/*====*====*====*====*====*====*====*====*====*====*====*====*====*====*====* Copyright (c) 2014, 2016 Qualcomm Technologies, Inc. All Rights Reserved. Confidential and Proprietary - Qualcomm Technologies, Inc. =============================================================================*/ /*====*====*====*====*====*====*====*====*====*====*====*====*====*====*====* qdr core i/f header file GENERAL DESCRIPTION This file contains the data structure, functions and variables used for QDR core interface API's NOTE All the function calls (API's) described in this file are non-blocking calls, the function should return as soon as the intended activity is completed. =============================================================================*/ #ifndef __QDR_IF__ #define __QDR_IF__ #ifdef __cplusplus extern "C" { #endif #ifdef OFFLINE #include #endif typedef enum { QDR_FAILURE=0, QDR_SUCCESS, QDR_INVALID_SENSOR, /** if the sensor data is invalid or of unsupported types*/ QDR_NL_UNINITIALISED }qdr_return; typedef enum { QDR_THR_SYNC_INVALID=0, QDR_THR_SYNC_OBJECT1, QDR_THR_SYNC_MAX_OBJECTS, }qdr_threadsync_object; typedef enum { QDR_INITIALIZED=0, QDR_UNINITIALIZED }qdr_navstate; typedef struct _tQdrSVState { double GPSTime; /* GPS time */ double Pos[3]; /* 3D positions in ECEF */ double Vel[3]; /* 3D velocities in ECEF */ float Acc[3]; /* 3D accelerations in ECEF */ double ClkBias; /* clock bias */ float ClkDrift; /* clock drift */ float PosVar; /* position variance in meter^2 */ float ClkVar; /* clock bias variance in meter^2 */ float Iono; /* ionosphere correction */ float ionoDelayStd; /* meters*/ long tow; /* GPS time referenced from start of the week. */ /* [sec, 0 - 604800], toe or toa */ short wno; /* The GPS week number, Eph or Alm weekno */ /* [weeks, 0 - life time of GPS in weeks] */ unsigned char EphFlag; /* ephemeris flag indicator (0: almanac 1: ephemeris, otherwise: unavailable) */ unsigned char ephAge; /* in days */ unsigned char Updated; /* updated or not */ unsigned char Svid; /* sv id */ } tQdrSVState; /**These prototypes are derived from * OSP Message DGPS types code defines * SIRF_MSG_SSB_DGPS_SRC_INTERNAL,SIRF_MSG_SSB_DGPS_SRC_NONE * SIRF_MSG_SSB_DGPS_SRC_SBAS, SIRF_MSG_SSB_DGPS_SRC_SOFTWARE, * SIRF_MSG_SSB_DGPS_SRC_USER */ #define DGPS_SRC_INTERNAL ( 3 ) #define DGPS_SRC_NONE ( 0 ) #define DGPS_SRC_SBAS ( 1 ) #define DGPS_SRC_SOFTWARE ( 4 ) #define DGPS_SRC_USER ( 2 ) typedef enum _qdrCorrectionTypes { QDR_COR_NONE = DGPS_SRC_NONE, /* Use no corrections */ QDR_COR_SBAS = DGPS_SRC_SBAS, /* Use SBAS channel */ QDR_COR_SERIAL = DGPS_SRC_USER, /* Use external receiver */ QDR_COR_INTERNAL_BEACON = DGPS_SRC_INTERNAL, /* Use internal DGPS Beacon */ QDR_COR_SOFTWARE = DGPS_SRC_SOFTWARE /* MI_SetDGPSCorrections */ }qdrCorrectionTypes; typedef struct _tQdrDGPSMeasStruct/* Structure definition for NAV Library DGPS Interface */ { short SVID; short IOD; qdrCorrectionTypes Source; /* This is already defined in mi_if.h. We are using the same types here. */ float PRCorrection; /* m */ float PRRCorrection; /* m/s */ float CorrectionAge; /* sec */ float PRCVariance; /* m; Only for SBAS? Or from some other mechanism?)*/ float PRRCVariance; /* m/s; Only for SBAS? Or from some other mechanism?)*/ } tQdrDGPSMeasStruct; typedef enum _qdr_timeSourcet { QDR_TIME_NOT_SET=0, QDR_TIME_SET_GPS, QDR_TIME_SET_GLO, QDR_TIME_SET_GAL, QDR_TIME_SET_BDS, QDR_TIME_SET_EXT }qdr_timeSourcet; typedef uint8_t qdr_timevalid; #define QDR_SYS_TIME_INVALID 0 #define QDR_SYS_TIME_VALID 0x1 #define QDR_LS_VALID 0x2 #define QDR_GGTAU_VALID 0x4 typedef struct _qdr_sysTime { short int week; unsigned int swttag; double swtow; /**In Second*/ float swtEstAcc; uint8_t leapSecond; qdr_timevalid time_valid; double glo2gpsTau; /**tauGPS in sec */ qdr_timeSourcet src; uint64_t pps_timeStamp; /**1PPS timestamp in us**/ float pps_unc; /**PPS unc unknown if it is 10ms*/ }qdr_sysTime; typedef struct { unsigned long Timetag; unsigned long TimetagLsw; double Pseudorange; double DeltaRange; double sinel; int az; double measTow; double CarrierPhase; float DeltaCP; unsigned short TimeInTrack; unsigned short DRInterval; /* delta-range interval */ unsigned short DRTime; /* mean time of the delta-range interval */ short ExtrapolationTime; unsigned short measWeek; unsigned char SVID; unsigned char SyncFlags; unsigned char LowPowerCount; unsigned char PhaseErrorCount; unsigned char CtoN[10]; } tQdrGnssMeas2NAV; typedef struct _tQdrNavigationData { unsigned int solution_validity; unsigned int solution_info; unsigned short gps_week; unsigned int tow; unsigned int tow_sub_ms; short time_bias; unsigned char time_accuracy; unsigned char time_source; unsigned short utc_year; unsigned char utc_month; unsigned char utc_day; unsigned char utc_hour; unsigned char utc_min; unsigned short utc_sec; unsigned char utc_offset; unsigned char datum; double clk_bias; unsigned int clk_bias_error; int clk_offset; unsigned int clk_offset_error; int lat; int lon; int alt_ellips; int alt_msl; unsigned short sog; unsigned short cog; short climb_rate; short heading_rate; unsigned int distance_travel; unsigned short heading_error; unsigned short distance_travel_error; unsigned int ehpe; unsigned int evpe; unsigned short ehve; unsigned char gdop; unsigned char pdop; unsigned char hdop; unsigned char vdop; unsigned char tdop; unsigned char num_svs_in_sol; unsigned int sv_list_1; unsigned int sv_list_2; unsigned int sv_list_3; unsigned int sv_list_4; unsigned int sv_list_5; unsigned int additional_info; } tQdrNavigationData; /*Core supports 32 SV's to support multiconstellation operations */ #define QDR_CORE_SAT_DATA_NUM_OF_SATS ( 32 ) /* Body frame dynamics parameters updated by the core */ typedef struct _tQdrNavBodyFrameParams{ /* Forward Acceleration in body frame (m/s2)*/ float longAccel; /* Sideward Acceleration in body frame (m/s2)*/ float latAccel; /* Vertical Acceleration in body frame (m/s2)*/ float vertAccel; /* Heading Rate (Radians/second) */ float yawRate; /* Body pitch (Radians/second) */ float pitch; /* Data Validity */ uint32_t dataMask; } tQdrNavBodyFrameParams; /* For Body frame data updates */ typedef struct _tQdrCoreNavBfdParams{ unsigned int towLatch; tQdrNavBodyFrameParams bfdData; } tQdrCoreNavBfdParams; typedef struct _tQdrSvStateDataPerSV { unsigned short sat_info; unsigned short azimuth; unsigned short elevation; unsigned int status; unsigned short avg_cno; } tQdrSvStateDataPerSV; typedef struct _tQdrSvStateData { unsigned short gps_week; unsigned int tow; unsigned int tow_sub_ms; short time_bias; unsigned char time_accuracy; unsigned char time_source; unsigned char num_of_sats; unsigned int gps_svs_used_infix; unsigned int glo_svs_used_infix; unsigned long long gal_svs_used_infix; unsigned long long bds_svs_used_infix; unsigned int qzss_svs_used_infix; unsigned int sbas_svs_used_infix; tQdrSvStateDataPerSV sat[QDR_CORE_SAT_DATA_NUM_OF_SATS]; } tQdrSvStateData; /*Callback Types*/ typedef qdr_return (* qdr_cb_retrieveNVData_t) ( unsigned char dataIDToRetrieve, unsigned int dataLength, unsigned char *pPayload); typedef qdr_return (* qdr_cb_storeNVData_t) ( unsigned char dataIDToStore, unsigned int dataLength, unsigned char *pPayload); typedef void (* qdr_cb_sendDIAGData_t) (unsigned int diagID,unsigned int packetLength,void *pPayload); /**Diag ID's from QDR core, True mapping is done outside*/ #define QDR_DIAG_VERSION_INFO 0x0001 #define QDR_DIAG_GNSS_NAVINIT_DATA 0x0002 /**Structure type "tQdrNavInitData"*/ #define QDR_DIAG_A6DOF_NVM_INIT_DATA 0x0003 #define QDR_DIAG_A6DOF_NAVSTATE 0x0004 /**Structure type "tQdrA6DOFNavstate"*/ #define QDR_DIAG_A6DOF_GNSS_ODO_INFO 0x0005 /**Structure type "tQdrA6DOFGnssOdoInfo"*/ #define QDR_DIAG_A6DOF_GNSS_CHAN_INFO 0x0006 /**Structure type "tQdrA6DOFGnssChanList"*/ #define QDR2_DIAG_NAVSTATE 0x0007 /**Structure type "MI_DR_NAV_STATE"*/ #define QDR2_DIAG_NAVSTATUS 0x0008 /**Structure type "MI_DR_NAV_STATUS"*/ #define QDR2_DIAG_NAVSUBSYS 0x0009 /**Structure type "MI_DR_NAV_SUBSYS"*/ #define QDR2_DIAG_NVM_INIT_DATA 0x000A /**Structure type "tDrRamData"*/ /**Nav Init Data structure Stored info from Last session*/ typedef struct _tqdrnlInit /* Message 31 */ { unsigned char EnableConAltMode; unsigned char AltMode; unsigned char AltSource; float Altitude; unsigned char DegradedMode; short DegradedTimeout; short DRTimeout; short CoastTimeout; unsigned char TrackSmoothMode; unsigned char DOPSelection; short HDOPThresh; short GDOPThresh; short PDOPThresh; unsigned char DGPSSelection; short DGPSTimeout; short ElevNavMask; short PowNavMask; unsigned char EditingResidualMode; short EditingResidualThreshold; unsigned char SSDMode; short SSDThreshold; unsigned char StaticNavMode; short StaticNavThreshold; double PosX; /**Last stored Nav Position X*/ double PosY; /**Last stored Nav Position Y*/ double PosZ; /**Last stored Nav Position Z*/ unsigned char PositionInitSource; double GPSTime; /**Last stored TOW*/ short GPSWeek; /**Last stored Week*/ unsigned char TimeInitSource; double Drift; unsigned char ClockDriftInitSource; } tqdrnlInit; typedef struct { short SeqNum; /*For testing and user stuff*/ unsigned short OkAcrossReset; /*TRUE: DR stay valid after a RESET if vehicle staionary at IGN off*/ unsigned char SensorDataType; /* Need to remember Bus Type Across reset*/ unsigned char new_data; /**Reserved flag used for bookkeeping on the interface*/ unsigned char valid; /* Holds whether the cal is valid and navigation is resumable */ char prerot; /**Switch to control the pre-rotation of raw axes*/ unsigned char b2s_rp_gain; /**RP Filter Gain*/ unsigned char b2s_yaw_gain; /**Yaw Filter gain*/ unsigned char b2s_estimate; /**Estimation of B2S*/ unsigned char gsf_gain; /**Gyro scale factor filter Gain*/ //unsigned char asf_gain[3]; unsigned char osf_gain; /**Odo scale factor filter Gain*/ unsigned char co_gain; /**Gain of Stationary Detect filter*/ unsigned char gnss_loss; /**GNSS loss used to calibrate LOS/NLOS detection*/ /* We might want to store the time to use for uncertainty growth */ double llh[3]; /**Last saved Latitude,Longitude and Altitude */ float att[3]; /**Attitude information X,Y and Z*/ float acc_bias[3]; /**Accelerometer Bias X, Y and Z*/ float gyro_bias[3]; /**Gyroscope Bias X, Y and Z*/ float unc[12]; /**DR Nav filter State Uncertainities*/ float b2s[3]; /**B2S Roll, Pitch and Gain*/ float gsf; /**Gyro Scale factor*/ float osf; /**Odo Scale factor*/ float gco; /**Stationary Gyro Threshold*/ float aco; /**Stationary Accelerometer Threshold*/ float reserved[4]; /**Reserved*/ double tow; /**TOW*/ } tQdrA6DOFNvmData; typedef struct { short SeqNum; unsigned short OkAcrossReset; /* TRUE: DR data can be used after a RESET */ /* FALSE: DR data cannot be used after a RESET */ float DRHeading; /* deg */ float DRHeadingError; /* deg, 1-sigma */ float DRSpeedError; /* m/sec, 1-sigma */ float DRPositionError; /* meters, 1-sigma */ /* Odometer data */ float SpeedSf; /* dimensionless */ float OdoSpeedSf; /* dimensionless */ /* Gyro Data */ float HeadingRateBias; /* deg/sec */ float HeadingRateSf; /* dimensionless */ double HeadingRateSf_SD; /* dimensionless */ /* end of update */ /* /* Legacy Differential Wheel Speed Data to use for existing files (These things will not be used in real time system) */ float LFSpeedSF; /* Left Front Wheel Speed Scale Factor, dimensionless */ float RFSpeedSF; /* Right Front Wheel Speed Scale Factor, dimensionless */ float LRSpeedSF; /* Left Rear Wheel Speed Scale Factor, dimensionless */ float RRSpeedSF; /* Right Rear Wheel Speed Scale Factor, dimensionless */ float AxleLength; /* Length of rear axle, meters */ float AxleSep; /* Distance from rear to front axle, meters (positive forward) */ float AntennaDist; /* Distance from rear axle to GPS antenna, meters (positive forward)*/ char WheelSelectCtr; /*added */ unsigned short FirstHRSFDone; /* Indicates First Heading Rate Scale Factor estimate was done */ unsigned short DiffWheelSpdCalOK; /* Indicates whether DWS calibration has been successful */ unsigned char LFSpeedSFCalOk; /* Indicates whether individual speed has been calibrated */ unsigned char RFSpeedSFCalOk; /* Indicates whether individual speed has been calibrated */ unsigned char LRSpeedSFCalOk; /* Indicates whether individual speed has been calibrated */ unsigned char RRSpeedSFCalOk; /* Indicates whether individual speed has been calibrated */ float HeadingRateSf_Front; float HeadingRateSf_Rear; float HeadingRateSf_Front_SD; float HeadingRateSf_Rear_SD; float RearDSF_SD; float FrontDSF_SD; short DrNavControl; /* GPS Only, DR with Stored Cal, or DR with GPS Cal */ double RawLonAccel; double RawLatAccel; double RawUpAccel; double YawAngle_rads ; /* radians */ double YawAngleSD_rads; /* radians */ double PitchAngle_rads; /* radians */ double RollAngle_rads; /* radians */ short Sensor2YawedDone; short YawAngleComputed; short UserResetWithData; /*TRUE = User has issued Reset with Data for us to update DR with */ /*FALSE = No data from user to update DR with /*TM 01/16/08 */ short ValidDrCal; short OdoSpeedSFCalOk; unsigned char SensorDataType; /*Need to remember Bus Type Across reset */ /* /* Start-Up Altitude Checks */ float TOWLastValidKFAltitude; /* Time-Of-Week (in secs) of the last time KF computed an altitude */ float LastValidKFAltitude; /* Last, good, KF-computed altitude */ /* /* END OF Start-Up Altitude Checks */ unsigned short SessionCounter; /* Starts at zero and incs every hard/soft reset. Only factory clears it */ int CheckSum; double Lat; double Lon; double Alt; unsigned char GyroDetectionStatus; float PowerOffset; /* GPSSystemState.PowerOffset */ unsigned char PowerOffsetValid; /*GPSSystemState.PowerOffsetValid */ float ENE; float EVE; char WheelSelectCtrStrt; unsigned char GState; unsigned char PL_Mode; double PL_Lat; double PL_Lon; float PL_Alt; float PL_DeltaPos; float PL_TotalDist; float PL_TotalStrtDist; unsigned char PL_NumHighSpeedEpochs; float PL_ManeuverAnglePL; double tow; /**TOW*/ } tQdr2NvmData; /**Nav Auxillary Init Data structure*/ typedef struct _tqdrnlAuxInit /* Message 64 Sid 1 */ { unsigned int time_init_unc; /* Initial time uncertainty (usec) */ unsigned short saved_pos_week; /* Week of saved position */ unsigned int saved_pos_tow; /* Time of week of saved position (sec) */ unsigned short saved_pos_ehe; /* EHE of saved position (100m) */ unsigned short saved_pos_eve; /* EVE of saved position (m) */ unsigned char sw_version; /* Tracker SW version */ unsigned char icd_version; /* Tracker ICD version */ unsigned short chip_version; /* Tracker HW Chip version */ unsigned int acq_clk_speed; /* Default rate of Tracker's internal clock (Hz) */ unsigned int default_clock_offset; /* Default freq offset of Tracker's internal clock (Hz) */ unsigned int tracker_status; /* Tracker System status: Bit 0: Status 0=good; 1=bad Bit 1: Cache 0=Disable; 1=Enable Bit 2: RTC 0=Invalid; 1=Valid Bit 3-31: reserved */ unsigned int reserved; } tqdrnlAuxInit; /**Complete structured of NVM Data retrieved*/ /**Diag ID QDR_DIAG_GNSS_NAVINIT_DATA*/ typedef struct _tQdrNavInitData /* Message 31 and 64,1 */ { tqdrnlInit nl_init; tqdrnlAuxInit nl_auxinit; } tQdrNavInitData; /* QDR Core API Diag Structure for 6DOF Nav State and mirror of MI_DR_A6DOF_NAV_STATE Data for OSP message 48,20*/ /**Diag ID QDR_DIAG_A6DOF_NAVSTATE*/ typedef struct _tQdrA6DOFNavstate { double tow; unsigned char a6dof_state; unsigned char calibration_percent; unsigned char OkAcrossReset; unsigned char sensor_valid; char prerot; char stationary; char constantVel; float Yaw; unsigned int yaw_status; unsigned char yaw_gain; unsigned char yaw_ctr; float Roll; float pitch; unsigned int rp_status; unsigned char roll_pitch_gain; unsigned char rp_ctr; float gyro_delta; unsigned int gyro_status; unsigned char gyro_gain; unsigned char gsf_stm_state; float gsf_stm_gnss_accum; float gsf_stm_gyro_accum; float gyro_bias_0; float gyro_bias_1; float gyro_bias_2; float gyro_sf; float acc_delta; float acc_bias_0; float acc_bias_1; float acc_bias_2; float acc_sf_0; float acc_sf_1; float acc_sf_2; float ns_roll; float ns_pitch; float ns_yaw; float Roll_e; float Pitch_e; float Yaw_e; } tQdrA6DOFNavstate; /* QDR Core API Diag Structure for GNSS odo Info MI_DR_A6DOF_GNSS_ODO for OSP message 48,21 */ /**Diag ID QDR_DIAG_A6DOF_GNSS_ODO_INFO*/ typedef struct _tQdrA6DOFGnssOdoInfo { double tow; unsigned short gnss_valid; float hdg; float hdg_rate; float gnss_pitch; float spd; float spd_rate; float odo; unsigned char reverse_from_prndl; char reverse_output; float odo_sf; unsigned int odo_status; unsigned char odo_gain; float gnss_spd_accum; float odo_accum; } tQdrA6DOFGnssOdoInfo; /* QDR Core API Diag Structure for GNSS Channel Info. mirror of MI_DR_A6DOF_GNSS_CHAN for OSP message 48,22 */ typedef struct _tQdrA6DOFGnssChanInfo { unsigned char gnss_meas_available; unsigned char sv_id; float pr_res; float dr_res; unsigned short sv_elevation; unsigned short sv_azimuth; float sv_meas_avg_pwr; } tQdrA6DOFGnssChanInfo; /* QDR Core API Diag Structure for GNSS Channel data. Mirror of MI_DR_A6DOF_GNSS_CHAN_LIST for OSP message 48,22 */ /**Diag ID QDR_DIAG_A6DOF_GNSS_CHAN_INFO*/ typedef struct _tQdrA6DOFGnssChanList { double tow; unsigned char num_chan; tQdrA6DOFGnssChanInfo gnss_chan_list[QDR_CORE_SAT_DATA_NUM_OF_SATS]; } tQdrA6DOFGnssChanList; /* QDR2 Core API Diag Structure for NavState and mirror of MI_DR_NAV_STATUS and MI_DR_NAV_STATE Data for OSP message 48,1 and 48,2 respectively */ /**Diag ID QDR2_DIAG_NAVSTATUS*/ typedef struct _tQdr2NavStatus { unsigned int Nav; /* DR Navigation Validity: * 0 = DR Nav is valid * otherwise, bit map as follows: * Bit 0 : 1 = GPS Only Required * Bit 1 : 1 = Speed is not 0 at startup * Bit 2 : 1 = DR Position is not valid * Bit 3 : 1 = DR Heading is not valid * Bit 4 : 1 = DR Calibration is not valid * Bit 5 : 1 = DR Data is not valid * Bit 6 : 1 = System has gone into Cold Start * Bit 7 : reserved */ unsigned short Data; /* DR Data Validity: * 0 = DR Data is valid * otherwise, bit map as follows: * Bit 0 : 1 = DR Gyro Subsystem Operational is false * Bit 1 : 1 = DR Speed Subsystem Operational is false * Bit 2 : 1 = DR Measurement Time < 0 * Bit 4 : 1 = No DR Data for > 2 seconds * Bit 5 : 1 = DR Data timestamp did not advance * Bit 6 : 1 = DR data bytes all 0x00 or all 0xff * Bit 7 : 1 = Composite wheeltick count jumped too much * (by more than 400) between successive DR messages * Bit 8 : 1 = Input Gyro data bits value of 0x0000 or 0x3fff * Bit 9 : 1 = More than 10 DR messages in one second * Bit 10: 1 = Delta time <= 0 * other bits are reserved */ unsigned int Cal_GbCal; /* DR Calibration Validity (Bits 0 to 3): * 0 = DR Calibration is valid * otherwise, bit map as follows: * Bit 0 : 1 = DR Gyro Bias cal is not valid * Bit 1 : 1 = DR Gyro Scale Factor cal is not valid * Bit 2 : 1 = DR Speed Scale Factor cal is not valid * Bit 3 : 1 = GPS calibration is required and is not yet available * DR Gyro Bias Calibration Validity (Bits 4 to 6): * 0 = DR Gyro Bias Calibration is valid * otherwise, bit map as follows: * Bit 4 : 1 = DR Data is not valid * Bit 5 : 1 = Zero-Speed Gyro Bias Calibration was not updated * Bit 6 : 1 = Heading Rate Scale Factor <= -1 */ unsigned int GsfCal_SsfCal; /* DR Gyro Scale Factor Calibration Validity (Bits 0 to 3): * 0 = DR Gyro Scale Factor calibration is valid * otherwise, bit map as follows: * Bit 0 : 1 = DR Heading is not valid * Bit 1 : 1 = DR Data is not valid * Bit 2 : 1 = DR Position is not valid * Bit 3 : 1 = Heading Rate Scale Factor <= -1 * DR Speed Scale Factor Calibration Validity (Bits 4 to 7): * 0 = DR Speed Scale Factor calibration is valid * otherwise, bit map as follows: * Bit 4 : 1 = DR Data is not valid * Bit 5 : 1 = DR Position is not valid * Bit 6 : 1 = GPS velocity is not valid for DR * Bit 7 : 1 = DR Speed Scale Factor <= -1 */ unsigned int NavAcrossReset_Pos; /* DR Nav Validity across reset (Bits 0 to 1): * 0 = DR Nav is valid across reset * otherwise, bit map as follows: * Bit 0 : 1 = DR Navigation is not valid * Bit 1 : 1 = Speed > 0.1 m/sec * DR Position Validity (Bits 3 to 6): * 0 = DR Position is valid * otherwise, bit map as follows: * Bit 3 : 1 = Speed != 0 at startup * Bit 4 : 1 = GPS Position is not valid * Bit 5 : 1 = System has gone into Cold Start * Bit 6 : 1 = DR Data is not valid * Bits 2 and 7 : reserved */ unsigned int Hd; /* DR Heading Validity (Bits 0 to 6): * 0 = DR Heading is valid * otherwise, bit map as follows: * Bit 0 : 1 = Speed != 0 at startup * Bit 1 : 1 = GPS Position is not valid * Bit 2 : 1 = GPS Speed is not valid * Bit 3 : 1 = GPS Updated Heading flag is false * Bit 4 : 1 = Delta GPS Time <= 0.0 or >= 2.0 * Bit 5 : 1 = System has gone into Cold Start * Bit 6 : 1 = DR Data is not valid * Other bits are reserved */ unsigned int GyrSubOp_SpdSubOp; /* DR Gyro Subsystem Operational (Bits 0 to 2): * 0 = OK * otherwise, bit map as follows: * Bit 0 : 1 = High, Persistent Turn Rate * Bit 1 : 1 = Low, Persistent Turn Rate * Bit 2 : 1 = Gyro Turn Rate residual is too large * DR Speed Subsystem Operational (Bits 4 to 6): * 0 = OK * otherwise, bit map as follows: * Bit 4 : 1 = DR Speed Data = 0 when GPS Speed != 0 * Bit 5 : 1 = DR Speed Data != 0 when GPS Speed = 0 * Bit 6 : 1 = DR Speed residual is too large * Other bits are reserved. */ unsigned int NavStIntRan_ZGbCalUpd; /* DR Nav State Integration Ran (Bits 0 to 2): * 0 = OK * otherwise, bit map as follows: * Bit 0 : 1 = DR Position is not valid * Bit 1 : 1 = DR Heading is not valid * Bit 2 : 1 = DR Data is not valid * Zero-Speed Gyro Bias Calibration Updated (Bits 4 to 6): * 0 = Updated * otherwise, bit map as follows: * Bit 4 : 1 = GPS Speed > 0.1 m/sec * Bit 5 : 1 = Zero Speed During Cycle is false * Bit 6 : 1 = Zero Speed Previous is false * Other bits are reserved. */ unsigned int GbsfCalUpd_SpdCalUpd_UpdNavSt; /* DR Gyro Bias and Scale Factor Calibration Updated (Bits 0 to 3): * 0 = Updated * otherwise, bit map as follows: * Bit 0 : 1 = DR Data is not valid * Bit 1 : 1 = DR Position is not valid * Bit 2 : 1 = GPS velocity is not valid for DR * Bit 3 : 1 = GPS Updated Heading is false * DR Speed Calibration Updated (Bits 4 to 6): * 0 = Updated * otherwise, bit map as follows: * Bit 4 : 1 = DR Data is not valid * Bit 5 : 1 = DR Position is not valid * Bit 6 : 1 = GPS velocity is not valid for DR * DR Navigation State Updated (Bit 7) * 0 = Updated; 1 = DR Navigation is not valid */ unsigned int GpsUpdPos; /* GPS Updated Position (Bits 0 to 7): * 0 = Updated * otherwise, bit map as follows: * Bit 0 : 1 = Update Mode != KF * Bit 1 : 1 = EHE > 10.0 * Bit 2 : 1 = No previous GPS KF update < 4 SVs * Bit 3 : 1 = GPS EHPE > DR EHPE * Bit 4 : 1 = DR EHPE < 10 even if GPS EHPE < DR EHPE * Bit 5 : 1 = Less than 4 SVs * Bit 6 : 1 = 0 SV * Bit 7 : 1 = DR NAV ONLY required */ unsigned int GpsUpdHd; /* GPS Updated Heading (Bits 0 to 6): * 0 = Updated * otherwise, bit map as follows: * Bit 0 : 1 = Update Mode != KF * Bit 1 : 1 = GPS Speed <= 2.0 m/sec * Bit 2 : 1 = Less than 4 SVs * Bit 3 : 1 = Horizontal Velocity Variance > 1.0 (m/sec)*(m/sec) * Bit 4 : 1 = GPS Heading Error >= DR Heading Error * 1.2 * Bit 5 : 1 = GPS KF Updated is false * Bit 6 : 1 = Initial Speed Transient is not complete * Bit 7 : Reserved */ unsigned int GpsPos_GpsVel; /* GPS Position Validity for DR (Bits 0 to 2): * 0 = Valid * otherwise, bit map as follows: * Bit 0 : 1 = Less than 4 SVs * Bit 1 : 1 = EHPE > 30 * Bit 2 : 1 = GPS Updated Position is false * Bit 3 : reserved * GPS Velocity Validity for DR (Bits 4 to 7): * 0 = Valid * otherwise, bit map as follows: * Bit 4 : 1 = GPS Position is not valid for DR * Bit 5 : 1 = EHVE > 3 * Bit 6 : 1 = GPS Speed < 2 m/sec * Bit 7 : 1 = GPS did not update the Heading */ unsigned int DWSHdRtSFCalValid; /* DWS Heading Rate Scale Factor Calibration Validity: * 0 = Valid * otherwise, bit map as follows: * Bit 0 : 1 = Heading Rate Scale Factor <= -1.0 * Bits 1 - 7 : Reserved */ unsigned int DWSHdRtSFCalUpd; /* DWS Heading Rate Scale Factor Calibration Was Updated: * 0 = Updated * otherwise, bit map as follows: * Bit 0 : 1 = GPS Heading Rate is not valid * Bit 1 : 1 = Absolute value of GPS Heading Rate < 5.0 * Bit 2 : 1 = Absolute value of GPS Heading Rate >= 90.0 * Bit 3 : 1 = Left Rear Speed SF Cal is not valid * Bit 4 : 1 = Right Rear Speed SF Cal is not valid * Bit 5 : 1 = Absolute value of prev Rear Axle Hd Rt <= 0.0 * Bit 6 : 1 = (GPS Hd Rt * prev Rear Axle Hd Rt) <= 1.0 * Bit 7 : reserved */ unsigned short DWSSpdSFCalValid; /* DWS Speed Scale Factor Calibration Validity: * 0 = Valid * otherwise, bit map as follows: * Bit 0 : 1 = Right Rear Speed SF <= -1.0 * Bit 1 : reserved for RR status * Bit 2 : reserved for RR status * Bit 3 : reserved for RR status * Bit 4 : 1 = Left Rear Speed SF <= -1.0 * Bit 5 : reserved for LR status * Bit 6 : reserved for LR status * Bit 7 : reserved for LR status * Bit 8 : 1 = Right Front Speed SF <= -1.0 * Bit 9 : reserved for RF status * Bit 10: reserved for RF status * Bit 11: reserved for RF status * Bit 12: 1 = Left Front Speed SF <= -1.0 * Bit 13: reserved for LF status * Bit 14: reserved for LF status * Bit 15: reserved for LF status */ unsigned int DWSSpdSFCalUpd; /* DWS Speed Scale Factor Cal was updated: * 0 = Updated * otherwise, bit map as follows: * Bit 0 : 1 = GPS Speed is not valid for DR * Bit 1 : 1 = GPS Heading Rate is not valid * Bit 2 : 1 = Absolute value of GPS Hd Rate >= 0.23 * Bit 3 : 1 = GPS Heading Rate Error >= 0.5 * Bit 4 : 1 = Average GPS Speed <= 0.0 * Bit 5 : 1 = DR Position is not valid * Bits 6 - 7 : reserved */ } tQdr2NavStatus; /* QDR2 Core API Diag Structure for NavState and mirror of MI_DR_NAV_STATE Data for OSP message 48,2*/ /**Diag ID QDR2_DIAG_NAVSTATE*/ typedef struct _tQdr2NavState { unsigned short Spd; /* DR Speed (m/sec) with resolution 0.01 */ unsigned short SpdE; /* DR Speed Error (m/sec) with resolution 0.01 */ short Ssf; /* DR Speed Scale Factor (no unit) with resolution 0.0001 */ unsigned short SsfE; /* DR Speed Scale Factor Error (no unit) with resolution 0.0001 */ short HdRte; /* DR Heading Rate (deg/sec) with resolution 0.01 */ unsigned short HdRteE; /* DR Heading Rate Error (deg/sec) with resolution 0.01 */ short Gb; /* DR Gyro Bias (deg/sec) with resolution 0.01 */ unsigned short GbE; /* DR Gyro Bias Error (deg/sec) with resolution 0.01 */ short Gsf; /* DR Gyro Scale Factor (no unit) with resolution 0.0001 */ unsigned short GsfE; /* DR Gyro Scale Factor Error (no unit) with resolution 0.0001 */ unsigned int TPE; /* Total DR Position Error (meters) with resolution 0.01 */ unsigned short THE; /* Total DR Heading Error (degrees) with resolution 0.01 */ unsigned int NavCtrl; /* DR Nav Mode Control: * 0x01 = GPS Only Navigation Required (No DR Nav Allowed) * 0x02 = GSP + DR using default or stored calibration * 0x03 = GPS + DR using current GPS calibration * 0x04 = DR Only Navigation (no GPS) */ unsigned int Reverse; /* DR Direction: 0 = forward; 1 = reverse */ unsigned short Hd; /* DR Heading (deg/sec) with resolution 0.01 */ unsigned int SensorPkg; /* Identify which sensor package used: * 0 = Gyro and Odo * 1 = Wheel Speed and Odo */ unsigned short OdoSpd; /* Odometer Speed (m/sec) with resolution 0.01 */ short OdoSpdSF; /* Odometer Speed Scale Factor (no unit) with resolution 0.0001 */ unsigned short OdoSpdSFErr; /* Odometer Speed Scale Factor Error (no unit) with resolution 0.0001 */ short LFWheelSpdSF; /* Left Front Wheel Speed Scale Factor (no unit) with resolution 0.0001 */ unsigned short LFWheelSpdSFErr; /* Left Front Wheel Speed Scale Factor Error (no unit) with resolution 0.0001 */ short RFWheelSpdSF; /* Right Front Wheel Speed Scale Factor (no unit) with resolution 0.0001 */ unsigned short RFWheelSpdSFErr; /* Right Front Wheel Speed Scale Factor Error (no unit) with resolution 0.0001 */ short LRWheelSpdSF; /* Left Rear Wheel Speed Scale Factor (no unit) with resolution 0.0001 */ unsigned short LRWheelSpdSFErr; /* Left Rear Wheel Speed Scale Factor Error (no unit) with resolution 0.0001 */ short RRWheelSpdSF; /* Right Rear Wheel Speed Scale Factor (no unit) with resolution 0.0001 */ unsigned short RRWheelSpdSFErr; /* Right Rear Wheel Speed Scale Factor Error (no unit) with resolution 0.0001 */ short RearAxleSpdDelta; /* Rear Axle Speed Delta (m/sec) with resolution 0.01 */ unsigned short RearAxleAvgSpd; /* Rear Axle Average Speed (m/sec) with resolution 0.01 */ unsigned short RearAxleSpdErr; /* Rear Axle Speed Error (m/sec) with resolution 0.01 */ short RearAxleHdRt; /* Rear Axle Heading Rate (deg/sec) with resolution 0.01 */ unsigned short RearAxleHdRtErr; /* Rear Axle Heading Rate Error (deg/sec) with resolution 0.01 */ short FrontAxleSpdDelta; /* Front Axle Speed Delta (m/sec) with resolution 0.01 */ unsigned short FrontAxleAvgSpd; /* Front Axle Average Speed (m/sec) with resolution 0.01 */ unsigned short FrontAxleSpdErr; /* Front Axle Speed Error (m/sec) with resolution 0.01 */ short FrontAxleHdRt; /* Front Axle Heading Rate (deg/sec) with resolution 0.01 */ unsigned short FrontAxleHdRtErr; /* Front Axle Heading Rate Error (deg/sec) with resolution 0.01 */ } tQdr2NavState; typedef struct _tQdr2NavSubSys{ short GpsHdRte; /* GPS Heading Rate (deg/sec) with resolution 0.01 */ unsigned short GpsHdRteE; /* GPS Heading Rate Error (deg/sec) with resolution 0.01 */ unsigned short GpsHd; /* GPS Heading (deg) with resolution 0.01 */ unsigned short GpsHdE; /* GPS Heading Error (deg) with resolution 0.01 */ unsigned short GpsSpd; /* GPS Speed (m/sec) with resolution 0.01 */ unsigned short GpsSpdE; /* GPS Speed Error (m/sec) with resolution 0.01 */ unsigned int GpsPosE; /* GPS Position Error (m) with resolution 0.01 */ short DrHdRte; /* DR Heading Rate (m/sec) with resolution 0.01 */ unsigned short DrHdRteE; /* DR Heading Rate Error (m/sec) with resolution 0.01 */ unsigned short DrHd; /* DR Heading (deg) with resolution 0.01 */ unsigned short DrHdE; /* DR Heading Error (deg) with resolution 0.01 */ unsigned short DrSpd; /* DR Speed (m/sec) with resolution 0.01 */ unsigned short DrSpdE; /* DR Speed Error (m/sec) with resolution 0.01 */ unsigned int DrPosE; /* DR Position Error (m) with resolution 0.01 */ unsigned char DrCalPercent; /* DR calibration Percentage */ unsigned char Reserved; } tQdr2NavSubSys; #define QDR_DIAG_VERSION_INFO 0x0001 typedef void (*qdr_cb_reportSvStatus_t)( tQdrSvStateData *pQdrSvstatusData); typedef void (* qdr_cb_reportPosition_t)(tQdrNavigationData *pQdrNavData, tQdrCoreNavBfdParams *pQdrBFData); typedef void (* qdr_cb_clearNVData_t)(unsigned char dataIDToClear); typedef qdr_return (* qdr_cb_getSVState_t)(unsigned char svid,double measTow, tQdrSVState *pSvState); typedef qdr_return (* qdr_cb_getDGPSCorrection_t)(unsigned char svid, double measTow, tQdrDGPSMeasStruct *pDGPS); typedef void (* qdr_cb_debugLog_t)(const char *pFmt,int cnt); typedef unsigned int (* qdr_getsystime_t)(void); typedef void (* qdr_cb_reportNavInitData_t)(tQdrNavInitData *pQdrNavInitData); typedef qdr_return (* qdr_cb_createThreadsyncObject)(qdr_threadsync_object objectID, unsigned char createLocked); typedef void (* qdr_cb_destroyThreadsyncObject)(qdr_threadsync_object objectID); typedef qdr_return (* qdr_cb_waitlockThreadsyncObject)(qdr_threadsync_object objectID); typedef qdr_return (* qdr_cb_unlockThreadsyncObject)(qdr_threadsync_object objectID); //typedef void (* qdr_cb_debugLog_t)(const char *pFmt,...); //typedef void (* qdr_cb_debugLog_t)( qdr_outPutpost *Pos); typedef enum { eQDR_DIAGLOG_SENSOR_DATA_PRODUCED, eQDR_DIAGLOG_SENSOR_DATA_CONSUMED, eQDR_DIAGLOG_QDR_A6DOF_NF_STATE_KF, eQDR_DIAGLOG_QDR_A6DOF_NF_STATE_LSQ, eQDR_DIAGLOG_QDR_A6DOF_NF_STATE_PREROTATION, eQDR_DIAGLOG_QDR_A6DOF_NF_STATE_B2S_RP, eQDR_DIAGLOG_QDR_A6DOF_NF_STATE_B2S_YAW, eQDR_DIAGLOG_QDR_A6DOF_NF_STATE_NAVIGATING, eQDR_DIAGLOG_QDR_NAVLITE_START, eQDR_DIAGLOG_QDR_NAVLITE_END }dr_gluediagevent; typedef qdr_return (* qdr_log_diagEvent_t)(dr_gluediagevent event_id); /** structure for QDR Core callbacks*/ typedef struct _tQdrCallbacks { qdr_cb_getSVState_t getSVState; qdr_cb_getDGPSCorrection_t getDGPScorrection; qdr_cb_reportPosition_t reportPosition_cb; qdr_cb_reportNavInitData_t reportNavInitData_cb; qdr_cb_reportSvStatus_t reportSVStatus_cb; qdr_cb_sendDIAGData_t sendDIAGData_cb; qdr_cb_storeNVData_t storeNVData_cb; qdr_cb_retrieveNVData_t retrieveNVData_cb; qdr_cb_clearNVData_t clearNVData_cb; }tQdrCallbacks; /** structure for Platform IF callbacks*/ typedef struct _tQdrPlatfCallbacks { qdr_cb_debugLog_t debugLog_cb; qdr_getsystime_t getTime_cb; qdr_log_diagEvent_t log_diag_event_cb; qdr_cb_createThreadsyncObject createThreadSyncObject_cb; qdr_cb_destroyThreadsyncObject destroyThreadSyncObject_cb; qdr_cb_waitlockThreadsyncObject lockThreadSyncObject_cb; qdr_cb_unlockThreadsyncObject unlockThreadSyncObject_cb; }tQdrPlatfCallbacks; /**NVM Parameters for NAV-A6DOF*/ #define QDR_NV_FILE_QDR3_DATA 0x0001 /**CtrlnavCtrl*/ #define QDR_NV_FILE_NLCTRL_DATA 0x0002 /** NAVInitDataSrc,tNLAuxInitInfo,MI_NAV_INIT data to be stored*/ #define QDR_NV_FILE_NLINIT_DATA 0x003 /**NVM Parameters for NAV*/ #define QDR_NV_FILE_QDR2_DATA 0x0004 qdr_return qdr_init(tQdrCallbacks *pQdrCallbacks,tQdrPlatfCallbacks *pQdrPlatfCallbacks); qdr_return qdr_shutdown(void); #define A6DOF_MAX_SENSORS 9 #define A6DOF_MAX_SENSOR_SETS 11 typedef struct _tQdr_SensorSet { unsigned short validity; unsigned int time; short data[A6DOF_MAX_SENSORS]; } tQdr_SensorSet; /**This is a bitmap that describes the validity of the various information * elements in the sensor data set.*/ #define A6DOF_SENSOR_VALID_TIME_TAG (0x0001) #define A6DOF_SENSOR_VALID_DATA0 (0x0002) #define A6DOF_SENSOR_VALID_DATA1 (0x0004) #define A6DOF_SENSOR_VALID_DATA2 (0x0008) #define A6DOF_SENSOR_VALID_DATA3 (0x0010) #define A6DOF_SENSOR_VALID_DATA4 (0x0020) #define A6DOF_SENSOR_VALID_DATA5 (0x0040) #define A6DOF_SENSOR_VALID_DATA6 (0x0080) #define A6DOF_SENSOR_VALID_DATA7 (0x0100) #define A6DOF_SENSOR_VALID_DATA8 (0x0200) /** This bit will be appended in the API call to indicate that the data *corresponds to the GNSS epoch and DR sync pulse */ #define A6DOF_EPOCH_DATA_FLAG (0x8000) typedef struct _tQdrSensorDataSet2NAV { unsigned char type; unsigned char num_sets; unsigned short reserved; tQdr_SensorSet DataSet[A6DOF_MAX_SENSOR_SETS]; } tQdrSensorData2NAV; /******************************************* * Definitions for Sensor Data Types ********************************************/ #define QDR_SDT_UNKNOWN (0xff) #define QDR_SDT_ODO_GYRO_REV (1) #define QDR_SDT_DIF_PULSES_REV (2) #define QDR_SDT_DIF_SPEEDS_REV (3) #define QDR_SDT_DIF_ANGLRT_REV (4) #define QDR_SDT_ODO_GYRO_NOREV (5) #define QDR_SDT_DIF_PULSES_NOREV (6) #define QDR_SDT_DIF_SPEEDS_NOREV (7) #define QDR_SDT_DIF_ANGLRT_NOREV (8) #define QDR_SDT_3G_3A_ODO_REV (14) /**An array of sensor data sets each corresponding to a 100ms period*/ qdr_return qdr_transfer1HzSensorData(tQdrSensorData2NAV *pQdrSensorData); qdr_return qdr_setSystemTime(qdr_sysTime *time); qdr_return qdr_transferGnssMsmt(unsigned char numChannels,tQdrGnssMeas2NAV *pGnssMeasData); qdr_return qdr_do1HzNav(void); qdr_return qdr_do10HzNav(unsigned char SensorDataType,tQdr_SensorSet *pSensorDataSet); qdr_return qdr_getVersionInfo(void); void NavStoreNVMData(void); void NavInitData(void); qdr_return qdr_clearNVData(unsigned int dataIDToClear); #define QDR_CLEAR_DR_DATA 0x4000 #define QDR_CLEAR_ALL 0xFFFF qdr_return qdr_clearRAMData(unsigned int dataIDToClear); #define QDR_CLEAR_EPHEMERIS 0x0001 #define QDR_CLEAR_ALMANAC 0x0002 #define QDR_CLEAR_POSITION 0x0004 #define QDR_CLEAR_TIME 0x0008 #define QDR_CLEAR_IONO 0x0010 #define QDR_CLEAR_UTC 0x0020 #define QDR_CLEAR_HEALTH 0x0040 #define QDR_CLEAR_SVDIR 0x0080 #define QDR_CLEAR_SVSTEER 0x0100 #define QDR_CLEAR_SADATA 0x0200 #define QDR_CLEAR_RTI 0x0400 #define QDR_CLEAR_CELLDB_INFO 0x8000 #define QDR_CLEAR_DR_DATA 0x4000 #define QDR_CLEAR_ALL 0xFFFF #ifdef __cplusplus } #endif #endif /*__QDR_IF__*/