ErrorHandlingParameters.h

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/*
 * SPDX-FileCopyrightText: Copyright (c) 2022-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 * SPDX-License-Identifier: LicenseRef-NvidiaProprietary
 *
 * NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
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 * documentation and any modifications thereto. Any use, reproduction,
 * disclosure or distribution of this material and related documentation
 * without an express license agreement from NVIDIA CORPORATION or
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 */
 
// Copyright (c) 2022-2024 Mercedes-Benz AG. All rights reserved.
//
// Mercedes-Benz AG as copyright owner and NVIDIA Corporation as licensor retain
// all intellectual property and proprietary rights in and to this software
// and related documentation and any modifications thereto.
// Any use, reproduction, disclosure or distribution of this software and related
// documentation without an express license agreement is strictly prohibited.
//
// This code contains Confidential Information and is disclosed
// under the Mutual Non-Disclosure Agreement.
//
// Notice
// ALL DESIGN SPECIFICATIONS AND CODE ("MATERIALS") ARE PROVIDED "AS IS"
// NO REPRESENTATIONS, WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ANY IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, OR FITNESS FOR A PARTICULAR PURPOSE ARE MADE.
//
// No responsibility is assumed for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights. No third party distribution is allowed unless
// expressly authorized.  Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// Products are not authorized for use as critical
// components in life support devices or systems without express written approval.
//
 
// WARNING!!!
// Please don't use any type definition in this file.
// All of data types in this file are going to be modified and will not
// follow Nvidia deprecation policy.
 
#ifndef DW_EGOMOTION_ERRORHANDLING_ERRORHANDLINGPARAMETERS_H_
#define DW_EGOMOTION_ERRORHANDLING_ERRORHANDLINGPARAMETERS_H_
 
#include <dw/core/logger/Logger.h>
 
#define DW_EGOMOTION_ERROR_ID_COUNT (582)
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct dwEgomotionSignalLimitsUInt8
{
    uint8_t lower; 
    uint8_t upper; 
} dwEgomotionSignalLimitsUInt8;
 
typedef struct dwEgomotionSignalLimitsInt16
{
    int16_t lower; 
    int16_t upper; 
} dwEgomotionSignalLimitsInt16;
 
typedef struct dwEgomotionSignalLimitsFloat32
{
    float32_t lower; 
    float32_t upper; 
} dwEgomotionSignalLimitsFloat32;
 
typedef struct dwEgomotionSignalLimitsFloat64
{
    float64_t lower; 
    float64_t upper; 
} dwEgomotionSignalLimitsFloat64;
 
typedef struct dwEgomotionSignalLimitsDwTime
{
    dwTime_t lower; 
    dwTime_t upper; 
} dwEgomotionSignalLimitsDwTime;
 
typedef struct dwEgomotionIMUMonitorParameters
{
    // Validity conditions
    dwEgomotionSignalLimitsFloat32 wheelAccelHyst;
 
    dwEgomotionSignalLimitsFloat32 wheelAccelDiffHyst;
 
    dwEgomotionSignalLimitsFloat32 normalisedWheelVelocityDiffHyst;
 
    dwEgomotionSignalLimitsFloat32 yawAccelerationHyst;
 
    dwEgomotionSignalLimitsFloat32 yawrateHyst;
 
    dwEgomotionSignalLimitsFloat32 lateralAcceleration;
 
    dwEgomotionSignalLimitsFloat32 lateralAccelerationTimesReferenceVelocity;
 
    dwEgomotionSignalLimitsFloat32 frontWheelAngleHyst;
 
    dwEgomotionSignalLimitsFloat32 frontWheelAngleSpeedTimesReferenceVelocity;
 
    dwEgomotionSignalLimitsFloat32 referenceVelocity;
 
    dwEgomotionSignalLimitsFloat32 bankAngleHyst;
 
    // Activation thresholds
    dwEgomotionSignalLimitsFloat32 yawRateSensorVsSteeringHyst;
 
    dwEgomotionSignalLimitsFloat32 yawRateSensorVsWheelsHyst;
 
    dwEgomotionSignalLimitsFloat32 yawRateSteeringVsWheelsHyst;
 
    dwEgomotionSignalLimitsFloat32 yawRateSteeringSanityHyst;
 
    dwEgomotionSignalLimitsFloat32 yawRateWheelsSanityHyst;
 
    float32_t maxAbsYawrateForValidityOfMonitor;
 
    // Minimum longitudinal velocity for validity of L2 yawrate monitoring.
    float32_t minLongitudinalVelocityForYawrateMonitor;
} dwEgomotionIMUMonitorParameters;
 
typedef struct dwEgomotionErrorHandlingParameters
{
    bool notifySEH;
 
    bool enableDegradations;
 
    bool enableInputDegradations;
 
    dwLoggerVerbosity logLevel;
 
    uint32_t logCycles;
 
    // Enable initialisation checks
    bool initializationChecksActive;
 
    bool sigPresenceRearWheelAngle;
    bool sigPresenceRearWheelAngleQuality;
    bool sigPresenceRearWheelAngleTimestamp;
    bool sigPresenceRearWheelAngleTimestampQuality;
 
    bool sigPresenceSuspensionLevel;
    bool sigPresenceSuspensionLevelTimestamp;
    bool sigPresenceSuspensionLevelCalibrationState;
 
    bool sigPresenceWheelSpeedRedundant;
    bool sigPresenceWheelSpeedQualityRedundant;
    bool sigPresenceWheelTicksRedundant;
    bool sigPresenceWheelTicksDirectionRedundant;
    bool sigPresenceWheelTicksTimestampRedundant;
    bool sigPresenceWheelTicksTimestampQualityRedundant;
    bool sigPresenceFrontSteeringAngleHigh;
    bool sigPresenceFrontSteeringAngleControlQualityHigh;
    bool sigPresenceFrontSteeringTimestampHigh;
 
    // Informs if the vehicle provides other optional signals
    bool sigPresenceIMUTimestampQuality;
    bool sigPresenceIMUAccelerometerOffsetZ;
    bool sigPresenceIMUStatus;
    bool sigPresenceIMUSequenceCounter;
    bool sigPresenceIMUTurnrateOffsetQualityStatus;
 
    bool disabledErrorIdMask[DW_EGOMOTION_ERROR_ID_COUNT];
 
    // input-monitor-generation:start id:parameters-declarations # GENERATED CODE - DO NOT CHANGE MANUALLY
    dwEgomotionSignalLimitsFloat32 vioWheelSpeedRange_radps;
 
    dwEgomotionSignalLimitsFloat32 vioFrontSteeringAngleRange_rad;
 
    dwEgomotionSignalLimitsFloat32 vioRearWheelAngleRange_rad;
 
    dwEgomotionSignalLimitsDwTime vioFrontSteeringTimestampRange_us;
 
    dwEgomotionSignalLimitsFloat32 vioFrontSteeringAngleOffsetRange_rad;
 
    dwEgomotionSignalLimitsDwTime vioRearWheelAngleTimestampRange_us;
 
    dwEgomotionSignalLimitsInt16 vioWheelTicksRange;
 
    dwEgomotionSignalLimitsDwTime vioWheelTicksTimestampRange_us;
 
    dwEgomotionSignalLimitsFloat32 vioWheelTorqueRange_Nxm;
 
    dwEgomotionSignalLimitsFloat32 vioSpeedMinRange_mps;
 
    dwEgomotionSignalLimitsFloat32 vioSpeedMaxRange_mps;
 
    dwEgomotionSignalLimitsFloat32 vioBrakeTorqueWheelsRange_Nxm;
 
    dwEgomotionSignalLimitsFloat32 vioSuspensionLevelRange_m;
 
    dwEgomotionSignalLimitsDwTime vioSuspensionLevelTimestampRange_us;
 
    dwEgomotionSignalLimitsDwTime imuHostTimestampRange_us;
 
    dwEgomotionSignalLimitsDwTime imuSensorTimestampRange_us;
 
    dwEgomotionSignalLimitsUInt8 imuSequenceCounterRange;
 
    dwEgomotionSignalLimitsFloat64 imuTurnrateRange_radps;
 
    dwEgomotionSignalLimitsFloat64 imuTurnrateOffsetRange_radps;
 
    dwEgomotionSignalLimitsUInt8 imuImuTurnrateOffsetQualityRange;
 
    dwEgomotionSignalLimitsFloat64 imuTurnrateAccelRange_radps2;
 
    dwEgomotionSignalLimitsFloat64 imuAccelerationRange_mps2;
 
    dwEgomotionSignalLimitsFloat64 imuAccelerationOffsetRange_mps2;
 
    dwEgomotionSignalLimitsFloat32 imuTemperatureRange_c;
 
    dwEgomotionSignalLimitsUInt8 imuImuTurnrateOffsetQualityStatusRange;
    // input-monitor-generation:end id:parameters-declarations # END OF GENERATED CODE
 
    dwEgomotionSignalLimitsDwTime frontSteeringTimestampCycleTimeRange_us;
 
    dwEgomotionSignalLimitsDwTime wheelTickTimestampCycleTimeRange_us;
 
    dwEgomotionSignalLimitsDwTime rearWheelAngleTimestampCycleTimeRange_us;
 
    dwEgomotionSignalLimitsDwTime suspensionLevelTimestampCycleTimeRange_us;
 
    dwEgomotionSignalLimitsDwTime imuSensorTimestampCycleTimeRange_us;
 
    dwEgomotionSignalLimitsDwTime imuHostTimestampCycleTimeRange_us;
 
    dwEgomotionSignalLimitsDwTime egomotionScheduleCycleTimeRange_us;
 
    dwEgomotionSignalLimitsDwTime egomotionUpdateCycleTimeRange_us;
 
    dwEgomotionSignalLimitsDwTime egomotionUpdateTimeOffsetLimit_us;
 
    dwEgomotionSignalLimitsDwTime frontSteeringTimestampTimeOffsetLimit_us;
 
    dwEgomotionSignalLimitsDwTime wheelTickTimestampTimeOffsetLimit_us;
 
    dwEgomotionSignalLimitsDwTime rearWheelAngleTimestampTimeOffsetLimit_us;
 
    dwEgomotionSignalLimitsDwTime suspensionLevelTimestampTimeOffsetLimit_us;
 
    dwEgomotionSignalLimitsDwTime imuTimestampTimeOffsetLimit_us;
 
    dwTime_t vioTimeout_us;
 
    dwTime_t imuTimeout_us;
 
    float32_t wheelRadius_m;
 
    dwEgomotionSignalLimitsFloat32 wheelSpeedRange_radps;
 
    float32_t maxAllowableGroundSpeedDeviation_mps;
 
    float32_t maxAllowableGroundSpeedDeviation_percent;
 
    float32_t minGroundSpeedMonitorSpeed_mps;
 
    dwEgomotionIMUMonitorParameters imuMonitorParameters;
} dwEgomotionErrorHandlingParameters;
 
dwStatus dwEgomotion2_getErrorIdDisableMask(bool disabledErrorIdMask[DW_EGOMOTION_ERROR_ID_COUNT], char8_t const* const disabledErrorIds[DW_EGOMOTION_ERROR_ID_COUNT]);
 
#ifdef __cplusplus
}
#endif
#endif // DW_EGOMOTION_ERRORHANDLING_ERRORHANDLINGPARAMETERS_H_