video_in_hal/vehicleservice/positioning/client/include/Sensor_Common_API.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 #ifndef POSITIONING_CLIENT_INCLUDE_SENSOR_COMMON_API_H_
  18 #define POSITIONING_CLIENT_INCLUDE_SENSOR_COMMON_API_H_
  19 /******************************************************************************
  20  * File name        :Sensor_Common_API.h
  21  * System name        :PastModel002
  22  * Sub System name    :Vehicle I/F Liblary,Sensor I/F Liblary
  23  ******************************************************************************/
  24
  25 #include <vehicle_service/positioning_base_library.h>
  26 #include <vehicle_service/POS_sensor_API.h>
  27 #include "CommonDefine.h"
  28
  29 /************************************************************************
  30  *            Definition                                                *
  31  ************************************************************************/
  32 /*----------------------------------------------------------------------*
  33  *    ID data corresponding to the vehicle sensor information           *
  34  *----------------------------------------------------------------------*/
  35
  36 /*
  37  *  Note.
  38  *  This feature needs to be defined by the vendor.
  39  */
  40
  41 /* VEHICLE__DID */
  42
  43 /* ++ PastModel002 Support_UBX_Protocol_DID */
  44 #define VEHICLE_DID_GPS_UBLOX_NAV_POSLLH                 0x80000060
  45 #define VEHICLE_DID_GPS_UBLOX_NAV_STATUS                 0x80000061
  46 #define VEHICLE_DID_GPS_UBLOX_NAV_TIMEUTC                0x80000062
  47 #define VEHICLE_DID_GPS_UBLOX_NAV_VELNED                 0x80000063
  48 #define VEHICLE_DID_GPS_UBLOX_NAV_DOP                    0x80000064
  49 #define VEHICLE_DID_GPS_UBLOX_NAV_TIMEGPS                0x80000065
  50 #define VEHICLE_DID_GPS_UBLOX_NAV_SVINFO                 0x80000066
  51 #define VEHICLE_DID_GPS_UBLOX_NAV_CLOCK                  0x80000067
  52 #define VEHICLE_DID_GPS_UBLOX_MON_HW                     0x80000068
  53 #define VEHICLE_DID_GPS_UBLOX_ACK_ACK                    0x80000069
  54 #define VEHICLE_DID_GPS_UBLOX_ACK_NAK                    0x8000006A
  55 #define VEHICLE_DID_GPS_UBLOX_CFG_RST                    0x8000006B
  56 #define VEHICLE_DID_GPS_UBLOX_AID_INI                    0x8000006C
  57 #define VEHICLE_DID_GPS_UBLOX_AID_EPH                    0x8000006D
  58 #define VEHICLE_DID_GPS_UBLOX_CFG_MSG                    0x8000006E
  59 #define VEHICLE_DID_GPS_UBLOX_CFG_NAVX5                  0x8000006F
  60 /* -- PastModel002 Support_UBX_Protocol_DID */
  61
  62 /* ++ used internally by the DR */
  63 #define VEHICLE_DID_GPS_COUNTER                          0x8000001B
  64 #define VEHICLE_DID_GYRO_EXT                             0x80000027
  65
  66 #define VEHICLE_DID_DR_LONGITUDE                         0x80000070
  67 #define VEHICLE_DID_DR_LATITUDE                          0x80000071
  68 #define VEHICLE_DID_DR_ALTITUDE                          0x80000072
  69 #define VEHICLE_DID_DR_SPEED                             0x80000073
  70 #define VEHICLE_DID_DR_HEADING                           0x80000074
  71 #define VEHICLE_DID_DR_SNS_COUNTER                       0x80000075
  72 #define VEHICLE_DID_DR_GYRO_OFFSET                       0x80000078
  73 #define VEHICLE_DID_DR_GYRO_SCALE_FACTOR                 0x80000079
  74 #define VEHICLE_DID_DR_GYRO_SCALE_FACTOR_LEVEL           0x8000007A
  75 #define VEHICLE_DID_DR_SPEED_PULSE_SCALE_FACTOR          0x8000007B
  76 #define VEHICLE_DID_DR_SPEED_PULSE_SCALE_FACTOR_LEVEL    0x8000007C
  77
  78 /* -- used internally by the DR */
  79
  80 /* ++ PastModel002 Support_DID */
  81 #define VEHICLE_DID_GYRO_TROUBLE                         0x80000080
  82 #define VEHICLE_DID_MAIN_GPS_INTERRUPT_SIGNAL            0x80000081
  83 #define VEHICLE_DID_SYS_GPS_INTERRUPT_SIGNAL             0x80000082
  84 #define VEHICLE_DID_GYRO_CONNECT_STATUS                  0x80000083
  85 #define VEHICLE_DID_VALID_EPH_NUM                        0x80000084
  86 /* -- PastModel002 Support_DID */
  87
  88 /* ++ Not supported by UBX_Protocol */
  89 #define VEHICLE_DID_LOCATION                             0x80000020
  90 #define VEHICLE_DID_GPS__CWORD82__NMEA                   POS_DID_GPS__CWORD82__NMEA
  91 #define VEHICLE_DID_GPS__CWORD82__SETINITIAL             POS_DID_GPS__CWORD82__SETINITIAL
  92 #define VEHICLE_DID_GPS__CWORD82__SETRMODE               0x80000034
  93 #define VEHICLE_DID_GPS__CWORD82__SETRMODEEX             POS_DID_GPS__CWORD82__SETRMODEEX
  94 #define VEHICLE_DID_GPS__CWORD82__SELSENT                POS_DID_GPS__CWORD82__SELSENT
  95 #define VEHICLE_DID_GPS__CWORD82__SETSBAS                0x80000037
  96 #define VEHICLE_DID_GPS__CWORD82__SETCONF1               0x80000038
  97 #define VEHICLE_DID_GPS__CWORD82__SETCONF2               0x80000039
  98 #define VEHICLE_DID_GPS__CWORD82__NMEA_GGA_INTERNAL      0xA050
  99 #define VEHICLE_DID_GPS__CWORD82__NMEA_DGGA_INTERNAL     0xA051
 100 #define VEHICLE_DID_GPS__CWORD82__NMEA_VTG_INTERNAL      0xA052
 101 #define VEHICLE_DID_GPS__CWORD82__NMEA_RMC_INTERNAL      0xA053
 102 #define VEHICLE_DID_GPS__CWORD82__NMEA_DRMC_INTERNAL     0xA054
 103 #define VEHICLE_DID_GPS__CWORD82__NMEA_GLL_INTERNAL      0xA055
 104 #define VEHICLE_DID_GPS__CWORD82__NMEA_DGLL_INTERNAL     0xA056
 105 #define VEHICLE_DID_GPS__CWORD82__NMEA_GSA_INTERNAL      0xA057
 106 #define VEHICLE_DID_GPS__CWORD82__NMEA_GSV1_INTERNAL     0xA058
 107 #define VEHICLE_DID_GPS__CWORD82__NMEA_GSV2_INTERNAL     0xA059
 108 #define VEHICLE_DID_GPS__CWORD82__NMEA_GSV3_INTERNAL     0xA060
 109 #define VEHICLE_DID_GPS__CWORD82__NMEA_PJRDC_GP_3_INTERNAL     0xA061
 110 #define VEHICLE_DID_LOCATION_LONLAT                      0x80000095
 111 #define VEHICLE_DID_LOCATION_ALTITUDE                    0x80000096
 112 #define VEHICLE_DID_MOTION_SPEED                         0x80000062
 113 #define VEHICLE_DID_MOTION_HEADING                       0x80000097
 114 #define VEHICLE_DID_GPS_TIME                             0x80000098
 115 #define VEHICLE_DID_NAVIINFO_DIAG_GPS                    0x80000099
 116 #define VEHICLE_DID_GPSWEEKCOR_CNT                       0x8000009A
 117
 118 #define VEHICLE_DID_GPS_CUSTOMDATA_NAVI                  0x800000A0
 119 #define VEHICLE_DID_LOCATION_LONLAT_NAVI                 0x800000A1
 120 #define VEHICLE_DID_LOCATION_ALTITUDE_NAVI               0x800000A2
 121 #define VEHICLE_DID_MOTION_SPEED_NAVI                    0x800000A3
 122 #define VEHICLE_DID_MOTION_HEADING_NAVI                  0x800000A4
 123 #define VEHICLE_DID_SETTINGTIME                          0x800000A5
 124
 125 #define VEHICLE_DID_LOCATIONINFO_NMEA_NAVI               0x800000A6
 126
 127 #define VEHICLE_DID_MOTION_SPEED_INTERNAL                0x800000B0
 128
 129 #define VEHICLE_DID_GPS_TIME_RAW                         0x800000B1U   /* QAC 1281 */
 130 #define VEHICLE_DID_GPS_WKNROLLOVER                      0x800000B2U   /* QAC 1281 */
 131
 132 #define VEHICLE_DID_SPEED_PULSE_VEHICLE                  (0x80000044UL)
 133
 134 /* -- Not supported by UBX_Protocol */
 135
 136 /*----------------------------------------------------------------------*
 137  *    Vehicle sensor data information                                   *
 138  *----------------------------------------------------------------------*/
 139 #define VEHICLE_SNS_BATTERY_SHORT                        0x02          /* BATTERY SHORT        */
 140 #define VEHICLE_SNS_THERMAL_SHUT_DOWN                    0x04          /* THERMAL SHUT DOWN    */
 141 #define VEHICLE_SNS_UNKNOWN                              0x05          /* UNKNOWN                */
 142
 143 /* Missing information data */
 144 #define VEHICLE_SNS_BREAK                                0x01          /* Data without continuity    */
 145 #define VEHICLE_SNS_NORMAL                               0x00          /* Continuity of data    */
 146
 147 /*-------------------------------------------------------------------------------
 148  * Time Status Return Values
 149  -------------------------------------------------------------------------------*/
 150 #define GPS_TIMESTS_OK                                   (0x00U)       /* Exact values from the satellites     */
 151 /* Ignore->MISRA-C++ Rule 16-2-2 */
 152 #define GPS_TIMESTS_NOTUTC                               (0x01U)       /* Time from satellite but UTC uncorrected  */
 153 /* Ignore->MISRA-C++ Rule 16-2-2 */
 154 #define GPS_TIMESTS_RTC                                  (0x02U)       /* RTC time   */
 155 /* Ignore->MISRA-C++ Rule 16-2-2 */
 156 #define GPS_TIMESTS_NG                                   (0x03U)       /* Anomaly Time  */
 157 /* Ignore->MISRA-C++ Rule 16-2-2 */
 158
 159 /*-------------------------------------------------------------------------------
 160  * NMEA Receive Flag
 161  -------------------------------------------------------------------------------*/
 162 #define VEHICLE_SNS__CWORD82__DRMC                             POS_SNS__CWORD82__DRMC
 163 #define VEHICLE_SNS__CWORD82__GSA                              POS_SNS__CWORD82__GSA
 164 #define VEHICLE_SNS__CWORD82__GSV_1                            POS_SNS__CWORD82__GSV_1
 165 #define VEHICLE_SNS__CWORD82__GSV_2                            POS_SNS__CWORD82__GSV_2
 166 #define VEHICLE_SNS__CWORD82__GSV_3                            POS_SNS__CWORD82__GSV_3
 167 #define VEHICLE_SNS__CWORD82__PJRDC_GP_3                       POS_SNS__CWORD82__PJRDC_GP_3
 168 #define VEHICLE_SNS__CWORD82__PJRDC_GP_4                       (0x40U)       /* Ignore->MISRA-C++ Rule 16-2-2 */
 169
 170 /************************************************************************
 171 *            enum Definition                                                 *
 172 *************************************************************************/
 173
 174 /*-------------------------------------------------------------------------------
 175  * _CWORD71_ UNIT type
 176  -------------------------------------------------------------------------------*/
 177 typedef enum {
 178     POS_TYPE_NONE = (0U),       /* Undefined               */
 179     POS_TYPE_GRADE1,            /* GRADE1 (Integrated)      */
 180     POS_TYPE_GRADE2             /* GRADE2 (Binary type)   */
 181 } POS_TYPE;
 182
 183 /************************************************************************
 184 *            typedef Definition                                            *
 185 *************************************************************************/
 186
 187 typedef u_int32 DID;            /* DataID            */
 188
 189 /************************************************************************
 190 *            struct Definition                                            *
 191 *************************************************************************/
 192
 193 #endif  // POSITIONING_CLIENT_INCLUDE_SENSOR_COMMON_API_H_