--- /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.
+ */
+
+#ifndef POSITIONING_CLIENT_INCLUDE_DEAD_RECKONING_API_H_
+#define POSITIONING_CLIENT_INCLUDE_DEAD_RECKONING_API_H_
+/****************************************************************************
+ * File name :Dead_Reckoning_API.h
+ * System name :PastModel002
+ * Subsystem name :
+ ******************************************************************************/
+
+/*****************************************************************************
+ * Include *
+ *****************************************************************************/
+#include <vehicle_service/positioning_base_library.h>
+#include "Sensor_Common_API.h"
+#include <native_service/frameworkunified_types.h>
+
+/*****************************************************************************
+ * Define *
+ *****************************************************************************/
+#define NUM_OF_100msData (10) /* Number of gyro data items delivered every 100 ms */
+
+/*****************************************************************************
+ * Typedef *
+ *****************************************************************************/
+typedef RET_API DR_RET_API;
+
+/*****************************************************************************
+ * Enumeration *
+ *****************************************************************************/
+/*******************************************************************************
+ TAG : NAVI_MATCHING_STATUS
+ ABSTRACT : Map matching data(Status)
+ NOTE :
+*******************************************************************************/
+typedef enum NaviMatchingStatus {
+ NAVI_MATCHING_STS_2D_FIX = 0x00,
+ NAVI_MATCHING_STS_3D_FIX,
+ NAVI_MATCHING_STS_DR_COMBINED,
+ NAVI_MATCHING_STS_DR_ONLY,
+ NAVI_MATCHING_STS_MAP_2D_GPS_FIX,
+ NAVI_MATCHING_STS_MAP_3D_GPS_FIX,
+ NAVI_MATCHING_STS_MAP_DR_COMBINED,
+ NAVI_MATCHING_STS_MAP_DR_ONLY,
+ NAVI_MATCHING_STS_MAP_NO_FIX,
+ NAVI_MATCHING_STS_AWAITING_FIRST_FIX,
+ NAVI_MATCHING_STS_DATA_INVALID,
+ NAVI_MATCHING_STS_NO_FIX,
+ NAVI_MATCHING_STS_TIME_ONLY_FIX
+} NAVI_MATCHING_STATUS;
+
+/*******************************************************************************
+ TAG : NAVI_MATCHING_DATA_AVAILABLE
+ ABSTRACT : Map matching data(Availability)
+ NOTE :
+*******************************************************************************/
+typedef enum {
+ NAVI_MATCHING_DATA_INVALID = 0x00,
+ NAVI_MATCHING_DATA_VALID
+} NAVI_MATCHING_DATA_AVAILABLE;
+
+/*****************************************************************************
+ * Struct *
+ *****************************************************************************/
+/* Sensor data */
+/*******************************************************************************
+ TAG : Struct_PulseRevTbl
+ ABSTRACT : Vehicle speed/REV data table structure
+ NOTE : 4byte
+*******************************************************************************/
+typedef struct {
+ u_int8 reverse_flag; /* 0:Forward march 1:Backward 3:Disabled Reverse signal status */
+ u_int8 pulse_flag; /* Vehicle speed pulse flag */
+ /* 0:Enabled 1:Receive invalid value from CAN 2:Unable to receive at download timing */
+ u_int16 pulse_sum_cyclic; /* Vehicle speed pulse counter value */
+} Struct_PulseRevTbl;
+/*******************************************************************************
+ TAG : Struct_GyroTbl
+ ABSTRACT : Gyro Data Table Structure
+ NOTE : 20byte
+*******************************************************************************/
+typedef struct {
+ u_int16 gyro_data[NUM_OF_100msData]; /* A/D-converted gyro data */
+} Struct_GyroTbl;
+/*******************************************************************************
+ TAG : Struct_SensData
+ ABSTRACT : Sensor data structure
+ NOTE :
+*******************************************************************************/
+typedef struct {
+ u_int8 sens_cnt_flag; /* Sensor data transmission counter flag */
+ /* 0:Disabled(->Initial Sensor) 1:Enabled(->100 ms periodic transmission) */
+ /* Set "0" for initial sensor transmission and "1" for periodic transmission. */
+ u_int8 sens_cnt; /* Sensor data transmission counter value Set "0" at initial transmission of sensor */
+ Struct_PulseRevTbl pulse_rev_tbl; /* Vehicle speed/REV Data table */
+ Struct_GyroTbl gyro_x_tbl; /* Gyro(X axis) data table */
+ Struct_GyroTbl gyro_y_tbl; /* Gyro(Y axis) data table */
+ Struct_GyroTbl gyro_z_tbl; /* Gyro(Z axis) data table */
+} Struct_SensData;
+
+/* GPS data */
+/*******************************************************************************
+ TAG : Struct_GpsData
+ ABSTRACT : GPS data structure
+ NOTE :
+*******************************************************************************/
+typedef struct {
+ u_int8 sens_cnt; /* Sensor data transmission counter value */
+ u_int8 sens_cnt_flag; /* Sensor data transmission counter flag */
+ /* 0:Disabled(Incorrect GPS sensor counter) */
+ /* 1:Enabled */
+ u_int16 gps_data_size; /* GPS data storage area size */
+ DID did; /* Data ID */
+ const void* gps_data; /* GPS data storage area */
+} Struct_GpsData;
+
+/* Estimated Navigation Calculation Result */
+/*******************************************************************************
+ TAG : Struct_DR_DATA
+ ABSTRACT : Estimated Navigation Calculation Result
+ NOTE :
+*******************************************************************************/
+typedef struct {
+ int64_t latitude; /* Latitude(WGS-84) 10^-7deg */
+ int64_t longitude; /* Longitude(WGS-84) 10^-7deg */
+ int64_t altitude; /* Altitude 10^-2m */
+ u_int16 rate; /* Speeds 10^-2m/sec */
+ u_int16 heading; /* Orientation North-reference clockwise 10^-2deg */
+ u_int16 reserve; /* RESERVE */
+ u_int8 dr_status; /* DR calculation status */
+ u_int8 positioning_time; /* Sensor Counter */
+} Struct_DR_DATA;
+
+/*******************************************************************************
+ TAG : DR_CALC_INFO
+ ABSTRACT : Estimated navigation information
+ NOTE :
+*******************************************************************************/
+typedef struct {
+ u_int16 gyro_offset; /* Correction coefficient:Gyro offset */
+ u_int8 gyro_scale_factor; /* Correction coefficient:Gyro Sensitivity */
+ u_int8 gyro_scale_factor_level; /* Learning Level(Gyro Sensitivity) */
+ u_int16 speed_pulse_scale_factor; /* Correction coefficient:Vehicle speed factor */
+ u_int8 speed_pulse_scale_factor_level; /* Learning Level(Vehicle speed factor) */
+ u_int8 reserve; /* Reserve(1Byte) */
+} DR_CALC_INFO;
+
+/*******************************************************************************
+ TAG : DR_POSITION_INFO
+ ABSTRACT : Location information
+ NOTE :
+*******************************************************************************/
+typedef struct {
+ int64_t latitude;
+ int64_t longitude;
+ NAVI_MATCHING_DATA_AVAILABLE status;
+} DR_POSITION_INFO;
+
+/*******************************************************************************
+ TAG : DR_RATE_INFO
+ ABSTRACT : Location information
+ NOTE :
+*******************************************************************************/
+typedef struct {
+ u_int16 rate;
+ u_int8 reserve[2];
+ NAVI_MATCHING_DATA_AVAILABLE status;
+} DR_RATE_INFO;
+
+/*******************************************************************************
+ TAG : DR_ORIENT_INFO
+ ABSTRACT : Location information
+ NOTE :
+*******************************************************************************/
+typedef struct {
+ u_int16 orient;
+ u_int8 reserve[2];
+ NAVI_MATCHING_DATA_AVAILABLE status;
+} DR_ORIENT_INFO;
+
+/*******************************************************************************
+ TAG : NAVI_MATCHING_DATA
+ ABSTRACT : Map matching data
+ NOTE :
+*******************************************************************************/
+typedef struct {
+ DR_POSITION_INFO position_info;
+ DR_RATE_INFO rate_info;
+ DR_ORIENT_INFO orient_info;
+ NAVI_MATCHING_STATUS status;
+} NAVI_MATCHING_DATA;
+
+/************************************************************************
+* Function prototype *
+************************************************************************/
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+DR_RET_API DeadReckoningLibraryInit(void);
+DR_RET_API SetGpsData(Struct_GpsData *st_gps_data);
+DR_RET_API CalculateDeadReckoningData(Struct_SensData *st_sensor_data,
+ Struct_DR_DATA *st_dr_data, DR_CALC_INFO *dr_calc_data);
+DR_RET_API SetMatchingData(NAVI_MATCHING_DATA *st_matching_data);
+
+DR_RET_API ClearBackupData(void); /* Clear DR backup data */
+/* BOOL Problem Avoidance */
+DR_RET_API GetLocationLogSetting(int *log_sw, unsigned char *severity); /* Location log output ON/OFF acquisition */
+DR_RET_API SetLocationLogStatus(int log_sw, unsigned char severity); /* Location log output ON/OFF setting */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // POSITIONING_CLIENT_INCLUDE_DEAD_RECKONING_API_H_
Code Review / staging / basesystem.git / blobdiff