Revision 2:d4fe184925f2, committed 2014-03-26

Comitter:

zhjcpi

Date:

Wed Mar 26 09:16:55 2014 +0000

Parent:

1:bbaf9b8d646a

Child:

3:71690f7bb480

Commit message:

optimization

Changed in this revision

--- a/CsrLocation.cpp	Tue Mar 25 05:26:26 2014 +0000
+++ b/CsrLocation.cpp	Wed Mar 26 09:16:55 2014 +0000
@@ -8,15 +8,15 @@
 #include "CsrLocation.h"
 
 
-static CsrUint8 sOspStopReq[] = {0xa0, 0xa2, 0x00, 0x02, 0xcd, 0x10, 0x00, 0xdd, 0xb0, 0xb3};
-static CsrUint8 sOspVerReq[] = {0xA0, 0xA2, 0x00, 0x02, 0x84, 0x00, 0x00, 0x84, 0xB0, 0xB3};
-static CsrUint8 sOspLpmReq[] = {0xA0, 0xA2, 0x00, 0x2A, 0xDA, 0x06, 0x01, 0x00, 0x00, 0x00, 0x00, 0x1E, 0x00, 0x01, 0x00, 0x78, 0x00, 0x1E,
+static uint8_t sOspStopReq[] = {0xa0, 0xa2, 0x00, 0x02, 0xcd, 0x10, 0x00, 0xdd, 0xb0, 0xb3};
+static uint8_t sOspVerReq[] = {0xA0, 0xA2, 0x00, 0x02, 0x84, 0x00, 0x00, 0x84, 0xB0, 0xB3};
+static uint8_t sOspLpmReq[] = {0xA0, 0xA2, 0x00, 0x2A, 0xDA, 0x06, 0x01, 0x00, 0x00, 0x00, 0x00, 0x1E, 0x00, 0x01, 0x00, 0x78, 0x00, 0x1E,
                                 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xC8, 0x00, 0x00, 0x01, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
                                 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x63, 0xB0, 0xB3};
-static CsrUint8 sOspFpmReq[] = {0xA0, 0xA2, 0x00, 0x03, 0xDA, 0x00, 0x00, 0x00, 0xDA, 0xB0, 0xB3};
-static CsrUint8 sOspSwitch2NmeaReq[] = {0xA0, 0xA2, 0x00, 0x18, 0x81, 0x00, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x05, 0x01, 0x01, 0x01, 0x00, 
+static uint8_t sOspFpmReq[] = {0xA0, 0xA2, 0x00, 0x03, 0xDA, 0x00, 0x00, 0x00, 0xDA, 0xB0, 0xB3};
+static uint8_t sOspSwitch2NmeaReq[] = {0xA0, 0xA2, 0x00, 0x18, 0x81, 0x00, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x05, 0x01, 0x01, 0x01, 0x00, 
                                 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x12, 0xC0, 0x01, 0x64, 0xB0, 0xB3};
-static CsrCharString sNmeaSwitch2OspReq[] = "$PSRF100,0,115200,8,1,0*04\r\n";
+static char sNmeaSwitch2OspReq[] = "$PSRF100,0,115200,8,1,0*04\r\n";
 
 CsrLocation::CsrLocation(tCsrLocConfig *pLocConfig)
 {
@@ -74,8 +74,8 @@
         _CsrLocHwOnoff();
 
         csrLocInst.locState = CSR_LOC_STATE_RUN;
-    	csrLocInst.bPwrModeRsp = FALSE;
-    	csrLocInst.bVerRsp = FALSE;
+    	csrLocInst.bPwrModeRsp = false;
+    	csrLocInst.bVerRsp = false;
     	
     }
     else
@@ -118,7 +118,18 @@
     {
         CSR_LOG_INFO("LpmGetPos ");
         _CsrLocHwOnoff();
-    }    
+    }
+    else
+    {
+    	if(csrLocInst.locState != CSR_LOC_STATE_RUN)
+    	{
+        	CSR_LOG_INFO("Not in run state.\r\n");
+    	}
+    	else if(csrLocInst.pwrMode != PWR_PTF)
+    	{
+        	CSR_LOG_INFO("Not in low power PTF mode.\r\n");
+    	}
+	}    
 }
 
 void CsrLocation::CsrLocDebugSwitch2Nmea(void)
@@ -153,7 +164,7 @@
 void CsrLocation::_CsrLocProcessRawStream(void)
 {
     tCsrLocInst *pLocInst = &csrLocInst;
-    CsrUint8    data;
+    uint8_t    data;
 
     if(pLocInst->in != pLocInst->out)
     {
@@ -162,14 +173,12 @@
         switch(pLocInst->protoState)
         {
         case PROTO_STATE_DET_OSP:
+        case PROTO_STATE_DET_OSP_FROM_NMEA:
             _CsrLocDetProtoOsp(data);
             break;
         case PROTO_STATE_DET_NMEA:
             _CsrLocDetProtoNmea(data);
             break;
-        case PROTO_STATE_DET_OSP_FROM_NMEA:
-            _CsrLocDetProtoOsp(data);
-            break;
         case PROTO_STATE_DET_OK:
             _CsrLocProcessRawOspStream(data);
             break;
@@ -181,7 +190,7 @@
     }
 }
 
-void CsrLocation::_CsrLocDetProtoOsp(CsrUint8 data)
+void CsrLocation::_CsrLocDetProtoOsp(uint8_t data)
 {
     tCsrLocInst *pLocInst = &csrLocInst;
 
@@ -190,7 +199,7 @@
         /* Failed to detect OSP and try to detect NMEA */
         pLocInst->pSerialLoc->attach(NULL);
         pLocInst->pTimeoutChk->detach();
-        pLocInst->bTimeoutFlag = FALSE;
+        pLocInst->bTimeoutFlag = false;
         if(pLocInst->protoState == PROTO_STATE_DET_OSP)
         {
             pLocInst->protoState = PROTO_STATE_DET_NMEA;
@@ -210,7 +219,7 @@
     _CsrLocProcessRawOspStream(data);
 }
 
-void CsrLocation::_CsrLocDetProtoNmea(CsrUint8 data)
+void CsrLocation::_CsrLocDetProtoNmea(uint8_t data)
 {
     tCsrLocInst *pLocInst = &csrLocInst;
 
@@ -219,7 +228,7 @@
         /* Failed to detect OSP and try to detect NMEA */
         pLocInst->pSerialLoc->attach(NULL);
         pLocInst->pTimeoutChk->detach();
-        pLocInst->bTimeoutFlag = FALSE;
+        pLocInst->bTimeoutFlag = false;
         pLocInst->protoState = PROTO_STATE_DET_INVALID;
         pLocInst->baudRate = BAUDRATE_OSP;
         CSR_LOG_INFO("Checking NMEA failed.\r\n");
@@ -255,7 +264,7 @@
         {
             pLocInst->pSerialLoc->attach(NULL);
             pLocInst->pTimeoutChk->detach();
-            pLocInst->bTimeoutFlag = FALSE;
+            pLocInst->bTimeoutFlag = false;
             pLocInst->protoState = PROTO_STATE_SWI_OSP_FROM_NMEA;
             pLocInst->protoDetState = STATE_START1;
             CSR_LOG_INFO("Checking OSP protocol OK, switching to OSP...\r\n");
@@ -277,7 +286,7 @@
     }        
 }
 
-void CsrLocation::_CsrLocProcessRawOspStream(CsrUint8 data)
+void CsrLocation::_CsrLocProcessRawOspStream(uint8_t data)
 {
     tCsrLocInst *pLocInst = &csrLocInst;
 
@@ -307,7 +316,7 @@
 
     case STATE_SIZE1:
         pLocInst->msgSize = data ;
-        pLocInst->msgSize <<= 8;  /* high CsrUint8 */
+        pLocInst->msgSize <<= 8;  /* high uint8_t */
         pLocInst->protoDetState = STATE_SIZE2;
         break;
 
@@ -408,7 +417,7 @@
         if (OSP_MSG_TAIL1 == data)
         {
             pLocInst->pTimeoutChk->detach();
-            pLocInst->bTimeoutFlag = FALSE;
+            pLocInst->bTimeoutFlag = false;
 
             if(pLocInst->protoState == PROTO_STATE_DET_OSP || pLocInst->protoState == PROTO_STATE_DET_OSP_FROM_NMEA)
             {
@@ -417,7 +426,6 @@
                 pLocInst->appEventCb(CSR_LOC_EVENT_START_RESULT, 0);
             }
             
-//            pLocInst->bRawOspPktReady = TRUE;
             _CsrLocProcessRawOspPkt();
             pLocInst->protoDetState = STATE_START1;
         }
@@ -441,15 +449,9 @@
 {
     tCsrLocInst *pLocInst = &csrLocInst;
     tOspMsg     *pOspMsg;
-    CsrUint32    msgSize;
+    uint32_t    msgSize;
     CsrResult    result;
     
-//    if(!pLocInst->bRawOspPktReady)
-//    {
-//    	return;	
-//    }
-    
-//    pLocInst->bRawOspPktReady = FALSE;
     msgSize = _CsrLocCalcMsgSize();
     if(msgSize > 0)
     {
@@ -480,13 +482,13 @@
 	free(pOspMsg);
 }
 
-CsrUint32 CsrLocation::_CsrLocCalcMsgSize(void)
+uint32_t CsrLocation::_CsrLocCalcMsgSize(void)
 {
     tCsrLocInst *pLocInst = &csrLocInst;
-    CsrUint8 	*ptr = pLocInst->serialPkt;
-    CsrUint32 	 msgSize = 0;
-    CsrUint32 	 msgId;
-    CsrUint8 	 mid, sid = 0;
+    uint8_t 	*ptr = pLocInst->serialPkt;
+    uint32_t 	 msgSize = 0;
+    uint32_t 	 msgId;
+    uint8_t 	 mid, sid = 0;
 
     mid   = BINARY_IMPORT_UINT8(ptr);
     msgId = OSP_MAKE_MSG_ID(mid,sid);
@@ -504,7 +506,7 @@
     case OSP_MSG_PWR_MODE_FPM_RSP:
     case OSP_MSG_PWR_MODE_LPM_RSP:
     case OSP_MSG_HW_CONFIG_REQ :
-        msgSize = sizeof(CsrUint8);
+        msgSize = sizeof(uint8_t);
         break;
     case OSP_MSG_SW_VERSION :
         msgSize = MAX_VERSION_LENGTH;
@@ -513,10 +515,10 @@
         msgSize = sizeof(tLocPosResp);
         break;
     case OSP_MSG_GNSS_SAT_DATA:
-        msgSize = sizeof(CsrUint8);
+        msgSize = sizeof(uint8_t);
         break;
     case OSP_MSG_GNSS_NAV_DATA:
-        msgSize = sizeof(CsrUint8);
+        msgSize = sizeof(uint8_t);
         break;
 
     default :
@@ -527,12 +529,12 @@
     return msgSize;
 }
 
-CsrResult CsrLocation::_CsrLocDecodeOspPkt( CsrUint8 *pPayload, CsrUint32 payloadLen, CsrUint32 *pMsgId, void *pMsgData, CsrUint32 *pMsgLen)
+CsrResult CsrLocation::_CsrLocDecodeOspPkt( uint8_t *pPayload, uint32_t payloadLen, uint32_t *pMsgId, void *pMsgData, uint32_t *pMsgLen)
 {
     CsrResult tRet = CSR_RESULT_SUCCESS;
-    CsrUint8 *ptr = pPayload;
-    CsrUint32 i;
-    CsrUint8 mid, sid = 0;
+    uint8_t *ptr = pPayload;
+    uint32_t i;
+    uint8_t mid, sid = 0;
 
     mid         = BINARY_IMPORT_UINT8(ptr);
     *pMsgId     = OSP_MAKE_MSG_ID(mid,sid);
@@ -561,14 +563,14 @@
         break;
 
     case OSP_MSG_OK_TO_SEND: /* 0x12 */
-        *((CsrUint8 *)pMsgData) = BINARY_IMPORT_UINT8(ptr);
-        *pMsgLen = sizeof(CsrUint8);
+        *((uint8_t *)pMsgData) = BINARY_IMPORT_UINT8(ptr);
+        *pMsgLen = sizeof(uint8_t);
         break;
 
     case OSP_MSG_GEODETIC_NAVIGATION: /* 0x29 */
     {
         tLocPosResp *pPos = (tLocPosResp*) pMsgData;
-        CsrUint16   valid;
+        uint16_t   valid;
 
         valid = BINARY_IMPORT_UINT16(ptr);
         if(valid != 0)
@@ -583,12 +585,12 @@
             pPos->gps_week  = BINARY_IMPORT_UINT16(ptr);
             pPos->tow       = BINARY_IMPORT_UINT32(ptr);
             ptr += 12;
-            pPos->lat       = (CsrDouble)BINARY_IMPORT_SINT32(ptr);
+            pPos->lat       = (double)BINARY_IMPORT_SINT32(ptr);
             pPos->lat      *= 1e-7;
-            pPos->lon       = (CsrDouble)BINARY_IMPORT_SINT32(ptr);
+            pPos->lon       = (double)BINARY_IMPORT_SINT32(ptr);
             pPos->lon      *= 1e-7;
             ptr += 4;
-            pPos->alt       = (CsrDouble)BINARY_IMPORT_SINT32(ptr);
+            pPos->alt       = (double)BINARY_IMPORT_SINT32(ptr);
             pPos->alt      *= 1e-2;
         }
         break;
@@ -611,17 +613,17 @@
     case OSP_MSG_GNSS_SAT_DATA: /* 0x43, 0x10 */
     {
         tLocSvStatus *pSvStatus = &csrLocInst.svStatus;
-        CsrUint16 week;
-        CsrUint32 tow;
-        CsrUint32 towSubMs;
-        CsrUint8  info;
-        CsrInt32  nMsg = 0;
-        CsrUint16 satInfo;
-        CsrUint16 az;
-        CsrUint16 el;
-        CsrUint16 cno;
-        CsrUint8  gnssType;
-        CsrUint16 index = 0;
+        uint16_t week;
+        uint32_t tow;
+        uint32_t towSubMs;
+        uint8_t  info;
+        int32_t  nMsg = 0;
+        uint16_t satInfo;
+        uint16_t az;
+        uint16_t el;
+        uint16_t cno;
+        uint8_t  gnssType;
+        uint16_t index = 0;
 
         *pMsgLen = sizeof(*pSvStatus);
 
@@ -649,16 +651,16 @@
             cno     = BINARY_IMPORT_UINT16(ptr);
             ptr    += 4;
             
-            gnssType = (CsrUint8)((satInfo>>13)&0x0003);
+            gnssType = (uint8_t)((satInfo>>13)&0x0003);
             if(0 == gnssType || 1 == gnssType) // GPS, SBAS, QZSS
             {
                 index = pSvStatus->numOfSVs;
                 if(index < LOC_MAX_GNSS_SVS && cno >0)
                 {
-                    pSvStatus->svList[index].prn = (CsrUint8)(satInfo & 0xFF);
-                    pSvStatus->svList[index].cno = (CsrFloat)(cno/10.0); // Scale: 10
-                    pSvStatus->svList[index].elevation = (CsrFloat)(el/10.0); // Scale: 10
-                    pSvStatus->svList[index].azimuth = (CsrFloat)(az/10.0); // Scale: 10
+                    pSvStatus->svList[index].prn = (uint8_t)(satInfo & 0xFF);
+                    pSvStatus->svList[index].cno = (float)(cno/10.0); // Scale: 10
+                    pSvStatus->svList[index].elevation = (float)(el/10.0); // Scale: 10
+                    pSvStatus->svList[index].azimuth = (float)(az/10.0); // Scale: 10
                     pSvStatus->numOfSVs++;
                     pSvStatus->ephemerisMask |= 0x1 << (pSvStatus->svList[index].prn-1); // prn range: 1-32
                 }
@@ -668,19 +670,19 @@
                 index = pSvStatus->numOfGloSVs;
                 if(index < CODEC_GLO_MAX_CHANNELS && cno>0)
                 {
-                    CsrInt16 freqChan = (satInfo & 0X1F00)>>8;
-                    CsrInt16 slotNum  = (satInfo & 0X00FF);
+                    int16_t freqChan = (satInfo & 0X1F00)>>8;
+                    int16_t slotNum  = (satInfo & 0X00FF);
                     if(slotNum > 0)
                     {
                         if(freqChan & 0X0010)
                         {
                             freqChan |= 0xFFE0;
                         }
-                        pSvStatus->gloSvList[index].prn = (CsrUint8)(freqChan + LOC_GLO_FREQ_OFFSET);
-                        pSvStatus->gloSvList[index].sno = (CsrUint8)slotNum;
-                        pSvStatus->gloSvList[index].cno = (CsrFloat)(cno/10.0); // Scale: 10
-                        pSvStatus->gloSvList[index].elevation = (CsrFloat)(el/10.0); // Scale: 10
-                        pSvStatus->gloSvList[index].azimuth = (CsrFloat)(az/10.0); // Scale: 10
+                        pSvStatus->gloSvList[index].prn = (uint8_t)(freqChan + LOC_GLO_FREQ_OFFSET);
+                        pSvStatus->gloSvList[index].sno = (uint8_t)slotNum;
+                        pSvStatus->gloSvList[index].cno = (float)(cno/10.0); // Scale: 10
+                        pSvStatus->gloSvList[index].elevation = (float)(el/10.0); // Scale: 10
+                        pSvStatus->gloSvList[index].azimuth = (float)(az/10.0); // Scale: 10
                         pSvStatus->numOfGloSVs++;
                         pSvStatus->gloEphemerisMask |= 0x1 << (pSvStatus->gloSvList[index].prn-LOC_GLO_FREQ_ID_START);
                     }
@@ -698,8 +700,8 @@
         break;
 
     case OSP_MSG_PWR_MODE_LPM_RSP: /* 0x5A, 0x06 */
-        *((CsrUint8 *)pMsgData) = *ptr;
-        *pMsgLen = sizeof(CsrUint8);
+        *((uint8_t *)pMsgData) = *ptr;
+        *pMsgLen = sizeof(uint8_t);
         break;
 
     default:
@@ -734,11 +736,12 @@
         CSR_LOG_INFO("Ok to send %u\r\n", csrLocInst.engStatus);
         break;
     case OSP_MSG_SW_VERSION:
+    	csrLocInst.bVerRsp = true;
         CSR_LOG_INFO("Ver: %s\r\n", pOspMsg->payload);
         break;
     case OSP_MSG_HW_CONFIG_REQ:
         CSR_LOG_INFO("hw config req.\r\n");
-    	if(!csrLocInst.bVerRsp);
+    	if(!csrLocInst.bVerRsp)
     	{
             _CsrLocSendData(SEND_DATA_TYPE_OSP_VER_REQ);
         }
@@ -756,11 +759,11 @@
         }
         break;
     case OSP_MSG_PWR_MODE_LPM_RSP:
-    	csrLocInst.bPwrModeRsp = TRUE;
+    	csrLocInst.bPwrModeRsp = true;
         CSR_LOG_INFO("lpm response.\r\n");
         break;
     case OSP_MSG_PWR_MODE_FPM_RSP:
-    	csrLocInst.bPwrModeRsp = TRUE;
+    	csrLocInst.bPwrModeRsp = true;
         CSR_LOG_INFO("fpm response.\r\n");
         break;
     default:
@@ -771,7 +774,7 @@
 
 void CsrLocation::_CsrLocTimeout(void)
 {
-    csrLocInst.bTimeoutFlag = TRUE;
+    csrLocInst.bTimeoutFlag = true;
 }
 
 void CsrLocation::_CsrLocRxHandler(void)
@@ -789,8 +792,8 @@
 void CsrLocation::_CsrLocSendData(eSendDataType type)
 {
     tCsrLocInst *pLocInst = &csrLocInst;
-    CsrUint32 i, size;
-    const CsrUint8 *pData;
+    uint32_t i, size;
+    const uint8_t *pData;
 
     switch(type)
     {
@@ -815,7 +818,7 @@
         size  = sizeof(sOspSwitch2NmeaReq);
         break;
     case SEND_DATA_TYPE_NMEA_SWITCH2OSP_REQ:
-        pData = (const CsrUint8 *)sNmeaSwitch2OspReq;
+        pData = (const uint8_t *)sNmeaSwitch2OspReq;
         size  = strlen(sNmeaSwitch2OspReq);
         break;
         

--- a/CsrLocation.h	Tue Mar 25 05:26:26 2014 +0000
+++ b/CsrLocation.h	Wed Mar 26 09:16:55 2014 +0000
@@ -10,47 +10,9 @@
 
 #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;
+typedef uint16_t 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
@@ -68,21 +30,21 @@
 /* NMEA message footer */
 #define NMEA_MSG_TAIL0                  ('*')
 
-#define CSR_SWAPIN16(bytestream) (((CsrUint16)*((bytestream)+0) << 8) | ((CsrUint16)*((bytestream)+1)))
+#define CSR_SWAPIN16(bytestream) (((uint16_t)*((bytestream)+0) << 8) | ((uint16_t)*((bytestream)+1)))
 
 #define CSR_SWAPIN32(bytestream)\
-   ( ((CsrUint32)*((bytestream)+0) << 24)\
-   | ((CsrUint32)*((bytestream)+1) << 16)\
-   | ((CsrUint32)*((bytestream)+2) <<  8)\
-   | ((CsrUint32)*((bytestream)+3)      ))
+   ( ((uint32_t)*((bytestream)+0) << 24)\
+   | ((uint32_t)*((bytestream)+1) << 16)\
+   | ((uint32_t)*((bytestream)+2) <<  8)\
+   | ((uint32_t)*((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 BINARY_IMPORT_UINT16(bytestream) ((uint16_t) CSR_SWAPIN16((bytestream))); bytestream+=2
+#define BINARY_IMPORT_UINT32(bytestream) ((uint32_t) CSR_SWAPIN32((bytestream))); bytestream+=4
+#define BINARY_IMPORT_SINT32(bytestream) ((int32_t)  CSR_SWAPIN32((bytestream))); bytestream+=4
 
 
 #define OSP_MAKE_MSG_ID(mid, sid) ((((mid) & 0xFF) << 8) | ((sid) & 0xFF))
@@ -206,87 +168,87 @@
 typedef struct LocPosResp
 {
     /** Week part of GPS time */
-    CsrUint16            gps_week;
+    uint16_t            gps_week;
     /** Time of second part of GPS time */
-    CsrUint32            tow;
+    uint32_t            tow;
     /** Latitude */
-    CsrDouble            lat;
+    double            lat;
     /** Longitude */
-    CsrDouble            lon;
+    double            lon;
     /** Altitude */
-    CsrDouble            alt;
+    double            alt;
 } tLocPosResp;
 
 /** Structure to hold Satellite Information. */
 typedef struct LocSvInfo
 {
     /** Prn or svId */
-    CsrUint8             prn;
+    uint8_t             prn;
     /** The ratio of carrier and noise */
-    CsrFloat             cno;
+    float             cno;
     /** elevation */
-    CsrFloat             elevation;
+    float             elevation;
     /** azimuth */
-    CsrFloat             azimuth;
+    float             azimuth;
     /** satellite state */
-    CsrUint16            state;
+    uint16_t            state;
 } tLocSvInfo;
 
 /** Structure to hold Satellite Information for GLONASS */
 typedef struct LocGloSvInfo
 {
     /** Prn or svId */
-    CsrUint8             prn;
+    uint8_t             prn;
     /** Slot number */
-    CsrUint8             sno;
+    uint8_t             sno;
     /** The ratio of carrier and noise */
-    CsrFloat             cno;
+    float             cno;
     /** elevation */
-    CsrFloat             elevation;
+    float             elevation;
     /** azimuth */
-    CsrFloat             azimuth;
+    float             azimuth;
     /** satellite state */
-    CsrUint16            state;
+    uint16_t            state;
 } tLocGloSvInfo;
 
 /** Structure to hold Satellite Status Information. */
 typedef struct LocSvStatus
 {
     /** Week part of GPS time */
-    CsrUint16           gps_week;
+    uint16_t           gps_week;
     /** Time of second part of GPS time */
-    CsrUint32           tow;
+    uint32_t           tow;
     /** Time of millisecond part of GPS time */
-    CsrUint32           tow_sub_ms;
+    uint32_t           tow_sub_ms;
    
     /**Number of GPS SVs currently visible **/
-    CsrUint8            numOfSVs;
+    uint8_t            numOfSVs;
     /**Number of GLONASS SVs currently visible **/
-    CsrUint8            numOfGloSVs;
+    uint8_t            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;
+    uint32_t           ephemerisMask;
     /** Bit mask indicating which GLONASS SVs have ephemeris data **/
-    CsrUint32           gloEphemerisMask;
+    uint32_t           gloEphemerisMask;
     /** Bit mask indicating which SVs were used in latest sent fix **/
-    CsrUint32           svUsedInFixMask;
+    uint32_t           svUsedInFixMask;
     /** Bit mask indicating which GLONASS SVs were used in latest sent fix **/
-    CsrUint32           gloSvUsedInFixMask;
+    uint32_t           gloSvUsedInFixMask;
     /** Bit mask indicating which QZSS SVs were used in latest sent fix **/   
-    CsrUint32           qzssSvUsedInFixMask;
+    uint32_t           qzssSvUsedInFixMask;
     /** Bit mask indicating which SBAS SVs were used in latest sent fix **/   
-    CsrUint32           sbasSvUsedInFixMask;
+    uint32_t           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);
+typedef void (*csr_app_output_callback)(uint32_t  msgId, void * const pMsgData, uint32_t 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);
+typedef void (*csr_app_event_callback)(eCsrLocEventType event, uint32_t data);
 
 /** tCsrLocConfig structure
  * Application needs to decides and pass the configuration into CsrLocation class.
@@ -294,7 +256,7 @@
 typedef struct CsrLocConfig
 {
     /** Debug serial port to print debug information */
-    Serial          *pSerialDebug;
+    RawSerial       *pSerialDebug;
     /** location serail port to communicate between mbed host side and location chip */
     RawSerial       *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 */
@@ -306,42 +268,42 @@
 /* General OSP mesasge format */
 typedef struct OspMsg
 {
-   CsrUint32        msgId;   
-   CsrUint32        length;
-   CsrUint8         payload[4];
+   uint32_t        msgId;   
+   uint32_t        length;
+   uint8_t         payload[4];
 } tOspMsg;
 
 /* keep the internal data of CsrLocation class */
 typedef struct CsrLocInst
 {
-    CsrBool         bStopFlag;
-    CsrBool         bPwrModeRsp;
-    CsrBool         bVerRsp;
+    bool            bStopFlag;
+    bool            bPwrModeRsp;
+    bool            bVerRsp;
 
     eCsrLocState    locState;
     eProtoState     protoState;
     ePowerMode      pwrMode;
-    CsrUint32       baudRate;
-    CsrInt32        computedCheckSum;
-    CsrInt32        checksum;
-    CsrInt32        msgSize;
-    CsrInt32        decodeIndex;
+    uint32_t        baudRate;
+    int32_t         computedCheckSum;
+    int32_t         checksum;
+    int32_t         msgSize;
+    int32_t         decodeIndex;
     eProtoDetState  protoDetState;
     Timeout         *pTimeoutChk;    /* timeout process */
-    CsrBool         bTimeoutFlag;
+    bool            bTimeoutFlag;
     eEngineStatus   engStatus;
 
     tLocSvStatus    svStatus;   /* 2 kind of messages contribute the svStaus */
 
-    Serial          *pSerialDebug;
+    RawSerial       *pSerialDebug;
     RawSerial       *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 */
-    CsrUint32       in;
-    CsrUint32       out;
+    uint8_t         serialBuf[MAX_SERIAL_BUF_LEN]; /* buffer the serial data from uart callback function */
+    uint8_t         serialPkt[MAX_SERIAL_PKT_LEN]; /* decoded osp data */
+    uint32_t        in;
+    uint32_t        out;
     
     csr_app_output_callback appOutCb;
     csr_app_event_callback  appEventCb;
@@ -403,22 +365,22 @@
     void _CsrLocProcessRawStream(void);
 
     /* Detect the OSP protocol outputted from location serial port */
-    void _CsrLocDetProtoOsp(CsrUint8 data);
+    void _CsrLocDetProtoOsp(uint8_t data);
 
     /* Detect the NMEA protocol outputted from location serial port */
-    void _CsrLocDetProtoNmea(CsrUint8 data);
+    void _CsrLocDetProtoNmea(uint8_t 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);
+    void _CsrLocProcessRawOspStream(uint8_t 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);
+    uint32_t _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);
+    CsrResult _CsrLocDecodeOspPkt( uint8_t *payload, uint32_t payload_length, uint32_t *message_id, void   *message_structure, uint32_t *message_length);
 
     /* Process the decode OSP packet and pass to application when needed */
     void _CsrLocProcessOspPkt(tOspMsg *pOspMsg);