gnss_type.h

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/****************************************************************************
 * bsp/include/arch/chip/gnss_type.h
 *
 *   Copyright 2018,2019 Sony Semiconductor Solutions Corporation
 *
 * 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 Sony Semiconductor Solutions Corporation 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 OWNER 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 __SDK_BSP_INCLUDE_ARCH_CHIP_GNSS_TYPE_H
#define __SDK_BSP_INCLUDE_ARCH_CHIP_GNSS_TYPE_H

/*
 * NOTICE:
 * This file defines a structure that stores GNSS positioning
 * data of CXD 56xx. The public header file gnss_type.h for NuttX
 * of the CXD 56xx SDK has been copied as gd_type.h in the nxloader
 * build system and used. Therefore, if you change the definitions
 * in this file, please synchronize and change the other.
 */

#ifdef __cplusplus
#define EXTERN extern "C"
extern "C" {
#else
#define EXTERN extern
#endif

/*-----------------------------------------------------------------------------
 * include files
 *---------------------------------------------------------------------------*/

#include <stdint.h>

#define CXD56_GNSS_MAX_SV_NUM 32

#define CXD56_GNSS_SAT_NONE    (0)       
#define CXD56_GNSS_SAT_GPS     (1U << 0) 
#define CXD56_GNSS_SAT_GLONASS (1U << 1) 
#define CXD56_GNSS_SAT_SBAS    (1U << 2) 
#define CXD56_GNSS_SAT_QZ_L1CA (1U << 3) 
#define CXD56_GNSS_SAT_IMES    (1U << 4) 
#define CXD56_GNSS_SAT_QZ_L1S  (1U << 5) 
#define CXD56_GNSS_SAT_BEIDOU  (1U << 6) 
#define CXD56_GNSS_SAT_GALILEO (1U << 7) 
/* @} */

/* @{ */

#define CXD56_GNSS_PVT_TYPE_NONE 0 
#define CXD56_GNSS_PVT_TYPE_GNSS 1 
#define CXD56_GNSS_PVT_TYPE_IMES 2 
#define CXD56_GNSS_PVT_TYPE_USER 3 
/* @} */

/* @{ */

#define CXD56_GNSS_PVT_POSFIX_INVALID 1 
#define CXD56_GNSS_PVT_POSFIX_2D      2 
#define CXD56_GNSS_PVT_POSFIX_3D      3 
/* @} */

/* @{ */

#define CXD56_GNSS_PVT_VELFIX_INVALID  1 
#define CXD56_GNSS_PVT_VELFIX_2DVZ     2 
#define CXD56_GNSS_PVT_VELFIX_2DOFFSET 3 
#define CXD56_GNSS_PVT_VELFIX_3D       4 
#define CXD56_GNSS_PVT_VELFIX_1D       5 
#define CXD56_GNSS_PVT_VELFIX_PRED     6 
/* @} */

/* @{ */

#define CXD56_GNSS_DATA_GPS      0 
#define CXD56_GNSS_DATA_GLONASS  1 
#define CXD56_GNSS_DATA_QZSSL1CA 2 
/* @} */

/* @{ */

#define CXD56_GNSS_SV_STAT_NONE          (0)      
#define CXD56_GNSS_SV_STAT_TRACKING      (1 << 0) 
#define CXD56_GNSS_SV_STAT_POSITIONING   (1 << 1) 
#define CXD56_GNSS_SV_STAT_CALC_VELOCITY (1 << 2) 
#define CXD56_GNSS_SV_STAT_VISIBLE       (1 << 3) 
#define CXD56_GNSS_SV_STAT_SUB_CH        (1 << 4) 
/* @} */

/*
 * @name GNSS 1PPS synchronization status (internal use)
 */
/* @{ */

#define CXD56_GNSS_PPS_NOT_ADJUSTED    0 
#define CXD56_GNSS_PPS_ADJUSTED        1 
#define CXD56_GNSS_PPS_ADJUSTED_SSDGLN 2 
#define CXD56_GNSS_PPS_ADJUSTED_SSD    3 
#define CXD56_GNSS_PPS_ADJUSTED_POS    4 
#define CXD56_GNSS_PPS_DEGRADE2        5 
#define CXD56_GNSS_PPS_DEGRADE         6 
#define CXD56_GNSS_PPS_COMPLETE        7 
/* @} */

/*
 * @name GNSS Output interval of carrier phase info.
 */
/* @{ */

#define CXD56_GNSS_RTK_INTERVAL_1HZ  1000 /* 1Hz */
#define CXD56_GNSS_RTK_INTERVAL_2HZ  500  /* 2Hz */
#define CXD56_GNSS_RTK_INTERVAL_5HZ  200  /* 5Hz */
#define CXD56_GNSS_RTK_INTERVAL_10HZ 100  /* 10Hz */
#define CXD56_GNSS_RTK_INTERVAL_20HZ 50   /* 20H */

/* @} */

/* @{ */

#define CXD56_GNSS_RTK_MAX_SV_NUM  24

/* @} */

/*
 * @name GNSS Spectrum data size
 */
/* @{ */
#define CXD56_GNSS_SPECTRUM_MAXNUM      37

#define CXD56_GNSS_PEAK_SPECTRUM_MAXNUM 3

/* @} */
/*
 * @name DC Report data size
 */
/* @{ */

#define CXD56_GNSS_QSM_MSG_BIT_NUM      250
#define CXD56_GNSS_QSM_NUM_BITS_IN_BYTE 8

/* @} */

/*
 * @name AGPS Measurement tracking data
 */
/* @{ */

#define CXD56_GNSS_SUPL_TRK_DATA_SIZE (16)

/* @} */

/*
 * @name PVTLOG Max stored log number
*/
/* @{ */

#define CXD56_GNSS_PVTLOG_MAXNUM        170

/* @} */

#define CXD56_GNSS_PVT_RECEIVER_ASSIST_NONE   (0x00)
#define CXD56_GNSS_PVT_RECEIVER_ASSIST_USER   (0x01)
#define CXD56_GNSS_PVT_RECEIVER_ASSIST_CEPPOS (0x02)
#define CXD56_GNSS_PVT_RECEIVER_ASSIST_CEPVEL (0x04)
#define CXD56_GNSS_PVT_RECEIVER_ASSIST_AEPPOS (0x08)
#define CXD56_GNSS_PVT_RECEIVER_ASSIST_AEPVEL (0x10)

/* @{ */
struct cxd56_gnss_date_s
{
  uint16_t year;  
  uint8_t  month; 
  uint8_t  day;   
};

struct cxd56_gnss_time_s
{
  uint8_t  hour;   
  uint8_t  minute; 
  uint8_t  sec;    
  uint32_t usec;   
};

struct cxd56_gnss_wntow_s
{
  uint32_t tow;        
  uint16_t weeknumber; 
  uint8_t  sec;        
  uint8_t  rollover;   
  double   frac;       
};

struct cxd56_gnss_dop_s
{
  float pdop;   
  float hdop;   
  float vdop;   
  float tdop;   
  float ewdop;  
  float nsdop;  
  float majdop; 
  float mindop; 
  float oridop; 
};

struct cxd56_gnss_var_s
{
  float hvar; 
  float vvar; 
};

/* @} */

/* Extra data for debugging */

#define CXD56_GNSS_PVT_RECEIVER_EXTRA_DATA_SIZE (520)
#define CXD56_GNSS_PVT_RECEIVER_EXTRA_DATA \
  uint8_t extra[CXD56_GNSS_PVT_RECEIVER_EXTRA_DATA_SIZE]
#define CXD56_GNSS_PVT_SV_EXTRA_DATA_SIZE       40
#define CXD56_GNSS_PVT_SV_EXTRA_DATA \
  uint8_t extra[CXD56_GNSS_PVT_SV_EXTRA_DATA_SIZE]
#define CXD56_GNSS_FFT_MAXPOOLNUM   (8)

/* @{ */

#define CXD56_GNSS_GCLR_EPH  0x00000001 
#define CXD56_GNSS_GCLR_ALM  0x00000002 
#define CXD56_GNSS_GCLR_PV   0x00000004 
#define CXD56_GNSS_GCLR_TIME 0x00000008 
#define CXD56_GNSS_GCLR_TCXO 0x00010000 
#define CXD56_GNSS_GCLR_ALL  0xffffffff 
/* @} */

/* @{ */

struct cxd56_gnss_receiver_s
{
  uint8_t type;           
  uint8_t dgps;           
  uint8_t pos_fixmode;    
  uint8_t vel_fixmode;    
  uint8_t numsv;          
  uint8_t numsv_tracking; 
  uint8_t numsv_calcpos;  
  uint8_t numsv_calcvel;  
  uint8_t assist;         
  uint8_t  pos_dataexist; 
  uint16_t svtype;        
  uint16_t pos_svtype;    
  uint16_t vel_svtype;    
  uint32_t possource;     
  int32_t                    tcxo_offset; 
  struct cxd56_gnss_dop_s pos_dop;     
  struct cxd56_gnss_dop_s vel_idx; 
  struct cxd56_gnss_var_s pos_accuracy; 
  double                     latitude;     
  double                     longitude;    
  double                     altitude;     
  double                     geoid;        
  float                      velocity;     
  float                      direction;    
  struct cxd56_gnss_date_s   date;         
  struct cxd56_gnss_time_s   time;         
  struct cxd56_gnss_date_s   gpsdate;      
  struct cxd56_gnss_time_s   gpstime;      
  struct cxd56_gnss_time_s   receivetime;  
  uint32_t                   priv;         
  CXD56_GNSS_PVT_RECEIVER_EXTRA_DATA;              
};

struct cxd56_gnss_sv_s
{
  uint16_t type;        
  uint8_t svid;         
  uint8_t stat;         
  uint8_t elevation;    
  int16_t azimuth;      
  float   siglevel;     
  CXD56_GNSS_PVT_SV_EXTRA_DATA; 
};

struct cxd56_gnss_positiondata_s
{
  uint64_t data_timestamp;                
  uint32_t status;                        
  uint32_t                 svcount;       
  struct cxd56_gnss_receiver_s receiver;      
  struct cxd56_gnss_sv_s   sv[CXD56_GNSS_MAX_SV_NUM]; 
};

struct cxd56_gnss_dcreport_data_s
{
  uint8_t sf[CXD56_GNSS_QSM_MSG_BIT_NUM /
              CXD56_GNSS_QSM_NUM_BITS_IN_BYTE + 1]; 
  uint8_t svid;                           /* [out] Satellite id */
};

/* @} */

/* SF_EVENT_GNSS_MEASUREMENT_VALUE */
struct cxd56_supl_trkdata_s
{
  uint8_t  gnssid;                   
  uint8_t  signalid;                 
  uint8_t  svid;                     
  uint8_t  cn;                       
  uint8_t  codephase_ambiguty;       
  uint8_t  carriorquality_indicator; 
  uint8_t  codephase_rmserr;         
  uint8_t  multipath_indicator;      
  uint32_t codephase;                
  uint16_t wholechip;                
  uint16_t fracchip;                 
  uint32_t adr;                      
  int16_t  doppler;                  
};

struct cxd56_supl_posdata_s
{
  double   uncertainty_semi_major;    
  double   uncertainty_semi_minor;    
  double   orientation_of_major_axis; 
  double   uncertainty_altitude;      
  uint32_t tow;                       
  float    frac_sec;                  
  float    horizontal_accuracy;       
  uint16_t ref_frame;                 
  uint8_t  tod_unc;                   
  uint8_t  num_of_sat;                
};

struct cxd56_supl_mesurementdata_s {

  struct cxd56_supl_posdata_s supl_pos;

  struct cxd56_supl_trkdata_s trackingsat[CXD56_GNSS_SUPL_TRK_DATA_SIZE];
};

struct cxd56_gnss_timetag_s
{
  uint32_t msec;              
  uint32_t frac;              
  uint16_t cycle;             
};

struct cxd56_rtk_info_s
{
  uint64_t                    timestamp;  
  uint64_t                    timesnow;   
  struct cxd56_gnss_wntow_s   wntow;      
  struct cxd56_gnss_date_s    date;       
  struct cxd56_gnss_time_s    time;       
  struct cxd56_gnss_timetag_s tag;        
  double                      clockdrift; 
  int8_t                      cdvalidity; 
  uint8_t ppsstatus; 
  int8_t svcount;    
};

struct cxd56_rtk_sv_s
{
  double   pseudorange;  
  double   carrierphase; 
  uint32_t gnss;         
  int8_t   svid;         
  int8_t   fdmch;        
  int16_t  cn;           
  int8_t   polarity;     
  int8_t   lastpreamble; 
  int8_t   lli;          
  int8_t   ch;           
  float    c2p;          
  float    doppler;      
};

struct cxd56_rtk_carrierphase_s
{

  struct cxd56_rtk_info_s infoout;

  struct cxd56_rtk_sv_s svout[CXD56_GNSS_RTK_MAX_SV_NUM];
};

struct cxd56_rtk_gpsephemeris_s
{
  uint64_t timesnow;   
  uint8_t  ppsstatus;  
  uint16_t t_oc;       
  double   af0;        
  double   af1;        
  double   af2;        
  double   crs;        
  double   delta_n;    
  double   m0;         
  double   cuc;        
  double   e;          
  double   cus;        
  double   sqrt_a;      
  double   cic;        
  double   omega0;     
  double   cis;        
  double   i0;         
  double   crc;        
  double   omega;      
  double   omega_dot;  
  double   i_dot;      
  double   accuracy;   
  double   tgd;        
  struct cxd56_gnss_wntow_s tocwntow; 
  struct cxd56_gnss_date_s tocdate;   
  struct cxd56_gnss_time_s toctime;   
  int32_t  toe;        
  int32_t  tow;        
  int16_t  id;         
  uint8_t  iode;       
  int8_t   codes_on_l2;
  int16_t  weeknumber; 
  int8_t   l2p;        
  uint8_t  health;     
  int16_t  iodc;       
  int8_t   fitinterval;
};

struct cxd56_rtk_glonassephemeris_s {
  uint64_t timesnow;  
  uint32_t valid;     
  uint8_t  ppsstatus; 
  uint8_t  slot;    
  int8_t   ch;      
  uint8_t  p1;      
  uint8_t  tk_h;    
  uint8_t  tk_m;    
  uint8_t  tk_s;    
  double   xv;      
  float    xa;      
  double   xp;      
  uint8_t  bn;      
  uint8_t  p2;      
  uint16_t tb;      
  uint8_t  hn_e;    
  double   yv;      
  float    ya;      
  double   yp;      
  uint8_t  p3;      
  float    gn;      
  uint8_t  p;       
  uint8_t  health;  
  double   zv;      
  float    za;      
  double   zp;      
  float    tn;      
  float    dtn;     
  uint8_t  en;      
  uint8_t  p4;      
  uint8_t  ft;      
  uint16_t nt;      
  uint8_t  n;       
  uint8_t  m;       
};

/*
 * Spectrum Data
 */

struct cxd56_gnss_spectrum_s
{
  uint8_t  status;       
  uint8_t  samplingstep; 
  uint8_t  sizemode;     
  uint8_t  datacount;    
  uint8_t  datanum;      
  uint8_t  ifgain;       
  uint16_t dataindex;    
  uint16_t spectrum[CXD56_GNSS_SPECTRUM_MAXNUM];  
  double   peak[CXD56_GNSS_PEAK_SPECTRUM_MAXNUM]; 
};

#define CXD56_GNSS_SBAS_MESSAGE_DATA_LEN (27)
/*
 * SBAS Data
 */
struct cxd56_gnss_sbasdata_s
{
  uint64_t timesnow; 
  uint32_t gpstow;   
  uint16_t gpswn;    
  uint16_t svid;     
  uint8_t  msgid;    
  uint8_t  sbasmsg[CXD56_GNSS_SBAS_MESSAGE_DATA_LEN]; 
};

/* @} gnss_output_data */

/********* PVTLog Parameter ***********/
struct cxd56_pvtlog_latitude_s {
  uint32_t frac   :14;  
  uint32_t minute :6;   
  uint32_t degree :7;   
  uint32_t sign   :1;   
  uint32_t rsv    :4;   
};

struct cxd56_pvtlog_longitude_s {
  uint32_t frac   :14;  
  uint32_t minute :6;   
  uint32_t degree :8;   
  uint32_t sign   :1;   
  uint32_t rsv    :3;   
};

struct cxd56_pvtlog_altitude_s {
  uint32_t frac   :4;   
  uint32_t rsv1   :12;  
  uint32_t meter  :14;  
  uint32_t sign   :1;   
  uint32_t rsv2   :1;   
};

struct cxd56_pvtlog_velocity_s {
  uint16_t knot   :14;  
  uint16_t rsv    :2;   
};

struct cxd56_pvtlog_direction_s {
  uint16_t frac   :4;   
  uint16_t degree :9;   
  uint16_t rsv    :3;   
};

struct cxd56_pvtlog_time_s {
  uint32_t msec   :7;   
  uint32_t rsv1   :1;   
  uint32_t sec    :6;   
  uint32_t rsv2   :2;   
  uint32_t minute :6;   
  uint32_t rsv3   :2;   
  uint32_t hour   :5;   
  uint32_t rsv4   :3;   
};

struct cxd56_pvtlog_date_s {
  uint32_t year   :7;   
  uint32_t day    :5;   
  uint32_t month  :4;   
  uint32_t rsv    :16;  
};

struct cxd56_pvtlog_data_s {
  struct cxd56_pvtlog_latitude_s   latitude;   
  struct cxd56_pvtlog_longitude_s  longitude;  
  struct cxd56_pvtlog_altitude_s   altitude;   
  struct cxd56_pvtlog_velocity_s   velocity;   
  struct cxd56_pvtlog_direction_s  direction;  
  struct cxd56_pvtlog_time_s       time;       
  struct cxd56_pvtlog_date_s       date;       
};

/*
 * PVTLog notification data struct
 */

struct cxd56_pvtlog_s {
  uint32_t        log_count;                  /* [in] Valid log count of log_data */
  struct cxd56_pvtlog_data_s  log_data[CXD56_GNSS_PVTLOG_MAXNUM]; /* [in] Stored log data */
};

struct cxd56_gnss_status_s
{
  uint32_t        log_count;    
  struct cxd56_pvtlog_time_s   start_time;   
  struct cxd56_pvtlog_date_s   start_date;   
  struct cxd56_pvtlog_time_s   end_time;     
  struct cxd56_pvtlog_date_s   end_date;     
};

/* @} gnss_pvtlog_data */

/* @} gnss */

#ifdef __cplusplus
}
#endif /* __cplusplus */

#endif /* __SDK_BSP_INCLUDE_ARCH_CHIP_GNSS_H */