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1 /*
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2 * GNSS.c
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3 *
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4 * Created on: 03.10.2020
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5 * Author: SimpleMethod
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6 *
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7 *Copyright 2020 SimpleMethod
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8 *
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9 *Permission is hereby granted, free of charge, to any person obtaining a copy of
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10 *this software and associated documentation files (the "Software"), to deal in
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11 *the Software without restriction, including without limitation the rights to
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12 *use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
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13 *of the Software, and to permit persons to whom the Software is furnished to do
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14 *so, subject to the following conditions:
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15 *
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16 *The above copyright notice and this permission notice shall be included in all
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17 *copies or substantial portions of the Software.
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18 *
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19 *THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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20 *IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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21 *FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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22 *AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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23 *LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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24 *OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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25 *THE SOFTWARE.
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26 ******************************************************************************
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27 */
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28
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29 #include "GNSS.h"
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30
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31 union u_Short uShort;
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32 union i_Short iShort;
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33 union u_Long uLong;
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34 union i_Long iLong;
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35
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36 /*!
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37 * Structure initialization.
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38 * @param GNSS Pointer to main GNSS structure.
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39 * @param huart Pointer to uart handle.
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40 */
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41 void GNSS_Init(GNSS_StateHandle *GNSS, UART_HandleTypeDef *huart) {
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42 GNSS->huart = huart;
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43 GNSS->year = 0;
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44 GNSS->month = 0;
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45 GNSS->day = 0;
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46 GNSS->hour = 0;
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47 GNSS->min = 0;
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48 GNSS->sec = 0;
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49 GNSS->fixType = 0;
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50 GNSS->lon = 0;
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51 GNSS->lat = 0;
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52 GNSS->height = 0;
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53 GNSS->hMSL = 0;
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54 GNSS->hAcc = 0;
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55 GNSS->vAcc = 0;
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56 GNSS->gSpeed = 0;
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57 GNSS->headMot = 0;
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58 }
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59
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60 /*!
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61 * Searching for a header in data buffer and matching class and message ID to buffer data.
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62 * @param GNSS Pointer to main GNSS structure.
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63 */
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64 void GNSS_ParseBuffer(GNSS_StateHandle *GNSS) {
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65
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66 for (int var = 0; var <= 100; ++var) {
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67 if (GNSS->uartWorkingBuffer[var] == 0xB5
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68 && GNSS->uartWorkingBuffer[var + 1] == 0x62) {
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69 if (GNSS->uartWorkingBuffer[var + 2] == 0x27
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70 && GNSS->uartWorkingBuffer[var + 3] == 0x03) { //Look at: 32.19.1.1 u-blox 8 Receiver description
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71 GNSS_ParseUniqID(GNSS);
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72 } else if (GNSS->uartWorkingBuffer[var + 2] == 0x01
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73 && GNSS->uartWorkingBuffer[var + 3] == 0x21) { //Look at: 32.17.14.1 u-blox 8 Receiver description
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74 GNSS_ParseNavigatorData(GNSS);
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75 } else if (GNSS->uartWorkingBuffer[var + 2] == 0x01
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76 && GNSS->uartWorkingBuffer[var + 3] == 0x07) { //ook at: 32.17.30.1 u-blox 8 Receiver description
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77 GNSS_ParsePVTData(GNSS);
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78 } else if (GNSS->uartWorkingBuffer[var + 2] == 0x01
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79 && GNSS->uartWorkingBuffer[var + 3] == 0x02) { // Look at: 32.17.15.1 u-blox 8 Receiver description
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80 GNSS_ParsePOSLLHData(GNSS);
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81 }
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82 }
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83 }
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84 }
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85
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86 /*!
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87 * Make request for unique chip ID data.
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88 * @param GNSS Pointer to main GNSS structure.
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89 */
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90 void GNSS_GetUniqID(GNSS_StateHandle *GNSS) {
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91 HAL_UART_Transmit_DMA(GNSS->huart, getDeviceID,
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92 sizeof(getDeviceID) / sizeof(uint8_t));
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93 HAL_UART_Receive_IT(GNSS->huart, GNSS_Handle.uartWorkingBuffer, 17);
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94 }
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95
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96 /*!
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97 * Make request for UTC time solution data.
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98 * @param GNSS Pointer to main GNSS structure.
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99 */
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100 void GNSS_GetNavigatorData(GNSS_StateHandle *GNSS) {
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101 HAL_UART_Transmit_DMA(GNSS->huart, getNavigatorData,
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102 sizeof(getNavigatorData) / sizeof(uint8_t));
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103 HAL_UART_Receive_IT(GNSS->huart, GNSS_Handle.uartWorkingBuffer, 28);
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104 }
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105
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106 /*!
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107 * Make request for geodetic position solution data.
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108 * @param GNSS Pointer to main GNSS structure.
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109 */
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110 void GNSS_GetPOSLLHData(GNSS_StateHandle *GNSS) {
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111 HAL_UART_Transmit_DMA(GNSS->huart, getPOSLLHData,
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112 sizeof(getPOSLLHData) / sizeof(uint8_t));
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113 HAL_UART_Receive_IT(GNSS->huart, GNSS_Handle.uartWorkingBuffer, 36);
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114 }
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115
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116 /*!
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117 * Make request for navigation position velocity time solution data.
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118 * @param GNSS Pointer to main GNSS structure.
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119 */
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120 void GNSS_GetPVTData(GNSS_StateHandle *GNSS) {
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121 HAL_UART_Transmit_DMA(GNSS->huart, getPVTData,
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122 sizeof(getPVTData) / sizeof(uint8_t));
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123 HAL_UART_Receive_IT(GNSS->huart, GNSS_Handle.uartWorkingBuffer, 100);
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124 }
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125
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126 /*!
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127 * Parse data to unique chip ID standard.
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128 * Look at: 32.19.1.1 u-blox 8 Receiver description
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129 * @param GNSS Pointer to main GNSS structure.
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130 */
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131 void GNSS_ParseUniqID(GNSS_StateHandle *GNSS) {
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132 for (int var = 0; var < 5; ++var) {
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133 GNSS->uniqueID[var] = GNSS_Handle.uartWorkingBuffer[10 + var];
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134 }
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135 }
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136
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137 /*!
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138 * Changing the GNSS mode.
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139 * Look at: 32.10.19 u-blox 8 Receiver description
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140 */
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141 void GNSS_SetMode(GNSS_StateHandle *GNSS, short gnssMode) {
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142 if (gnssMode == 0) {
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143 HAL_UART_Transmit_DMA(GNSS->huart, setPortableMode,sizeof(setPortableMode) / sizeof(uint8_t));
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144 } else if (gnssMode == 1) {
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145 HAL_UART_Transmit_DMA(GNSS->huart, setStationaryMode,sizeof(setStationaryMode) / sizeof(uint8_t));
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146 } else if (gnssMode == 2) {
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147 HAL_UART_Transmit_DMA(GNSS->huart, setPedestrianMode,sizeof(setPedestrianMode) / sizeof(uint8_t));
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148 } else if (gnssMode == 3) {
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149 HAL_UART_Transmit_DMA(GNSS->huart, setAutomotiveMode,sizeof(setAutomotiveMode) / sizeof(uint8_t));
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150 } else if (gnssMode == 4) {
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151 HAL_UART_Transmit_DMA(GNSS->huart, setAutomotiveMode,sizeof(setAutomotiveMode) / sizeof(uint8_t));
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152 } else if (gnssMode == 5) {
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153 HAL_UART_Transmit_DMA(GNSS->huart, setAirbone1GMode,sizeof(setAirbone1GMode) / sizeof(uint8_t));
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154 } else if (gnssMode == 6) {
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155 HAL_UART_Transmit_DMA(GNSS->huart, setAirbone2GMode,sizeof(setAirbone2GMode) / sizeof(uint8_t));
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156 } else if (gnssMode == 7) {
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157 HAL_UART_Transmit_DMA(GNSS->huart, setAirbone4GMode,sizeof(setAirbone4GMode) / sizeof(uint8_t));
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158 } else if (gnssMode == 8) {
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159 HAL_UART_Transmit_DMA(GNSS->huart, setWirstMode,sizeof(setWirstMode) / sizeof(uint8_t));
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160 } else if (gnssMode == 9) {
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161 HAL_UART_Transmit_DMA(GNSS->huart, setBikeMode,sizeof(setBikeMode) / sizeof(uint8_t));
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162 }
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163 }
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164 /*!
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165 * Parse data to navigation position velocity time solution standard.
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166 * Look at: 32.17.15.1 u-blox 8 Receiver description.
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167 * @param GNSS Pointer to main GNSS structure.
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168 */
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169 void GNSS_ParsePVTData(GNSS_StateHandle *GNSS) {
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170 uShort.bytes[0] = GNSS_Handle.uartWorkingBuffer[10];
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171 GNSS->yearBytes[0]=GNSS_Handle.uartWorkingBuffer[10];
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172 uShort.bytes[1] = GNSS_Handle.uartWorkingBuffer[11];
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173 GNSS->yearBytes[1]=GNSS_Handle.uartWorkingBuffer[11];
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174 GNSS->year = uShort.uShort;
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175 GNSS->month = GNSS_Handle.uartWorkingBuffer[12];
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176 GNSS->day = GNSS_Handle.uartWorkingBuffer[13];
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177 GNSS->hour = GNSS_Handle.uartWorkingBuffer[14];
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178 GNSS->min = GNSS_Handle.uartWorkingBuffer[15];
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179 GNSS->sec = GNSS_Handle.uartWorkingBuffer[16];
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180 GNSS->fixType = GNSS_Handle.uartWorkingBuffer[26];
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181
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182 for (int var = 0; var < 4; ++var) {
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183 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 30];
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184 GNSS->lonBytes[var]= GNSS_Handle.uartWorkingBuffer[var + 30];
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185 }
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186 GNSS->lon = iLong.iLong;
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187 GNSS->fLon=(float)iLong.iLong/10000000.0;
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188 for (int var = 0; var < 4; ++var) {
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189 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 34];
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190 GNSS->latBytes[var]=GNSS_Handle.uartWorkingBuffer[var + 34];
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191 }
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192 GNSS->lat = iLong.iLong;
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193 GNSS->fLat=(float)iLong.iLong/10000000.0;
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194 for (int var = 0; var < 4; ++var) {
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195 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 38];
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196 }
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197 GNSS->height = iLong.iLong;
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198
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199 for (int var = 0; var < 4; ++var) {
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200 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 42];
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201 GNSS->hMSLBytes[var] = GNSS_Handle.uartWorkingBuffer[var + 42];
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202 }
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203 GNSS->hMSL = iLong.iLong;
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204
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205 for (int var = 0; var < 4; ++var) {
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206 uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 46];
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207 }
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208 GNSS->hAcc = uLong.uLong;
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209
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210 for (int var = 0; var < 4; ++var) {
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211 uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 50];
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212 }
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213 GNSS->vAcc = uLong.uLong;
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214
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215 for (int var = 0; var < 4; ++var) {
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216 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 66];
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217 GNSS->gSpeedBytes[var] = GNSS_Handle.uartWorkingBuffer[var + 66];
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218 }
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219 GNSS->gSpeed = iLong.iLong;
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220
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221 for (int var = 0; var < 4; ++var) {
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222 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 70];
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223 }
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224 GNSS->headMot = iLong.iLong * 1e-5; // todo I'm not sure this good options.
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225 }
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226
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227 /*!
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228 * Parse data to UTC time solution standard.
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229 * Look at: 32.17.30.1 u-blox 8 Receiver description.
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230 * @param GNSS Pointer to main GNSS structure.
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231 */
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232 void GNSS_ParseNavigatorData(GNSS_StateHandle *GNSS) {
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233 uShort.bytes[0] = GNSS_Handle.uartWorkingBuffer[18];
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234 uShort.bytes[1] = GNSS_Handle.uartWorkingBuffer[19];
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235 GNSS->year = uShort.uShort;
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236 GNSS->month = GNSS_Handle.uartWorkingBuffer[20];
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237 GNSS->day = GNSS_Handle.uartWorkingBuffer[21];
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238 GNSS->hour = GNSS_Handle.uartWorkingBuffer[22];
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239 GNSS->min = GNSS_Handle.uartWorkingBuffer[23];
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240 GNSS->sec = GNSS_Handle.uartWorkingBuffer[24];
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241 }
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242
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243 /*!
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244 * Parse data to geodetic position solution standard.
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245 * Look at: 32.17.14.1 u-blox 8 Receiver description.
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246 * @param GNSS Pointer to main GNSS structure.
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247 */
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248 void GNSS_ParsePOSLLHData(GNSS_StateHandle *GNSS) {
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249 for (int var = 0; var < 4; ++var) {
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250 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 10];
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251 }
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252 GNSS->lon = iLong.iLong;
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253 GNSS->fLon=(float)iLong.iLong/10000000.0;
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254
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255 for (int var = 0; var < 4; ++var) {
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256 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 14];
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257 }
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258 GNSS->lat = iLong.iLong;
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259 GNSS->fLat=(float)iLong.iLong/10000000.0;
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260
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261 for (int var = 0; var < 4; ++var) {
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262 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 18];
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263 }
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264 GNSS->height = iLong.iLong;
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265
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266 for (int var = 0; var < 4; ++var) {
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267 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 22];
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268 }
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269 GNSS->hMSL = iLong.iLong;
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270
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271 for (int var = 0; var < 4; ++var) {
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272 uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 26];
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273 }
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274 GNSS->hAcc = uLong.uLong;
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275
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276 for (int var = 0; var < 4; ++var) {
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277 uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 30];
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278 }
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279 GNSS->vAcc = uLong.uLong;
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280 }
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281
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282 /*!
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283 * Sends the basic configuration: Activation of the UBX standard, change of NMEA version to 4.10 and turn on of the Galileo system.
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284 * @param GNSS Pointer to main GNSS structure.
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285 */
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286 void GNSS_LoadConfig(GNSS_StateHandle *GNSS) {
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287 HAL_UART_Transmit_DMA(GNSS->huart, configUBX,
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288 sizeof(configUBX) / sizeof(uint8_t));
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289 HAL_Delay(250);
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290 HAL_UART_Transmit_DMA(GNSS->huart, setNMEA410,
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291 sizeof(setNMEA410) / sizeof(uint8_t));
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292 HAL_Delay(250);
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293 HAL_UART_Transmit_DMA(GNSS->huart, setGNSS,
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294 sizeof(setGNSS) / sizeof(uint8_t));
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295 HAL_Delay(250);
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296 }
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297
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298
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299
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300 /*!
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301 * Creates a checksum based on UBX standard.
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302 * @param class Class value from UBX doc.
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303 * @param messageID MessageID value from UBX doc.
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304 * @param dataLength Data length value from UBX doc.
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305 * @param payload Just payload.
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306 * @return Returns checksum.
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307 */
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308 uint8_t GNSS_Checksum(uint8_t class, uint8_t messageID, uint8_t dataLength,uint8_t *payload) {
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309 //todo: Look at 32.4 UBX Checksum
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310 return 0;
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311 }
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