Teseo.h

00001 /**
00002 *******************************************************************************
00003 * @file    Teseo.h
00004 * @author  AST / Central Lab
00005 * @version V1.0.0
00006 * @date    May-2017
00007 * @brief   Teseo Location Class
00008 *
00009 *******************************************************************************
00010 * @attention
00011 *
00012 * <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
00013 *
00014 * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
00015 * You may not use this file except in compliance with the License.
00016 * You may obtain a copy of the License at:
00017 *
00018 *        http://www.st.com/software_license_agreement_liberty_v2
00019 *
00020 * Redistribution and use in source and binary forms, with or without modification,
00021 * are permitted provided that the following conditions are met:
00022 *   1. Redistributions of source code must retain the above copyright notice,
00023 *      this list of conditions and the following disclaimer.
00024 *   2. Redistributions in binary form must reproduce the above copyright notice,
00025 *      this list of conditions and the following disclaimer in the documentation
00026 *      and/or other materials provided with the distribution.
00027 *   3. Neither the name of STMicroelectronics nor the names of its contributors
00028 *      may be used to endorse or promote products derived from this software
00029 *      without specific prior written permission.
00030 *
00031 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00032 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00033 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00034 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00035 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00036 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00037 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00038 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00039 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00040 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00041 *
00042 ********************************************************************************
00043 */
00044 
00045 #ifndef __TESEO_H__
00046 #define __TESEO_H__
00047 
00048 #include "mbed.h"
00049 #include "GPSProviderImplBase.h"
00050 
00051 #include "TeseoConfig.h"
00052 #include "NMEAParser.h"
00053 
00054 #define STD_UART_BAUD               9600//    9600
00055 #define FWU_UART_BAUD               115200
00056 #define TESEO_I2C_ADDRESS           0x3A
00057 #define POWERON_STABLE_SIGNAL_DELAY_MS  150
00058 
00059 /** Indicates the outputted location information */
00060 #define LOC_OUTPUT_LOCATION             (1)
00061 #define LOC_OUTPUT_NMEA                 (2)
00062 #define LOC_OUTPUT_PSTM                 (3)
00063 
00064 #if 1
00065 #define TESEO_LOG_INFO(...)
00066 #else
00067 #define TESEO_LOG_INFO(...) {                             \
00068         if (_serialDebug != NULL) {                     \
00069             (_serialDebug->printf(__VA_ARGS__));        \
00070         }                                               \
00071     }
00072 #endif
00073 
00074 /**
00075  * @brief Constant that indicates the maximum number of nmea messages to be processed.
00076  */
00077 #define NMEA_MSGS_NUM 6 //Note: update this constant coherently to eMsg enum type
00078 
00079 /**
00080  * @brief Constant that indicates the maximum number of proprietary nmea messages to be processed.
00081  */
00082 #define PSTM_NMEA_MSGS_NUM 5 //Note: update this constant coherently to ePSTMsg enum type
00083 
00084 /**
00085  * @brief Constant that indicates the maximum number of positions that can be stored.
00086  */
00087 #define MAX_STOR_POS 64
00088    
00089 /**
00090  * @brief Constant that indicates the lenght of the buffer that stores the GPS data read by the GPS expansion.
00091  */
00092 
00093 #define TESEO_RXBUF_LEN     256//90
00094 #define TESEO_RXQUEUE_LEN   8
00095 
00096 /**
00097  * @brief Enumeration structure that containes the two success states of a process
00098  */
00099 typedef enum {
00100   TESEO_STATUS_SUCCESS = 0, /**< Success status */
00101   TESEO_STATUS_FAILURE = 1  /**< Failure status */
00102 } eStatus;
00103 
00104 /** Location event definitions */
00105 typedef enum {
00106     /** Start result event */
00107     TESEO_LOC_EVENT_START_RESULT,
00108     /** Stop result event */
00109     TESEO_LOC_EVENT_STOP_RESULT,
00110 } eTeseoLocEventType;
00111 
00112 /** Teseo Location state */
00113 typedef enum {
00114     TESEO_LOC_STATE_IDLE,
00115     TESEO_LOC_STATE_RUN,
00116     TESEO_LOC_STATE_FEATURE,
00117     TESEO_LOC_STATE_DEBUG
00118 } eTeseoLocState;
00119 
00120 /**
00121  * @brief Enumeration structure that containes the two states of a debug process
00122  */
00123 typedef enum {
00124   DEBUG_OFF = 0, /**< In this case, nothing will be printed on the console (nmea strings, positions and so on) */
00125   DEBUG_ON = 1   /**< In this case, nmea strings and just acquired positions will be printed on the console */
00126 } eDebugState;
00127 
00128 /**
00129  * @brief Data structure that contains the driver informations
00130  */
00131 typedef struct TeseoData {
00132   eDebugState debug;      /**< Debug status */
00133   GPGGA_Infos gpgga_data; /**< $GPGGA Data holder */
00134   GNS_Infos   gns_data;   /**< $--GNS Data holder */
00135   GPGST_Infos gpgst_data; /**< $GPGST Data holder */
00136   GPRMC_Infos gprmc_data; /**< $GPRMC Data holder */
00137   GSA_Infos   gsa_data;   /**< $--GSA Data holder */
00138   GSV_Infos   gsv_data;   /**< $--GSV Data holder */
00139   
00140   Geofence_Infos geofence_data; /**< Geofence Data holder */
00141   Odometer_Infos odo_data;      /**< Odometer Data holder */
00142   Datalog_Infos datalog_data;   /**< Datalog Data holder */
00143   
00144   Ack_Info ack;                 /**<  */
00145 
00146 } tTeseoData;
00147 
00148 /** Application register this out callback function and Teseo class will pass outputted information to application */
00149 typedef void (*teseo_app_output_callback)(uint32_t msgId, uint32_t msgType, tTeseoData *pData);
00150 /** Application register this event callback function and Teseo class will pass internal processing event to application */
00151 typedef void (*teseo_app_event_callback)(eTeseoLocEventType event, uint32_t data);
00152 
00153 class Teseo : public GPSProviderImplBase {
00154 public:
00155 
00156   typedef enum {
00157     TEST,
00158     GETSWVER,
00159     FORCESTANDBY,
00160     RFTESTON,
00161     RFTESTOFF,
00162     LOWPOWER,
00163     FWUPDATE
00164   } eCmd;
00165 
00166   /** NMEA messages types */
00167   typedef enum {
00168     GPGGA,
00169     GNS,
00170     GPGST,
00171     GPRMC,
00172     GSA,
00173     GSV,
00174   } eMsg;
00175   
00176   /** NMEA proprietary messages types */
00177   typedef enum {
00178     PSTMGEOFENCE,
00179     PSTMODO,
00180     PSTMDATALOG,
00181     PSTMSGL,
00182     PSTMSAVEPAR
00183   } ePSTMsg;
00184 
00185 private:
00186 
00187   eTeseoLocState _locState;
00188     
00189   DigitalOut    _loc_led2;
00190   DigitalOut    _reset;
00191   DigitalOut    _pps;
00192   DigitalOut    _wakeup;
00193   PinName       _uartRx;
00194   PinName       _uartTx;
00195   
00196   Serial        *_uart;
00197   Serial        *_serialDebug;
00198   I2C           *_i2c;
00199         
00200   tTeseoData pData;
00201   GPGGA_Infos stored_positions[MAX_STOR_POS];
00202 
00203   int FwWaitAck();
00204 
00205   Thread *serialStreamThread;
00206 
00207   /**
00208    * Command string
00209    */
00210   char _teseoCmd[TESEO_RXBUF_LEN];
00211 
00212   /**
00213    * Message struct
00214    */
00215   struct _teseoMsg {
00216     uint8_t len;
00217     uint8_t buf[TESEO_RXBUF_LEN];
00218   };
00219   
00220 public:
00221   
00222   /** Constructor: Teseo
00223    * Create the Teseo, accept specified configuration
00224    *
00225    * @param [in] resetPin
00226    *             GPIO pin to control location chip reset.
00227    * @param [in] wakeupPin
00228    *             GPIO pin to detect if the chip is still wakeup.
00229    * @param [in] ppsPin
00230    *             GPIO pin... .
00231    * @param [in] uartTxPin
00232    *             GPIO pin for serial Tx channel between the host and the GNSS controller.
00233    * @param [in] uartRxPin
00234    *             GPIO pin for serial Rx channel between the host and the GNSS controller.
00235    * @param [in] serialDebug
00236    *             The debug port for diagnostic messages; can be NULL.
00237    */
00238   Teseo(PinName resetPin,
00239         PinName wakeupPin,
00240         PinName ppsPin,
00241         PinName uartTxPin,
00242         PinName uartRxPin,
00243         Serial *serialDebug = NULL);
00244 
00245   /** Constructor: Teseo
00246    * Create the Teseo, accept specified configuration
00247    *
00248    * @param [in] resetPin
00249    *             GPIO pin to control location chip reset.
00250    * @param [in] wakeupPin
00251    *             GPIO pin to detect if the chip is still wakeup.
00252    * @param [in] ppsPin
00253    *             GPIO pin... .
00254    * @param [in] uartTxPin
00255    *             GPIO pin for serial Tx channel between the host and the GNSS controller.
00256    * @param [in] uartRxPin
00257    *             GPIO pin for serial Rx channel between the host and the GNSS controller.
00258    * @param [in] i2cBus
00259    *             I2C Bus not supported yet.
00260    * @param [in] serialDebug
00261    *             The debug port for diagnostic messages; can be NULL.
00262    */
00263   Teseo(PinName resetPin,
00264         PinName wakeupPin,
00265         PinName ppsPin,
00266         PinName uartTxPin,
00267         PinName uartRxPin,
00268         I2C    *i2cBus,
00269         Serial *serialDebug = NULL);
00270   
00271   /** Register output callback and event callback functions
00272    * @param app_output_cb Teseo class output the location and satellite information to application
00273    * @param app_event_cb Teseo class output the start and stop result to application
00274    */
00275   void TeseoLocRegOutput(teseo_app_output_callback app_output_cb, teseo_app_event_callback app_event_cb);
00276   
00277   void SendCommand(Teseo::eCmd c);
00278   void SendCommand(char *cmd);
00279   
00280   int EnableLowPower();
00281   
00282   void ReadSentence(Teseo::eMsg msg);
00283     
00284   eStatus WakeStatus(void){
00285     return _wakeup.read() ? TESEO_STATUS_SUCCESS : TESEO_STATUS_FAILURE;
00286   }
00287      
00288   void ReadProcess(void);
00289 
00290 private:
00291   
00292   virtual bool setPowerMode(GPSProvider::PowerMode_t pwrMode);
00293   virtual void start(void);
00294   virtual void stop(void);
00295   virtual void process(void);
00296   virtual void reset(void);
00297   virtual const GPSProvider::LocationUpdateParams_t *getLastLocation(void) const;
00298 
00299   gps_provider_error_t cfgMessageList(int level);
00300   gps_provider_error_t saveConfigParams(void);
00301   
00302   /** Set NMEA stream verbosity */
00303   virtual void setVerboseMode(int level);
00304 
00305   /** Geofencing */
00306   virtual bool isGeofencingSupported(void);
00307   virtual gps_provider_error_t enableGeofence(void);
00308   virtual gps_provider_error_t configGeofences(GPSGeofence *geofences[], unsigned geofenceCount);
00309   virtual gps_provider_error_t geofenceReq(void);
00310   gps_provider_error_t cfgGeofenceCircle(void);
00311 
00312   /** Datalogging */
00313   virtual bool isDataloggingSupported(void);
00314   virtual gps_provider_error_t enableDatalog(void);
00315   virtual gps_provider_error_t configDatalog(GPSDatalog *datalog);
00316   virtual gps_provider_error_t startDatalog(void);
00317   virtual gps_provider_error_t stopDatalog(void);
00318   virtual gps_provider_error_t eraseDatalog(void);
00319   virtual gps_provider_error_t logReqStatus(void);
00320   virtual gps_provider_error_t logReqQuery(GPSProvider::LogQueryParams_t &logReqQuery);
00321   
00322   /* Odometer */
00323   virtual bool isOdometerSupported(void);
00324   virtual gps_provider_error_t enableOdo(void);
00325   virtual gps_provider_error_t startOdo(unsigned alarmDistance);
00326   virtual gps_provider_error_t stopOdo(void);
00327   virtual gps_provider_error_t resetOdo(void);
00328 
00329   void _InitUART(int br = STD_UART_BAUD);
00330   void _ResetFast(Serial *serialDebug = NULL);
00331   void _Reset(Serial *serialDebug = NULL);
00332   void _SendString(char *buf, int len);
00333   int _WakeUp();
00334   int _CRC(char *buf, int size);
00335 
00336   /**
00337    * @brief  This function gets a chunck of NMEA messages
00338    * @param  msg NMEA message to search for
00339    * @retval eStatus TESEO_STATUS_SUCCESS if the parse process goes ok, TESEO_FAILURE if it doesn't
00340    */
00341   eStatus _GetMsg(Teseo::eMsg msg, uint8_t *buffer);
00342   /**
00343    * @brief  This function gets a chunck of PSTM NMEA messages
00344    * @param  msg PSTM NMEA message to search for
00345    * @retval eStatus TESEO_STATUS_SUCCESS if the parse process goes ok, TESEO_FAILURE if it doesn't
00346    */
00347   void _GetPSTMsg(Teseo::ePSTMsg msg, uint8_t *buffer);
00348   void _GetLocationMsg(Teseo::eMsg msg, uint8_t *buffer);
00349   
00350   void _LocLed2Set(void){
00351     _loc_led2.write(1);
00352   }
00353   void _LocLed2Reset(void){
00354     _loc_led2.write(0);
00355   }
00356   
00357   void outputHandler(uint32_t msgId, uint32_t msgType, tTeseoData *pData);
00358   void eventHandler(eTeseoLocEventType event, uint32_t data);
00359   
00360   teseo_app_output_callback appOutCb;
00361   teseo_app_event_callback appEventCb;
00362   
00363   MemoryPool<struct _teseoMsg, TESEO_RXQUEUE_LEN> mpool;
00364   Queue<struct _teseoMsg, TESEO_RXQUEUE_LEN> queue;
00365 };
00366 
00367 #endif /*__TESEO_H__*/