--- /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
+ * VehicleSens_Did_MotionHeading_n.cpp
+ * @brief
+ */
+/*---------------------------------------------------------------------------------*
+ * Include Files *
+ *---------------------------------------------------------------------------------*/
+#include <vehicle_service/positioning_base_library.h>
+#include "VehicleSens_DataMaster.h"
+#include "SensorMotion_API.h"
+#include "CommonDefine.h"
+
+/*---------------------------------------------------------------------------------*
+ * Global Value *
+ *---------------------------------------------------------------------------------*/
+static VEHICLESENS_DATA_MASTER gstMotionHeading_n; // NOLINT(readability/nolint)
+
+/**
+ * @brief
+ * Orientation information data master initialization process(NAVI information)
+ *
+ * Initialize the orientation information data master
+ *
+ * @param[in] none
+ * @param[out] none
+ * @return none
+ * @retval none
+ */
+void VehicleSensInitMotionHeadingN(void) {
+ SENSORMOTION_HEADINGINFO_DAT st_heading;
+
+ memset(&gstMotionHeading_n, 0x00, sizeof(VEHICLESENS_DATA_MASTER));
+
+ /** Data ID setting */
+ gstMotionHeading_n.ul_did = VEHICLE_DID_MOTION_HEADING_NAVI;
+
+ /** Data size setting */
+ gstMotionHeading_n.us_size = sizeof(SENSORMOTION_HEADINGINFO_DAT);
+
+ /** Data content setting */
+ memset(&st_heading, 0x00, sizeof(st_heading));
+ st_heading.getMethod = SENSOR_GET_METHOD_NAVI;
+ st_heading.SyncCnt = 0x00;
+ st_heading.isEnable = SENSORMOTION_STATUS_DISABLE;
+ st_heading.posSts = 0x00;
+ st_heading.Heading = 0x00;
+ memcpy(&gstMotionHeading_n.uc_data[0], &st_heading, sizeof(st_heading));
+
+ return;
+}
+
+/**
+ * @brief
+ * Compass Data Master SET Processing(NAVI information)
+ *
+ * Update the orientation information data master
+ *
+ * @param[in] VEHICLESENS_DATA_MASTER *pst_heading : Pointer to the data master acquisition destination
+ * @param[out] none
+ * @return u_int8
+ * @retval VEHICLESENS_EQ : No data change
+ * @retval VEHICLESENS_NEQ : Data change
+ */
+u_int8 VehicleSensSetMotionHeadingN(const SENSORMOTION_HEADINGINFO_DAT *pst_heading) {
+ u_int8 uc_ret;
+ VEHICLESENS_DATA_MASTER *pst_master;
+
+ pst_master = &gstMotionHeading_n;
+
+ /** With the contents of the current data master,Compare received data */
+ uc_ret = VehicleSensmemcmp(pst_master->uc_data, pst_heading, sizeof(SENSORMOTION_HEADINGINFO_DAT));
+
+ /** Received data is set in the data master. */
+ pst_master->ul_did = VEHICLE_DID_MOTION_HEADING_NAVI;
+ pst_master->us_size = sizeof(SENSORMOTION_HEADINGINFO_DAT);
+ pst_master->uc_rcvflag = VEHICLE_RCVFLAG_ON;
+ memcpy(pst_master->uc_data, pst_heading, sizeof(SENSORMOTION_HEADINGINFO_DAT));
+
+ return(uc_ret);
+}
+
+/**
+ * @brief
+ * Compass Data Master GET Processing(NAVI information)
+ *
+ * Provide an orientation information data master
+ *
+ * @param[in] none
+ * @param[out] VEHICLESENS_DATA_MASTER *pst_data : Pointer to the data master acquisition destination
+ * @return none
+ * @retval none
+ */
+void VehicleSensGetMotionHeadingN(VEHICLESENS_DATA_MASTER *pst_data) { // LCOV_EXCL_START 8: dead code.
+ AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert
+ const VEHICLESENS_DATA_MASTER *pst_master;
+
+ pst_master = &gstMotionHeading_n;
+
+ /** Store the data master in the specified destination. */
+ pst_data->ul_did = pst_master->ul_did;
+ pst_data->us_size = pst_master->us_size;
+ pst_data->uc_rcvflag = pst_master->uc_rcvflag;
+ memcpy(pst_data->uc_data, pst_master->uc_data, pst_master->us_size);
+
+ return;
+}
+// LCOV_EXCL_STOP
+
+/**
+ * @brief
+ * Compass Data Master GET Processing(NAVI information)
+ *
+ * Providing orientation information data master with orientation and unit conversion
+ *
+ * @param[in] none
+ * @param[out] VEHICLESENS_DATA_MASTER *pst_data : Pointer to the data master acquisition destination
+ * @return none
+ * @retval none
+ */
+void VehicleSensGetMotionHeadingnCnvData(VEHICLESENS_DATA_MASTER *pst_data) {
+ const VEHICLESENS_DATA_MASTER *pst_master;
+ SENSORMOTION_HEADINGINFO_DAT st_heading;
+ int16 i_heading;
+
+ pst_master = &gstMotionHeading_n;
+
+ /* Perform the orientation conversion[-179 to +180] -> [0 to 359] */
+ memcpy(&st_heading, pst_master->uc_data, sizeof(st_heading));
+ i_heading = static_cast<int16>(st_heading.Heading);
+ if (i_heading > 0) {
+ i_heading = static_cast<int16>(360 - i_heading);
+ } else {
+ i_heading = static_cast<int16>(i_heading * -1);
+ }
+ /* Perform unit conversion[Once] -> [0.01 degree] */
+ st_heading.Heading = (u_int16)(i_heading * 100);
+
+ /** Store the data master in the specified destination. */
+ pst_data->ul_did = pst_master->ul_did;
+ pst_data->us_size = pst_master->us_size;
+ pst_data->uc_rcvflag = pst_master->uc_rcvflag;
+ memcpy(pst_data->uc_data, &st_heading, sizeof(st_heading));
+
+ return;
+}
Code Review / staging / basesystem.git / blobdiff