Diff: CsrLocation.h

Revision:

0:aba381fc8158

Child:

1:bbaf9b8d646a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CsrLocation.h	Mon Mar 24 08:23:25 2014 +0000
@@ -0,0 +1,444 @@
+
+/* CsrLocation class for mbed Microcontroller
+ * Copyright 2014 CSR plc
+ */
+
+
+#ifndef CSRLOCATION_H
+#define CSRLOCATION_H
+
+
+#define CSR_LOC_SDK_VER                 "CSR-LOC-SDK-0.5"
+
+/* Data type definitions */
+#undef  FALSE
+#define FALSE (0)
+
+#undef  TRUE
+#define TRUE (1)
+
+/* Unsigned fixed width types */
+typedef unsigned char CsrUint8;
+typedef unsigned short CsrUint16;
+typedef unsigned int CsrUint32;
+
+/* Signed fixed width types */
+typedef signed char CsrInt8;
+typedef signed short CsrInt16;
+typedef signed int CsrInt32;
+
+/* Boolean */
+typedef CsrUint8 CsrBool;
+
+/* String types */
+typedef char CsrCharString;
+typedef CsrUint8 CsrUtf8String;
+typedef CsrUint16 CsrUtf16String;   /* 16-bit UTF16 strings */
+typedef CsrUint32 CsrUint24;
+
+/*
+ * Floating point
+ *
+ * Note: If a given compiler does not support floating point, it is
+ * OK to omit these definitions;  alternative versions of the code using
+ * these types may be available.  Consult the relevant documentation
+ * or the customer support group for information on this.
+ */
+typedef float CsrFloat;
+typedef double CsrDouble;
+
+typedef CsrUint16 CsrResult;
+#define CSR_RESULT_SUCCESS  ((CsrResult) 0x0000)
+#define CSR_RESULT_FAILURE  ((CsrResult) 0xFFFF)
+/* The end of data type definitions */
+
+/* OSP protocol related definitions */
+#define MAX_VERSION_LENGTH 80
+
+/* OSP message header */
+#define OSP_MSG_HEAD0                   (0xA0)
+#define OSP_MSG_HEAD1                   (0xA2)
+/* OSP message footer */
+#define OSP_MSG_TAIL0                   (0xB0)
+#define OSP_MSG_TAIL1                   (0xB3)
+
+/* NMEA message header */
+#define NMEA_MSG_HEAD0                  ('$')
+#define NMEA_MSG_HEAD1                  ('G')
+/* NMEA message footer */
+#define NMEA_MSG_TAIL0                  ('*')
+
+#define CSR_SWAPIN16(bytestream) (((CsrUint16)*((bytestream)+0) << 8) | ((CsrUint16)*((bytestream)+1)))
+
+#define CSR_SWAPIN32(bytestream)\
+   ( ((CsrUint32)*((bytestream)+0) << 24)\
+   | ((CsrUint32)*((bytestream)+1) << 16)\
+   | ((CsrUint32)*((bytestream)+2) <<  8)\
+   | ((CsrUint32)*((bytestream)+3)      ))
+
+
+/* import macros for little endian: */
+/* NOTE: must use {} around these macros when calling in a loop */
+#define BINARY_IMPORT_UINT8(bytestream) (                      *((bytestream)++))
+#define BINARY_IMPORT_UINT16(bytestream) ((CsrUint16) CSR_SWAPIN16((bytestream))); bytestream+=2
+#define BINARY_IMPORT_UINT32(bytestream) ((CsrUint32) CSR_SWAPIN32((bytestream))); bytestream+=4
+#define BINARY_IMPORT_SINT32(bytestream) ((CsrInt32)  CSR_SWAPIN32((bytestream))); bytestream+=4
+
+
+#define OSP_MAKE_MSG_ID(mid, sid) ((((mid) & 0xFF) << 8) | ((sid) & 0xFF))
+
+#define OSP_MSG_SW_VERSION              OSP_MAKE_MSG_ID(0x06, 0x0)
+#define OSP_MSG_OK_TO_SEND              OSP_MAKE_MSG_ID(0x12, 0x0)
+#define OSP_MSG_GEODETIC_NAVIGATION     OSP_MAKE_MSG_ID(0x29, 0x0)
+#define OSP_MSG_MULTI_CONSTELLATION     OSP_MAKE_MSG_ID(0x43, 0x0)
+    #define OSP_MSG_GNSS_NAV_DATA       OSP_MAKE_MSG_ID(0x43, 0x01)
+    #define OSP_MSG_GNSS_SAT_DATA       OSP_MAKE_MSG_ID(0x43, 0x10)
+#define OSP_MSG_HW_CONFIG_REQ           OSP_MAKE_MSG_ID(0x47, 0x0)
+#define OSP_MSG_PWR_MODE_RSP            OSP_MAKE_MSG_ID(0x5A, 0x0)
+    #define OSP_MSG_PWR_MODE_FPM_RSP    OSP_MAKE_MSG_ID(0x5A, 0x0)
+    #define OSP_MSG_PWR_MODE_LPM_RSP    OSP_MAKE_MSG_ID(0x5A, 0x6)
+
+   
+#define GNSS_SAT_DATA_NUM_OF_SATS       (15)
+#define CODEC_GLO_MAX_CHANNELS          (14)
+/* The end of OSP protocol definitions */
+
+
+#define LOC_MAX_GNSS_SVS                (32)
+#define LOC_GLO_FREQ_OFFSET             (77)
+#define LOC_GLO_FREQ_ID_START           (70)
+#define LOC_GLO_FREQ_ID_END             (83)
+#define LOC_NUM_OF_GLO_FREQ_CHANNELS    (1+LOC_GLO_FREQ_ID_END-LOC_GLO_FREQ_ID_START)
+
+#define MAX_PORT_NUM_STRING_LENGTH      (16)
+#define MAX_SERIAL_BUF_LEN              (2048)
+#define MAX_SERIAL_PKT_LEN              (512)
+
+#define BAUDRATE_NMEA                   4800
+#define BAUDRATE_OSP                    115200
+
+#define PROTO_CHECK_TIMEOUT             (2.0)
+
+/** Indicates the outputted location information */
+#define LOC_OUTPUT_LOCATION             (1)
+/* Indicates the outputted sv status information */
+#define LOC_OUTPUT_SV_STATUS            (2)
+
+#define CSR_LOG_INFO(...) \
+{\
+    if(csrLocInst.pSerialDebug != NULL)\
+    {\
+        (csrLocInst.pSerialDebug->printf(__VA_ARGS__));\
+    }\
+}
+
+/** Location enent definitions */
+typedef enum
+{
+    /** Start result event */
+    CSR_LOC_EVENT_START_RESULT,
+    /** Stop result event */
+    CSR_LOC_EVENT_STOP_RESULT,
+}eCsrLocEventType;
+
+/** Power mode selection */
+typedef enum
+{
+    /** full power mode */
+    PWR_FULL,
+    /** Low power push to fix mode */
+    PWR_PTF,
+}ePowerMode;
+
+/* Protocol detection state */
+typedef enum
+{
+    STATE_START1,       /* Indicates the first byte of the OSP or NMEA message header*/
+    STATE_START2,       /* Indicates the second byte of the OSP or NMEA message header */
+    STATE_SIZE1,        /* Indicates the first byte of the OSP message length */
+    STATE_SIZE2,        /* Indicates the second byte of the OSP message length  */
+    STATE_PAYLOAD,      /* Indicates the start of payload of the OSP message */
+    STATE_CHECKSUM1,    /* Indicates the first byte of the OSP message checksum  */
+    STATE_CHECKSUM2,    /* Indicates the second byte of the OSP message checksum  */
+    STATE_END1,         /* Indicates the first byte of the OSP or NMEA message footer  */
+    STATE_END2          /* Indicates the second byte of the OSP message footer  */
+}eProtoDetState;
+
+/* Csr Location state */
+typedef enum
+{
+    CSR_LOC_STATE_IDLE,
+    CSR_LOC_STATE_RUN,
+}eCsrLocState;
+
+/* Locatin chip protocol detection state */
+typedef enum
+{
+   PROTO_STATE_DET_INVALID = 0,
+   PROTO_STATE_DET_OSP,
+   PROTO_STATE_DET_NMEA,
+   PROTO_STATE_SWI_OSP_FROM_NMEA,
+   PROTO_STATE_DET_OSP_FROM_NMEA,
+   PROTO_STATE_DET_OK,
+}eProtoState;
+
+/* Locaiton chip status */
+typedef enum
+{
+    /* Location chip is going to hibernation mode and cannot accept message any more */
+    ENGINE_STATUS_NOTOK2SEND,
+    /* Locaitn come back from hibernation mode and can accept message now */
+    ENGINE_STATUS_OK2SEND
+}eEngineStatus;
+
+/* OSP data type to be sent to location chip */
+typedef enum
+{
+    SEND_DATA_TYPE_OSP_STOP_REQ,
+    SEND_DATA_TYPE_OSP_VER_REQ,
+    SEND_DATA_TYPE_OSP_LPM_REQ,
+    SEND_DATA_TYPE_OSP_FPM_REQ,
+    SEND_DATA_TYPE_OSP_SWITCH2NMEA_REQ,
+    SEND_DATA_TYPE_NMEA_SWITCH2OSP_REQ
+}eSendDataType;
+
+/** Structure to hold Position Response Message Information. */
+typedef struct LocPosResp
+{
+    /** Week part of GPS time */
+    CsrUint16            gps_week;
+    /** Time of second part of GPS time */
+    CsrUint32            tow;
+    /** Latitude */
+    CsrDouble            lat;
+    /** Longitude */
+    CsrDouble            lon;
+    /** Altitude */
+    CsrDouble            alt;
+} tLocPosResp;
+
+/** Structure to hold Satellite Information. */
+typedef struct LocSvInfo
+{
+    /** Prn or svId */
+    CsrUint8             prn;
+    /** The ratio of carrier and noise */
+    CsrFloat             cno;
+    /** elevation */
+    CsrFloat             elevation;
+    /** azimuth */
+    CsrFloat             azimuth;
+    /** satellite state */
+    CsrUint16            state;
+} tLocSvInfo;
+
+/** Structure to hold Satellite Information for GLONASS */
+typedef struct LocGloSvInfo
+{
+    /** Prn or svId */
+    CsrUint8             prn;
+    /** Slot number */
+    CsrUint8             sno;
+    /** The ratio of carrier and noise */
+    CsrFloat             cno;
+    /** elevation */
+    CsrFloat             elevation;
+    /** azimuth */
+    CsrFloat             azimuth;
+    /** satellite state */
+    CsrUint16            state;
+} tLocGloSvInfo;
+
+/** Structure to hold Satellite Status Information. */
+typedef struct LocSvStatus
+{
+    /** Week part of GPS time */
+    CsrUint16           gps_week;
+    /** Time of second part of GPS time */
+    CsrUint32           tow;
+    /** Time of millisecond part of GPS time */
+    CsrUint32           tow_sub_ms;
+   
+    /**Number of GPS SVs currently visible **/
+    CsrUint8            numOfSVs;
+    /**Number of GLONASS SVs currently visible **/
+    CsrUint8            numOfGloSVs;
+    /** GPS SVs information */
+    tLocSvInfo          svList[LOC_MAX_GNSS_SVS];
+    /** GLONASS SVs information */
+    tLocGloSvInfo       gloSvList[LOC_NUM_OF_GLO_FREQ_CHANNELS];
+    /** Bit mask indicating which SVs have ephemeris data **/
+    CsrUint32           ephemerisMask;
+    /** Bit mask indicating which GLONASS SVs have ephemeris data **/
+    CsrUint32           gloEphemerisMask;
+    /** Bit mask indicating which SVs were used in latest sent fix **/
+    CsrUint32           svUsedInFixMask;
+    /** Bit mask indicating which GLONASS SVs were used in latest sent fix **/
+    CsrUint32           gloSvUsedInFixMask;
+    /** Bit mask indicating which QZSS SVs were used in latest sent fix **/   
+    CsrUint32           qzssSvUsedInFixMask;
+    /** Bit mask indicating which SBAS SVs were used in latest sent fix **/   
+    CsrUint32           sbasSvUsedInFixMask;
+} tLocSvStatus;
+
+
+/** Applicaiton register this out callback function and CsrLocaiton class will pass outputted information to application */
+typedef void (*csr_app_output_callback)(CsrUint32  msgId, void * const pMsgData, CsrUint32 msgLength);
+
+/** Applicaiton register this event callback function and CsrLocaiton class will pass internal porcessing event to application */
+typedef void (*csr_app_event_callback)(eCsrLocEventType event, CsrUint32 data);
+
+/** tCsrLocConfig structure
+ * Application needs to decides and pass the configuration into CsrLocation class.
+ */
+typedef struct CsrLocConfig
+{
+    /** Debug serial port to print debug information */
+    Serial          *pSerialDebug;
+    /** location serail port to communicate between mbed host side and location chip */
+    Serial          *pSerialLoc;
+    /** 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 */
+    DigitalOut      *pPinOnoff;
+    /** 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 */
+    DigitalOut      *pPinReset;
+}tCsrLocConfig;
+
+/* General OSP mesasge format */
+typedef struct OspMsg
+{
+   CsrUint32        msgId;   
+   CsrUint32        length;
+   CsrUint8         payload[4];
+} tOspMsg;
+
+/* keep the internal data of CsrLocation class */
+typedef struct CsrLocInst
+{
+    CsrBool         bStopFlag;
+
+    eCsrLocState    locState;
+    eProtoState     protoState;
+    ePowerMode      pwrMode;
+    CsrUint32       baudRate;
+    CsrBool         isOspHeader;
+    CsrBool         isNmeaHeader;
+    CsrInt32        computedCheckSum;
+    CsrInt32        checksum;
+    CsrInt32        msgSize;
+    CsrInt32        decodeIndex;
+    eProtoDetState  protoDetState;
+    Timeout         *pTimeoutChk;    /* timeout process */
+    CsrBool         bTimeoutFlag;
+    eEngineStatus   engStatus;
+
+    tLocSvStatus    svStatus;   /* 2 kind of messages contribute the svStaus */
+
+    Serial          *pSerialDebug;
+    Serial          *pSerialLoc;
+    DigitalOut      *pPinOnoff;
+    DigitalOut      *pPinReset;
+
+    CsrUint8        serialBuf[MAX_SERIAL_BUF_LEN]; /* buffer the serial data from uart callback function */
+    CsrUint8        serialPkt[MAX_SERIAL_PKT_LEN]; /* decoded osp data */
+    CsrUint16       in;
+    CsrUint16       out;
+    
+    csr_app_output_callback appOutCb;
+    csr_app_event_callback  appEventCb;
+}tCsrLocInst;
+
+/** CsrLocation class.
+ *  A location interface to control location chip and get position and satellite information.
+ */
+class CsrLocation
+{
+public:
+    /** Constructor: CsrLocaiton
+     * Create the CsrLocation, accept specified configuration
+     * @param pLocConfig Configuration including debug serial port, location communication serail port, onoff pin, reset pin
+     */
+    CsrLocation(tCsrLocConfig *pLocConfig);
+    
+    /** Destructor: CsrLocation
+     * Free allocated resource
+     */
+    ~CsrLocation();
+    
+    /** Register output callback and enent callback functions
+     * @param app_output_cb CsrLocation class output the loaction and satellite information to application
+     * @param app_event_cb CsrLocation class output the start and stop result to application
+     */
+    void CsrLocRegOutput(csr_app_output_callback app_output_cb, csr_app_event_callback app_event_cb);
+
+    /** hw reset to get location chip into hibernation mode */
+    void CsrLocReset(void);
+
+    /** Start location request, activate location chip */
+    void CsrLocStart(ePowerMode pwrMode);
+
+    /** Process location data from chip and update location and satellite information */
+    void CsrLocUpdate(void);
+
+    /** Stop location request, get location chip into hibernation mode */
+    void CsrLocStop(void);
+
+    /** Speical for low power PTF mode. 
+      * During low power PTF mode, after reporting position, chip will go to hibernation mode automatically.
+      * After 30 seconds, chip will recover and report position again. Then chip will go to hibernation mode again.
+      * During the hibernation, application can call CsrLocLpmGetPos to get position immediately and no need to wait for the whole interval.
+      */
+    void CsrLocLpmGetPos(void);
+
+    /* A debug interface to switch location chip protocol from OSP at 115200bps to NMEA at 4800bps */
+    void CsrLocDebugSwitch2Nmea(void);
+    
+private:
+    /* Internal kept data */
+    tCsrLocInst csrLocInst;
+
+    /* Initialize the serial port and open it */
+    void _CsrLocUartInit(void);
+
+    /* Process the raw stream from location seraial port */
+    void _CsrLocProcessRawStream(void);
+
+    /* Detect the OSP protocol outputted from location serial port */
+    void _CsrLocDetProtoOsp(CsrUint8 data);
+
+    /* Detect the NMEA protocol outputted from location serial port */
+    void _CsrLocDetProtoNmea(CsrUint8 data);
+
+    /* Process the raw OSP stream, remove the OSP header, size, check sum, and save the OSP data into interal buffer */
+    void _CsrLocProcessRawOspStream(CsrUint8 data);
+
+    /* Process the saved OSP data and decode them */
+    void _CsrLocProcessRawOspPkt(void);
+
+    /* Calculate the OSP message size to allcate buffer to save the decoded OSP data */
+    CsrUint32 _CsrLocCalcMsgSize(void);
+
+    /* Decode OSP data into pakcet data structure */
+    CsrResult _CsrLocDecodeOspPkt( CsrUint8 *payload, CsrUint32 payload_length, CsrUint32 *message_id, void   *message_structure, CsrUint32 *message_length);
+
+    /* Process the decode OSP packet and pass to application when needed */
+    void _CsrLocProcessOspPkt(tOspMsg *pOspMsg);
+
+    /* Timeout process, such as detect OSP and NMEA protocol */
+    void _CsrLocTimeout(void);
+
+    /* Location serial port data recevier */
+    void _CsrLocRxHandler(void);
+
+    /* Send special OSP messges to location chip */
+    void _CsrLocSendData(eSendDataType type);
+
+    /* Trigger a pulse on the onoff pin */
+    void _CsrLocHwOnoff(void);
+
+    /* Trigger a reset on the reset pin */
+    void _CsrLocHwReset(void);
+};
+
+
+
+#endif /* CSRLOCATION_H */