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@1:bbaf9b8d646a, 2014-03-25 (annotated)
- Committer:
- zhjcpi
- Date:
- Tue Mar 25 05:26:26 2014 +0000
- Revision:
- 1:bbaf9b8d646a
- Parent:
- 0:aba381fc8158
- Child:
- 2:d4fe184925f2
optimization csrLocation class
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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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 | 0:aba381fc8158 | 13 | /* Data type definitions */ |
zhjcpi | 0:aba381fc8158 | 14 | #undef FALSE |
zhjcpi | 0:aba381fc8158 | 15 | #define FALSE (0) |
zhjcpi | 0:aba381fc8158 | 16 | |
zhjcpi | 0:aba381fc8158 | 17 | #undef TRUE |
zhjcpi | 0:aba381fc8158 | 18 | #define TRUE (1) |
zhjcpi | 0:aba381fc8158 | 19 | |
zhjcpi | 0:aba381fc8158 | 20 | /* Unsigned fixed width types */ |
zhjcpi | 0:aba381fc8158 | 21 | typedef unsigned char CsrUint8; |
zhjcpi | 0:aba381fc8158 | 22 | typedef unsigned short CsrUint16; |
zhjcpi | 0:aba381fc8158 | 23 | typedef unsigned int CsrUint32; |
zhjcpi | 0:aba381fc8158 | 24 | |
zhjcpi | 0:aba381fc8158 | 25 | /* Signed fixed width types */ |
zhjcpi | 0:aba381fc8158 | 26 | typedef signed char CsrInt8; |
zhjcpi | 0:aba381fc8158 | 27 | typedef signed short CsrInt16; |
zhjcpi | 0:aba381fc8158 | 28 | typedef signed int CsrInt32; |
zhjcpi | 0:aba381fc8158 | 29 | |
zhjcpi | 0:aba381fc8158 | 30 | /* Boolean */ |
zhjcpi | 0:aba381fc8158 | 31 | typedef CsrUint8 CsrBool; |
zhjcpi | 0:aba381fc8158 | 32 | |
zhjcpi | 0:aba381fc8158 | 33 | /* String types */ |
zhjcpi | 0:aba381fc8158 | 34 | typedef char CsrCharString; |
zhjcpi | 0:aba381fc8158 | 35 | typedef CsrUint8 CsrUtf8String; |
zhjcpi | 0:aba381fc8158 | 36 | typedef CsrUint16 CsrUtf16String; /* 16-bit UTF16 strings */ |
zhjcpi | 0:aba381fc8158 | 37 | typedef CsrUint32 CsrUint24; |
zhjcpi | 0:aba381fc8158 | 38 | |
zhjcpi | 0:aba381fc8158 | 39 | /* |
zhjcpi | 0:aba381fc8158 | 40 | * Floating point |
zhjcpi | 0:aba381fc8158 | 41 | * |
zhjcpi | 0:aba381fc8158 | 42 | * Note: If a given compiler does not support floating point, it is |
zhjcpi | 0:aba381fc8158 | 43 | * OK to omit these definitions; alternative versions of the code using |
zhjcpi | 0:aba381fc8158 | 44 | * these types may be available. Consult the relevant documentation |
zhjcpi | 0:aba381fc8158 | 45 | * or the customer support group for information on this. |
zhjcpi | 0:aba381fc8158 | 46 | */ |
zhjcpi | 0:aba381fc8158 | 47 | typedef float CsrFloat; |
zhjcpi | 0:aba381fc8158 | 48 | typedef double CsrDouble; |
zhjcpi | 0:aba381fc8158 | 49 | |
zhjcpi | 0:aba381fc8158 | 50 | typedef CsrUint16 CsrResult; |
zhjcpi | 0:aba381fc8158 | 51 | #define CSR_RESULT_SUCCESS ((CsrResult) 0x0000) |
zhjcpi | 0:aba381fc8158 | 52 | #define CSR_RESULT_FAILURE ((CsrResult) 0xFFFF) |
zhjcpi | 0:aba381fc8158 | 53 | /* The end of data type definitions */ |
zhjcpi | 0:aba381fc8158 | 54 | |
zhjcpi | 0:aba381fc8158 | 55 | /* OSP protocol related definitions */ |
zhjcpi | 0:aba381fc8158 | 56 | #define MAX_VERSION_LENGTH 80 |
zhjcpi | 0:aba381fc8158 | 57 | |
zhjcpi | 0:aba381fc8158 | 58 | /* OSP message header */ |
zhjcpi | 0:aba381fc8158 | 59 | #define OSP_MSG_HEAD0 (0xA0) |
zhjcpi | 0:aba381fc8158 | 60 | #define OSP_MSG_HEAD1 (0xA2) |
zhjcpi | 0:aba381fc8158 | 61 | /* OSP message footer */ |
zhjcpi | 0:aba381fc8158 | 62 | #define OSP_MSG_TAIL0 (0xB0) |
zhjcpi | 0:aba381fc8158 | 63 | #define OSP_MSG_TAIL1 (0xB3) |
zhjcpi | 0:aba381fc8158 | 64 | |
zhjcpi | 0:aba381fc8158 | 65 | /* NMEA message header */ |
zhjcpi | 0:aba381fc8158 | 66 | #define NMEA_MSG_HEAD0 ('$') |
zhjcpi | 0:aba381fc8158 | 67 | #define NMEA_MSG_HEAD1 ('G') |
zhjcpi | 0:aba381fc8158 | 68 | /* NMEA message footer */ |
zhjcpi | 0:aba381fc8158 | 69 | #define NMEA_MSG_TAIL0 ('*') |
zhjcpi | 0:aba381fc8158 | 70 | |
zhjcpi | 0:aba381fc8158 | 71 | #define CSR_SWAPIN16(bytestream) (((CsrUint16)*((bytestream)+0) << 8) | ((CsrUint16)*((bytestream)+1))) |
zhjcpi | 0:aba381fc8158 | 72 | |
zhjcpi | 0:aba381fc8158 | 73 | #define CSR_SWAPIN32(bytestream)\ |
zhjcpi | 0:aba381fc8158 | 74 | ( ((CsrUint32)*((bytestream)+0) << 24)\ |
zhjcpi | 0:aba381fc8158 | 75 | | ((CsrUint32)*((bytestream)+1) << 16)\ |
zhjcpi | 0:aba381fc8158 | 76 | | ((CsrUint32)*((bytestream)+2) << 8)\ |
zhjcpi | 0:aba381fc8158 | 77 | | ((CsrUint32)*((bytestream)+3) )) |
zhjcpi | 0:aba381fc8158 | 78 | |
zhjcpi | 0:aba381fc8158 | 79 | |
zhjcpi | 0:aba381fc8158 | 80 | /* import macros for little endian: */ |
zhjcpi | 0:aba381fc8158 | 81 | /* NOTE: must use {} around these macros when calling in a loop */ |
zhjcpi | 0:aba381fc8158 | 82 | #define BINARY_IMPORT_UINT8(bytestream) ( *((bytestream)++)) |
zhjcpi | 0:aba381fc8158 | 83 | #define BINARY_IMPORT_UINT16(bytestream) ((CsrUint16) CSR_SWAPIN16((bytestream))); bytestream+=2 |
zhjcpi | 0:aba381fc8158 | 84 | #define BINARY_IMPORT_UINT32(bytestream) ((CsrUint32) CSR_SWAPIN32((bytestream))); bytestream+=4 |
zhjcpi | 0:aba381fc8158 | 85 | #define BINARY_IMPORT_SINT32(bytestream) ((CsrInt32) CSR_SWAPIN32((bytestream))); bytestream+=4 |
zhjcpi | 0:aba381fc8158 | 86 | |
zhjcpi | 0:aba381fc8158 | 87 | |
zhjcpi | 0:aba381fc8158 | 88 | #define OSP_MAKE_MSG_ID(mid, sid) ((((mid) & 0xFF) << 8) | ((sid) & 0xFF)) |
zhjcpi | 0:aba381fc8158 | 89 | |
zhjcpi | 0:aba381fc8158 | 90 | #define OSP_MSG_SW_VERSION OSP_MAKE_MSG_ID(0x06, 0x0) |
zhjcpi | 0:aba381fc8158 | 91 | #define OSP_MSG_OK_TO_SEND OSP_MAKE_MSG_ID(0x12, 0x0) |
zhjcpi | 0:aba381fc8158 | 92 | #define OSP_MSG_GEODETIC_NAVIGATION OSP_MAKE_MSG_ID(0x29, 0x0) |
zhjcpi | 0:aba381fc8158 | 93 | #define OSP_MSG_MULTI_CONSTELLATION OSP_MAKE_MSG_ID(0x43, 0x0) |
zhjcpi | 0:aba381fc8158 | 94 | #define OSP_MSG_GNSS_NAV_DATA OSP_MAKE_MSG_ID(0x43, 0x01) |
zhjcpi | 0:aba381fc8158 | 95 | #define OSP_MSG_GNSS_SAT_DATA OSP_MAKE_MSG_ID(0x43, 0x10) |
zhjcpi | 0:aba381fc8158 | 96 | #define OSP_MSG_HW_CONFIG_REQ OSP_MAKE_MSG_ID(0x47, 0x0) |
zhjcpi | 0:aba381fc8158 | 97 | #define OSP_MSG_PWR_MODE_RSP OSP_MAKE_MSG_ID(0x5A, 0x0) |
zhjcpi | 0:aba381fc8158 | 98 | #define OSP_MSG_PWR_MODE_FPM_RSP OSP_MAKE_MSG_ID(0x5A, 0x0) |
zhjcpi | 0:aba381fc8158 | 99 | #define OSP_MSG_PWR_MODE_LPM_RSP OSP_MAKE_MSG_ID(0x5A, 0x6) |
zhjcpi | 0:aba381fc8158 | 100 | |
zhjcpi | 0:aba381fc8158 | 101 | |
zhjcpi | 0:aba381fc8158 | 102 | #define GNSS_SAT_DATA_NUM_OF_SATS (15) |
zhjcpi | 0:aba381fc8158 | 103 | #define CODEC_GLO_MAX_CHANNELS (14) |
zhjcpi | 0:aba381fc8158 | 104 | /* The end of OSP protocol definitions */ |
zhjcpi | 0:aba381fc8158 | 105 | |
zhjcpi | 0:aba381fc8158 | 106 | |
zhjcpi | 0:aba381fc8158 | 107 | #define LOC_MAX_GNSS_SVS (32) |
zhjcpi | 0:aba381fc8158 | 108 | #define LOC_GLO_FREQ_OFFSET (77) |
zhjcpi | 0:aba381fc8158 | 109 | #define LOC_GLO_FREQ_ID_START (70) |
zhjcpi | 0:aba381fc8158 | 110 | #define LOC_GLO_FREQ_ID_END (83) |
zhjcpi | 0:aba381fc8158 | 111 | #define LOC_NUM_OF_GLO_FREQ_CHANNELS (1+LOC_GLO_FREQ_ID_END-LOC_GLO_FREQ_ID_START) |
zhjcpi | 0:aba381fc8158 | 112 | |
zhjcpi | 0:aba381fc8158 | 113 | #define MAX_PORT_NUM_STRING_LENGTH (16) |
zhjcpi | 0:aba381fc8158 | 114 | #define MAX_SERIAL_BUF_LEN (2048) |
zhjcpi | 0:aba381fc8158 | 115 | #define MAX_SERIAL_PKT_LEN (512) |
zhjcpi | 0:aba381fc8158 | 116 | |
zhjcpi | 0:aba381fc8158 | 117 | #define BAUDRATE_NMEA 4800 |
zhjcpi | 0:aba381fc8158 | 118 | #define BAUDRATE_OSP 115200 |
zhjcpi | 0:aba381fc8158 | 119 | |
zhjcpi | 0:aba381fc8158 | 120 | #define PROTO_CHECK_TIMEOUT (2.0) |
zhjcpi | 0:aba381fc8158 | 121 | |
zhjcpi | 0:aba381fc8158 | 122 | /** Indicates the outputted location information */ |
zhjcpi | 0:aba381fc8158 | 123 | #define LOC_OUTPUT_LOCATION (1) |
zhjcpi | 0:aba381fc8158 | 124 | /* Indicates the outputted sv status information */ |
zhjcpi | 0:aba381fc8158 | 125 | #define LOC_OUTPUT_SV_STATUS (2) |
zhjcpi | 0:aba381fc8158 | 126 | |
zhjcpi | 0:aba381fc8158 | 127 | #define CSR_LOG_INFO(...) \ |
zhjcpi | 0:aba381fc8158 | 128 | {\ |
zhjcpi | 0:aba381fc8158 | 129 | if(csrLocInst.pSerialDebug != NULL)\ |
zhjcpi | 0:aba381fc8158 | 130 | {\ |
zhjcpi | 0:aba381fc8158 | 131 | (csrLocInst.pSerialDebug->printf(__VA_ARGS__));\ |
zhjcpi | 0:aba381fc8158 | 132 | }\ |
zhjcpi | 0:aba381fc8158 | 133 | } |
zhjcpi | 0:aba381fc8158 | 134 | |
zhjcpi | 0:aba381fc8158 | 135 | /** Location enent definitions */ |
zhjcpi | 0:aba381fc8158 | 136 | typedef enum |
zhjcpi | 0:aba381fc8158 | 137 | { |
zhjcpi | 0:aba381fc8158 | 138 | /** Start result event */ |
zhjcpi | 0:aba381fc8158 | 139 | CSR_LOC_EVENT_START_RESULT, |
zhjcpi | 0:aba381fc8158 | 140 | /** Stop result event */ |
zhjcpi | 0:aba381fc8158 | 141 | CSR_LOC_EVENT_STOP_RESULT, |
zhjcpi | 0:aba381fc8158 | 142 | }eCsrLocEventType; |
zhjcpi | 0:aba381fc8158 | 143 | |
zhjcpi | 0:aba381fc8158 | 144 | /** Power mode selection */ |
zhjcpi | 0:aba381fc8158 | 145 | typedef enum |
zhjcpi | 0:aba381fc8158 | 146 | { |
zhjcpi | 0:aba381fc8158 | 147 | /** full power mode */ |
zhjcpi | 0:aba381fc8158 | 148 | PWR_FULL, |
zhjcpi | 0:aba381fc8158 | 149 | /** Low power push to fix mode */ |
zhjcpi | 0:aba381fc8158 | 150 | PWR_PTF, |
zhjcpi | 0:aba381fc8158 | 151 | }ePowerMode; |
zhjcpi | 0:aba381fc8158 | 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 | 0:aba381fc8158 | 180 | PROTO_STATE_SWI_OSP_FROM_NMEA, |
zhjcpi | 0:aba381fc8158 | 181 | PROTO_STATE_DET_OSP_FROM_NMEA, |
zhjcpi | 0:aba381fc8158 | 182 | PROTO_STATE_DET_OK, |
zhjcpi | 0:aba381fc8158 | 183 | }eProtoState; |
zhjcpi | 0:aba381fc8158 | 184 | |
zhjcpi | 0:aba381fc8158 | 185 | /* Locaiton chip status */ |
zhjcpi | 0:aba381fc8158 | 186 | typedef enum |
zhjcpi | 0:aba381fc8158 | 187 | { |
zhjcpi | 0:aba381fc8158 | 188 | /* Location chip is going to hibernation mode and cannot accept message any more */ |
zhjcpi | 0:aba381fc8158 | 189 | ENGINE_STATUS_NOTOK2SEND, |
zhjcpi | 0:aba381fc8158 | 190 | /* Locaitn come back from hibernation mode and can accept message now */ |
zhjcpi | 0:aba381fc8158 | 191 | ENGINE_STATUS_OK2SEND |
zhjcpi | 0:aba381fc8158 | 192 | }eEngineStatus; |
zhjcpi | 0:aba381fc8158 | 193 | |
zhjcpi | 0:aba381fc8158 | 194 | /* OSP data type to be sent to location chip */ |
zhjcpi | 0:aba381fc8158 | 195 | typedef enum |
zhjcpi | 0:aba381fc8158 | 196 | { |
zhjcpi | 0:aba381fc8158 | 197 | SEND_DATA_TYPE_OSP_STOP_REQ, |
zhjcpi | 0:aba381fc8158 | 198 | SEND_DATA_TYPE_OSP_VER_REQ, |
zhjcpi | 0:aba381fc8158 | 199 | SEND_DATA_TYPE_OSP_LPM_REQ, |
zhjcpi | 0:aba381fc8158 | 200 | SEND_DATA_TYPE_OSP_FPM_REQ, |
zhjcpi | 0:aba381fc8158 | 201 | SEND_DATA_TYPE_OSP_SWITCH2NMEA_REQ, |
zhjcpi | 0:aba381fc8158 | 202 | SEND_DATA_TYPE_NMEA_SWITCH2OSP_REQ |
zhjcpi | 0:aba381fc8158 | 203 | }eSendDataType; |
zhjcpi | 0:aba381fc8158 | 204 | |
zhjcpi | 0:aba381fc8158 | 205 | /** Structure to hold Position Response Message Information. */ |
zhjcpi | 0:aba381fc8158 | 206 | typedef struct LocPosResp |
zhjcpi | 0:aba381fc8158 | 207 | { |
zhjcpi | 0:aba381fc8158 | 208 | /** Week part of GPS time */ |
zhjcpi | 0:aba381fc8158 | 209 | CsrUint16 gps_week; |
zhjcpi | 0:aba381fc8158 | 210 | /** Time of second part of GPS time */ |
zhjcpi | 0:aba381fc8158 | 211 | CsrUint32 tow; |
zhjcpi | 0:aba381fc8158 | 212 | /** Latitude */ |
zhjcpi | 0:aba381fc8158 | 213 | CsrDouble lat; |
zhjcpi | 0:aba381fc8158 | 214 | /** Longitude */ |
zhjcpi | 0:aba381fc8158 | 215 | CsrDouble lon; |
zhjcpi | 0:aba381fc8158 | 216 | /** Altitude */ |
zhjcpi | 0:aba381fc8158 | 217 | CsrDouble alt; |
zhjcpi | 0:aba381fc8158 | 218 | } tLocPosResp; |
zhjcpi | 0:aba381fc8158 | 219 | |
zhjcpi | 0:aba381fc8158 | 220 | /** Structure to hold Satellite Information. */ |
zhjcpi | 0:aba381fc8158 | 221 | typedef struct LocSvInfo |
zhjcpi | 0:aba381fc8158 | 222 | { |
zhjcpi | 0:aba381fc8158 | 223 | /** Prn or svId */ |
zhjcpi | 0:aba381fc8158 | 224 | CsrUint8 prn; |
zhjcpi | 0:aba381fc8158 | 225 | /** The ratio of carrier and noise */ |
zhjcpi | 0:aba381fc8158 | 226 | CsrFloat cno; |
zhjcpi | 0:aba381fc8158 | 227 | /** elevation */ |
zhjcpi | 0:aba381fc8158 | 228 | CsrFloat elevation; |
zhjcpi | 0:aba381fc8158 | 229 | /** azimuth */ |
zhjcpi | 0:aba381fc8158 | 230 | CsrFloat azimuth; |
zhjcpi | 0:aba381fc8158 | 231 | /** satellite state */ |
zhjcpi | 0:aba381fc8158 | 232 | CsrUint16 state; |
zhjcpi | 0:aba381fc8158 | 233 | } tLocSvInfo; |
zhjcpi | 0:aba381fc8158 | 234 | |
zhjcpi | 0:aba381fc8158 | 235 | /** Structure to hold Satellite Information for GLONASS */ |
zhjcpi | 0:aba381fc8158 | 236 | typedef struct LocGloSvInfo |
zhjcpi | 0:aba381fc8158 | 237 | { |
zhjcpi | 0:aba381fc8158 | 238 | /** Prn or svId */ |
zhjcpi | 0:aba381fc8158 | 239 | CsrUint8 prn; |
zhjcpi | 0:aba381fc8158 | 240 | /** Slot number */ |
zhjcpi | 0:aba381fc8158 | 241 | CsrUint8 sno; |
zhjcpi | 0:aba381fc8158 | 242 | /** The ratio of carrier and noise */ |
zhjcpi | 0:aba381fc8158 | 243 | CsrFloat cno; |
zhjcpi | 0:aba381fc8158 | 244 | /** elevation */ |
zhjcpi | 0:aba381fc8158 | 245 | CsrFloat elevation; |
zhjcpi | 0:aba381fc8158 | 246 | /** azimuth */ |
zhjcpi | 0:aba381fc8158 | 247 | CsrFloat azimuth; |
zhjcpi | 0:aba381fc8158 | 248 | /** satellite state */ |
zhjcpi | 0:aba381fc8158 | 249 | CsrUint16 state; |
zhjcpi | 0:aba381fc8158 | 250 | } tLocGloSvInfo; |
zhjcpi | 0:aba381fc8158 | 251 | |
zhjcpi | 0:aba381fc8158 | 252 | /** Structure to hold Satellite Status Information. */ |
zhjcpi | 0:aba381fc8158 | 253 | typedef struct LocSvStatus |
zhjcpi | 0:aba381fc8158 | 254 | { |
zhjcpi | 0:aba381fc8158 | 255 | /** Week part of GPS time */ |
zhjcpi | 0:aba381fc8158 | 256 | CsrUint16 gps_week; |
zhjcpi | 0:aba381fc8158 | 257 | /** Time of second part of GPS time */ |
zhjcpi | 0:aba381fc8158 | 258 | CsrUint32 tow; |
zhjcpi | 0:aba381fc8158 | 259 | /** Time of millisecond part of GPS time */ |
zhjcpi | 0:aba381fc8158 | 260 | CsrUint32 tow_sub_ms; |
zhjcpi | 0:aba381fc8158 | 261 | |
zhjcpi | 0:aba381fc8158 | 262 | /**Number of GPS SVs currently visible **/ |
zhjcpi | 0:aba381fc8158 | 263 | CsrUint8 numOfSVs; |
zhjcpi | 0:aba381fc8158 | 264 | /**Number of GLONASS SVs currently visible **/ |
zhjcpi | 0:aba381fc8158 | 265 | CsrUint8 numOfGloSVs; |
zhjcpi | 0:aba381fc8158 | 266 | /** GPS SVs information */ |
zhjcpi | 0:aba381fc8158 | 267 | tLocSvInfo svList[LOC_MAX_GNSS_SVS]; |
zhjcpi | 0:aba381fc8158 | 268 | /** GLONASS SVs information */ |
zhjcpi | 0:aba381fc8158 | 269 | tLocGloSvInfo gloSvList[LOC_NUM_OF_GLO_FREQ_CHANNELS]; |
zhjcpi | 0:aba381fc8158 | 270 | /** Bit mask indicating which SVs have ephemeris data **/ |
zhjcpi | 0:aba381fc8158 | 271 | CsrUint32 ephemerisMask; |
zhjcpi | 0:aba381fc8158 | 272 | /** Bit mask indicating which GLONASS SVs have ephemeris data **/ |
zhjcpi | 0:aba381fc8158 | 273 | CsrUint32 gloEphemerisMask; |
zhjcpi | 0:aba381fc8158 | 274 | /** Bit mask indicating which SVs were used in latest sent fix **/ |
zhjcpi | 0:aba381fc8158 | 275 | CsrUint32 svUsedInFixMask; |
zhjcpi | 0:aba381fc8158 | 276 | /** Bit mask indicating which GLONASS SVs were used in latest sent fix **/ |
zhjcpi | 0:aba381fc8158 | 277 | CsrUint32 gloSvUsedInFixMask; |
zhjcpi | 0:aba381fc8158 | 278 | /** Bit mask indicating which QZSS SVs were used in latest sent fix **/ |
zhjcpi | 0:aba381fc8158 | 279 | CsrUint32 qzssSvUsedInFixMask; |
zhjcpi | 0:aba381fc8158 | 280 | /** Bit mask indicating which SBAS SVs were used in latest sent fix **/ |
zhjcpi | 0:aba381fc8158 | 281 | CsrUint32 sbasSvUsedInFixMask; |
zhjcpi | 0:aba381fc8158 | 282 | } tLocSvStatus; |
zhjcpi | 0:aba381fc8158 | 283 | |
zhjcpi | 0:aba381fc8158 | 284 | |
zhjcpi | 0:aba381fc8158 | 285 | /** Applicaiton register this out callback function and CsrLocaiton class will pass outputted information to application */ |
zhjcpi | 0:aba381fc8158 | 286 | typedef void (*csr_app_output_callback)(CsrUint32 msgId, void * const pMsgData, CsrUint32 msgLength); |
zhjcpi | 0:aba381fc8158 | 287 | |
zhjcpi | 0:aba381fc8158 | 288 | /** Applicaiton register this event callback function and CsrLocaiton class will pass internal porcessing event to application */ |
zhjcpi | 0:aba381fc8158 | 289 | typedef void (*csr_app_event_callback)(eCsrLocEventType event, CsrUint32 data); |
zhjcpi | 0:aba381fc8158 | 290 | |
zhjcpi | 0:aba381fc8158 | 291 | /** tCsrLocConfig structure |
zhjcpi | 0:aba381fc8158 | 292 | * Application needs to decides and pass the configuration into CsrLocation class. |
zhjcpi | 0:aba381fc8158 | 293 | */ |
zhjcpi | 0:aba381fc8158 | 294 | typedef struct CsrLocConfig |
zhjcpi | 0:aba381fc8158 | 295 | { |
zhjcpi | 0:aba381fc8158 | 296 | /** Debug serial port to print debug information */ |
zhjcpi | 0:aba381fc8158 | 297 | Serial *pSerialDebug; |
zhjcpi | 0:aba381fc8158 | 298 | /** location serail port to communicate between mbed host side and location chip */ |
zhjcpi | 1:bbaf9b8d646a | 299 | RawSerial *pSerialLoc; |
zhjcpi | 0:aba381fc8158 | 300 | /** 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 | 301 | DigitalOut *pPinOnoff; |
zhjcpi | 0:aba381fc8158 | 302 | /** 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 | 303 | DigitalOut *pPinReset; |
zhjcpi | 0:aba381fc8158 | 304 | }tCsrLocConfig; |
zhjcpi | 0:aba381fc8158 | 305 | |
zhjcpi | 0:aba381fc8158 | 306 | /* General OSP mesasge format */ |
zhjcpi | 0:aba381fc8158 | 307 | typedef struct OspMsg |
zhjcpi | 0:aba381fc8158 | 308 | { |
zhjcpi | 0:aba381fc8158 | 309 | CsrUint32 msgId; |
zhjcpi | 0:aba381fc8158 | 310 | CsrUint32 length; |
zhjcpi | 0:aba381fc8158 | 311 | CsrUint8 payload[4]; |
zhjcpi | 0:aba381fc8158 | 312 | } tOspMsg; |
zhjcpi | 0:aba381fc8158 | 313 | |
zhjcpi | 0:aba381fc8158 | 314 | /* keep the internal data of CsrLocation class */ |
zhjcpi | 0:aba381fc8158 | 315 | typedef struct CsrLocInst |
zhjcpi | 0:aba381fc8158 | 316 | { |
zhjcpi | 0:aba381fc8158 | 317 | CsrBool bStopFlag; |
zhjcpi | 1:bbaf9b8d646a | 318 | CsrBool bPwrModeRsp; |
zhjcpi | 1:bbaf9b8d646a | 319 | CsrBool bVerRsp; |
zhjcpi | 0:aba381fc8158 | 320 | |
zhjcpi | 0:aba381fc8158 | 321 | eCsrLocState locState; |
zhjcpi | 0:aba381fc8158 | 322 | eProtoState protoState; |
zhjcpi | 0:aba381fc8158 | 323 | ePowerMode pwrMode; |
zhjcpi | 0:aba381fc8158 | 324 | CsrUint32 baudRate; |
zhjcpi | 0:aba381fc8158 | 325 | CsrInt32 computedCheckSum; |
zhjcpi | 0:aba381fc8158 | 326 | CsrInt32 checksum; |
zhjcpi | 0:aba381fc8158 | 327 | CsrInt32 msgSize; |
zhjcpi | 0:aba381fc8158 | 328 | CsrInt32 decodeIndex; |
zhjcpi | 0:aba381fc8158 | 329 | eProtoDetState protoDetState; |
zhjcpi | 0:aba381fc8158 | 330 | Timeout *pTimeoutChk; /* timeout process */ |
zhjcpi | 0:aba381fc8158 | 331 | CsrBool bTimeoutFlag; |
zhjcpi | 0:aba381fc8158 | 332 | eEngineStatus engStatus; |
zhjcpi | 0:aba381fc8158 | 333 | |
zhjcpi | 0:aba381fc8158 | 334 | tLocSvStatus svStatus; /* 2 kind of messages contribute the svStaus */ |
zhjcpi | 0:aba381fc8158 | 335 | |
zhjcpi | 0:aba381fc8158 | 336 | Serial *pSerialDebug; |
zhjcpi | 1:bbaf9b8d646a | 337 | RawSerial *pSerialLoc; |
zhjcpi | 0:aba381fc8158 | 338 | DigitalOut *pPinOnoff; |
zhjcpi | 0:aba381fc8158 | 339 | DigitalOut *pPinReset; |
zhjcpi | 0:aba381fc8158 | 340 | |
zhjcpi | 0:aba381fc8158 | 341 | CsrUint8 serialBuf[MAX_SERIAL_BUF_LEN]; /* buffer the serial data from uart callback function */ |
zhjcpi | 0:aba381fc8158 | 342 | CsrUint8 serialPkt[MAX_SERIAL_PKT_LEN]; /* decoded osp data */ |
zhjcpi | 1:bbaf9b8d646a | 343 | CsrUint32 in; |
zhjcpi | 1:bbaf9b8d646a | 344 | CsrUint32 out; |
zhjcpi | 0:aba381fc8158 | 345 | |
zhjcpi | 0:aba381fc8158 | 346 | csr_app_output_callback appOutCb; |
zhjcpi | 0:aba381fc8158 | 347 | csr_app_event_callback appEventCb; |
zhjcpi | 0:aba381fc8158 | 348 | }tCsrLocInst; |
zhjcpi | 0:aba381fc8158 | 349 | |
zhjcpi | 0:aba381fc8158 | 350 | /** CsrLocation class. |
zhjcpi | 0:aba381fc8158 | 351 | * A location interface to control location chip and get position and satellite information. |
zhjcpi | 0:aba381fc8158 | 352 | */ |
zhjcpi | 0:aba381fc8158 | 353 | class CsrLocation |
zhjcpi | 0:aba381fc8158 | 354 | { |
zhjcpi | 0:aba381fc8158 | 355 | public: |
zhjcpi | 0:aba381fc8158 | 356 | /** Constructor: CsrLocaiton |
zhjcpi | 0:aba381fc8158 | 357 | * Create the CsrLocation, accept specified configuration |
zhjcpi | 0:aba381fc8158 | 358 | * @param pLocConfig Configuration including debug serial port, location communication serail port, onoff pin, reset pin |
zhjcpi | 0:aba381fc8158 | 359 | */ |
zhjcpi | 0:aba381fc8158 | 360 | CsrLocation(tCsrLocConfig *pLocConfig); |
zhjcpi | 0:aba381fc8158 | 361 | |
zhjcpi | 0:aba381fc8158 | 362 | /** Destructor: CsrLocation |
zhjcpi | 0:aba381fc8158 | 363 | * Free allocated resource |
zhjcpi | 0:aba381fc8158 | 364 | */ |
zhjcpi | 0:aba381fc8158 | 365 | ~CsrLocation(); |
zhjcpi | 0:aba381fc8158 | 366 | |
zhjcpi | 0:aba381fc8158 | 367 | /** Register output callback and enent callback functions |
zhjcpi | 0:aba381fc8158 | 368 | * @param app_output_cb CsrLocation class output the loaction and satellite information to application |
zhjcpi | 0:aba381fc8158 | 369 | * @param app_event_cb CsrLocation class output the start and stop result to application |
zhjcpi | 0:aba381fc8158 | 370 | */ |
zhjcpi | 0:aba381fc8158 | 371 | void CsrLocRegOutput(csr_app_output_callback app_output_cb, csr_app_event_callback app_event_cb); |
zhjcpi | 0:aba381fc8158 | 372 | |
zhjcpi | 0:aba381fc8158 | 373 | /** hw reset to get location chip into hibernation mode */ |
zhjcpi | 0:aba381fc8158 | 374 | void CsrLocReset(void); |
zhjcpi | 0:aba381fc8158 | 375 | |
zhjcpi | 0:aba381fc8158 | 376 | /** Start location request, activate location chip */ |
zhjcpi | 0:aba381fc8158 | 377 | void CsrLocStart(ePowerMode pwrMode); |
zhjcpi | 0:aba381fc8158 | 378 | |
zhjcpi | 0:aba381fc8158 | 379 | /** Process location data from chip and update location and satellite information */ |
zhjcpi | 0:aba381fc8158 | 380 | void CsrLocUpdate(void); |
zhjcpi | 0:aba381fc8158 | 381 | |
zhjcpi | 0:aba381fc8158 | 382 | /** Stop location request, get location chip into hibernation mode */ |
zhjcpi | 0:aba381fc8158 | 383 | void CsrLocStop(void); |
zhjcpi | 0:aba381fc8158 | 384 | |
zhjcpi | 0:aba381fc8158 | 385 | /** Speical for low power PTF mode. |
zhjcpi | 0:aba381fc8158 | 386 | * During low power PTF mode, after reporting position, chip will go to hibernation mode automatically. |
zhjcpi | 0:aba381fc8158 | 387 | * After 30 seconds, chip will recover and report position again. Then chip will go to hibernation mode again. |
zhjcpi | 0:aba381fc8158 | 388 | * During the hibernation, application can call CsrLocLpmGetPos to get position immediately and no need to wait for the whole interval. |
zhjcpi | 0:aba381fc8158 | 389 | */ |
zhjcpi | 0:aba381fc8158 | 390 | void CsrLocLpmGetPos(void); |
zhjcpi | 0:aba381fc8158 | 391 | |
zhjcpi | 0:aba381fc8158 | 392 | /* A debug interface to switch location chip protocol from OSP at 115200bps to NMEA at 4800bps */ |
zhjcpi | 0:aba381fc8158 | 393 | void CsrLocDebugSwitch2Nmea(void); |
zhjcpi | 0:aba381fc8158 | 394 | |
zhjcpi | 0:aba381fc8158 | 395 | private: |
zhjcpi | 0:aba381fc8158 | 396 | /* Internal kept data */ |
zhjcpi | 0:aba381fc8158 | 397 | tCsrLocInst csrLocInst; |
zhjcpi | 0:aba381fc8158 | 398 | |
zhjcpi | 0:aba381fc8158 | 399 | /* Initialize the serial port and open it */ |
zhjcpi | 0:aba381fc8158 | 400 | void _CsrLocUartInit(void); |
zhjcpi | 0:aba381fc8158 | 401 | |
zhjcpi | 0:aba381fc8158 | 402 | /* Process the raw stream from location seraial port */ |
zhjcpi | 0:aba381fc8158 | 403 | void _CsrLocProcessRawStream(void); |
zhjcpi | 0:aba381fc8158 | 404 | |
zhjcpi | 0:aba381fc8158 | 405 | /* Detect the OSP protocol outputted from location serial port */ |
zhjcpi | 0:aba381fc8158 | 406 | void _CsrLocDetProtoOsp(CsrUint8 data); |
zhjcpi | 0:aba381fc8158 | 407 | |
zhjcpi | 0:aba381fc8158 | 408 | /* Detect the NMEA protocol outputted from location serial port */ |
zhjcpi | 0:aba381fc8158 | 409 | void _CsrLocDetProtoNmea(CsrUint8 data); |
zhjcpi | 0:aba381fc8158 | 410 | |
zhjcpi | 0:aba381fc8158 | 411 | /* Process the raw OSP stream, remove the OSP header, size, check sum, and save the OSP data into interal buffer */ |
zhjcpi | 0:aba381fc8158 | 412 | void _CsrLocProcessRawOspStream(CsrUint8 data); |
zhjcpi | 0:aba381fc8158 | 413 | |
zhjcpi | 0:aba381fc8158 | 414 | /* Process the saved OSP data and decode them */ |
zhjcpi | 0:aba381fc8158 | 415 | void _CsrLocProcessRawOspPkt(void); |
zhjcpi | 0:aba381fc8158 | 416 | |
zhjcpi | 0:aba381fc8158 | 417 | /* Calculate the OSP message size to allcate buffer to save the decoded OSP data */ |
zhjcpi | 0:aba381fc8158 | 418 | CsrUint32 _CsrLocCalcMsgSize(void); |
zhjcpi | 0:aba381fc8158 | 419 | |
zhjcpi | 0:aba381fc8158 | 420 | /* Decode OSP data into pakcet data structure */ |
zhjcpi | 0:aba381fc8158 | 421 | CsrResult _CsrLocDecodeOspPkt( CsrUint8 *payload, CsrUint32 payload_length, CsrUint32 *message_id, void *message_structure, CsrUint32 *message_length); |
zhjcpi | 0:aba381fc8158 | 422 | |
zhjcpi | 0:aba381fc8158 | 423 | /* Process the decode OSP packet and pass to application when needed */ |
zhjcpi | 0:aba381fc8158 | 424 | void _CsrLocProcessOspPkt(tOspMsg *pOspMsg); |
zhjcpi | 0:aba381fc8158 | 425 | |
zhjcpi | 0:aba381fc8158 | 426 | /* Timeout process, such as detect OSP and NMEA protocol */ |
zhjcpi | 0:aba381fc8158 | 427 | void _CsrLocTimeout(void); |
zhjcpi | 0:aba381fc8158 | 428 | |
zhjcpi | 0:aba381fc8158 | 429 | /* Location serial port data recevier */ |
zhjcpi | 0:aba381fc8158 | 430 | void _CsrLocRxHandler(void); |
zhjcpi | 0:aba381fc8158 | 431 | |
zhjcpi | 0:aba381fc8158 | 432 | /* Send special OSP messges to location chip */ |
zhjcpi | 0:aba381fc8158 | 433 | void _CsrLocSendData(eSendDataType type); |
zhjcpi | 0:aba381fc8158 | 434 | |
zhjcpi | 0:aba381fc8158 | 435 | /* Trigger a pulse on the onoff pin */ |
zhjcpi | 0:aba381fc8158 | 436 | void _CsrLocHwOnoff(void); |
zhjcpi | 0:aba381fc8158 | 437 | |
zhjcpi | 0:aba381fc8158 | 438 | /* Trigger a reset on the reset pin */ |
zhjcpi | 0:aba381fc8158 | 439 | void _CsrLocHwReset(void); |
zhjcpi | 0:aba381fc8158 | 440 | }; |
zhjcpi | 0:aba381fc8158 | 441 | |
zhjcpi | 0:aba381fc8158 | 442 | |
zhjcpi | 0:aba381fc8158 | 443 | |
zhjcpi | 0:aba381fc8158 | 444 | #endif /* CSRLOCATION_H */ |