Csr location class shows location and satellite information, which supports H13467 + ST F103RB/NXP LCP1549 boards now.
Dependents: CsrLocationDemo CsrLocationDemo
Fork of CsrLocation by
CsrLocation.h@19:27aa296d2ea1, 2014-11-19 (annotated)
- Committer:
- zhjcpi
- Date:
- Wed Nov 19 01:34:48 2014 +0000
- Revision:
- 19:27aa296d2ea1
- Parent:
- 18:5d72465991f5
add comments for utcTime field.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
zhjcpi | 12:5fb829ce6b82 | 1 | /* CSRLocation class for mbed Microcontroller |
zhjcpi | 0:aba381fc8158 | 2 | * Copyright 2014 CSR plc |
zhjcpi | 0:aba381fc8158 | 3 | */ |
zhjcpi | 0:aba381fc8158 | 4 | |
zhjcpi | 0:aba381fc8158 | 5 | #ifndef CSRLOCATION_H |
zhjcpi | 0:aba381fc8158 | 6 | #define CSRLOCATION_H |
zhjcpi | 0:aba381fc8158 | 7 | |
zhjcpi | 12:5fb829ce6b82 | 8 | #include <GPSProviderImplBase.h> |
zhjcpi | 0:aba381fc8158 | 9 | |
zhjcpi | 0:aba381fc8158 | 10 | #define CSR_LOC_SDK_VER "CSR-LOC-SDK-0.5" |
zhjcpi | 0:aba381fc8158 | 11 | |
zhjcpi | 2:d4fe184925f2 | 12 | typedef uint16_t CsrResult; |
zhjcpi | 0:aba381fc8158 | 13 | #define CSR_RESULT_SUCCESS ((CsrResult) 0x0000) |
zhjcpi | 0:aba381fc8158 | 14 | #define CSR_RESULT_FAILURE ((CsrResult) 0xFFFF) |
zhjcpi | 0:aba381fc8158 | 15 | |
zhjcpi | 17:05033198f8f3 | 16 | /* Time related definitions */ |
zhjcpi | 18:5d72465991f5 | 17 | #define CSR_ULOC_UTC_GPS_OFFSET_MS ((uint64_t)(315964800000LL)) |
zhjcpi | 17:05033198f8f3 | 18 | #define CSR_ULOC_SEC_IN_WEEK_MS (604800000) |
zhjcpi | 17:05033198f8f3 | 19 | #define CSR_ULOC_UTC_LEAP_OFFSET_MS (15000) |
zhjcpi | 17:05033198f8f3 | 20 | |
zhjcpi | 17:05033198f8f3 | 21 | |
zhjcpi | 12:5fb829ce6b82 | 22 | /* IOCTL commands */ |
zhjcpi | 12:5fb829ce6b82 | 23 | #define CSR_IOCTL_CMD_WAKEUP_STATUS (0x01) |
zhjcpi | 12:5fb829ce6b82 | 24 | #define CSR_IOCTL_CMD_ONOFF_ON (0x02) |
zhjcpi | 12:5fb829ce6b82 | 25 | #define CSR_IOCTL_CMD_ONOFF_OFF (0x03) |
zhjcpi | 12:5fb829ce6b82 | 26 | #define CSR_IOCTL_CMD_ONOFF_PULSE (0x04) |
zhjcpi | 12:5fb829ce6b82 | 27 | #define CSR_IOCTL_CMD_RESET_ON (0x05) |
zhjcpi | 12:5fb829ce6b82 | 28 | #define CSR_IOCTL_CMD_RESET_OFF (0x06) |
zhjcpi | 12:5fb829ce6b82 | 29 | #define CSR_IOCTL_CMD_PROTO_NMEA (0x07) |
zhjcpi | 12:5fb829ce6b82 | 30 | #define CSR_IOCTL_CMD_PROTO_OSP (0x08) |
zhjcpi | 3:71690f7bb480 | 31 | |
zhjcpi | 3:71690f7bb480 | 32 | |
zhjcpi | 0:aba381fc8158 | 33 | /* OSP protocol related definitions */ |
zhjcpi | 0:aba381fc8158 | 34 | #define MAX_VERSION_LENGTH 80 |
zhjcpi | 0:aba381fc8158 | 35 | |
zhjcpi | 0:aba381fc8158 | 36 | /* OSP message header */ |
zhjcpi | 0:aba381fc8158 | 37 | #define OSP_MSG_HEAD0 (0xA0) |
zhjcpi | 0:aba381fc8158 | 38 | #define OSP_MSG_HEAD1 (0xA2) |
zhjcpi | 0:aba381fc8158 | 39 | /* OSP message footer */ |
zhjcpi | 0:aba381fc8158 | 40 | #define OSP_MSG_TAIL0 (0xB0) |
zhjcpi | 0:aba381fc8158 | 41 | #define OSP_MSG_TAIL1 (0xB3) |
zhjcpi | 0:aba381fc8158 | 42 | |
zhjcpi | 0:aba381fc8158 | 43 | /* NMEA message header */ |
zhjcpi | 0:aba381fc8158 | 44 | #define NMEA_MSG_HEAD0 ('$') |
zhjcpi | 0:aba381fc8158 | 45 | #define NMEA_MSG_HEAD1 ('G') |
zhjcpi | 0:aba381fc8158 | 46 | /* NMEA message footer */ |
zhjcpi | 0:aba381fc8158 | 47 | #define NMEA_MSG_TAIL0 ('*') |
zhjcpi | 0:aba381fc8158 | 48 | |
zhjcpi | 12:5fb829ce6b82 | 49 | #define CSR_SWAPIN16(bytestream) (((uint16_t)*((bytestream) + 0) << 8) | ((uint16_t)*((bytestream) + 1))) |
zhjcpi | 0:aba381fc8158 | 50 | |
zhjcpi | 12:5fb829ce6b82 | 51 | #define CSR_SWAPIN32(bytestream) \ |
zhjcpi | 12:5fb829ce6b82 | 52 | (((uint32_t)*((bytestream) + 0) << 24) \ |
zhjcpi | 12:5fb829ce6b82 | 53 | | ((uint32_t)*((bytestream) + 1) << 16) \ |
zhjcpi | 12:5fb829ce6b82 | 54 | | ((uint32_t)*((bytestream) + 2) << 8) \ |
zhjcpi | 12:5fb829ce6b82 | 55 | | ((uint32_t)*((bytestream) + 3))) |
zhjcpi | 0:aba381fc8158 | 56 | |
zhjcpi | 0:aba381fc8158 | 57 | |
zhjcpi | 0:aba381fc8158 | 58 | /* import macros for little endian: */ |
zhjcpi | 0:aba381fc8158 | 59 | /* NOTE: must use {} around these macros when calling in a loop */ |
zhjcpi | 12:5fb829ce6b82 | 60 | #define BINARY_IMPORT_UINT8(bytestream) (*((bytestream)++)) |
zhjcpi | 12:5fb829ce6b82 | 61 | #define BINARY_IMPORT_UINT16(bytestream) ((uint16_t) CSR_SWAPIN16((bytestream))); bytestream += 2 |
zhjcpi | 12:5fb829ce6b82 | 62 | #define BINARY_IMPORT_UINT32(bytestream) ((uint32_t) CSR_SWAPIN32((bytestream))); bytestream += 4 |
zhjcpi | 12:5fb829ce6b82 | 63 | #define BINARY_IMPORT_SINT32(bytestream) ((int32_t) CSR_SWAPIN32((bytestream))); bytestream += 4 |
zhjcpi | 0:aba381fc8158 | 64 | |
zhjcpi | 0:aba381fc8158 | 65 | #define OSP_MAKE_MSG_ID(mid, sid) ((((mid) & 0xFF) << 8) | ((sid) & 0xFF)) |
zhjcpi | 0:aba381fc8158 | 66 | |
zhjcpi | 0:aba381fc8158 | 67 | #define OSP_MSG_SW_VERSION OSP_MAKE_MSG_ID(0x06, 0x0) |
zhjcpi | 0:aba381fc8158 | 68 | #define OSP_MSG_OK_TO_SEND OSP_MAKE_MSG_ID(0x12, 0x0) |
zhjcpi | 0:aba381fc8158 | 69 | #define OSP_MSG_GEODETIC_NAVIGATION OSP_MAKE_MSG_ID(0x29, 0x0) |
zhjcpi | 0:aba381fc8158 | 70 | #define OSP_MSG_MULTI_CONSTELLATION OSP_MAKE_MSG_ID(0x43, 0x0) |
zhjcpi | 0:aba381fc8158 | 71 | #define OSP_MSG_GNSS_NAV_DATA OSP_MAKE_MSG_ID(0x43, 0x01) |
zhjcpi | 0:aba381fc8158 | 72 | #define OSP_MSG_GNSS_SAT_DATA OSP_MAKE_MSG_ID(0x43, 0x10) |
zhjcpi | 0:aba381fc8158 | 73 | #define OSP_MSG_HW_CONFIG_REQ OSP_MAKE_MSG_ID(0x47, 0x0) |
zhjcpi | 0:aba381fc8158 | 74 | #define OSP_MSG_PWR_MODE_RSP OSP_MAKE_MSG_ID(0x5A, 0x0) |
zhjcpi | 0:aba381fc8158 | 75 | #define OSP_MSG_PWR_MODE_FPM_RSP OSP_MAKE_MSG_ID(0x5A, 0x0) |
zhjcpi | 0:aba381fc8158 | 76 | #define OSP_MSG_PWR_MODE_LPM_RSP OSP_MAKE_MSG_ID(0x5A, 0x6) |
zhjcpi | 0:aba381fc8158 | 77 | |
zhjcpi | 12:5fb829ce6b82 | 78 | |
zhjcpi | 0:aba381fc8158 | 79 | #define GNSS_SAT_DATA_NUM_OF_SATS (15) |
zhjcpi | 0:aba381fc8158 | 80 | #define CODEC_GLO_MAX_CHANNELS (14) |
zhjcpi | 0:aba381fc8158 | 81 | /* The end of OSP protocol definitions */ |
zhjcpi | 0:aba381fc8158 | 82 | |
zhjcpi | 0:aba381fc8158 | 83 | |
zhjcpi | 0:aba381fc8158 | 84 | #define LOC_MAX_GNSS_SVS (32) |
zhjcpi | 0:aba381fc8158 | 85 | #define LOC_GLO_FREQ_OFFSET (77) |
zhjcpi | 0:aba381fc8158 | 86 | #define LOC_GLO_FREQ_ID_START (70) |
zhjcpi | 0:aba381fc8158 | 87 | #define LOC_GLO_FREQ_ID_END (83) |
zhjcpi | 12:5fb829ce6b82 | 88 | #define LOC_NUM_OF_GLO_FREQ_CHANNELS (1 + LOC_GLO_FREQ_ID_END - LOC_GLO_FREQ_ID_START) |
zhjcpi | 0:aba381fc8158 | 89 | |
zhjcpi | 0:aba381fc8158 | 90 | #define MAX_PORT_NUM_STRING_LENGTH (16) |
zhjcpi | 0:aba381fc8158 | 91 | #define MAX_SERIAL_BUF_LEN (2048) |
zhjcpi | 0:aba381fc8158 | 92 | #define MAX_SERIAL_PKT_LEN (512) |
zhjcpi | 0:aba381fc8158 | 93 | |
zhjcpi | 0:aba381fc8158 | 94 | #define BAUDRATE_NMEA 4800 |
zhjcpi | 0:aba381fc8158 | 95 | #define BAUDRATE_OSP 115200 |
zhjcpi | 0:aba381fc8158 | 96 | |
zhjcpi | 0:aba381fc8158 | 97 | #define PROTO_CHECK_TIMEOUT (2.0) |
zhjcpi | 0:aba381fc8158 | 98 | |
zhjcpi | 0:aba381fc8158 | 99 | /** Indicates the outputted location information */ |
zhjcpi | 0:aba381fc8158 | 100 | #define LOC_OUTPUT_LOCATION (1) |
zhjcpi | 0:aba381fc8158 | 101 | /* Indicates the outputted sv status information */ |
zhjcpi | 0:aba381fc8158 | 102 | #define LOC_OUTPUT_SV_STATUS (2) |
zhjcpi | 12:5fb829ce6b82 | 103 | #define LOC_OUTPUT_NMEA (3) |
zhjcpi | 0:aba381fc8158 | 104 | |
zhjcpi | 3:71690f7bb480 | 105 | #if 0 |
zhjcpi | 3:71690f7bb480 | 106 | #define CSR_LOG_INFO printf |
zhjcpi | 3:71690f7bb480 | 107 | #else |
zhjcpi | 12:5fb829ce6b82 | 108 | #define CSR_LOG_INFO(...) { \ |
zhjcpi | 12:5fb829ce6b82 | 109 | if (pSerialDebug != NULL) { \ |
zhjcpi | 12:5fb829ce6b82 | 110 | (pSerialDebug->printf(__VA_ARGS__)); \ |
zhjcpi | 12:5fb829ce6b82 | 111 | } \ |
zhjcpi | 12:5fb829ce6b82 | 112 | } |
zhjcpi | 12:5fb829ce6b82 | 113 | #endif // if 0 |
zhjcpi | 0:aba381fc8158 | 114 | |
zhjcpi | 12:5fb829ce6b82 | 115 | /** Location event definitions */ |
zhjcpi | 12:5fb829ce6b82 | 116 | typedef enum { |
zhjcpi | 0:aba381fc8158 | 117 | /** Start result event */ |
zhjcpi | 0:aba381fc8158 | 118 | CSR_LOC_EVENT_START_RESULT, |
zhjcpi | 0:aba381fc8158 | 119 | /** Stop result event */ |
zhjcpi | 0:aba381fc8158 | 120 | CSR_LOC_EVENT_STOP_RESULT, |
zhjcpi | 12:5fb829ce6b82 | 121 | } eCsrLocEventType; |
zhjcpi | 0:aba381fc8158 | 122 | |
zhjcpi | 0:aba381fc8158 | 123 | /** Power mode selection */ |
zhjcpi | 12:5fb829ce6b82 | 124 | typedef enum { |
zhjcpi | 0:aba381fc8158 | 125 | /** full power mode */ |
zhjcpi | 0:aba381fc8158 | 126 | PWR_FULL, |
zhjcpi | 0:aba381fc8158 | 127 | /** Low power push to fix mode */ |
zhjcpi | 0:aba381fc8158 | 128 | PWR_PTF, |
zhjcpi | 12:5fb829ce6b82 | 129 | } ePowerMode; |
zhjcpi | 0:aba381fc8158 | 130 | |
zhjcpi | 3:71690f7bb480 | 131 | /** Power mode selection */ |
zhjcpi | 12:5fb829ce6b82 | 132 | typedef enum { |
zhjcpi | 3:71690f7bb480 | 133 | /** NMEA protocol */ |
zhjcpi | 3:71690f7bb480 | 134 | PROTO_NMEA, |
zhjcpi | 3:71690f7bb480 | 135 | /** OSP protocol */ |
zhjcpi | 3:71690f7bb480 | 136 | PROTO_OSP, |
zhjcpi | 12:5fb829ce6b82 | 137 | } eProto; |
zhjcpi | 3:71690f7bb480 | 138 | |
zhjcpi | 0:aba381fc8158 | 139 | /* Protocol detection state */ |
zhjcpi | 12:5fb829ce6b82 | 140 | typedef enum { |
zhjcpi | 0:aba381fc8158 | 141 | STATE_START1, /* Indicates the first byte of the OSP or NMEA message header*/ |
zhjcpi | 0:aba381fc8158 | 142 | STATE_START2, /* Indicates the second byte of the OSP or NMEA message header */ |
zhjcpi | 0:aba381fc8158 | 143 | STATE_SIZE1, /* Indicates the first byte of the OSP message length */ |
zhjcpi | 0:aba381fc8158 | 144 | STATE_SIZE2, /* Indicates the second byte of the OSP message length */ |
zhjcpi | 0:aba381fc8158 | 145 | STATE_PAYLOAD, /* Indicates the start of payload of the OSP message */ |
zhjcpi | 0:aba381fc8158 | 146 | STATE_CHECKSUM1, /* Indicates the first byte of the OSP message checksum */ |
zhjcpi | 0:aba381fc8158 | 147 | STATE_CHECKSUM2, /* Indicates the second byte of the OSP message checksum */ |
zhjcpi | 0:aba381fc8158 | 148 | STATE_END1, /* Indicates the first byte of the OSP or NMEA message footer */ |
zhjcpi | 0:aba381fc8158 | 149 | STATE_END2 /* Indicates the second byte of the OSP message footer */ |
zhjcpi | 12:5fb829ce6b82 | 150 | } eProtoDetState; |
zhjcpi | 0:aba381fc8158 | 151 | |
zhjcpi | 12:5fb829ce6b82 | 152 | /* CSR Location state */ |
zhjcpi | 12:5fb829ce6b82 | 153 | typedef enum { |
zhjcpi | 0:aba381fc8158 | 154 | CSR_LOC_STATE_IDLE, |
zhjcpi | 0:aba381fc8158 | 155 | CSR_LOC_STATE_RUN, |
zhjcpi | 12:5fb829ce6b82 | 156 | } eCsrLocState; |
zhjcpi | 0:aba381fc8158 | 157 | |
zhjcpi | 12:5fb829ce6b82 | 158 | /* Location chip protocol detection state */ |
zhjcpi | 12:5fb829ce6b82 | 159 | typedef enum { |
zhjcpi | 12:5fb829ce6b82 | 160 | PROTO_STATE_DET_INVALID = 0, |
zhjcpi | 12:5fb829ce6b82 | 161 | PROTO_STATE_DET_OSP, |
zhjcpi | 12:5fb829ce6b82 | 162 | PROTO_STATE_DET_NMEA, |
zhjcpi | 12:5fb829ce6b82 | 163 | // PROTO_STATE_SWI_OSP_FROM_NMEA, |
zhjcpi | 12:5fb829ce6b82 | 164 | PROTO_STATE_DET_OSP_FROM_NMEA, |
zhjcpi | 12:5fb829ce6b82 | 165 | // PROTO_STATE_SWI_NMEA_FROM_OSP, |
zhjcpi | 12:5fb829ce6b82 | 166 | PROTO_STATE_DET_NMEA_FROM_OSP, |
zhjcpi | 12:5fb829ce6b82 | 167 | PROTO_STATE_DET_OK, |
zhjcpi | 12:5fb829ce6b82 | 168 | } eProtoState; |
zhjcpi | 0:aba381fc8158 | 169 | |
zhjcpi | 12:5fb829ce6b82 | 170 | /* Location chip status */ |
zhjcpi | 12:5fb829ce6b82 | 171 | typedef enum { |
zhjcpi | 0:aba381fc8158 | 172 | /* Location chip is going to hibernation mode and cannot accept message any more */ |
zhjcpi | 0:aba381fc8158 | 173 | ENGINE_STATUS_NOTOK2SEND, |
zhjcpi | 12:5fb829ce6b82 | 174 | /* Location come back from hibernation mode and can accept message now */ |
zhjcpi | 0:aba381fc8158 | 175 | ENGINE_STATUS_OK2SEND |
zhjcpi | 12:5fb829ce6b82 | 176 | } eEngineStatus; |
zhjcpi | 0:aba381fc8158 | 177 | |
zhjcpi | 0:aba381fc8158 | 178 | /* OSP data type to be sent to location chip */ |
zhjcpi | 12:5fb829ce6b82 | 179 | typedef enum { |
zhjcpi | 0:aba381fc8158 | 180 | SEND_DATA_TYPE_OSP_STOP_REQ, |
zhjcpi | 0:aba381fc8158 | 181 | SEND_DATA_TYPE_OSP_VER_REQ, |
zhjcpi | 0:aba381fc8158 | 182 | SEND_DATA_TYPE_OSP_LPM_REQ, |
zhjcpi | 0:aba381fc8158 | 183 | SEND_DATA_TYPE_OSP_FPM_REQ, |
zhjcpi | 0:aba381fc8158 | 184 | SEND_DATA_TYPE_OSP_SWITCH2NMEA_REQ, |
zhjcpi | 3:71690f7bb480 | 185 | SEND_DATA_TYPE_NMEA_SWITCH2OSP_REQ, |
zhjcpi | 3:71690f7bb480 | 186 | SEND_DATA_TYPE_NMEA_STOP_REQ |
zhjcpi | 12:5fb829ce6b82 | 187 | } eSendDataType; |
zhjcpi | 0:aba381fc8158 | 188 | |
zhjcpi | 12:5fb829ce6b82 | 189 | typedef struct GpsTime { |
zhjcpi | 0:aba381fc8158 | 190 | /** Week part of GPS time */ |
zhjcpi | 12:5fb829ce6b82 | 191 | uint16_t gps_week; |
zhjcpi | 19:27aa296d2ea1 | 192 | /** Time of second part of GPS time in millisecond */ |
zhjcpi | 12:5fb829ce6b82 | 193 | uint32_t tow; |
zhjcpi | 12:5fb829ce6b82 | 194 | } tGpsTime; |
zhjcpi | 3:71690f7bb480 | 195 | |
zhjcpi | 3:71690f7bb480 | 196 | /** Structure to hold Position Response Message Information. */ |
zhjcpi | 12:5fb829ce6b82 | 197 | typedef struct LocPosResp { |
zhjcpi | 19:27aa296d2ea1 | 198 | tGpsTime gpsTime; /** gps time */ |
zhjcpi | 19:27aa296d2ea1 | 199 | uint64_t utcTime; /** UTC time in millisecond */ |
zhjcpi | 0:aba381fc8158 | 200 | /** Latitude */ |
zhjcpi | 12:5fb829ce6b82 | 201 | double lat; |
zhjcpi | 0:aba381fc8158 | 202 | /** Longitude */ |
zhjcpi | 12:5fb829ce6b82 | 203 | double lon; |
zhjcpi | 0:aba381fc8158 | 204 | /** Altitude */ |
zhjcpi | 12:5fb829ce6b82 | 205 | double alt; |
zhjcpi | 0:aba381fc8158 | 206 | } tLocPosResp; |
zhjcpi | 0:aba381fc8158 | 207 | |
zhjcpi | 0:aba381fc8158 | 208 | /** Structure to hold Satellite Information. */ |
zhjcpi | 12:5fb829ce6b82 | 209 | typedef struct LocSvInfo { |
zhjcpi | 0:aba381fc8158 | 210 | /** Prn or svId */ |
zhjcpi | 12:5fb829ce6b82 | 211 | uint8_t prn; |
zhjcpi | 0:aba381fc8158 | 212 | /** The ratio of carrier and noise */ |
zhjcpi | 12:5fb829ce6b82 | 213 | float cno; |
zhjcpi | 0:aba381fc8158 | 214 | /** elevation */ |
zhjcpi | 12:5fb829ce6b82 | 215 | float elevation; |
zhjcpi | 0:aba381fc8158 | 216 | /** azimuth */ |
zhjcpi | 12:5fb829ce6b82 | 217 | float azimuth; |
zhjcpi | 0:aba381fc8158 | 218 | /** satellite state */ |
zhjcpi | 12:5fb829ce6b82 | 219 | uint16_t state; |
zhjcpi | 0:aba381fc8158 | 220 | } tLocSvInfo; |
zhjcpi | 0:aba381fc8158 | 221 | |
zhjcpi | 0:aba381fc8158 | 222 | /** Structure to hold Satellite Information for GLONASS */ |
zhjcpi | 12:5fb829ce6b82 | 223 | typedef struct LocGloSvInfo { |
zhjcpi | 0:aba381fc8158 | 224 | /** Prn or svId */ |
zhjcpi | 12:5fb829ce6b82 | 225 | uint8_t prn; |
zhjcpi | 0:aba381fc8158 | 226 | /** Slot number */ |
zhjcpi | 12:5fb829ce6b82 | 227 | uint8_t sno; |
zhjcpi | 0:aba381fc8158 | 228 | /** The ratio of carrier and noise */ |
zhjcpi | 12:5fb829ce6b82 | 229 | float cno; |
zhjcpi | 0:aba381fc8158 | 230 | /** elevation */ |
zhjcpi | 12:5fb829ce6b82 | 231 | float elevation; |
zhjcpi | 0:aba381fc8158 | 232 | /** azimuth */ |
zhjcpi | 12:5fb829ce6b82 | 233 | float azimuth; |
zhjcpi | 0:aba381fc8158 | 234 | /** satellite state */ |
zhjcpi | 12:5fb829ce6b82 | 235 | uint16_t state; |
zhjcpi | 0:aba381fc8158 | 236 | } tLocGloSvInfo; |
zhjcpi | 0:aba381fc8158 | 237 | |
zhjcpi | 0:aba381fc8158 | 238 | /** Structure to hold Satellite Status Information. */ |
zhjcpi | 12:5fb829ce6b82 | 239 | typedef struct LocSvStatus { |
zhjcpi | 0:aba381fc8158 | 240 | /** Week part of GPS time */ |
zhjcpi | 12:5fb829ce6b82 | 241 | uint16_t gps_week; |
zhjcpi | 0:aba381fc8158 | 242 | /** Time of second part of GPS time */ |
zhjcpi | 12:5fb829ce6b82 | 243 | uint32_t tow; |
zhjcpi | 0:aba381fc8158 | 244 | /** Time of millisecond part of GPS time */ |
zhjcpi | 12:5fb829ce6b82 | 245 | uint32_t tow_sub_ms; |
zhjcpi | 12:5fb829ce6b82 | 246 | |
zhjcpi | 0:aba381fc8158 | 247 | /**Number of GPS SVs currently visible **/ |
zhjcpi | 12:5fb829ce6b82 | 248 | uint8_t numOfSVs; |
zhjcpi | 0:aba381fc8158 | 249 | /**Number of GLONASS SVs currently visible **/ |
zhjcpi | 12:5fb829ce6b82 | 250 | uint8_t numOfGloSVs; |
zhjcpi | 0:aba381fc8158 | 251 | /** GPS SVs information */ |
zhjcpi | 12:5fb829ce6b82 | 252 | tLocSvInfo svList[LOC_MAX_GNSS_SVS]; |
zhjcpi | 0:aba381fc8158 | 253 | /** GLONASS SVs information */ |
zhjcpi | 12:5fb829ce6b82 | 254 | tLocGloSvInfo gloSvList[LOC_NUM_OF_GLO_FREQ_CHANNELS]; |
zhjcpi | 0:aba381fc8158 | 255 | /** Bit mask indicating which SVs have ephemeris data **/ |
zhjcpi | 12:5fb829ce6b82 | 256 | uint32_t ephemerisMask; |
zhjcpi | 0:aba381fc8158 | 257 | /** Bit mask indicating which GLONASS SVs have ephemeris data **/ |
zhjcpi | 12:5fb829ce6b82 | 258 | uint32_t gloEphemerisMask; |
zhjcpi | 0:aba381fc8158 | 259 | /** Bit mask indicating which SVs were used in latest sent fix **/ |
zhjcpi | 12:5fb829ce6b82 | 260 | uint32_t svUsedInFixMask; |
zhjcpi | 0:aba381fc8158 | 261 | /** Bit mask indicating which GLONASS SVs were used in latest sent fix **/ |
zhjcpi | 12:5fb829ce6b82 | 262 | uint32_t gloSvUsedInFixMask; |
zhjcpi | 12:5fb829ce6b82 | 263 | /** Bit mask indicating which QZSS SVs were used in latest sent fix **/ |
zhjcpi | 12:5fb829ce6b82 | 264 | uint32_t qzssSvUsedInFixMask; |
zhjcpi | 12:5fb829ce6b82 | 265 | /** Bit mask indicating which SBAS SVs were used in latest sent fix **/ |
zhjcpi | 12:5fb829ce6b82 | 266 | uint32_t sbasSvUsedInFixMask; |
zhjcpi | 0:aba381fc8158 | 267 | } tLocSvStatus; |
zhjcpi | 0:aba381fc8158 | 268 | |
zhjcpi | 0:aba381fc8158 | 269 | |
zhjcpi | 12:5fb829ce6b82 | 270 | /** Application register this out callback function and CsrLocation class will pass outputted information to application */ |
zhjcpi | 12:5fb829ce6b82 | 271 | typedef void (*csr_app_output_callback)(uint32_t msgId, void *const pMsgData, uint32_t msgLength); |
zhjcpi | 0:aba381fc8158 | 272 | |
zhjcpi | 12:5fb829ce6b82 | 273 | /** Application register this event callback function and CsrLocation class will pass internal processing event to application */ |
zhjcpi | 2:d4fe184925f2 | 274 | typedef void (*csr_app_event_callback)(eCsrLocEventType event, uint32_t data); |
zhjcpi | 0:aba381fc8158 | 275 | |
zhjcpi | 12:5fb829ce6b82 | 276 | /* General OSP message format */ |
zhjcpi | 12:5fb829ce6b82 | 277 | typedef struct OspMsg { |
zhjcpi | 12:5fb829ce6b82 | 278 | uint32_t msgId; |
zhjcpi | 12:5fb829ce6b82 | 279 | uint32_t length; |
zhjcpi | 12:5fb829ce6b82 | 280 | uint8_t payload[4]; |
zhjcpi | 0:aba381fc8158 | 281 | } tOspMsg; |
zhjcpi | 0:aba381fc8158 | 282 | |
zhjcpi | 0:aba381fc8158 | 283 | |
zhjcpi | 12:5fb829ce6b82 | 284 | /** CSRLocation class. |
zhjcpi | 0:aba381fc8158 | 285 | * A location interface to control location chip and get position and satellite information. |
zhjcpi | 0:aba381fc8158 | 286 | */ |
zhjcpi | 12:5fb829ce6b82 | 287 | class CSRLocation : public GPSProviderImplBase |
zhjcpi | 0:aba381fc8158 | 288 | { |
zhjcpi | 0:aba381fc8158 | 289 | public: |
zhjcpi | 12:5fb829ce6b82 | 290 | /** Constructor: CsrLocation |
zhjcpi | 12:5fb829ce6b82 | 291 | * Create the CSRLocation, accept specified configuration |
zhjcpi | 12:5fb829ce6b82 | 292 | * |
zhjcpi | 12:5fb829ce6b82 | 293 | * @param [in] pSerialLoc |
zhjcpi | 12:5fb829ce6b82 | 294 | * serial communication channel between host and GPS controller. |
zhjcpi | 12:5fb829ce6b82 | 295 | * @param [in] pPinOnoff |
zhjcpi | 12:5fb829ce6b82 | 296 | * GPIO pin to control location chip on, a rising edge is used to activate |
zhjcpi | 12:5fb829ce6b82 | 297 | * location chip. Please note, before activate chip, reset pin should be |
zhjcpi | 12:5fb829ce6b82 | 298 | * pull high. |
zhjcpi | 12:5fb829ce6b82 | 299 | * @param [in] pPinReset |
zhjcpi | 12:5fb829ce6b82 | 300 | * GPIO pin to control location chip reset, low level will keep location |
zhjcpi | 12:5fb829ce6b82 | 301 | * chip in hibernation state and high level will permit location chip to be |
zhjcpi | 12:5fb829ce6b82 | 302 | * activated. |
zhjcpi | 12:5fb829ce6b82 | 303 | * @param [in] pWakeup |
zhjcpi | 12:5fb829ce6b82 | 304 | * GPIO pin to detect if the chip is still wakeup. |
zhjcpi | 12:5fb829ce6b82 | 305 | * @param [in] pLocConfig |
zhjcpi | 12:5fb829ce6b82 | 306 | * Configuration including debug serial port, location communication serial port, onoff pin, reset pin |
zhjcpi | 12:5fb829ce6b82 | 307 | * @param [in] debugP |
zhjcpi | 12:5fb829ce6b82 | 308 | * The debug port for diagnostic messages; can be NULL. |
zhjcpi | 0:aba381fc8158 | 309 | */ |
zhjcpi | 12:5fb829ce6b82 | 310 | CSRLocation(RawSerial &serialLoc, |
zhjcpi | 12:5fb829ce6b82 | 311 | DigitalOut &pinOnoff, |
zhjcpi | 12:5fb829ce6b82 | 312 | DigitalOut &pinReset, |
zhjcpi | 12:5fb829ce6b82 | 313 | DigitalIn &wakeup, |
zhjcpi | 12:5fb829ce6b82 | 314 | Serial *debugP = NULL); |
zhjcpi | 12:5fb829ce6b82 | 315 | |
zhjcpi | 12:5fb829ce6b82 | 316 | /** Destructor: CSRLocation |
zhjcpi | 0:aba381fc8158 | 317 | * Free allocated resource |
zhjcpi | 0:aba381fc8158 | 318 | */ |
zhjcpi | 12:5fb829ce6b82 | 319 | virtual ~CSRLocation(); |
zhjcpi | 12:5fb829ce6b82 | 320 | |
zhjcpi | 12:5fb829ce6b82 | 321 | /** Register output callback and event callback functions |
zhjcpi | 12:5fb829ce6b82 | 322 | * @param app_output_cb CSRLocation class output the location and satellite information to application |
zhjcpi | 12:5fb829ce6b82 | 323 | * @param app_event_cb CSRLocation class output the start and stop result to application |
zhjcpi | 0:aba381fc8158 | 324 | */ |
zhjcpi | 0:aba381fc8158 | 325 | void CsrLocRegOutput(csr_app_output_callback app_output_cb, csr_app_event_callback app_event_cb); |
zhjcpi | 0:aba381fc8158 | 326 | |
zhjcpi | 12:5fb829ce6b82 | 327 | /** HW reset to get location chip into hibernation mode */ |
zhjcpi | 12:5fb829ce6b82 | 328 | virtual void reset(void); |
zhjcpi | 0:aba381fc8158 | 329 | |
zhjcpi | 0:aba381fc8158 | 330 | /* A debug interface to switch location chip protocol from OSP at 115200bps to NMEA at 4800bps */ |
zhjcpi | 0:aba381fc8158 | 331 | void CsrLocDebugSwitch2Nmea(void); |
zhjcpi | 12:5fb829ce6b82 | 332 | |
zhjcpi | 0:aba381fc8158 | 333 | private: |
zhjcpi | 0:aba381fc8158 | 334 | /* Initialize the serial port and open it */ |
zhjcpi | 0:aba381fc8158 | 335 | void _CsrLocUartInit(void); |
zhjcpi | 0:aba381fc8158 | 336 | |
zhjcpi | 12:5fb829ce6b82 | 337 | /* Process the raw stream from location serial port */ |
zhjcpi | 0:aba381fc8158 | 338 | void _CsrLocProcessRawStream(void); |
zhjcpi | 0:aba381fc8158 | 339 | |
zhjcpi | 3:71690f7bb480 | 340 | /* Detect the OSP protocol detection timeout */ |
zhjcpi | 3:71690f7bb480 | 341 | void _CsrLocDetProtoOspTimeout(void); |
zhjcpi | 0:aba381fc8158 | 342 | |
zhjcpi | 0:aba381fc8158 | 343 | /* Detect the NMEA protocol outputted from location serial port */ |
zhjcpi | 3:71690f7bb480 | 344 | void _CsrLocDetProtoNmeaTimeout(void); |
zhjcpi | 3:71690f7bb480 | 345 | |
zhjcpi | 12:5fb829ce6b82 | 346 | /* Process the raw NMEA stream, remove the NMEA header, tail, and save the NMEA data into internal buffer */ |
zhjcpi | 3:71690f7bb480 | 347 | void _CsrLocProcessRawNmeaStream(uint8_t data); |
zhjcpi | 0:aba381fc8158 | 348 | |
zhjcpi | 12:5fb829ce6b82 | 349 | /* Process the raw OSP stream, remove the OSP header, size, check sum, and save the OSP data into internal buffer */ |
zhjcpi | 2:d4fe184925f2 | 350 | void _CsrLocProcessRawOspStream(uint8_t data); |
zhjcpi | 0:aba381fc8158 | 351 | |
zhjcpi | 12:5fb829ce6b82 | 352 | /* Process the saved NMEA data and decode them */ |
zhjcpi | 3:71690f7bb480 | 353 | void _CsrLocProcessRawNmeaPkt(void); |
zhjcpi | 3:71690f7bb480 | 354 | |
zhjcpi | 0:aba381fc8158 | 355 | /* Process the saved OSP data and decode them */ |
zhjcpi | 0:aba381fc8158 | 356 | void _CsrLocProcessRawOspPkt(void); |
zhjcpi | 0:aba381fc8158 | 357 | |
zhjcpi | 12:5fb829ce6b82 | 358 | /* Calculate the OSP message size to allocate buffer to save the decoded OSP data */ |
zhjcpi | 2:d4fe184925f2 | 359 | uint32_t _CsrLocCalcMsgSize(void); |
zhjcpi | 0:aba381fc8158 | 360 | |
zhjcpi | 12:5fb829ce6b82 | 361 | /* Decode OSP data into packet data structure */ |
zhjcpi | 12:5fb829ce6b82 | 362 | CsrResult _CsrLocDecodeOspPkt(uint8_t *payload, |
zhjcpi | 12:5fb829ce6b82 | 363 | uint32_t payload_length, |
zhjcpi | 12:5fb829ce6b82 | 364 | uint32_t *message_id, |
zhjcpi | 12:5fb829ce6b82 | 365 | void *message_structure, |
zhjcpi | 12:5fb829ce6b82 | 366 | uint32_t *message_length); |
zhjcpi | 0:aba381fc8158 | 367 | |
zhjcpi | 0:aba381fc8158 | 368 | /* Process the decode OSP packet and pass to application when needed */ |
zhjcpi | 0:aba381fc8158 | 369 | void _CsrLocProcessOspPkt(tOspMsg *pOspMsg); |
zhjcpi | 0:aba381fc8158 | 370 | |
zhjcpi | 0:aba381fc8158 | 371 | /* Timeout process, such as detect OSP and NMEA protocol */ |
zhjcpi | 0:aba381fc8158 | 372 | void _CsrLocTimeout(void); |
zhjcpi | 0:aba381fc8158 | 373 | |
zhjcpi | 12:5fb829ce6b82 | 374 | /* Location serial port data receiver */ |
zhjcpi | 0:aba381fc8158 | 375 | void _CsrLocRxHandler(void); |
zhjcpi | 0:aba381fc8158 | 376 | |
zhjcpi | 12:5fb829ce6b82 | 377 | /* Send special OSP messages to location chip */ |
zhjcpi | 0:aba381fc8158 | 378 | void _CsrLocSendData(eSendDataType type); |
zhjcpi | 0:aba381fc8158 | 379 | |
zhjcpi | 0:aba381fc8158 | 380 | /* Trigger a pulse on the onoff pin */ |
zhjcpi | 0:aba381fc8158 | 381 | void _CsrLocHwOnoff(void); |
zhjcpi | 0:aba381fc8158 | 382 | |
zhjcpi | 0:aba381fc8158 | 383 | /* Trigger a reset on the reset pin */ |
zhjcpi | 0:aba381fc8158 | 384 | void _CsrLocHwReset(void); |
zhjcpi | 8:fa29f8455134 | 385 | |
zhjcpi | 8:fa29f8455134 | 386 | /* Detect wakeup status on the wakeup pin */ |
zhjcpi | 8:fa29f8455134 | 387 | bool _CsrLocIsWakeup(void); |
zhjcpi | 8:fa29f8455134 | 388 | |
zhjcpi | 12:5fb829ce6b82 | 389 | private: |
zhjcpi | 12:5fb829ce6b82 | 390 | void outputHandler(uint32_t msgId, void *const pMsgData, uint32_t msgLength); |
zhjcpi | 12:5fb829ce6b82 | 391 | void eventHandler(eCsrLocEventType event, uint32_t data); |
zhjcpi | 12:5fb829ce6b82 | 392 | |
zhjcpi | 12:5fb829ce6b82 | 393 | /** |
zhjcpi | 12:5fb829ce6b82 | 394 | * APIs needed to extend GPSProviderImplBase |
zhjcpi | 12:5fb829ce6b82 | 395 | */ |
zhjcpi | 12:5fb829ce6b82 | 396 | private: |
zhjcpi | 12:5fb829ce6b82 | 397 | virtual bool setPowerMode(GPSProvider::PowerMode_t pwrMode); |
zhjcpi | 12:5fb829ce6b82 | 398 | virtual void start(void); |
zhjcpi | 12:5fb829ce6b82 | 399 | virtual void stop(void); |
zhjcpi | 12:5fb829ce6b82 | 400 | virtual void process(void); |
zhjcpi | 12:5fb829ce6b82 | 401 | virtual uint32_t ioctl(uint32_t command, void *arg); |
zhjcpi | 12:5fb829ce6b82 | 402 | |
zhjcpi | 12:5fb829ce6b82 | 403 | /** Special for low power PTF mode. |
zhjcpi | 12:5fb829ce6b82 | 404 | * During low power PTF mode, after reporting position, chip will go to hibernation mode automatically. |
zhjcpi | 12:5fb829ce6b82 | 405 | * After 30 seconds, chip will recover and report position again. Then chip will go to hibernation mode again. |
zhjcpi | 12:5fb829ce6b82 | 406 | * During the hibernation, application can call lpmGetImmediateLocation to get position immediately and no need to wait for the whole interval. |
zhjcpi | 12:5fb829ce6b82 | 407 | */ |
zhjcpi | 12:5fb829ce6b82 | 408 | virtual void lpmGetImmediateLocation(void); |
zhjcpi | 12:5fb829ce6b82 | 409 | |
zhjcpi | 12:5fb829ce6b82 | 410 | /* Internal data */ |
zhjcpi | 12:5fb829ce6b82 | 411 | private: |
zhjcpi | 12:5fb829ce6b82 | 412 | RawSerial &serialLoc; /**< serial communication channel between host and GPS controller. */ |
zhjcpi | 12:5fb829ce6b82 | 413 | DigitalOut &pinOnoff; |
zhjcpi | 12:5fb829ce6b82 | 414 | DigitalOut &pinReset; |
zhjcpi | 12:5fb829ce6b82 | 415 | DigitalIn &wakeup; |
zhjcpi | 12:5fb829ce6b82 | 416 | |
zhjcpi | 12:5fb829ce6b82 | 417 | bool bPwrModeRsp; |
zhjcpi | 12:5fb829ce6b82 | 418 | bool bVerRsp; |
zhjcpi | 12:5fb829ce6b82 | 419 | |
zhjcpi | 12:5fb829ce6b82 | 420 | eProto proto; |
zhjcpi | 12:5fb829ce6b82 | 421 | eCsrLocState locState; |
zhjcpi | 12:5fb829ce6b82 | 422 | eProtoState protoState; |
zhjcpi | 12:5fb829ce6b82 | 423 | ePowerMode pwrMode; |
zhjcpi | 12:5fb829ce6b82 | 424 | |
zhjcpi | 12:5fb829ce6b82 | 425 | uint32_t baudRate; |
zhjcpi | 12:5fb829ce6b82 | 426 | int32_t computedCheckSum; |
zhjcpi | 12:5fb829ce6b82 | 427 | int32_t checksum; |
zhjcpi | 12:5fb829ce6b82 | 428 | int32_t msgSize; |
zhjcpi | 12:5fb829ce6b82 | 429 | int32_t decodeIndex; |
zhjcpi | 12:5fb829ce6b82 | 430 | eProtoDetState protoDetState; |
zhjcpi | 12:5fb829ce6b82 | 431 | Timeout *pTimeoutChk; /* timeout process */ |
zhjcpi | 12:5fb829ce6b82 | 432 | bool bTimeoutFlag; |
zhjcpi | 12:5fb829ce6b82 | 433 | eEngineStatus engStatus; |
zhjcpi | 12:5fb829ce6b82 | 434 | |
zhjcpi | 12:5fb829ce6b82 | 435 | tLocSvStatus svStatus; /* 2 kind of messages contribute the svStaus */ |
zhjcpi | 12:5fb829ce6b82 | 436 | |
zhjcpi | 12:5fb829ce6b82 | 437 | uint8_t serialBuf[MAX_SERIAL_BUF_LEN]; /* buffer the serial data from UART callback function */ |
zhjcpi | 12:5fb829ce6b82 | 438 | uint8_t serialPkt[MAX_SERIAL_PKT_LEN]; /* decoded OSP data */ |
zhjcpi | 12:5fb829ce6b82 | 439 | uint32_t in; |
zhjcpi | 12:5fb829ce6b82 | 440 | uint32_t out; |
zhjcpi | 12:5fb829ce6b82 | 441 | |
zhjcpi | 12:5fb829ce6b82 | 442 | csr_app_output_callback appOutCb; |
zhjcpi | 12:5fb829ce6b82 | 443 | csr_app_event_callback appEventCb; |
zhjcpi | 12:5fb829ce6b82 | 444 | |
zhjcpi | 12:5fb829ce6b82 | 445 | Serial *pSerialDebug; |
zhjcpi | 0:aba381fc8158 | 446 | }; |
zhjcpi | 0:aba381fc8158 | 447 | |
zhjcpi | 0:aba381fc8158 | 448 | #endif /* CSRLOCATION_H */ |