--- /dev/null
+/*
+ * @copyright Copyright (c) 2016-2020 TOYOTA MOTOR CORPORATION.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+/**
+* @file MDev_Gps_Main.cpp
+*/
+
+/*---------------------------------------------------------------------------*/
+// Include files
+
+#include "MDev_Gps_Main.h"
+#include "positioning_common.h"
+#include "MDev_Gps_Mtrx.h"
+#include "MDev_Gps_TimerCtrl.h"
+#include "MDev_Gps_Common.h"
+#include "MDev_Gps_Nmea.h"
+#include "MDev_GpsRecv.h"
+#include "LineSensDrv_Thread.h"
+
+/*---------------------------------------------------------------------------*/
+// Global values
+
+BOOL g_gps_rcv_thread_stop = FALSE;
+
+/********************************************************************************
+ * Matrix event translation table(Message input)
+ ********************************************************************************/
+const TG_GPS_MSGEVTCHNG kGpsMsgchkC[MDEV_GPSMSGCHKC_MAX] = {
+ /* ++ #GPF_60_024 */
+ /* Matrix Event Translation Table for _CWORD82_ NMEA */
+ {CID_GPS__CWORD82__REQUEST, GPS_EVT_SENDREQ}, /* NMEA transmission request */
+ {CID_INI_INTERNAL_ACCOFF_START, GPS_EVT_ACC_OFF}, /* In-function ACC-OFF instructions */
+ {CID_GPS_REQRESET, GPS_EVT_RESETREQ}, /* GPS reset request */
+ {CID_NAVIINFO_DELIVER, GPS_EVT_NAVI_LOCATIONINFO}, /* Providing navigation information */
+ {CID_NAVIINFO_SPEED_DELIVER, GPS_EVT_NAVI_SPEEDINFO}, /* Navigation speed information service */
+ {CID_GPS_TIMESETTING, GPS_EVT_TIMESETTING}, /* GPS time setting instruction */
+ {CID_GPS_BACKUPDATA_LOAD, GPS_EVT_BACKUPDATA_LOAD}, /* Backup memory read request */
+ {CID_THREAD_STOP_REQ, GPS_EVT_STOPREQ}, /* Thread stop request */
+ {CID_GPSWEEKCOR_CNT_NOTIFICATION, GPS_EVT_WEEKCOR_CNT_NOTIFICATIO}, /* GPS Week Adjustment Counter Notification */
+ {DAT_END, DAT_END} /* Table end */
+ /* -- #GPF_60_024 */
+};
+
+/********************************************************************************
+ * Matrix event translation table(Input Timeout [ Timer ID])
+ ********************************************************************************/
+const TG_GPS_TIMEVTCHNG kGpsTimchkC[MDEV_PSTIMCHKC_MAX] = {
+ {GPS_STARTUP_TIMER, 0, GPS_EVT_TIMEOUT_CYCLDAT}, /* Start confirmation monitoring timer */
+ {GPS_CYCL_TIMER, 0, GPS_EVT_TIMEOUT_CYCLDAT}, /* Periodic reception data monitoring timer */
+ {GPS_RECV_ACK_TIMER, 0, GPS_EVT_TIMEOUT_RSPDAT}, /* ACK reception monitoring timer */
+ {GPS_NAVIFST_TIMER, 0, GPS_EVT_TIMEOUT_NAVI}, /* Initial NAVI monitoring timer */
+ {GPS_NAVICYCLE_TIMER, 0, GPS_EVT_TIMEOUT_NAVI}, /* NAVIGATION monitoring timer */
+ {GPS_NAVIDISRPT_TIMER, 0, GPS_EVT_TIMEOUT_NAVI}, /* NAVIGATION Disruption Log Output Timer */
+ {GPS_DIAGCLK_GUARDTIMER, 0, GPS_EVT_TIMEOUT_DIAGCLKGUARD}, /* Diagnosis provision time guard monitoring timer */
+ {GPS_NMEADATA_GUARDTIMER, 0, GPS_EVT_TIMEOUT_NMEADATAGUARD}, /* NMEA data-providing guard monitoring timer */
+ {GPS_RECOVERY_TIMER, 0, GPS_EVT_TIMEOUT_RECOVERY}, /* GPS recovery timer */
+ {GPS_RECEIVERERR_TIMER, 0, GPS_EVT_TIMEOUT_RECEIVERERR}, /* GPS receiver anomaly detection timer */
+ {DAT_END, 0, DAT_END} /* Table end */
+};
+
+/********************************************************************************
+ * Processing Branch Table
+ ********************************************************************************/
+/********************************************************************************
+ * TAG : TG_GPS_JMP_TBL
+ * ABSTRACT : GPS jump table
+ * NOTE : GPS Communication Management Matrix Table
+ ********************************************************************************/
+const TG_GPS_JMP_TBL kGpsMatxC[GPS_STS_NUM][GPS_EVT_NUM] = {
+ /* - - - - - Confirming Start - - - - - */
+ {
+ {&DevGpsInitStartSendReq}, /* Transmission request */
+ {&DevGpsInitStartGPSResetReq}, /* GPS reset request */
+ {&DevGpsInitStartRcvCyclCmd}, /* Cyclic reception command reception */
+ {&DevGpsNop}, /* Receive Response Command */
+ {&DevGpsNop}, /* Response monitoring timeout */
+ {&DevGpsInitStartCyclDataTimeOut}, /* Periodic reception data monitoring timeout */
+ {&DevGpsInitStartNaviDataTimeOut}, /* Navigation providing data monitoring timeout */
+ {&DevGpsInitStartDiagClkGuardTimeOut}, /* Diagnosis provision time guard monitoring timeout */
+ {&DevGpsInitStartAccOffStart}, /* In-function ACC-OFF instructions */
+ {&DevGpsInitStartNaviInfoDeliver}, /* Providing navigation information */
+ {&DevGpsInitStartNaviSpeedDeliver}, /* Navigation speed information service */
+ {&DevGpsInitStartSettingTime}, /* GPS time setting instruction */
+ {&DevGpsInitStartNmeaDataGuardTimeOut}, /* NMEA data-providing guard monitoring timeout */
+ {&DevGpsInitStartBackupDataLoadReq}, /* Backup data read request */
+ {&DevGpsInitStartStopReq}, /* Thread stop request */
+ {&DevGpsInitStartGpsweekcorcntNtf}, /* GPS Week Adjustment Counter Notification */
+ {&DevGpsInitStartRecoveryTimeOut}, /* GPS error monitoring timer out */
+ {&DevGpsInitStartGpsReceiverErrTimeOut} /* GPS receiver anomaly detection timeout */
+ },
+ /* - - - - - - In operation - - - - - - */
+ {
+ {&DevGpsNormalSendReq}, /* Transmission request */
+ {&DevGpsNormalGPSResetReq}, /* GPS reset request */
+ {&DevGpsNormalRcvCyclCmd}, /* Cyclic reception command reception */
+ {&DevGpsNop}, /* Receive Response Command */
+ {&DevGpsNop}, /* Response monitoring timeout */
+ {&DevGpsNormalCyclDataTimeOut}, /* Periodic reception data monitoring timeout */
+ {&DevGpsNormalNaviDataTimeOut}, /* Navigation providing data monitoring timeout */
+ {&DevGpsNormalDiagClkGuardTimeOut}, /* Diagnosis provision time guard monitoring timeout */
+ {&DevGpsNormalAccOffStart}, /* In-function ACC-OFF instructions */
+ {&DevGpsNormalNaviInfoDeliver}, /* Providing navigation information */
+ {&DevGpsNormalNaviSpeedDeliver}, /* Navigation speed information service */
+ {&DevGpsNormalSettingTime}, /* GPS time setting instruction */
+ {&DevGpsNormalNmeaDataGuardTimeOut}, /* NMEA data-providing guard monitoring timeout */
+ {&DevGpsNormalBackupDataLoadReq}, /* Backup data read request */
+ {&DevGpsNormalStopReq}, /* Thread stop request */
+ {&DevGpsNormalGpsweekcorcntNtf}, /* GPS Week Adjustment Counter Notification */
+ {&DevGpsNormalRecoveryTimeOut}, /* GPS error monitoring timer out */
+ {&DevGpsNormalGpsReceiverErrTimeOut} /* GPS receiver anomaly detection timeout */
+ },
+ /* - - - - -- Sending - - - - - - */
+ {
+ {&DevGpsSendSendReq}, /* Transmission request */
+ {&DevGpsSendGPSResetReq}, /* GPS reset request */
+ {&DevGpsSendRcvCyclCmd}, /* Cyclic reception command reception */
+ {&DevGpsSendRcvRspCmd}, /* Receive Response Command */
+ {&DevGpsSendRspDataTimeOut}, /* Response monitoring timeout */
+ {&DevGpsSendCyclDataTimeOut}, /* Periodic reception data monitoring timeout */
+ {&DevGpsSendNaviDataTimeOut}, /* Navigation providing data monitoring timeout */
+ {&DevGpsSendDiagClkGuardTimeOut}, /* Diagnosis provision time guard monitoring timeout */
+ {&DevGpsSendAccOffStart}, /* In-function ACC-OFF instructions */
+ {&DevGpsSendNaviInfoDeliver}, /* Providing navigation information */
+ {&DevGpsSendNaviSpeedDeliver}, /* Navigation speed information service */
+ {&DevGpsSendSettingTime}, /* GPS time setting instruction */
+ {&DevGpsSendNmeaDataGuardTimeOut}, /* NMEA data-providing guard monitoring timeout */
+ {&DevGpsSendBackupDataLoadReq}, /* Backup data read request */
+ {&DevGpsSendStopReq}, /* Thread stop request */
+ {&DevGpsSendGpsweekcorcntNtf}, /* GPS Week Adjustment Counter Notification */
+ {&DevGpsSendRecoveryTimeOut}, /* GPS error monitoring timer out */
+ {&DevGpsSendGpsReceiverErrTimeOut} /* GPS receiver anomaly detection timeout */
+ }
+};
+
+// Receive command analysis table(NMEA format)
+const TG_GPS_CMD_ANA_TBL* kGpsCmdAnaTbl = kGpsCmdAnaTblUblox;
+
+//GPS process pending buffer management table
+TG_GPS_MSGRCV g_gps_msg_rcvr; /* Incoming message */
+TG_GPS_MNG g_gps_mngr; /* GPS process management information */
+
+// Global variable for GPS communication management
+u_int16 g_wsend_err; /* Number of transmission errors */
+u_int16 g_wcnct_err; /* Number of connection errors */
+TG_GPS_OUTPUT_FORMAT g_rcv_format; /* Receive Format */
+
+// Global variable for the receive thread
+TG_GPS_RECV_RcvData g_gps_rcvdata; /* Serial receive buffer */
+TG_GPS_RECV_RcvBuf g_gps_rcvbuf; /* Receive data storage buffer */
+TG_GPS_RECV_AnaDataBuf g_gps_ana_databuf; /* Analysis data buffer */
+TG_GPS_RECV_RcvFrameBuf g_gps_rcv_framebuf; /* Receive frame buffer */
+TG_GPS_SAVEBUF g_gps_save_cmdr; /* Command pending buffer */
+u_int16 g_wrecv_err; /* Number of reception errors */
+
+/*---------------------------------------------------------------------------*/
+// Functions
+
+/********************************************************************************
+ * MODULE : DEV_Gps_MainThread
+ * ABSTRACT : Communication Management Thread Domain Processing
+ * FUNCTION : Receive a request from the host application and send a command to the serial port.
+ * ARGUMENT : PVOID pv....Thread Creation Arguments
+ * NOTE :
+ * RETURN : TRUE :Normal completion
+ * FALSE:ABENDs
+ ********************************************************************************/
+EFrameworkunifiedStatus DevGpsMainThread(HANDLE h_app) {
+ BOOL ret = FALSE;
+
+ PosSetupThread(h_app, ETID_POS_GPS);
+
+ ret = DevGpsInit();
+
+ if (TRUE == ret) {
+ g_gps_rcv_thread_stop = FALSE;
+
+ /* Start receiving message */
+ DevGpsRcvMsg();
+ } else {
+ /* Initialization failed */
+ POSITIONING_LOG("DevGpsMainThread Init Fail \n");
+ }
+
+ return eFrameworkunifiedStatusFail;
+}
+
+
+/********************************************************************************
+ * MODULE : DEV_Gps_Init
+ * ABSTRACT : Communication management thread initialization processing
+ * FUNCTION : Initialize internal tables and serial ports
+ * ARGUMENT : None
+ * NOTE :
+ * RETURN : TRUE :Normal completion
+ * FALSE:ABENDs
+ ********************************************************************************/
+BOOL DevGpsInit(void) {
+ BOOL ret = FALSE;
+
+ /* Global variable initialization(GPS Communication Management Thread Internal Use Variable) */
+ /* Clear process management information */
+ memset(&g_gps_mngr, 0x00, sizeof(g_gps_mngr)); /* #05 */
+
+ /* Clear the message receive buffer */
+ memset(&g_gps_msg_rcvr, 0x00, sizeof(g_gps_msg_rcvr)); /* #05 */
+
+ /* Clear the pending buffer */
+ memset(&g_gps_save_cmdr, 0x00, sizeof(g_gps_save_cmdr)); /* #05 */
+
+ /* Clear RTC backup-related data */
+ g_gps_mngr.rcv_cmd = GPS_FORMAT_MIN; /* #GPF_60_040 */
+ g_gps_mngr.resp_cmd = GPS_FORMAT_MIN; /* #GPF_60_040 */
+ g_gps_mngr.rcv_err_flag = FALSE;
+
+ g_wsend_err = 0; /* Initialization of the number of transmission errors */
+ g_wcnct_err = 0; /* Connection error count initialization */
+ g_rcv_format = GPS_FORMAT_MIN; /* Initialize Receive Format #GPF_60_024*/
+
+ /* Initialize the timer function initialization processing management table */
+ DevGpsTimInit();
+
+ /* Start confirmation monitoring timer setting(5Sec) */
+ ret = DevGpsTimeSet(GPS_STARTUP_TIMER);
+
+ /* GPS receiver anomaly detection timer setting(600Sec) */
+ ret = DevGpsTimeSet(GPS_RECEIVERERR_TIMER);
+
+ // Set command table
+ kGpsCmdAnaTbl = kGpsCmdAnaTblUblox;
+
+ /* State transition processing(Start Confirmation Monitor) */
+ ChangeStatusGpsCommon(GPS_STS_STARTUP);
+
+ return(ret);
+}
+
+/******************************************************************************
+@brief DEV_Gps_RcvMsg<BR>
+ Message reception processing
+@outline Receive a message and distribute processing into a matrix
+@param[in] none
+@param[out] none
+@return none
+@retval none
+*******************************************************************************/
+void DevGpsRcvMsg(void) {
+ RET_API ret = RET_NORMAL;
+ void* p_rcv_msg = &g_gps_msg_rcvr;
+
+ while (1) {
+ p_rcv_msg = &g_gps_msg_rcvr;
+
+ // Receive meaasge
+ ret = _pb_RcvMsg(PNO_NAVI_GPS_MAIN, sizeof(g_gps_msg_rcvr), &p_rcv_msg, RM_WAIT);
+
+ if (RET_RCVMSG == ret) {
+ memcpy(&g_gps_msg_rcvr, p_rcv_msg, sizeof(g_gps_msg_rcvr));
+
+ /* Message Event Check Processing */
+ DevGpsMsgEventCheck();
+
+ if ((u_int32)NG != g_gps_mngr.event) {
+ /* If the event check is successful */
+ /* Start Processing by Matrix */
+ (kGpsMatxC[g_gps_mngr.sts][g_gps_mngr.event].func)();
+ }
+ } else {
+ /** MSG reception error */
+ POSITIONING_LOG("DevGpsRcvMsg error ret[%d] \n", ret);
+ }
+ }
+}
+
+static inline void SetStopFlag(void) {
+ g_gps_rcv_thread_stop = TRUE;
+}
+
+/********************************************************************************
+ * MODULE : DEV_Gps_MsgEventCheck
+ * ABSTRACT : Message Event Check Processing
+ * FUNCTION : Check received messages and convert them to events
+ * ARGUMENT : None
+ * NOTE :
+ * RETURN : None
+ ********************************************************************************/
+void DevGpsMsgEventCheck(void) {
+ u_int32 ul_cnt = 0;
+
+ /* Set Error to Event No. */
+ g_gps_mngr.event = (u_int32)NG;
+
+ /* For timeout notification */
+ if (g_gps_msg_rcvr.header.hdr.cid == CID_TIMER_TOUT) {
+ /* Get event number from sequence number */
+ DevGpsTimEventCheck();
+ } else if (g_gps_msg_rcvr.header.hdr.cid == CID_GPS_RECVDATA) {
+ DevGpsCmdEventCheckNmea();
+ } else {
+ while (kGpsMsgchkC[ul_cnt].cid != DAT_END) {
+ if (g_gps_msg_rcvr.header.hdr.cid == kGpsMsgchkC[ul_cnt].cid) {
+ POSITIONING_LOG("DevGpsMsgEventCheck: cid = %d", g_gps_msg_rcvr.header.hdr.cid);
+
+ /* Get event number */
+ g_gps_mngr.event = kGpsMsgchkC[ul_cnt].event;
+
+ if (GPS_EVT_STOPREQ == g_gps_mngr.event) {
+ SetStopFlag();
+ LineSensDrvThreadStopProcess();
+ }
+
+ break;
+ }
+
+ ul_cnt++;
+ }
+ }
+}
+
+/********************************************************************************
+ * MODULE : DEV_Gps_TimEventCheck
+ * ABSTRACT : Timeout-Event check processing
+ * FUNCTION : Check received timeout messages and convert them to events
+ * ARGUMENT : None
+ * NOTE :
+ * RETURN : None
+ ********************************************************************************/
+void DevGpsTimEventCheck(void) {
+ u_int8 uc_time_kind = 0;
+ TimerToutMsg st_rcv_msg;
+ BOOL ret = FALSE;
+
+ // Set Error to Event No.
+ g_gps_mngr.event = (u_int32)NG;
+
+ // Get message
+ memcpy(&st_rcv_msg, &g_gps_msg_rcvr, sizeof(TimerToutMsg));
+
+ // Time judge kind
+ ret = DevGpsTimeJdgKind((u_int16)st_rcv_msg.TimerSeq);
+
+ if (TRUE == ret) {
+ /* If the sequence numbers match, */
+ /* Set the conversion code to the event number */
+ uc_time_kind = (u_int8)((st_rcv_msg.TimerSeq >> 8) & 0x00FF);
+ g_gps_mngr.event = kGpsTimchkC[uc_time_kind].event;
+ }
+}
+
+/*---------------------------------------------------------------------------*/
+/*EOF*/
Code Review / staging / basesystem.git / blobdiff