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@6:aed3c66b39d9, 2014-08-04 (annotated)

Committer:
zhjcpi
Date:
Mon Aug 04 10:15:22 2014 +0000
Revision:
6:aed3c66b39d9
Parent:
5:219dfc2905dc
Child:
7:1fde78f27d5b
Adjust the IO interface pin map for H13467V1 LED1/LED2.

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 5:219dfc2905dc 33 #define PINMAP_GPIO_LOC_ONOFF D9
zhjcpi 5:219dfc2905dc 34 #define PINMAP_GPIO_LOC_WAKEUP D3
zhjcpi 3:71690f7bb480 35 #define PINMAP_GPIO_LOC_RESET D4
zhjcpi 6:aed3c66b39d9 36 #define LOC_LED1 D7
zhjcpi 6:aed3c66b39d9 37 #define LOC_LED2 D5
zhjcpi 3:71690f7bb480 38 #define DBG_SERIAL_TYPE Serial
zhjcpi 3:71690f7bb480 39 #define LOC_SERIAL_TYPE RawSerial
zhjcpi 3:71690f7bb480 40 #endif
zhjcpi 3:71690f7bb480 41
zhjcpi 3:71690f7bb480 42
zhjcpi 0:aba381fc8158 43 /* OSP protocol related definitions */
zhjcpi 0:aba381fc8158 44 #define MAX_VERSION_LENGTH 80
zhjcpi 0:aba381fc8158 45
zhjcpi 0:aba381fc8158 46 /* OSP message header */
zhjcpi 0:aba381fc8158 47 #define OSP_MSG_HEAD0 (0xA0)
zhjcpi 0:aba381fc8158 48 #define OSP_MSG_HEAD1 (0xA2)
zhjcpi 0:aba381fc8158 49 /* OSP message footer */
zhjcpi 0:aba381fc8158 50 #define OSP_MSG_TAIL0 (0xB0)
zhjcpi 0:aba381fc8158 51 #define OSP_MSG_TAIL1 (0xB3)
zhjcpi 0:aba381fc8158 52
zhjcpi 0:aba381fc8158 53 /* NMEA message header */
zhjcpi 0:aba381fc8158 54 #define NMEA_MSG_HEAD0 ('$')
zhjcpi 0:aba381fc8158 55 #define NMEA_MSG_HEAD1 ('G')
zhjcpi 0:aba381fc8158 56 /* NMEA message footer */
zhjcpi 0:aba381fc8158 57 #define NMEA_MSG_TAIL0 ('*')
zhjcpi 0:aba381fc8158 58
zhjcpi 2:d4fe184925f2 59 #define CSR_SWAPIN16(bytestream) (((uint16_t)*((bytestream)+0) << 8) | ((uint16_t)*((bytestream)+1)))
zhjcpi 0:aba381fc8158 60
zhjcpi 0:aba381fc8158 61 #define CSR_SWAPIN32(bytestream)\
zhjcpi 2:d4fe184925f2 62 ( ((uint32_t)*((bytestream)+0) << 24)\
zhjcpi 2:d4fe184925f2 63 | ((uint32_t)*((bytestream)+1) << 16)\
zhjcpi 2:d4fe184925f2 64 | ((uint32_t)*((bytestream)+2) << 8)\
zhjcpi 2:d4fe184925f2 65 | ((uint32_t)*((bytestream)+3) ))
zhjcpi 0:aba381fc8158 66
zhjcpi 0:aba381fc8158 67
zhjcpi 0:aba381fc8158 68 /* import macros for little endian: */
zhjcpi 0:aba381fc8158 69 /* NOTE: must use {} around these macros when calling in a loop */
zhjcpi 0:aba381fc8158 70 #define BINARY_IMPORT_UINT8(bytestream) ( *((bytestream)++))
zhjcpi 2:d4fe184925f2 71 #define BINARY_IMPORT_UINT16(bytestream) ((uint16_t) CSR_SWAPIN16((bytestream))); bytestream+=2
zhjcpi 2:d4fe184925f2 72 #define BINARY_IMPORT_UINT32(bytestream) ((uint32_t) CSR_SWAPIN32((bytestream))); bytestream+=4
zhjcpi 2:d4fe184925f2 73 #define BINARY_IMPORT_SINT32(bytestream) ((int32_t) CSR_SWAPIN32((bytestream))); bytestream+=4
zhjcpi 0:aba381fc8158 74
zhjcpi 0:aba381fc8158 75
zhjcpi 0:aba381fc8158 76 #define OSP_MAKE_MSG_ID(mid, sid) ((((mid) & 0xFF) << 8) | ((sid) & 0xFF))
zhjcpi 0:aba381fc8158 77
zhjcpi 0:aba381fc8158 78 #define OSP_MSG_SW_VERSION OSP_MAKE_MSG_ID(0x06, 0x0)
zhjcpi 0:aba381fc8158 79 #define OSP_MSG_OK_TO_SEND OSP_MAKE_MSG_ID(0x12, 0x0)
zhjcpi 0:aba381fc8158 80 #define OSP_MSG_GEODETIC_NAVIGATION OSP_MAKE_MSG_ID(0x29, 0x0)
zhjcpi 0:aba381fc8158 81 #define OSP_MSG_MULTI_CONSTELLATION OSP_MAKE_MSG_ID(0x43, 0x0)
zhjcpi 0:aba381fc8158 82 #define OSP_MSG_GNSS_NAV_DATA OSP_MAKE_MSG_ID(0x43, 0x01)
zhjcpi 0:aba381fc8158 83 #define OSP_MSG_GNSS_SAT_DATA OSP_MAKE_MSG_ID(0x43, 0x10)
zhjcpi 0:aba381fc8158 84 #define OSP_MSG_HW_CONFIG_REQ OSP_MAKE_MSG_ID(0x47, 0x0)
zhjcpi 0:aba381fc8158 85 #define OSP_MSG_PWR_MODE_RSP OSP_MAKE_MSG_ID(0x5A, 0x0)
zhjcpi 0:aba381fc8158 86 #define OSP_MSG_PWR_MODE_FPM_RSP OSP_MAKE_MSG_ID(0x5A, 0x0)
zhjcpi 0:aba381fc8158 87 #define OSP_MSG_PWR_MODE_LPM_RSP OSP_MAKE_MSG_ID(0x5A, 0x6)
zhjcpi 0:aba381fc8158 88
zhjcpi 0:aba381fc8158 89
zhjcpi 0:aba381fc8158 90 #define GNSS_SAT_DATA_NUM_OF_SATS (15)
zhjcpi 0:aba381fc8158 91 #define CODEC_GLO_MAX_CHANNELS (14)
zhjcpi 0:aba381fc8158 92 /* The end of OSP protocol definitions */
zhjcpi 0:aba381fc8158 93
zhjcpi 0:aba381fc8158 94
zhjcpi 0:aba381fc8158 95 #define LOC_MAX_GNSS_SVS (32)
zhjcpi 0:aba381fc8158 96 #define LOC_GLO_FREQ_OFFSET (77)
zhjcpi 0:aba381fc8158 97 #define LOC_GLO_FREQ_ID_START (70)
zhjcpi 0:aba381fc8158 98 #define LOC_GLO_FREQ_ID_END (83)
zhjcpi 0:aba381fc8158 99 #define LOC_NUM_OF_GLO_FREQ_CHANNELS (1+LOC_GLO_FREQ_ID_END-LOC_GLO_FREQ_ID_START)
zhjcpi 0:aba381fc8158 100
zhjcpi 0:aba381fc8158 101 #define MAX_PORT_NUM_STRING_LENGTH (16)
zhjcpi 0:aba381fc8158 102 #define MAX_SERIAL_BUF_LEN (2048)
zhjcpi 0:aba381fc8158 103 #define MAX_SERIAL_PKT_LEN (512)
zhjcpi 0:aba381fc8158 104
zhjcpi 0:aba381fc8158 105 #define BAUDRATE_NMEA 4800
zhjcpi 0:aba381fc8158 106 #define BAUDRATE_OSP 115200
zhjcpi 0:aba381fc8158 107
zhjcpi 0:aba381fc8158 108 #define PROTO_CHECK_TIMEOUT (2.0)
zhjcpi 0:aba381fc8158 109
zhjcpi 0:aba381fc8158 110 /** Indicates the outputted location information */
zhjcpi 0:aba381fc8158 111 #define LOC_OUTPUT_LOCATION (1)
zhjcpi 0:aba381fc8158 112 /* Indicates the outputted sv status information */
zhjcpi 0:aba381fc8158 113 #define LOC_OUTPUT_SV_STATUS (2)
zhjcpi 0:aba381fc8158 114
zhjcpi 3:71690f7bb480 115 #if 0
zhjcpi 3:71690f7bb480 116 #define CSR_LOG_INFO printf
zhjcpi 3:71690f7bb480 117 #else
zhjcpi 0:aba381fc8158 118 #define CSR_LOG_INFO(...) \
zhjcpi 0:aba381fc8158 119 {\
zhjcpi 0:aba381fc8158 120 if(csrLocInst.pSerialDebug != NULL)\
zhjcpi 0:aba381fc8158 121 {\
zhjcpi 0:aba381fc8158 122 (csrLocInst.pSerialDebug->printf(__VA_ARGS__));\
zhjcpi 0:aba381fc8158 123 }\
zhjcpi 0:aba381fc8158 124 }
zhjcpi 3:71690f7bb480 125 #endif
zhjcpi 0:aba381fc8158 126
zhjcpi 0:aba381fc8158 127 /** Location enent definitions */
zhjcpi 0:aba381fc8158 128 typedef enum
zhjcpi 0:aba381fc8158 129 {
zhjcpi 0:aba381fc8158 130 /** Start result event */
zhjcpi 0:aba381fc8158 131 CSR_LOC_EVENT_START_RESULT,
zhjcpi 0:aba381fc8158 132 /** Stop result event */
zhjcpi 0:aba381fc8158 133 CSR_LOC_EVENT_STOP_RESULT,
zhjcpi 0:aba381fc8158 134 }eCsrLocEventType;
zhjcpi 0:aba381fc8158 135
zhjcpi 0:aba381fc8158 136 /** Power mode selection */
zhjcpi 0:aba381fc8158 137 typedef enum
zhjcpi 0:aba381fc8158 138 {
zhjcpi 0:aba381fc8158 139 /** full power mode */
zhjcpi 0:aba381fc8158 140 PWR_FULL,
zhjcpi 0:aba381fc8158 141 /** Low power push to fix mode */
zhjcpi 0:aba381fc8158 142 PWR_PTF,
zhjcpi 0:aba381fc8158 143 }ePowerMode;
zhjcpi 0:aba381fc8158 144
zhjcpi 3:71690f7bb480 145 /** Power mode selection */
zhjcpi 3:71690f7bb480 146 typedef enum
zhjcpi 3:71690f7bb480 147 {
zhjcpi 3:71690f7bb480 148 /** NMEA protocol */
zhjcpi 3:71690f7bb480 149 PROTO_NMEA,
zhjcpi 3:71690f7bb480 150 /** OSP protocol */
zhjcpi 3:71690f7bb480 151 PROTO_OSP,
zhjcpi 3:71690f7bb480 152 }eProto;
zhjcpi 3:71690f7bb480 153
zhjcpi 0:aba381fc8158 154 /* Protocol detection state */
zhjcpi 0:aba381fc8158 155 typedef enum
zhjcpi 0:aba381fc8158 156 {
zhjcpi 0:aba381fc8158 157 STATE_START1, /* Indicates the first byte of the OSP or NMEA message header*/
zhjcpi 0:aba381fc8158 158 STATE_START2, /* Indicates the second byte of the OSP or NMEA message header */
zhjcpi 0:aba381fc8158 159 STATE_SIZE1, /* Indicates the first byte of the OSP message length */
zhjcpi 0:aba381fc8158 160 STATE_SIZE2, /* Indicates the second byte of the OSP message length */
zhjcpi 0:aba381fc8158 161 STATE_PAYLOAD, /* Indicates the start of payload of the OSP message */
zhjcpi 0:aba381fc8158 162 STATE_CHECKSUM1, /* Indicates the first byte of the OSP message checksum */
zhjcpi 0:aba381fc8158 163 STATE_CHECKSUM2, /* Indicates the second byte of the OSP message checksum */
zhjcpi 0:aba381fc8158 164 STATE_END1, /* Indicates the first byte of the OSP or NMEA message footer */
zhjcpi 0:aba381fc8158 165 STATE_END2 /* Indicates the second byte of the OSP message footer */
zhjcpi 0:aba381fc8158 166 }eProtoDetState;
zhjcpi 0:aba381fc8158 167
zhjcpi 0:aba381fc8158 168 /* Csr Location state */
zhjcpi 0:aba381fc8158 169 typedef enum
zhjcpi 0:aba381fc8158 170 {
zhjcpi 0:aba381fc8158 171 CSR_LOC_STATE_IDLE,
zhjcpi 0:aba381fc8158 172 CSR_LOC_STATE_RUN,
zhjcpi 0:aba381fc8158 173 }eCsrLocState;
zhjcpi 0:aba381fc8158 174
zhjcpi 0:aba381fc8158 175 /* Locatin chip protocol detection state */
zhjcpi 0:aba381fc8158 176 typedef enum
zhjcpi 0:aba381fc8158 177 {
zhjcpi 0:aba381fc8158 178 PROTO_STATE_DET_INVALID = 0,
zhjcpi 0:aba381fc8158 179 PROTO_STATE_DET_OSP,
zhjcpi 0:aba381fc8158 180 PROTO_STATE_DET_NMEA,
zhjcpi 3:71690f7bb480 181 // PROTO_STATE_SWI_OSP_FROM_NMEA,
zhjcpi 0:aba381fc8158 182 PROTO_STATE_DET_OSP_FROM_NMEA,
zhjcpi 3:71690f7bb480 183 // PROTO_STATE_SWI_NMEA_FROM_OSP,
zhjcpi 3:71690f7bb480 184 PROTO_STATE_DET_NMEA_FROM_OSP,
zhjcpi 0:aba381fc8158 185 PROTO_STATE_DET_OK,
zhjcpi 0:aba381fc8158 186 }eProtoState;
zhjcpi 0:aba381fc8158 187
zhjcpi 0:aba381fc8158 188 /* Locaiton chip status */
zhjcpi 0:aba381fc8158 189 typedef enum
zhjcpi 0:aba381fc8158 190 {
zhjcpi 0:aba381fc8158 191 /* Location chip is going to hibernation mode and cannot accept message any more */
zhjcpi 0:aba381fc8158 192 ENGINE_STATUS_NOTOK2SEND,
zhjcpi 0:aba381fc8158 193 /* Locaitn come back from hibernation mode and can accept message now */
zhjcpi 0:aba381fc8158 194 ENGINE_STATUS_OK2SEND
zhjcpi 0:aba381fc8158 195 }eEngineStatus;
zhjcpi 0:aba381fc8158 196
zhjcpi 0:aba381fc8158 197 /* OSP data type to be sent to location chip */
zhjcpi 0:aba381fc8158 198 typedef enum
zhjcpi 0:aba381fc8158 199 {
zhjcpi 0:aba381fc8158 200 SEND_DATA_TYPE_OSP_STOP_REQ,
zhjcpi 0:aba381fc8158 201 SEND_DATA_TYPE_OSP_VER_REQ,
zhjcpi 0:aba381fc8158 202 SEND_DATA_TYPE_OSP_LPM_REQ,
zhjcpi 0:aba381fc8158 203 SEND_DATA_TYPE_OSP_FPM_REQ,
zhjcpi 0:aba381fc8158 204 SEND_DATA_TYPE_OSP_SWITCH2NMEA_REQ,
zhjcpi 3:71690f7bb480 205 SEND_DATA_TYPE_NMEA_SWITCH2OSP_REQ,
zhjcpi 3:71690f7bb480 206 SEND_DATA_TYPE_NMEA_STOP_REQ
zhjcpi 0:aba381fc8158 207 }eSendDataType;
zhjcpi 0:aba381fc8158 208
zhjcpi 3:71690f7bb480 209 typedef struct GpsTime
zhjcpi 0:aba381fc8158 210 {
zhjcpi 0:aba381fc8158 211 /** Week part of GPS time */
zhjcpi 2:d4fe184925f2 212 uint16_t gps_week;
zhjcpi 0:aba381fc8158 213 /** Time of second part of GPS time */
zhjcpi 2:d4fe184925f2 214 uint32_t tow;
zhjcpi 3:71690f7bb480 215 }tGpsTime;
zhjcpi 3:71690f7bb480 216
zhjcpi 3:71690f7bb480 217 /** Structure to hold Position Response Message Information. */
zhjcpi 3:71690f7bb480 218 typedef struct LocPosResp
zhjcpi 3:71690f7bb480 219 {
zhjcpi 3:71690f7bb480 220 union
zhjcpi 3:71690f7bb480 221 {
zhjcpi 3:71690f7bb480 222 tGpsTime gpsTime;
zhjcpi 3:71690f7bb480 223 float utcTime;
zhjcpi 3:71690f7bb480 224 }u;
zhjcpi 0:aba381fc8158 225 /** Latitude */
zhjcpi 2:d4fe184925f2 226 double lat;
zhjcpi 0:aba381fc8158 227 /** Longitude */
zhjcpi 2:d4fe184925f2 228 double lon;
zhjcpi 0:aba381fc8158 229 /** Altitude */
zhjcpi 2:d4fe184925f2 230 double alt;
zhjcpi 0:aba381fc8158 231 } tLocPosResp;
zhjcpi 0:aba381fc8158 232
zhjcpi 0:aba381fc8158 233 /** Structure to hold Satellite Information. */
zhjcpi 0:aba381fc8158 234 typedef struct LocSvInfo
zhjcpi 0:aba381fc8158 235 {
zhjcpi 0:aba381fc8158 236 /** Prn or svId */
zhjcpi 2:d4fe184925f2 237 uint8_t prn;
zhjcpi 0:aba381fc8158 238 /** The ratio of carrier and noise */
zhjcpi 2:d4fe184925f2 239 float cno;
zhjcpi 0:aba381fc8158 240 /** elevation */
zhjcpi 2:d4fe184925f2 241 float elevation;
zhjcpi 0:aba381fc8158 242 /** azimuth */
zhjcpi 2:d4fe184925f2 243 float azimuth;
zhjcpi 0:aba381fc8158 244 /** satellite state */
zhjcpi 2:d4fe184925f2 245 uint16_t state;
zhjcpi 0:aba381fc8158 246 } tLocSvInfo;
zhjcpi 0:aba381fc8158 247
zhjcpi 0:aba381fc8158 248 /** Structure to hold Satellite Information for GLONASS */
zhjcpi 0:aba381fc8158 249 typedef struct LocGloSvInfo
zhjcpi 0:aba381fc8158 250 {
zhjcpi 0:aba381fc8158 251 /** Prn or svId */
zhjcpi 2:d4fe184925f2 252 uint8_t prn;
zhjcpi 0:aba381fc8158 253 /** Slot number */
zhjcpi 2:d4fe184925f2 254 uint8_t sno;
zhjcpi 0:aba381fc8158 255 /** The ratio of carrier and noise */
zhjcpi 2:d4fe184925f2 256 float cno;
zhjcpi 0:aba381fc8158 257 /** elevation */
zhjcpi 2:d4fe184925f2 258 float elevation;
zhjcpi 0:aba381fc8158 259 /** azimuth */
zhjcpi 2:d4fe184925f2 260 float azimuth;
zhjcpi 0:aba381fc8158 261 /** satellite state */
zhjcpi 2:d4fe184925f2 262 uint16_t state;
zhjcpi 0:aba381fc8158 263 } tLocGloSvInfo;
zhjcpi 0:aba381fc8158 264
zhjcpi 0:aba381fc8158 265 /** Structure to hold Satellite Status Information. */
zhjcpi 0:aba381fc8158 266 typedef struct LocSvStatus
zhjcpi 0:aba381fc8158 267 {
zhjcpi 0:aba381fc8158 268 /** Week part of GPS time */
zhjcpi 2:d4fe184925f2 269 uint16_t gps_week;
zhjcpi 0:aba381fc8158 270 /** Time of second part of GPS time */
zhjcpi 2:d4fe184925f2 271 uint32_t tow;
zhjcpi 0:aba381fc8158 272 /** Time of millisecond part of GPS time */
zhjcpi 2:d4fe184925f2 273 uint32_t tow_sub_ms;
zhjcpi 0:aba381fc8158 274
zhjcpi 0:aba381fc8158 275 /**Number of GPS SVs currently visible **/
zhjcpi 2:d4fe184925f2 276 uint8_t numOfSVs;
zhjcpi 0:aba381fc8158 277 /**Number of GLONASS SVs currently visible **/
zhjcpi 2:d4fe184925f2 278 uint8_t numOfGloSVs;
zhjcpi 0:aba381fc8158 279 /** GPS SVs information */
zhjcpi 0:aba381fc8158 280 tLocSvInfo svList[LOC_MAX_GNSS_SVS];
zhjcpi 0:aba381fc8158 281 /** GLONASS SVs information */
zhjcpi 0:aba381fc8158 282 tLocGloSvInfo gloSvList[LOC_NUM_OF_GLO_FREQ_CHANNELS];
zhjcpi 0:aba381fc8158 283 /** Bit mask indicating which SVs have ephemeris data **/
zhjcpi 2:d4fe184925f2 284 uint32_t ephemerisMask;
zhjcpi 0:aba381fc8158 285 /** Bit mask indicating which GLONASS SVs have ephemeris data **/
zhjcpi 2:d4fe184925f2 286 uint32_t gloEphemerisMask;
zhjcpi 0:aba381fc8158 287 /** Bit mask indicating which SVs were used in latest sent fix **/
zhjcpi 2:d4fe184925f2 288 uint32_t svUsedInFixMask;
zhjcpi 0:aba381fc8158 289 /** Bit mask indicating which GLONASS SVs were used in latest sent fix **/
zhjcpi 2:d4fe184925f2 290 uint32_t gloSvUsedInFixMask;
zhjcpi 0:aba381fc8158 291 /** Bit mask indicating which QZSS SVs were used in latest sent fix **/
zhjcpi 2:d4fe184925f2 292 uint32_t qzssSvUsedInFixMask;
zhjcpi 0:aba381fc8158 293 /** Bit mask indicating which SBAS SVs were used in latest sent fix **/
zhjcpi 2:d4fe184925f2 294 uint32_t sbasSvUsedInFixMask;
zhjcpi 0:aba381fc8158 295 } tLocSvStatus;
zhjcpi 0:aba381fc8158 296
zhjcpi 0:aba381fc8158 297
zhjcpi 0:aba381fc8158 298 /** Applicaiton register this out callback function and CsrLocaiton class will pass outputted information to application */
zhjcpi 2:d4fe184925f2 299 typedef void (*csr_app_output_callback)(uint32_t msgId, void * const pMsgData, uint32_t msgLength);
zhjcpi 0:aba381fc8158 300
zhjcpi 0:aba381fc8158 301 /** Applicaiton register this event callback function and CsrLocaiton class will pass internal porcessing event to application */
zhjcpi 2:d4fe184925f2 302 typedef void (*csr_app_event_callback)(eCsrLocEventType event, uint32_t data);
zhjcpi 0:aba381fc8158 303
zhjcpi 0:aba381fc8158 304 /** tCsrLocConfig structure
zhjcpi 0:aba381fc8158 305 * Application needs to decides and pass the configuration into CsrLocation class.
zhjcpi 0:aba381fc8158 306 */
zhjcpi 0:aba381fc8158 307 typedef struct CsrLocConfig
zhjcpi 0:aba381fc8158 308 {
zhjcpi 0:aba381fc8158 309 /** Debug serial port to print debug information */
zhjcpi 3:71690f7bb480 310 DBG_SERIAL_TYPE *pSerialDebug;
zhjcpi 0:aba381fc8158 311 /** location serail port to communicate between mbed host side and location chip */
zhjcpi 3:71690f7bb480 312 LOC_SERIAL_TYPE *pSerialLoc;
zhjcpi 0:aba381fc8158 313 /** 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 314 DigitalOut *pPinOnoff;
zhjcpi 0:aba381fc8158 315 /** 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 316 DigitalOut *pPinReset;
zhjcpi 0:aba381fc8158 317 }tCsrLocConfig;
zhjcpi 0:aba381fc8158 318
zhjcpi 0:aba381fc8158 319 /* General OSP mesasge format */
zhjcpi 0:aba381fc8158 320 typedef struct OspMsg
zhjcpi 0:aba381fc8158 321 {
zhjcpi 2:d4fe184925f2 322 uint32_t msgId;
zhjcpi 2:d4fe184925f2 323 uint32_t length;
zhjcpi 2:d4fe184925f2 324 uint8_t payload[4];
zhjcpi 0:aba381fc8158 325 } tOspMsg;
zhjcpi 0:aba381fc8158 326
zhjcpi 0:aba381fc8158 327 /* keep the internal data of CsrLocation class */
zhjcpi 0:aba381fc8158 328 typedef struct CsrLocInst
zhjcpi 0:aba381fc8158 329 {
zhjcpi 2:d4fe184925f2 330 bool bStopFlag;
zhjcpi 2:d4fe184925f2 331 bool bPwrModeRsp;
zhjcpi 2:d4fe184925f2 332 bool bVerRsp;
zhjcpi 0:aba381fc8158 333
zhjcpi 3:71690f7bb480 334 eProto proto;
zhjcpi 0:aba381fc8158 335 eCsrLocState locState;
zhjcpi 0:aba381fc8158 336 eProtoState protoState;
zhjcpi 0:aba381fc8158 337 ePowerMode pwrMode;
zhjcpi 2:d4fe184925f2 338 uint32_t baudRate;
zhjcpi 2:d4fe184925f2 339 int32_t computedCheckSum;
zhjcpi 2:d4fe184925f2 340 int32_t checksum;
zhjcpi 2:d4fe184925f2 341 int32_t msgSize;
zhjcpi 2:d4fe184925f2 342 int32_t decodeIndex;
zhjcpi 0:aba381fc8158 343 eProtoDetState protoDetState;
zhjcpi 0:aba381fc8158 344 Timeout *pTimeoutChk; /* timeout process */
zhjcpi 2:d4fe184925f2 345 bool bTimeoutFlag;
zhjcpi 0:aba381fc8158 346 eEngineStatus engStatus;
zhjcpi 0:aba381fc8158 347
zhjcpi 0:aba381fc8158 348 tLocSvStatus svStatus; /* 2 kind of messages contribute the svStaus */
zhjcpi 0:aba381fc8158 349
zhjcpi 3:71690f7bb480 350 DBG_SERIAL_TYPE *pSerialDebug;
zhjcpi 3:71690f7bb480 351 LOC_SERIAL_TYPE *pSerialLoc;
zhjcpi 0:aba381fc8158 352 DigitalOut *pPinOnoff;
zhjcpi 0:aba381fc8158 353 DigitalOut *pPinReset;
zhjcpi 0:aba381fc8158 354
zhjcpi 2:d4fe184925f2 355 uint8_t serialBuf[MAX_SERIAL_BUF_LEN]; /* buffer the serial data from uart callback function */
zhjcpi 2:d4fe184925f2 356 uint8_t serialPkt[MAX_SERIAL_PKT_LEN]; /* decoded osp data */
zhjcpi 2:d4fe184925f2 357 uint32_t in;
zhjcpi 2:d4fe184925f2 358 uint32_t out;
zhjcpi 0:aba381fc8158 359
zhjcpi 0:aba381fc8158 360 csr_app_output_callback appOutCb;
zhjcpi 0:aba381fc8158 361 csr_app_event_callback appEventCb;
zhjcpi 0:aba381fc8158 362 }tCsrLocInst;
zhjcpi 0:aba381fc8158 363
zhjcpi 0:aba381fc8158 364 /** CsrLocation class.
zhjcpi 0:aba381fc8158 365 * A location interface to control location chip and get position and satellite information.
zhjcpi 0:aba381fc8158 366 */
zhjcpi 0:aba381fc8158 367 class CsrLocation
zhjcpi 0:aba381fc8158 368 {
zhjcpi 0:aba381fc8158 369 public:
zhjcpi 0:aba381fc8158 370 /** Constructor: CsrLocaiton
zhjcpi 0:aba381fc8158 371 * Create the CsrLocation, accept specified configuration
zhjcpi 0:aba381fc8158 372 * @param pLocConfig Configuration including debug serial port, location communication serail port, onoff pin, reset pin
zhjcpi 0:aba381fc8158 373 */
zhjcpi 0:aba381fc8158 374 CsrLocation(tCsrLocConfig *pLocConfig);
zhjcpi 0:aba381fc8158 375
zhjcpi 0:aba381fc8158 376 /** Destructor: CsrLocation
zhjcpi 0:aba381fc8158 377 * Free allocated resource
zhjcpi 0:aba381fc8158 378 */
zhjcpi 0:aba381fc8158 379 ~CsrLocation();
zhjcpi 0:aba381fc8158 380
zhjcpi 0:aba381fc8158 381 /** Register output callback and enent callback functions
zhjcpi 0:aba381fc8158 382 * @param app_output_cb CsrLocation class output the loaction and satellite information to application
zhjcpi 0:aba381fc8158 383 * @param app_event_cb CsrLocation class output the start and stop result to application
zhjcpi 0:aba381fc8158 384 */
zhjcpi 0:aba381fc8158 385 void CsrLocRegOutput(csr_app_output_callback app_output_cb, csr_app_event_callback app_event_cb);
zhjcpi 0:aba381fc8158 386
zhjcpi 0:aba381fc8158 387 /** hw reset to get location chip into hibernation mode */
zhjcpi 0:aba381fc8158 388 void CsrLocReset(void);
zhjcpi 4:0d9b711fb646 389
zhjcpi 4:0d9b711fb646 390 /** get location state */
zhjcpi 4:0d9b711fb646 391 eCsrLocState CsrLocGetState(void);
zhjcpi 0:aba381fc8158 392
zhjcpi 0:aba381fc8158 393 /** Start location request, activate location chip */
zhjcpi 3:71690f7bb480 394 void CsrLocStart(ePowerMode pwrMode, eProto proto);
zhjcpi 0:aba381fc8158 395
zhjcpi 0:aba381fc8158 396 /** Process location data from chip and update location and satellite information */
zhjcpi 0:aba381fc8158 397 void CsrLocUpdate(void);
zhjcpi 0:aba381fc8158 398
zhjcpi 0:aba381fc8158 399 /** Stop location request, get location chip into hibernation mode */
zhjcpi 0:aba381fc8158 400 void CsrLocStop(void);
zhjcpi 0:aba381fc8158 401
zhjcpi 0:aba381fc8158 402 /** Speical for low power PTF mode.
zhjcpi 0:aba381fc8158 403 * During low power PTF mode, after reporting position, chip will go to hibernation mode automatically.
zhjcpi 0:aba381fc8158 404 * After 30 seconds, chip will recover and report position again. Then chip will go to hibernation mode again.
zhjcpi 0:aba381fc8158 405 * During the hibernation, application can call CsrLocLpmGetPos to get position immediately and no need to wait for the whole interval.
zhjcpi 0:aba381fc8158 406 */
zhjcpi 0:aba381fc8158 407 void CsrLocLpmGetPos(void);
zhjcpi 0:aba381fc8158 408
zhjcpi 0:aba381fc8158 409 /* A debug interface to switch location chip protocol from OSP at 115200bps to NMEA at 4800bps */
zhjcpi 0:aba381fc8158 410 void CsrLocDebugSwitch2Nmea(void);
zhjcpi 0:aba381fc8158 411
zhjcpi 0:aba381fc8158 412 private:
zhjcpi 0:aba381fc8158 413 /* Internal kept data */
zhjcpi 0:aba381fc8158 414 tCsrLocInst csrLocInst;
zhjcpi 0:aba381fc8158 415
zhjcpi 0:aba381fc8158 416 /* Initialize the serial port and open it */
zhjcpi 0:aba381fc8158 417 void _CsrLocUartInit(void);
zhjcpi 0:aba381fc8158 418
zhjcpi 0:aba381fc8158 419 /* Process the raw stream from location seraial port */
zhjcpi 0:aba381fc8158 420 void _CsrLocProcessRawStream(void);
zhjcpi 0:aba381fc8158 421
zhjcpi 3:71690f7bb480 422 /* Detect the OSP protocol detection timeout */
zhjcpi 3:71690f7bb480 423 void _CsrLocDetProtoOspTimeout(void);
zhjcpi 0:aba381fc8158 424
zhjcpi 0:aba381fc8158 425 /* Detect the NMEA protocol outputted from location serial port */
zhjcpi 3:71690f7bb480 426 void _CsrLocDetProtoNmeaTimeout(void);
zhjcpi 3:71690f7bb480 427
zhjcpi 3:71690f7bb480 428 /* Process the raw NMEA stream, remove the NMEA header, tail, and save the NMEA data into interal buffer */
zhjcpi 3:71690f7bb480 429 void _CsrLocProcessRawNmeaStream(uint8_t data);
zhjcpi 0:aba381fc8158 430
zhjcpi 0:aba381fc8158 431 /* Process the raw OSP stream, remove the OSP header, size, check sum, and save the OSP data into interal buffer */
zhjcpi 2:d4fe184925f2 432 void _CsrLocProcessRawOspStream(uint8_t data);
zhjcpi 0:aba381fc8158 433
zhjcpi 3:71690f7bb480 434 /* Process the saved nmea data and decode them */
zhjcpi 3:71690f7bb480 435 void _CsrLocProcessRawNmeaPkt(void);
zhjcpi 3:71690f7bb480 436
zhjcpi 0:aba381fc8158 437 /* Process the saved OSP data and decode them */
zhjcpi 0:aba381fc8158 438 void _CsrLocProcessRawOspPkt(void);
zhjcpi 0:aba381fc8158 439
zhjcpi 0:aba381fc8158 440 /* Calculate the OSP message size to allcate buffer to save the decoded OSP data */
zhjcpi 2:d4fe184925f2 441 uint32_t _CsrLocCalcMsgSize(void);
zhjcpi 0:aba381fc8158 442
zhjcpi 0:aba381fc8158 443 /* Decode OSP data into pakcet data structure */
zhjcpi 2:d4fe184925f2 444 CsrResult _CsrLocDecodeOspPkt( uint8_t *payload, uint32_t payload_length, uint32_t *message_id, void *message_structure, uint32_t *message_length);
zhjcpi 0:aba381fc8158 445
zhjcpi 0:aba381fc8158 446 /* Process the decode OSP packet and pass to application when needed */
zhjcpi 0:aba381fc8158 447 void _CsrLocProcessOspPkt(tOspMsg *pOspMsg);
zhjcpi 0:aba381fc8158 448
zhjcpi 0:aba381fc8158 449 /* Timeout process, such as detect OSP and NMEA protocol */
zhjcpi 0:aba381fc8158 450 void _CsrLocTimeout(void);
zhjcpi 0:aba381fc8158 451
zhjcpi 0:aba381fc8158 452 /* Location serial port data recevier */
zhjcpi 0:aba381fc8158 453 void _CsrLocRxHandler(void);
zhjcpi 0:aba381fc8158 454
zhjcpi 0:aba381fc8158 455 /* Send special OSP messges to location chip */
zhjcpi 0:aba381fc8158 456 void _CsrLocSendData(eSendDataType type);
zhjcpi 0:aba381fc8158 457
zhjcpi 0:aba381fc8158 458 /* Trigger a pulse on the onoff pin */
zhjcpi 0:aba381fc8158 459 void _CsrLocHwOnoff(void);
zhjcpi 0:aba381fc8158 460
zhjcpi 0:aba381fc8158 461 /* Trigger a reset on the reset pin */
zhjcpi 0:aba381fc8158 462 void _CsrLocHwReset(void);
zhjcpi 0:aba381fc8158 463 };
zhjcpi 0:aba381fc8158 464
zhjcpi 0:aba381fc8158 465
zhjcpi 0:aba381fc8158 466
zhjcpi 0:aba381fc8158 467 #endif /* CSRLOCATION_H */
zhjcpi 3:71690f7bb480 468