Qualcomm Technologies International, Ltd. / CsrLocation

Csr location class shows location and satellite information, which supports H13467 + ST F103RB/NXP LCP1549 boards now.

Dependents:   CsrLocationDemo CsrLocationDemo

Fork of CsrLocation by jie zhao

CsrLocation.h@3:71690f7bb480, 2014-05-21 (annotated)

Committer:
zhjcpi
Date:
Wed May 21 08:55:55 2014 +0000
Revision:
3:71690f7bb480
Parent:
2:d4fe184925f2
Child:
4:0d9b711fb646
Unify code for different platform.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
zhjcpi 0:aba381fc8158 1
zhjcpi 0:aba381fc8158 2 /* CsrLocation class for mbed Microcontroller
zhjcpi 0:aba381fc8158 3 * Copyright 2014 CSR plc
zhjcpi 0:aba381fc8158 4 */
zhjcpi 0:aba381fc8158 5
zhjcpi 0:aba381fc8158 6
zhjcpi 0:aba381fc8158 7 #ifndef CSRLOCATION_H
zhjcpi 0:aba381fc8158 8 #define CSRLOCATION_H
zhjcpi 0:aba381fc8158 9
zhjcpi 0:aba381fc8158 10
zhjcpi 0:aba381fc8158 11 #define CSR_LOC_SDK_VER "CSR-LOC-SDK-0.5"
zhjcpi 0:aba381fc8158 12
zhjcpi 2:d4fe184925f2 13 typedef uint16_t CsrResult;
zhjcpi 0:aba381fc8158 14 #define CSR_RESULT_SUCCESS ((CsrResult) 0x0000)
zhjcpi 0:aba381fc8158 15 #define CSR_RESULT_FAILURE ((CsrResult) 0xFFFF)
zhjcpi 0:aba381fc8158 16
zhjcpi 3:71690f7bb480 17 #ifdef TARGET_LPC1768
zhjcpi 3:71690f7bb480 18 #define PINMAP_UART_DEBUG_TX USBTX
zhjcpi 3:71690f7bb480 19 #define PINMAP_UART_DEBUG_RX USBRX
zhjcpi 3:71690f7bb480 20 #define PINMAP_UART_LOC_TX D8
zhjcpi 3:71690f7bb480 21 #define PINMAP_UART_LOC_RX D9
zhjcpi 3:71690f7bb480 22 #define PINMAP_GPIO_LOC_ONOFF D11
zhjcpi 3:71690f7bb480 23 #define PINMAP_GPIO_LOC_RESET D12
zhjcpi 3:71690f7bb480 24 #define LOC_LED1 LED1
zhjcpi 3:71690f7bb480 25 #define LOC_LED2 LED2
zhjcpi 3:71690f7bb480 26 #define DBG_SERIAL_TYPE RawSerial
zhjcpi 3:71690f7bb480 27 #define LOC_SERIAL_TYPE RawSerial
zhjcpi 3:71690f7bb480 28 #elif defined(TARGET_LPC1549) || defined(TARGET_NUCLEO_F103RB)
zhjcpi 3:71690f7bb480 29 #define PINMAP_UART_DEBUG_TX D1
zhjcpi 3:71690f7bb480 30 #define PINMAP_UART_DEBUG_RX D0
zhjcpi 3:71690f7bb480 31 #define PINMAP_UART_LOC_TX D8
zhjcpi 3:71690f7bb480 32 #define PINMAP_UART_LOC_RX D2
zhjcpi 3:71690f7bb480 33 #define PINMAP_GPIO_LOC_ONOFF D3
zhjcpi 3:71690f7bb480 34 #define PINMAP_GPIO_LOC_RESET D4
zhjcpi 3:71690f7bb480 35 #define LOC_LED1 LED1
zhjcpi 3:71690f7bb480 36 #define LOC_LED2 LED2
zhjcpi 3:71690f7bb480 37 #define DBG_SERIAL_TYPE Serial
zhjcpi 3:71690f7bb480 38 #define LOC_SERIAL_TYPE RawSerial
zhjcpi 3:71690f7bb480 39 #endif
zhjcpi 3:71690f7bb480 40
zhjcpi 3:71690f7bb480 41
zhjcpi 0:aba381fc8158 42 /* OSP protocol related definitions */
zhjcpi 0:aba381fc8158 43 #define MAX_VERSION_LENGTH 80
zhjcpi 0:aba381fc8158 44
zhjcpi 0:aba381fc8158 45 /* OSP message header */
zhjcpi 0:aba381fc8158 46 #define OSP_MSG_HEAD0 (0xA0)
zhjcpi 0:aba381fc8158 47 #define OSP_MSG_HEAD1 (0xA2)
zhjcpi 0:aba381fc8158 48 /* OSP message footer */
zhjcpi 0:aba381fc8158 49 #define OSP_MSG_TAIL0 (0xB0)
zhjcpi 0:aba381fc8158 50 #define OSP_MSG_TAIL1 (0xB3)
zhjcpi 0:aba381fc8158 51
zhjcpi 0:aba381fc8158 52 /* NMEA message header */
zhjcpi 0:aba381fc8158 53 #define NMEA_MSG_HEAD0 ('$')
zhjcpi 0:aba381fc8158 54 #define NMEA_MSG_HEAD1 ('G')
zhjcpi 0:aba381fc8158 55 /* NMEA message footer */
zhjcpi 0:aba381fc8158 56 #define NMEA_MSG_TAIL0 ('*')
zhjcpi 0:aba381fc8158 57
zhjcpi 2:d4fe184925f2 58 #define CSR_SWAPIN16(bytestream) (((uint16_t)*((bytestream)+0) << 8) | ((uint16_t)*((bytestream)+1)))
zhjcpi 0:aba381fc8158 59
zhjcpi 0:aba381fc8158 60 #define CSR_SWAPIN32(bytestream)\
zhjcpi 2:d4fe184925f2 61 ( ((uint32_t)*((bytestream)+0) << 24)\
zhjcpi 2:d4fe184925f2 62 | ((uint32_t)*((bytestream)+1) << 16)\
zhjcpi 2:d4fe184925f2 63 | ((uint32_t)*((bytestream)+2) << 8)\
zhjcpi 2:d4fe184925f2 64 | ((uint32_t)*((bytestream)+3) ))
zhjcpi 0:aba381fc8158 65
zhjcpi 0:aba381fc8158 66
zhjcpi 0:aba381fc8158 67 /* import macros for little endian: */
zhjcpi 0:aba381fc8158 68 /* NOTE: must use {} around these macros when calling in a loop */
zhjcpi 0:aba381fc8158 69 #define BINARY_IMPORT_UINT8(bytestream) ( *((bytestream)++))
zhjcpi 2:d4fe184925f2 70 #define BINARY_IMPORT_UINT16(bytestream) ((uint16_t) CSR_SWAPIN16((bytestream))); bytestream+=2
zhjcpi 2:d4fe184925f2 71 #define BINARY_IMPORT_UINT32(bytestream) ((uint32_t) CSR_SWAPIN32((bytestream))); bytestream+=4
zhjcpi 2:d4fe184925f2 72 #define BINARY_IMPORT_SINT32(bytestream) ((int32_t) CSR_SWAPIN32((bytestream))); bytestream+=4
zhjcpi 0:aba381fc8158 73
zhjcpi 0:aba381fc8158 74
zhjcpi 0:aba381fc8158 75 #define OSP_MAKE_MSG_ID(mid, sid) ((((mid) & 0xFF) << 8) | ((sid) & 0xFF))
zhjcpi 0:aba381fc8158 76
zhjcpi 0:aba381fc8158 77 #define OSP_MSG_SW_VERSION OSP_MAKE_MSG_ID(0x06, 0x0)
zhjcpi 0:aba381fc8158 78 #define OSP_MSG_OK_TO_SEND OSP_MAKE_MSG_ID(0x12, 0x0)
zhjcpi 0:aba381fc8158 79 #define OSP_MSG_GEODETIC_NAVIGATION OSP_MAKE_MSG_ID(0x29, 0x0)
zhjcpi 0:aba381fc8158 80 #define OSP_MSG_MULTI_CONSTELLATION OSP_MAKE_MSG_ID(0x43, 0x0)
zhjcpi 0:aba381fc8158 81 #define OSP_MSG_GNSS_NAV_DATA OSP_MAKE_MSG_ID(0x43, 0x01)
zhjcpi 0:aba381fc8158 82 #define OSP_MSG_GNSS_SAT_DATA OSP_MAKE_MSG_ID(0x43, 0x10)
zhjcpi 0:aba381fc8158 83 #define OSP_MSG_HW_CONFIG_REQ OSP_MAKE_MSG_ID(0x47, 0x0)
zhjcpi 0:aba381fc8158 84 #define OSP_MSG_PWR_MODE_RSP OSP_MAKE_MSG_ID(0x5A, 0x0)
zhjcpi 0:aba381fc8158 85 #define OSP_MSG_PWR_MODE_FPM_RSP OSP_MAKE_MSG_ID(0x5A, 0x0)
zhjcpi 0:aba381fc8158 86 #define OSP_MSG_PWR_MODE_LPM_RSP OSP_MAKE_MSG_ID(0x5A, 0x6)
zhjcpi 0:aba381fc8158 87
zhjcpi 0:aba381fc8158 88
zhjcpi 0:aba381fc8158 89 #define GNSS_SAT_DATA_NUM_OF_SATS (15)
zhjcpi 0:aba381fc8158 90 #define CODEC_GLO_MAX_CHANNELS (14)
zhjcpi 0:aba381fc8158 91 /* The end of OSP protocol definitions */
zhjcpi 0:aba381fc8158 92
zhjcpi 0:aba381fc8158 93
zhjcpi 0:aba381fc8158 94 #define LOC_MAX_GNSS_SVS (32)
zhjcpi 0:aba381fc8158 95 #define LOC_GLO_FREQ_OFFSET (77)
zhjcpi 0:aba381fc8158 96 #define LOC_GLO_FREQ_ID_START (70)
zhjcpi 0:aba381fc8158 97 #define LOC_GLO_FREQ_ID_END (83)
zhjcpi 0:aba381fc8158 98 #define LOC_NUM_OF_GLO_FREQ_CHANNELS (1+LOC_GLO_FREQ_ID_END-LOC_GLO_FREQ_ID_START)
zhjcpi 0:aba381fc8158 99
zhjcpi 0:aba381fc8158 100 #define MAX_PORT_NUM_STRING_LENGTH (16)
zhjcpi 0:aba381fc8158 101 #define MAX_SERIAL_BUF_LEN (2048)
zhjcpi 0:aba381fc8158 102 #define MAX_SERIAL_PKT_LEN (512)
zhjcpi 0:aba381fc8158 103
zhjcpi 0:aba381fc8158 104 #define BAUDRATE_NMEA 4800
zhjcpi 0:aba381fc8158 105 #define BAUDRATE_OSP 115200
zhjcpi 0:aba381fc8158 106
zhjcpi 0:aba381fc8158 107 #define PROTO_CHECK_TIMEOUT (2.0)
zhjcpi 0:aba381fc8158 108
zhjcpi 0:aba381fc8158 109 /** Indicates the outputted location information */
zhjcpi 0:aba381fc8158 110 #define LOC_OUTPUT_LOCATION (1)
zhjcpi 0:aba381fc8158 111 /* Indicates the outputted sv status information */
zhjcpi 0:aba381fc8158 112 #define LOC_OUTPUT_SV_STATUS (2)
zhjcpi 0:aba381fc8158 113
zhjcpi 3:71690f7bb480 114 #if 0
zhjcpi 3:71690f7bb480 115 #define CSR_LOG_INFO printf
zhjcpi 3:71690f7bb480 116 #else
zhjcpi 0:aba381fc8158 117 #define CSR_LOG_INFO(...) \
zhjcpi 0:aba381fc8158 118 {\
zhjcpi 0:aba381fc8158 119 if(csrLocInst.pSerialDebug != NULL)\
zhjcpi 0:aba381fc8158 120 {\
zhjcpi 0:aba381fc8158 121 (csrLocInst.pSerialDebug->printf(__VA_ARGS__));\
zhjcpi 0:aba381fc8158 122 }\
zhjcpi 0:aba381fc8158 123 }
zhjcpi 3:71690f7bb480 124 #endif
zhjcpi 0:aba381fc8158 125
zhjcpi 0:aba381fc8158 126 /** Location enent definitions */
zhjcpi 0:aba381fc8158 127 typedef enum
zhjcpi 0:aba381fc8158 128 {
zhjcpi 0:aba381fc8158 129 /** Start result event */
zhjcpi 0:aba381fc8158 130 CSR_LOC_EVENT_START_RESULT,
zhjcpi 0:aba381fc8158 131 /** Stop result event */
zhjcpi 0:aba381fc8158 132 CSR_LOC_EVENT_STOP_RESULT,
zhjcpi 0:aba381fc8158 133 }eCsrLocEventType;
zhjcpi 0:aba381fc8158 134
zhjcpi 0:aba381fc8158 135 /** Power mode selection */
zhjcpi 0:aba381fc8158 136 typedef enum
zhjcpi 0:aba381fc8158 137 {
zhjcpi 0:aba381fc8158 138 /** full power mode */
zhjcpi 0:aba381fc8158 139 PWR_FULL,
zhjcpi 0:aba381fc8158 140 /** Low power push to fix mode */
zhjcpi 0:aba381fc8158 141 PWR_PTF,
zhjcpi 0:aba381fc8158 142 }ePowerMode;
zhjcpi 0:aba381fc8158 143
zhjcpi 3:71690f7bb480 144 /** Power mode selection */
zhjcpi 3:71690f7bb480 145 typedef enum
zhjcpi 3:71690f7bb480 146 {
zhjcpi 3:71690f7bb480 147 /** NMEA protocol */
zhjcpi 3:71690f7bb480 148 PROTO_NMEA,
zhjcpi 3:71690f7bb480 149 /** OSP protocol */
zhjcpi 3:71690f7bb480 150 PROTO_OSP,
zhjcpi 3:71690f7bb480 151 }eProto;
zhjcpi 3:71690f7bb480 152
zhjcpi 0:aba381fc8158 153 /* Protocol detection state */
zhjcpi 0:aba381fc8158 154 typedef enum
zhjcpi 0:aba381fc8158 155 {
zhjcpi 0:aba381fc8158 156 STATE_START1, /* Indicates the first byte of the OSP or NMEA message header*/
zhjcpi 0:aba381fc8158 157 STATE_START2, /* Indicates the second byte of the OSP or NMEA message header */
zhjcpi 0:aba381fc8158 158 STATE_SIZE1, /* Indicates the first byte of the OSP message length */
zhjcpi 0:aba381fc8158 159 STATE_SIZE2, /* Indicates the second byte of the OSP message length */
zhjcpi 0:aba381fc8158 160 STATE_PAYLOAD, /* Indicates the start of payload of the OSP message */
zhjcpi 0:aba381fc8158 161 STATE_CHECKSUM1, /* Indicates the first byte of the OSP message checksum */
zhjcpi 0:aba381fc8158 162 STATE_CHECKSUM2, /* Indicates the second byte of the OSP message checksum */
zhjcpi 0:aba381fc8158 163 STATE_END1, /* Indicates the first byte of the OSP or NMEA message footer */
zhjcpi 0:aba381fc8158 164 STATE_END2 /* Indicates the second byte of the OSP message footer */
zhjcpi 0:aba381fc8158 165 }eProtoDetState;
zhjcpi 0:aba381fc8158 166
zhjcpi 0:aba381fc8158 167 /* Csr Location state */
zhjcpi 0:aba381fc8158 168 typedef enum
zhjcpi 0:aba381fc8158 169 {
zhjcpi 0:aba381fc8158 170 CSR_LOC_STATE_IDLE,
zhjcpi 0:aba381fc8158 171 CSR_LOC_STATE_RUN,
zhjcpi 0:aba381fc8158 172 }eCsrLocState;
zhjcpi 0:aba381fc8158 173
zhjcpi 0:aba381fc8158 174 /* Locatin chip protocol detection state */
zhjcpi 0:aba381fc8158 175 typedef enum
zhjcpi 0:aba381fc8158 176 {
zhjcpi 0:aba381fc8158 177 PROTO_STATE_DET_INVALID = 0,
zhjcpi 0:aba381fc8158 178 PROTO_STATE_DET_OSP,
zhjcpi 0:aba381fc8158 179 PROTO_STATE_DET_NMEA,
zhjcpi 3:71690f7bb480 180 // PROTO_STATE_SWI_OSP_FROM_NMEA,
zhjcpi 0:aba381fc8158 181 PROTO_STATE_DET_OSP_FROM_NMEA,
zhjcpi 3:71690f7bb480 182 // PROTO_STATE_SWI_NMEA_FROM_OSP,
zhjcpi 3:71690f7bb480 183 PROTO_STATE_DET_NMEA_FROM_OSP,
zhjcpi 0:aba381fc8158 184 PROTO_STATE_DET_OK,
zhjcpi 0:aba381fc8158 185 }eProtoState;
zhjcpi 0:aba381fc8158 186
zhjcpi 0:aba381fc8158 187 /* Locaiton chip status */
zhjcpi 0:aba381fc8158 188 typedef enum
zhjcpi 0:aba381fc8158 189 {
zhjcpi 0:aba381fc8158 190 /* Location chip is going to hibernation mode and cannot accept message any more */
zhjcpi 0:aba381fc8158 191 ENGINE_STATUS_NOTOK2SEND,
zhjcpi 0:aba381fc8158 192 /* Locaitn come back from hibernation mode and can accept message now */
zhjcpi 0:aba381fc8158 193 ENGINE_STATUS_OK2SEND
zhjcpi 0:aba381fc8158 194 }eEngineStatus;
zhjcpi 0:aba381fc8158 195
zhjcpi 0:aba381fc8158 196 /* OSP data type to be sent to location chip */
zhjcpi 0:aba381fc8158 197 typedef enum
zhjcpi 0:aba381fc8158 198 {
zhjcpi 0:aba381fc8158 199 SEND_DATA_TYPE_OSP_STOP_REQ,
zhjcpi 0:aba381fc8158 200 SEND_DATA_TYPE_OSP_VER_REQ,
zhjcpi 0:aba381fc8158 201 SEND_DATA_TYPE_OSP_LPM_REQ,
zhjcpi 0:aba381fc8158 202 SEND_DATA_TYPE_OSP_FPM_REQ,
zhjcpi 0:aba381fc8158 203 SEND_DATA_TYPE_OSP_SWITCH2NMEA_REQ,
zhjcpi 3:71690f7bb480 204 SEND_DATA_TYPE_NMEA_SWITCH2OSP_REQ,
zhjcpi 3:71690f7bb480 205 SEND_DATA_TYPE_NMEA_STOP_REQ
zhjcpi 0:aba381fc8158 206 }eSendDataType;
zhjcpi 0:aba381fc8158 207
zhjcpi 3:71690f7bb480 208 typedef struct GpsTime
zhjcpi 0:aba381fc8158 209 {
zhjcpi 0:aba381fc8158 210 /** Week part of GPS time */
zhjcpi 2:d4fe184925f2 211 uint16_t gps_week;
zhjcpi 0:aba381fc8158 212 /** Time of second part of GPS time */
zhjcpi 2:d4fe184925f2 213 uint32_t tow;
zhjcpi 3:71690f7bb480 214 }tGpsTime;
zhjcpi 3:71690f7bb480 215
zhjcpi 3:71690f7bb480 216 /** Structure to hold Position Response Message Information. */
zhjcpi 3:71690f7bb480 217 typedef struct LocPosResp
zhjcpi 3:71690f7bb480 218 {
zhjcpi 3:71690f7bb480 219 union
zhjcpi 3:71690f7bb480 220 {
zhjcpi 3:71690f7bb480 221 tGpsTime gpsTime;
zhjcpi 3:71690f7bb480 222 float utcTime;
zhjcpi 3:71690f7bb480 223 }u;
zhjcpi 0:aba381fc8158 224 /** Latitude */
zhjcpi 2:d4fe184925f2 225 double lat;
zhjcpi 0:aba381fc8158 226 /** Longitude */
zhjcpi 2:d4fe184925f2 227 double lon;
zhjcpi 0:aba381fc8158 228 /** Altitude */
zhjcpi 2:d4fe184925f2 229 double alt;
zhjcpi 0:aba381fc8158 230 } tLocPosResp;
zhjcpi 0:aba381fc8158 231
zhjcpi 0:aba381fc8158 232 /** Structure to hold Satellite Information. */
zhjcpi 0:aba381fc8158 233 typedef struct LocSvInfo
zhjcpi 0:aba381fc8158 234 {
zhjcpi 0:aba381fc8158 235 /** Prn or svId */
zhjcpi 2:d4fe184925f2 236 uint8_t prn;
zhjcpi 0:aba381fc8158 237 /** The ratio of carrier and noise */
zhjcpi 2:d4fe184925f2 238 float cno;
zhjcpi 0:aba381fc8158 239 /** elevation */
zhjcpi 2:d4fe184925f2 240 float elevation;
zhjcpi 0:aba381fc8158 241 /** azimuth */
zhjcpi 2:d4fe184925f2 242 float azimuth;
zhjcpi 0:aba381fc8158 243 /** satellite state */
zhjcpi 2:d4fe184925f2 244 uint16_t state;
zhjcpi 0:aba381fc8158 245 } tLocSvInfo;
zhjcpi 0:aba381fc8158 246
zhjcpi 0:aba381fc8158 247 /** Structure to hold Satellite Information for GLONASS */
zhjcpi 0:aba381fc8158 248 typedef struct LocGloSvInfo
zhjcpi 0:aba381fc8158 249 {
zhjcpi 0:aba381fc8158 250 /** Prn or svId */
zhjcpi 2:d4fe184925f2 251 uint8_t prn;
zhjcpi 0:aba381fc8158 252 /** Slot number */
zhjcpi 2:d4fe184925f2 253 uint8_t sno;
zhjcpi 0:aba381fc8158 254 /** The ratio of carrier and noise */
zhjcpi 2:d4fe184925f2 255 float cno;
zhjcpi 0:aba381fc8158 256 /** elevation */
zhjcpi 2:d4fe184925f2 257 float elevation;
zhjcpi 0:aba381fc8158 258 /** azimuth */
zhjcpi 2:d4fe184925f2 259 float azimuth;
zhjcpi 0:aba381fc8158 260 /** satellite state */
zhjcpi 2:d4fe184925f2 261 uint16_t state;
zhjcpi 0:aba381fc8158 262 } tLocGloSvInfo;
zhjcpi 0:aba381fc8158 263
zhjcpi 0:aba381fc8158 264 /** Structure to hold Satellite Status Information. */
zhjcpi 0:aba381fc8158 265 typedef struct LocSvStatus
zhjcpi 0:aba381fc8158 266 {
zhjcpi 0:aba381fc8158 267 /** Week part of GPS time */
zhjcpi 2:d4fe184925f2 268 uint16_t gps_week;
zhjcpi 0:aba381fc8158 269 /** Time of second part of GPS time */
zhjcpi 2:d4fe184925f2 270 uint32_t tow;
zhjcpi 0:aba381fc8158 271 /** Time of millisecond part of GPS time */
zhjcpi 2:d4fe184925f2 272 uint32_t tow_sub_ms;
zhjcpi 0:aba381fc8158 273
zhjcpi 0:aba381fc8158 274 /**Number of GPS SVs currently visible **/
zhjcpi 2:d4fe184925f2 275 uint8_t numOfSVs;
zhjcpi 0:aba381fc8158 276 /**Number of GLONASS SVs currently visible **/
zhjcpi 2:d4fe184925f2 277 uint8_t numOfGloSVs;
zhjcpi 0:aba381fc8158 278 /** GPS SVs information */
zhjcpi 0:aba381fc8158 279 tLocSvInfo svList[LOC_MAX_GNSS_SVS];
zhjcpi 0:aba381fc8158 280 /** GLONASS SVs information */
zhjcpi 0:aba381fc8158 281 tLocGloSvInfo gloSvList[LOC_NUM_OF_GLO_FREQ_CHANNELS];
zhjcpi 0:aba381fc8158 282 /** Bit mask indicating which SVs have ephemeris data **/
zhjcpi 2:d4fe184925f2 283 uint32_t ephemerisMask;
zhjcpi 0:aba381fc8158 284 /** Bit mask indicating which GLONASS SVs have ephemeris data **/
zhjcpi 2:d4fe184925f2 285 uint32_t gloEphemerisMask;
zhjcpi 0:aba381fc8158 286 /** Bit mask indicating which SVs were used in latest sent fix **/
zhjcpi 2:d4fe184925f2 287 uint32_t svUsedInFixMask;
zhjcpi 0:aba381fc8158 288 /** Bit mask indicating which GLONASS SVs were used in latest sent fix **/
zhjcpi 2:d4fe184925f2 289 uint32_t gloSvUsedInFixMask;
zhjcpi 0:aba381fc8158 290 /** Bit mask indicating which QZSS SVs were used in latest sent fix **/
zhjcpi 2:d4fe184925f2 291 uint32_t qzssSvUsedInFixMask;
zhjcpi 0:aba381fc8158 292 /** Bit mask indicating which SBAS SVs were used in latest sent fix **/
zhjcpi 2:d4fe184925f2 293 uint32_t sbasSvUsedInFixMask;
zhjcpi 0:aba381fc8158 294 } tLocSvStatus;
zhjcpi 0:aba381fc8158 295
zhjcpi 0:aba381fc8158 296
zhjcpi 0:aba381fc8158 297 /** Applicaiton register this out callback function and CsrLocaiton class will pass outputted information to application */
zhjcpi 2:d4fe184925f2 298 typedef void (*csr_app_output_callback)(uint32_t msgId, void * const pMsgData, uint32_t msgLength);
zhjcpi 0:aba381fc8158 299
zhjcpi 0:aba381fc8158 300 /** Applicaiton register this event callback function and CsrLocaiton class will pass internal porcessing event to application */
zhjcpi 2:d4fe184925f2 301 typedef void (*csr_app_event_callback)(eCsrLocEventType event, uint32_t data);
zhjcpi 0:aba381fc8158 302
zhjcpi 0:aba381fc8158 303 /** tCsrLocConfig structure
zhjcpi 0:aba381fc8158 304 * Application needs to decides and pass the configuration into CsrLocation class.
zhjcpi 0:aba381fc8158 305 */
zhjcpi 0:aba381fc8158 306 typedef struct CsrLocConfig
zhjcpi 0:aba381fc8158 307 {
zhjcpi 0:aba381fc8158 308 /** Debug serial port to print debug information */
zhjcpi 3:71690f7bb480 309 DBG_SERIAL_TYPE *pSerialDebug;
zhjcpi 0:aba381fc8158 310 /** location serail port to communicate between mbed host side and location chip */
zhjcpi 3:71690f7bb480 311 LOC_SERIAL_TYPE *pSerialLoc;
zhjcpi 0:aba381fc8158 312 /** GPIO pin to control location chip on, a rising edge is uset to activate location chip. Please note, before activate chip, reset pin should be pull high */
zhjcpi 0:aba381fc8158 313 DigitalOut *pPinOnoff;
zhjcpi 0:aba381fc8158 314 /** GPIO pin to control location chip reset, low level will keep location chip in hibernation state and high level will permit location chip to be activated */
zhjcpi 0:aba381fc8158 315 DigitalOut *pPinReset;
zhjcpi 0:aba381fc8158 316 }tCsrLocConfig;
zhjcpi 0:aba381fc8158 317
zhjcpi 0:aba381fc8158 318 /* General OSP mesasge format */
zhjcpi 0:aba381fc8158 319 typedef struct OspMsg
zhjcpi 0:aba381fc8158 320 {
zhjcpi 2:d4fe184925f2 321 uint32_t msgId;
zhjcpi 2:d4fe184925f2 322 uint32_t length;
zhjcpi 2:d4fe184925f2 323 uint8_t payload[4];
zhjcpi 0:aba381fc8158 324 } tOspMsg;
zhjcpi 0:aba381fc8158 325
zhjcpi 0:aba381fc8158 326 /* keep the internal data of CsrLocation class */
zhjcpi 0:aba381fc8158 327 typedef struct CsrLocInst
zhjcpi 0:aba381fc8158 328 {
zhjcpi 2:d4fe184925f2 329 bool bStopFlag;
zhjcpi 2:d4fe184925f2 330 bool bPwrModeRsp;
zhjcpi 2:d4fe184925f2 331 bool bVerRsp;
zhjcpi 0:aba381fc8158 332
zhjcpi 3:71690f7bb480 333 eProto proto;
zhjcpi 0:aba381fc8158 334 eCsrLocState locState;
zhjcpi 0:aba381fc8158 335 eProtoState protoState;
zhjcpi 0:aba381fc8158 336 ePowerMode pwrMode;
zhjcpi 2:d4fe184925f2 337 uint32_t baudRate;
zhjcpi 2:d4fe184925f2 338 int32_t computedCheckSum;
zhjcpi 2:d4fe184925f2 339 int32_t checksum;
zhjcpi 2:d4fe184925f2 340 int32_t msgSize;
zhjcpi 2:d4fe184925f2 341 int32_t decodeIndex;
zhjcpi 0:aba381fc8158 342 eProtoDetState protoDetState;
zhjcpi 0:aba381fc8158 343 Timeout *pTimeoutChk; /* timeout process */
zhjcpi 2:d4fe184925f2 344 bool bTimeoutFlag;
zhjcpi 0:aba381fc8158 345 eEngineStatus engStatus;
zhjcpi 0:aba381fc8158 346
zhjcpi 0:aba381fc8158 347 tLocSvStatus svStatus; /* 2 kind of messages contribute the svStaus */
zhjcpi 0:aba381fc8158 348
zhjcpi 3:71690f7bb480 349 DBG_SERIAL_TYPE *pSerialDebug;
zhjcpi 3:71690f7bb480 350 LOC_SERIAL_TYPE *pSerialLoc;
zhjcpi 0:aba381fc8158 351 DigitalOut *pPinOnoff;
zhjcpi 0:aba381fc8158 352 DigitalOut *pPinReset;
zhjcpi 0:aba381fc8158 353
zhjcpi 2:d4fe184925f2 354 uint8_t serialBuf[MAX_SERIAL_BUF_LEN]; /* buffer the serial data from uart callback function */
zhjcpi 2:d4fe184925f2 355 uint8_t serialPkt[MAX_SERIAL_PKT_LEN]; /* decoded osp data */
zhjcpi 2:d4fe184925f2 356 uint32_t in;
zhjcpi 2:d4fe184925f2 357 uint32_t out;
zhjcpi 0:aba381fc8158 358
zhjcpi 0:aba381fc8158 359 csr_app_output_callback appOutCb;
zhjcpi 0:aba381fc8158 360 csr_app_event_callback appEventCb;
zhjcpi 0:aba381fc8158 361 }tCsrLocInst;
zhjcpi 0:aba381fc8158 362
zhjcpi 0:aba381fc8158 363 /** CsrLocation class.
zhjcpi 0:aba381fc8158 364 * A location interface to control location chip and get position and satellite information.
zhjcpi 0:aba381fc8158 365 */
zhjcpi 0:aba381fc8158 366 class CsrLocation
zhjcpi 0:aba381fc8158 367 {
zhjcpi 0:aba381fc8158 368 public:
zhjcpi 0:aba381fc8158 369 /** Constructor: CsrLocaiton
zhjcpi 0:aba381fc8158 370 * Create the CsrLocation, accept specified configuration
zhjcpi 0:aba381fc8158 371 * @param pLocConfig Configuration including debug serial port, location communication serail port, onoff pin, reset pin
zhjcpi 0:aba381fc8158 372 */
zhjcpi 0:aba381fc8158 373 CsrLocation(tCsrLocConfig *pLocConfig);
zhjcpi 0:aba381fc8158 374
zhjcpi 0:aba381fc8158 375 /** Destructor: CsrLocation
zhjcpi 0:aba381fc8158 376 * Free allocated resource
zhjcpi 0:aba381fc8158 377 */
zhjcpi 0:aba381fc8158 378 ~CsrLocation();
zhjcpi 0:aba381fc8158 379
zhjcpi 0:aba381fc8158 380 /** Register output callback and enent callback functions
zhjcpi 0:aba381fc8158 381 * @param app_output_cb CsrLocation class output the loaction and satellite information to application
zhjcpi 0:aba381fc8158 382 * @param app_event_cb CsrLocation class output the start and stop result to application
zhjcpi 0:aba381fc8158 383 */
zhjcpi 0:aba381fc8158 384 void CsrLocRegOutput(csr_app_output_callback app_output_cb, csr_app_event_callback app_event_cb);
zhjcpi 0:aba381fc8158 385
zhjcpi 0:aba381fc8158 386 /** hw reset to get location chip into hibernation mode */
zhjcpi 0:aba381fc8158 387 void CsrLocReset(void);
zhjcpi 0:aba381fc8158 388
zhjcpi 0:aba381fc8158 389 /** Start location request, activate location chip */
zhjcpi 3:71690f7bb480 390 void CsrLocStart(ePowerMode pwrMode, eProto proto);
zhjcpi 0:aba381fc8158 391
zhjcpi 0:aba381fc8158 392 /** Process location data from chip and update location and satellite information */
zhjcpi 0:aba381fc8158 393 void CsrLocUpdate(void);
zhjcpi 0:aba381fc8158 394
zhjcpi 0:aba381fc8158 395 /** Stop location request, get location chip into hibernation mode */
zhjcpi 0:aba381fc8158 396 void CsrLocStop(void);
zhjcpi 0:aba381fc8158 397
zhjcpi 0:aba381fc8158 398 /** Speical for low power PTF mode.
zhjcpi 0:aba381fc8158 399 * During low power PTF mode, after reporting position, chip will go to hibernation mode automatically.
zhjcpi 0:aba381fc8158 400 * After 30 seconds, chip will recover and report position again. Then chip will go to hibernation mode again.
zhjcpi 0:aba381fc8158 401 * During the hibernation, application can call CsrLocLpmGetPos to get position immediately and no need to wait for the whole interval.
zhjcpi 0:aba381fc8158 402 */
zhjcpi 0:aba381fc8158 403 void CsrLocLpmGetPos(void);
zhjcpi 0:aba381fc8158 404
zhjcpi 0:aba381fc8158 405 /* A debug interface to switch location chip protocol from OSP at 115200bps to NMEA at 4800bps */
zhjcpi 0:aba381fc8158 406 void CsrLocDebugSwitch2Nmea(void);
zhjcpi 0:aba381fc8158 407
zhjcpi 0:aba381fc8158 408 private:
zhjcpi 0:aba381fc8158 409 /* Internal kept data */
zhjcpi 0:aba381fc8158 410 tCsrLocInst csrLocInst;
zhjcpi 0:aba381fc8158 411
zhjcpi 0:aba381fc8158 412 /* Initialize the serial port and open it */
zhjcpi 0:aba381fc8158 413 void _CsrLocUartInit(void);
zhjcpi 0:aba381fc8158 414
zhjcpi 0:aba381fc8158 415 /* Process the raw stream from location seraial port */
zhjcpi 0:aba381fc8158 416 void _CsrLocProcessRawStream(void);
zhjcpi 0:aba381fc8158 417
zhjcpi 3:71690f7bb480 418 /* Detect the OSP protocol detection timeout */
zhjcpi 3:71690f7bb480 419 void _CsrLocDetProtoOspTimeout(void);
zhjcpi 0:aba381fc8158 420
zhjcpi 0:aba381fc8158 421 /* Detect the NMEA protocol outputted from location serial port */
zhjcpi 3:71690f7bb480 422 void _CsrLocDetProtoNmeaTimeout(void);
zhjcpi 3:71690f7bb480 423
zhjcpi 3:71690f7bb480 424 /* Process the raw NMEA stream, remove the NMEA header, tail, and save the NMEA data into interal buffer */
zhjcpi 3:71690f7bb480 425 void _CsrLocProcessRawNmeaStream(uint8_t data);
zhjcpi 0:aba381fc8158 426
zhjcpi 0:aba381fc8158 427 /* Process the raw OSP stream, remove the OSP header, size, check sum, and save the OSP data into interal buffer */
zhjcpi 2:d4fe184925f2 428 void _CsrLocProcessRawOspStream(uint8_t data);
zhjcpi 0:aba381fc8158 429
zhjcpi 3:71690f7bb480 430 /* Process the saved nmea data and decode them */
zhjcpi 3:71690f7bb480 431 void _CsrLocProcessRawNmeaPkt(void);
zhjcpi 3:71690f7bb480 432
zhjcpi 0:aba381fc8158 433 /* Process the saved OSP data and decode them */
zhjcpi 0:aba381fc8158 434 void _CsrLocProcessRawOspPkt(void);
zhjcpi 0:aba381fc8158 435
zhjcpi 0:aba381fc8158 436 /* Calculate the OSP message size to allcate buffer to save the decoded OSP data */
zhjcpi 2:d4fe184925f2 437 uint32_t _CsrLocCalcMsgSize(void);
zhjcpi 0:aba381fc8158 438
zhjcpi 0:aba381fc8158 439 /* Decode OSP data into pakcet data structure */
zhjcpi 2:d4fe184925f2 440 CsrResult _CsrLocDecodeOspPkt( uint8_t *payload, uint32_t payload_length, uint32_t *message_id, void *message_structure, uint32_t *message_length);
zhjcpi 0:aba381fc8158 441
zhjcpi 0:aba381fc8158 442 /* Process the decode OSP packet and pass to application when needed */
zhjcpi 0:aba381fc8158 443 void _CsrLocProcessOspPkt(tOspMsg *pOspMsg);
zhjcpi 0:aba381fc8158 444
zhjcpi 0:aba381fc8158 445 /* Timeout process, such as detect OSP and NMEA protocol */
zhjcpi 0:aba381fc8158 446 void _CsrLocTimeout(void);
zhjcpi 0:aba381fc8158 447
zhjcpi 0:aba381fc8158 448 /* Location serial port data recevier */
zhjcpi 0:aba381fc8158 449 void _CsrLocRxHandler(void);
zhjcpi 0:aba381fc8158 450
zhjcpi 0:aba381fc8158 451 /* Send special OSP messges to location chip */
zhjcpi 0:aba381fc8158 452 void _CsrLocSendData(eSendDataType type);
zhjcpi 0:aba381fc8158 453
zhjcpi 0:aba381fc8158 454 /* Trigger a pulse on the onoff pin */
zhjcpi 0:aba381fc8158 455 void _CsrLocHwOnoff(void);
zhjcpi 0:aba381fc8158 456
zhjcpi 0:aba381fc8158 457 /* Trigger a reset on the reset pin */
zhjcpi 0:aba381fc8158 458 void _CsrLocHwReset(void);
zhjcpi 0:aba381fc8158 459 };
zhjcpi 0:aba381fc8158 460
zhjcpi 0:aba381fc8158 461
zhjcpi 0:aba381fc8158 462
zhjcpi 0:aba381fc8158 463 #endif /* CSRLOCATION_H */
zhjcpi 3:71690f7bb480 464