part    */
 243   uint32_t    tow;            /**< Time of week                    */
 244   uint16_t    wno;            /**< GPS week number                 */
 245   uint8_t     uc_tow_valid;   /**< TOW is valid flag               */
 246   uint8_t     uc_freq_valid;  /**< Frequency is valid flag         */
 247 } TG_GPS_UBX_RXM_RTC5;
 248
 249 /********************************************************************************
 250  * TAG      :TG_GPS_RCVDATA_NMEA
 251  * ABSTRACT :Cyclic data (NMEA) area
 252  * NOTE     :I/F information between communication management thread and vehicle sensor
 253  ********************************************************************************/
 254 typedef struct GpsRcvDataNMEA {
 255   u_int8            uc_rcv_flag[GPS_NMEA_INDEX_MAX];  /* Receive flag        */
 256   u_int8            u_reserve[3];                     /* Reserved          */
 257   TG_GPS_NMEA_DAT   st_nmea[GPS_NMEA_INDEX_MAX];      /* NMEA data area      */
 258 } TG_GPS_RCVDATA_NMEA;
 259
 260 /********************************************************************************
 261  * TAG      :TG_GPS_RCVDATA_BINARY
 262  * ABSTRACT :Cyclic data (standard binary) area
 263  * NOTE     :I/F information between communication management thread and vehicle sensor
 264  ********************************************************************************/
 265 typedef struct GpsRcvDataBinary {
 266   u_int8      uc_rcv_flag;                    /* Receive flag        */
 267   u_int8      u_reserve[3];                   /* Reserved          */
 268   u_int8      uc_data[GPS_CMD_BINARY_SZ];     /* Standard binary data area  */
 269   u_int8      u_reserve2[3];                  /* Reserved          */
 270 } TG_GPS_RCVDATA_BINARY;
 271
 272 /********************************************************************************
 273  * TAG      :TG_GPS_RCVDATA_FULLBIN
 274  * ABSTRACT :Cyclic data (full binary) area
 275  * NOTE     :I/F information between communication management thread and vehicle sensor
 276  ********************************************************************************/
 277 typedef struct GpsRcvDataFullbin {
 278   u_int8      uc_rcv_flag;                    /* Receive flag        */
 279   u_int8      u_reserve[3];                   /* Reserved          */
 280   u_int8      uc_data[GPS_CMD_FULLBIN_SZ];    /* Full binary data area  */
 281   u_int8      u_reserve2;                     /* Reserved          */
 282 } TG_GPS_RCVDATA_FULLBIN;
 283
 284 /********************************************************************************
 285  * TAG      :TG_GPS_RCVDATA
 286  * ABSTRACT :Cyclic data storage area
 287  * NOTE     :I/F information between communication management thread and vehicle sensor
 288  ********************************************************************************/
 289 typedef struct GpsRcvData {
 290   u_int8                    uc_sns_cnt;       /* Sensor counter value      */
 291   u_int8                    u_reserve[3];     /* Reserved          */
 292   TG_GPS_RCVDATA_NMEA       st_nmea_data;     /* NMEA data area      */
 293   TG_GPS_RCVDATA_BINARY     st_binary_data;   /* Standard binary region      */
 294   TG_GPS_RCVDATA_FULLBIN    st_fullbin_data;  /* Full binary data area  */
 295 } TG_GPS_RCVDATA;
 296
 297 /*---------------------------------------------------------------------------*/
 298 // Prototype
 299
 300 void    DevGpsSndCycleDataNmea(void);
 301 void    DevGpsRcvCyclCmd(void);
 302 u_int8  DevGpsGetGpsRcvSts(u_int8 sv);
 303 void    DevGpsAnalyzeNmea(NAVIINFO_ALL* navilocinfo);
 304 void    DevGpsCycleDataClear(void);
 305 void    DevGpsCycleDataSetNmea(const u_int8*, u_int32, ENUM_GPS_NMEA_INDEX);
 306 BOOL    DevGpsCycleDataGetNmea(u_int8*, u_int32, ENUM_GPS_NMEA_INDEX);
 307 void    DevGpsCmdEventCheckNmea(void);
 308 void    DevGpsSetChkSum(u_int8* buffer, u_int32 length);
 309 /*---------------------------------------------------------------------------*/
 310 #endif  // INC_GPSCOMMON_MDEV_GPS_NMEA_H_
 311
 312 /*---------------------------------------------------------------------------*/
 313 /*EOF*/