Diff: Components/Teseo/Teseo.h

Revision:

0:a77f1f1f8318

Child:

3:2d568ec8da14

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/Teseo/Teseo.h	Fri Nov 09 17:06:11 2018 +0000
@@ -0,0 +1,369 @@
+/**
+*******************************************************************************
+* @file    Teseo.h
+* @author  AST / Central Lab
+* @version V1.0.0
+* @date    May-2017
+* @brief   Teseo Location Class
+*
+*******************************************************************************
+* @attention
+*
+* <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
+*
+* Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
+* You may not use this file except in compliance with the License.
+* You may obtain a copy of the License at:
+*
+*        http://www.st.com/software_license_agreement_liberty_v2
+*
+* Redistribution and use in source and binary forms, with or without modification,
+* are permitted provided that the following conditions are met:
+*   1. Redistributions of source code must retain the above copyright notice,
+*      this list of conditions and the following disclaimer.
+*   2. Redistributions in binary form must reproduce the above copyright notice,
+*      this list of conditions and the following disclaimer in the documentation
+*      and/or other materials provided with the distribution.
+*   3. Neither the name of STMicroelectronics nor the names of its contributors
+*      may be used to endorse or promote products derived from this software
+*      without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*
+********************************************************************************
+*/
+
+#ifndef __TESEO_H__
+#define __TESEO_H__
+
+#include "mbed.h"
+#include "GPSProviderImplBase.h"
+
+#include "TeseoConfig.h"
+#include "NMEAParser.h"
+
+#define STD_UART_BAUD               9600//    9600
+#define FWU_UART_BAUD               115200
+#define TESEO_I2C_ADDRESS           0x3A
+#define POWERON_STABLE_SIGNAL_DELAY_MS  150
+
+/** Indicates the outputted location information */
+#define LOC_OUTPUT_LOCATION             (1)
+#define LOC_OUTPUT_NMEA                 (2)
+#define LOC_OUTPUT_PSTM                 (3)
+
+#if 1
+#define TESEO_LOG_INFO(...)
+#else
+#define TESEO_LOG_INFO(...) {                             \
+        if (_serialDebug != NULL) {                     \
+            (_serialDebug->printf(__VA_ARGS__));        \
+        }                                               \
+    }
+#endif
+
+/**
+ * @brief Constant that indicates the maximum number of nmea messages to be processed.
+ */
+#define NMEA_MSGS_NUM 6 //Note: update this constant coherently to eMsg enum type
+
+/**
+ * @brief Constant that indicates the maximum number of proprietary nmea messages to be processed.
+ */
+#define PSTM_NMEA_MSGS_NUM 5 //Note: update this constant coherently to ePSTMsg enum type
+
+/**
+ * @brief Constant that indicates the maximum number of positions that can be stored.
+ */
+#define MAX_STOR_POS 64
+   
+/**
+ * @brief Constant that indicates the lenght of the buffer that stores the GPS data read by the GPS expansion.
+ */
+
+#define TESEO_RXBUF_LEN		256//90
+#define TESEO_RXQUEUE_LEN	8
+
+/**
+ * @brief Enumeration structure that containes the two success states of a process
+ */
+typedef enum {
+  TESEO_STATUS_SUCCESS = 0, /**< Success status */
+  TESEO_STATUS_FAILURE = 1  /**< Failure status */
+} eStatus;
+
+/** Location event definitions */
+typedef enum {
+    /** Start result event */
+    TESEO_LOC_EVENT_START_RESULT,
+    /** Stop result event */
+    TESEO_LOC_EVENT_STOP_RESULT,
+} eTeseoLocEventType;
+
+/** Teseo Location state */
+typedef enum {
+    TESEO_LOC_STATE_IDLE,
+    TESEO_LOC_STATE_RUN,
+    TESEO_LOC_STATE_FEATURE,
+    TESEO_LOC_STATE_DEBUG
+} eTeseoLocState;
+
+/**
+ * @brief Enumeration structure that containes the two states of a debug process
+ */
+typedef enum {
+  DEBUG_OFF = 0, /**< In this case, nothing will be printed on the console (nmea strings, positions and so on) */
+  DEBUG_ON = 1   /**< In this case, nmea strings and just acquired positions will be printed on the console */
+} eDebugState;
+
+/**
+ * @brief Data structure that contains the driver informations
+ */
+typedef struct TeseoData {
+  eDebugState debug;      /**< Debug status */
+  GPGGA_Infos gpgga_data; /**< $GPGGA Data holder */
+  GNS_Infos   gns_data;   /**< $--GNS Data holder */
+  GPGST_Infos gpgst_data; /**< $GPGST Data holder */
+  GPRMC_Infos gprmc_data; /**< $GPRMC Data holder */
+  GSA_Infos   gsa_data;   /**< $--GSA Data holder */
+  GSV_Infos   gsv_data;   /**< $--GSV Data holder */
+  
+  Geofence_Infos geofence_data; /**< Geofence Data holder */
+  Odometer_Infos odo_data;      /**< Odometer Data holder */
+  Datalog_Infos datalog_data;   /**< Datalog Data holder */
+  
+  Ack_Info ack;                 /**<  */
+
+} tTeseoData;
+
+/** Application register this out callback function and Teseo class will pass outputted information to application */
+typedef void (*teseo_app_output_callback)(uint32_t msgId, uint32_t msgType, tTeseoData *pData);
+/** Application register this event callback function and Teseo class will pass internal processing event to application */
+typedef void (*teseo_app_event_callback)(eTeseoLocEventType event, uint32_t data);
+
+class Teseo : public GPSProviderImplBase {
+public:
+
+  typedef enum {
+    TEST,
+    GETSWVER,
+    FORCESTANDBY,
+    RFTESTON,
+    RFTESTOFF,
+    LOWPOWER,
+    FWUPDATE
+  } eCmd;
+
+  /** NMEA messages types */
+  typedef enum {
+    GPGGA,
+    GNS,
+    GPGST,
+    GPRMC,
+    GSA,
+    GSV,
+  } eMsg;
+  
+  /** NMEA proprietary messages types */
+  typedef enum {
+    PSTMGEOFENCE,
+    PSTMODO,
+    PSTMDATALOG,
+    PSTMSGL,
+    PSTMSAVEPAR
+  } ePSTMsg;
+
+private:
+
+  eTeseoLocState _locState;
+    
+  DigitalOut    _loc_led2;
+  DigitalOut    _reset;
+  DigitalOut    _pps;
+  DigitalOut    _wakeup;
+  PinName       _uartRx;
+  PinName       _uartTx;
+  
+  Serial        *_uart;
+  Serial        *_serialDebug;
+  I2C           *_i2c;
+        
+  tTeseoData pData;
+  GPGGA_Infos stored_positions[MAX_STOR_POS];
+
+  int FwWaitAck();
+
+  Thread *serialStreamThread;
+
+  /**
+   * Command string
+   */
+  char _teseoCmd[TESEO_RXBUF_LEN];
+
+  /**
+   * Message struct
+   */
+  struct _teseoMsg {
+    uint8_t len;
+    uint8_t buf[TESEO_RXBUF_LEN];
+  };
+  
+public:
+  
+  /** Constructor: Teseo
+   * Create the Teseo, accept specified configuration
+   *
+   * @param [in] resetPin
+   *             GPIO pin to control location chip reset.
+   * @param [in] wakeupPin
+   *             GPIO pin to detect if the chip is still wakeup.
+   * @param [in] ppsPin
+   *             GPIO pin... .
+   * @param [in] uartTxPin
+   *             GPIO pin for serial Tx channel between the host and the GNSS controller.
+   * @param [in] uartRxPin
+   *             GPIO pin for serial Rx channel between the host and the GNSS controller.
+   * @param [in] serialDebug
+   *             The debug port for diagnostic messages; can be NULL.
+   */
+  Teseo(PinName resetPin,
+        PinName wakeupPin,
+        PinName ppsPin,
+        PinName uartTxPin,
+        PinName uartRxPin,
+        Serial *serialDebug = NULL);
+
+  /** Constructor: Teseo
+   * Create the Teseo, accept specified configuration
+   *
+   * @param [in] resetPin
+   *             GPIO pin to control location chip reset.
+   * @param [in] wakeupPin
+   *             GPIO pin to detect if the chip is still wakeup.
+   * @param [in] ppsPin
+   *             GPIO pin... .
+   * @param [in] uartTxPin
+   *             GPIO pin for serial Tx channel between the host and the GNSS controller.
+   * @param [in] uartRxPin
+   *             GPIO pin for serial Rx channel between the host and the GNSS controller.
+   * @param [in] i2cBus
+   *             I2C Bus not supported yet.
+   * @param [in] serialDebug
+   *             The debug port for diagnostic messages; can be NULL.
+   */
+  Teseo(PinName resetPin,
+        PinName wakeupPin,
+        PinName ppsPin,
+        PinName uartTxPin,
+        PinName uartRxPin,
+        I2C    *i2cBus,
+        Serial *serialDebug = NULL);
+  
+  /** Register output callback and event callback functions
+   * @param app_output_cb Teseo class output the location and satellite information to application
+   * @param app_event_cb Teseo class output the start and stop result to application
+   */
+  void TeseoLocRegOutput(teseo_app_output_callback app_output_cb, teseo_app_event_callback app_event_cb);
+  
+  void SendCommand(Teseo::eCmd c);
+  void SendCommand(char *cmd);
+  
+  int EnableLowPower();
+  
+  void ReadSentence(Teseo::eMsg msg);
+    
+  eStatus WakeStatus(void){
+    return _wakeup.read() ? TESEO_STATUS_SUCCESS : TESEO_STATUS_FAILURE;
+  }
+     
+  void ReadProcess(void);
+
+private:
+  
+  virtual bool setPowerMode(GPSProvider::PowerMode_t pwrMode);
+  virtual void start(void);
+  virtual void stop(void);
+  virtual void process(void);
+  virtual uint32_t ioctl(uint32_t command, void *arg);
+  virtual void lpmGetImmediateLocation(void);
+  virtual void reset(void);
+  virtual const GPSProvider::LocationUpdateParams_t *getLastLocation(void) const;
+
+  gps_provider_error_t cfgMessageList(int level);
+  gps_provider_error_t saveConfigParams(void);
+  
+  /** Set NMEA stream verbosity */
+  virtual void setVerboseMode(int level);
+
+  /** Geofencing */
+  virtual bool isGeofencingSupported(void);
+  virtual gps_provider_error_t enableGeofence(void);
+  virtual gps_provider_error_t configGeofences(GPSGeofence *geofences[], unsigned geofenceCount);
+  virtual gps_provider_error_t geofenceReq(void);
+  gps_provider_error_t cfgGeofenceCircle(void);
+
+  /** Datalogging */
+  virtual bool isDataloggingSupported(void);
+  virtual gps_provider_error_t enableDatalog(void);
+  virtual gps_provider_error_t configDatalog(GPSDatalog *datalog);
+  virtual gps_provider_error_t startDatalog(void);
+  virtual gps_provider_error_t stopDatalog(void);
+  virtual gps_provider_error_t eraseDatalog(void);
+  virtual gps_provider_error_t logReqStatus(void);
+  virtual gps_provider_error_t logReqQuery(GPSProvider::LogQueryParams_t &logReqQuery);
+  
+  /* Odometer */
+  virtual bool isOdometerSupported(void);
+  virtual gps_provider_error_t enableOdo(void);
+  virtual gps_provider_error_t startOdo(unsigned alarmDistance);
+  virtual gps_provider_error_t stopOdo(void);
+  virtual gps_provider_error_t resetOdo(void);
+
+  void _InitUART(int br = STD_UART_BAUD);
+  void _ResetFast(Serial *serialDebug = NULL);
+  void _Reset(Serial *serialDebug = NULL);
+  void _SendString(char *buf, int len);
+  int _WakeUp();
+  int _CRC(char *buf, int size);
+  int _CheckI2C();
+  /**
+   * @brief  This function gets a chunck of NMEA messages
+   * @param  msg NMEA message to search for
+   * @retval eStatus TESEO_STATUS_SUCCESS if the parse process goes ok, TESEO_FAILURE if it doesn't
+   */
+  eStatus _GetMsg(Teseo::eMsg msg, uint8_t *buffer);
+  /**
+   * @brief  This function gets a chunck of PSTM NMEA messages
+   * @param  msg PSTM NMEA message to search for
+   * @retval eStatus TESEO_STATUS_SUCCESS if the parse process goes ok, TESEO_FAILURE if it doesn't
+   */
+  void _GetPSTMsg(Teseo::ePSTMsg msg, uint8_t *buffer);
+  void _GetLocationMsg(Teseo::eMsg msg, uint8_t *buffer);
+  
+  void _LocLed2Set(void){
+    _loc_led2.write(1);
+  }
+  void _LocLed2Reset(void){
+    _loc_led2.write(0);
+  }
+  
+  void outputHandler(uint32_t msgId, uint32_t msgType, tTeseoData *pData);
+  void eventHandler(eTeseoLocEventType event, uint32_t data);
+  
+  teseo_app_output_callback appOutCb;
+  teseo_app_event_callback appEventCb;
+  
+  MemoryPool<struct _teseoMsg, TESEO_RXQUEUE_LEN> mpool;
+  Queue<struct _teseoMsg, TESEO_RXQUEUE_LEN> queue;
+};
+
+#endif /*__TESEO_H__*/