Mercurial > public > ostc4
annotate Small_CPU/Src/GNSS.c @ 899:2225c467f1e9 Evo_2_23
Added data path and visualization for position data:
The GNSS data exchange is now initialized and triggered on a cyclic basis (once a second). RTE verion has been increased because of interface change. For now only the position data is shown in a T7 surface views. The functionality may be switched on/off using the compile switch ENABLE_GNSS.
| author | Ideenmodellierer |
|---|---|
| date | Mon, 30 Sep 2024 21:56:05 +0200 |
| parents | 17f02ac9da67 |
| children | c0553dd70608 |
| rev | line source |
|---|---|
| 887 | 1 /* |
| 2 * GNSS.c | |
| 3 * | |
| 4 * Created on: 03.10.2020 | |
| 5 * Author: SimpleMethod | |
| 6 * | |
| 7 *Copyright 2020 SimpleMethod | |
| 8 * | |
| 9 *Permission is hereby granted, free of charge, to any person obtaining a copy of | |
| 10 *this software and associated documentation files (the "Software"), to deal in | |
| 11 *the Software without restriction, including without limitation the rights to | |
| 12 *use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies | |
| 13 *of the Software, and to permit persons to whom the Software is furnished to do | |
| 14 *so, subject to the following conditions: | |
| 15 * | |
| 16 *The above copyright notice and this permission notice shall be included in all | |
| 17 *copies or substantial portions of the Software. | |
| 18 * | |
| 19 *THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | |
| 20 *IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | |
| 21 *FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | |
| 22 *AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | |
| 23 *LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | |
| 24 *OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN | |
| 25 *THE SOFTWARE. | |
| 26 ****************************************************************************** | |
| 27 */ | |
| 28 | |
| 29 #include "GNSS.h" | |
| 30 | |
| 31 union u_Short uShort; | |
| 32 union i_Short iShort; | |
| 33 union u_Long uLong; | |
| 34 union i_Long iLong; | |
| 35 | |
| 36 /*! | |
| 37 * Structure initialization. | |
| 38 * @param GNSS Pointer to main GNSS structure. | |
| 39 * @param huart Pointer to uart handle. | |
| 40 */ | |
| 41 void GNSS_Init(GNSS_StateHandle *GNSS, UART_HandleTypeDef *huart) { | |
| 42 GNSS->huart = huart; | |
| 43 GNSS->year = 0; | |
| 44 GNSS->month = 0; | |
| 45 GNSS->day = 0; | |
| 46 GNSS->hour = 0; | |
| 47 GNSS->min = 0; | |
| 48 GNSS->sec = 0; | |
| 49 GNSS->fixType = 0; | |
| 50 GNSS->lon = 0; | |
| 51 GNSS->lat = 0; | |
| 52 GNSS->height = 0; | |
| 53 GNSS->hMSL = 0; | |
| 54 GNSS->hAcc = 0; | |
| 55 GNSS->vAcc = 0; | |
| 56 GNSS->gSpeed = 0; | |
| 57 GNSS->headMot = 0; | |
| 58 } | |
| 59 | |
| 60 /*! | |
| 61 * Searching for a header in data buffer and matching class and message ID to buffer data. | |
| 62 * @param GNSS Pointer to main GNSS structure. | |
| 63 */ | |
|
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64 uint8_t GNSS_ParseBuffer(GNSS_StateHandle *GNSS) { |
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65 |
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66 uint8_t DataReceived = 0; |
| 887 | 67 |
| 68 for (int var = 0; var <= 100; ++var) { | |
| 69 if (GNSS->uartWorkingBuffer[var] == 0xB5 | |
| 70 && GNSS->uartWorkingBuffer[var + 1] == 0x62) { | |
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71 DataReceived = 1; |
| 887 | 72 if (GNSS->uartWorkingBuffer[var + 2] == 0x27 |
| 73 && GNSS->uartWorkingBuffer[var + 3] == 0x03) { //Look at: 32.19.1.1 u-blox 8 Receiver description | |
| 74 GNSS_ParseUniqID(GNSS); | |
| 75 } else if (GNSS->uartWorkingBuffer[var + 2] == 0x01 | |
| 76 && GNSS->uartWorkingBuffer[var + 3] == 0x21) { //Look at: 32.17.14.1 u-blox 8 Receiver description | |
| 77 GNSS_ParseNavigatorData(GNSS); | |
| 78 } else if (GNSS->uartWorkingBuffer[var + 2] == 0x01 | |
| 79 && GNSS->uartWorkingBuffer[var + 3] == 0x07) { //ook at: 32.17.30.1 u-blox 8 Receiver description | |
| 80 GNSS_ParsePVTData(GNSS); | |
| 81 } else if (GNSS->uartWorkingBuffer[var + 2] == 0x01 | |
| 82 && GNSS->uartWorkingBuffer[var + 3] == 0x02) { // Look at: 32.17.15.1 u-blox 8 Receiver description | |
| 83 GNSS_ParsePOSLLHData(GNSS); | |
| 84 } | |
| 85 } | |
| 86 } | |
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parents:
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diff
changeset
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87 return DataReceived; |
| 887 | 88 } |
| 89 | |
| 90 /*! | |
| 91 * Make request for unique chip ID data. | |
| 92 * @param GNSS Pointer to main GNSS structure. | |
| 93 */ | |
| 94 void GNSS_GetUniqID(GNSS_StateHandle *GNSS) { | |
| 95 HAL_UART_Transmit_DMA(GNSS->huart, getDeviceID, | |
| 96 sizeof(getDeviceID) / sizeof(uint8_t)); | |
| 97 HAL_UART_Receive_IT(GNSS->huart, GNSS_Handle.uartWorkingBuffer, 17); | |
| 98 } | |
| 99 | |
| 100 /*! | |
| 101 * Make request for UTC time solution data. | |
| 102 * @param GNSS Pointer to main GNSS structure. | |
| 103 */ | |
| 104 void GNSS_GetNavigatorData(GNSS_StateHandle *GNSS) { | |
| 105 HAL_UART_Transmit_DMA(GNSS->huart, getNavigatorData, | |
| 106 sizeof(getNavigatorData) / sizeof(uint8_t)); | |
| 107 HAL_UART_Receive_IT(GNSS->huart, GNSS_Handle.uartWorkingBuffer, 28); | |
| 108 } | |
| 109 | |
| 110 /*! | |
| 111 * Make request for geodetic position solution data. | |
| 112 * @param GNSS Pointer to main GNSS structure. | |
| 113 */ | |
| 114 void GNSS_GetPOSLLHData(GNSS_StateHandle *GNSS) { | |
| 115 HAL_UART_Transmit_DMA(GNSS->huart, getPOSLLHData, | |
| 116 sizeof(getPOSLLHData) / sizeof(uint8_t)); | |
| 117 HAL_UART_Receive_IT(GNSS->huart, GNSS_Handle.uartWorkingBuffer, 36); | |
| 118 } | |
| 119 | |
| 120 /*! | |
| 121 * Make request for navigation position velocity time solution data. | |
| 122 * @param GNSS Pointer to main GNSS structure. | |
| 123 */ | |
| 124 void GNSS_GetPVTData(GNSS_StateHandle *GNSS) { | |
| 125 HAL_UART_Transmit_DMA(GNSS->huart, getPVTData, | |
| 126 sizeof(getPVTData) / sizeof(uint8_t)); | |
| 127 HAL_UART_Receive_IT(GNSS->huart, GNSS_Handle.uartWorkingBuffer, 100); | |
| 128 } | |
| 129 | |
| 130 /*! | |
| 131 * Parse data to unique chip ID standard. | |
| 132 * Look at: 32.19.1.1 u-blox 8 Receiver description | |
| 133 * @param GNSS Pointer to main GNSS structure. | |
| 134 */ | |
| 135 void GNSS_ParseUniqID(GNSS_StateHandle *GNSS) { | |
| 136 for (int var = 0; var < 5; ++var) { | |
| 137 GNSS->uniqueID[var] = GNSS_Handle.uartWorkingBuffer[10 + var]; | |
| 138 } | |
| 139 } | |
| 140 | |
| 141 /*! | |
| 142 * Changing the GNSS mode. | |
| 143 * Look at: 32.10.19 u-blox 8 Receiver description | |
| 144 */ | |
| 145 void GNSS_SetMode(GNSS_StateHandle *GNSS, short gnssMode) { | |
| 146 if (gnssMode == 0) { | |
| 147 HAL_UART_Transmit_DMA(GNSS->huart, setPortableMode,sizeof(setPortableMode) / sizeof(uint8_t)); | |
| 148 } else if (gnssMode == 1) { | |
| 149 HAL_UART_Transmit_DMA(GNSS->huart, setStationaryMode,sizeof(setStationaryMode) / sizeof(uint8_t)); | |
| 150 } else if (gnssMode == 2) { | |
| 151 HAL_UART_Transmit_DMA(GNSS->huart, setPedestrianMode,sizeof(setPedestrianMode) / sizeof(uint8_t)); | |
| 152 } else if (gnssMode == 3) { | |
| 153 HAL_UART_Transmit_DMA(GNSS->huart, setAutomotiveMode,sizeof(setAutomotiveMode) / sizeof(uint8_t)); | |
| 154 } else if (gnssMode == 4) { | |
| 155 HAL_UART_Transmit_DMA(GNSS->huart, setAutomotiveMode,sizeof(setAutomotiveMode) / sizeof(uint8_t)); | |
| 156 } else if (gnssMode == 5) { | |
| 157 HAL_UART_Transmit_DMA(GNSS->huart, setAirbone1GMode,sizeof(setAirbone1GMode) / sizeof(uint8_t)); | |
| 158 } else if (gnssMode == 6) { | |
| 159 HAL_UART_Transmit_DMA(GNSS->huart, setAirbone2GMode,sizeof(setAirbone2GMode) / sizeof(uint8_t)); | |
| 160 } else if (gnssMode == 7) { | |
| 161 HAL_UART_Transmit_DMA(GNSS->huart, setAirbone4GMode,sizeof(setAirbone4GMode) / sizeof(uint8_t)); | |
| 162 } else if (gnssMode == 8) { | |
| 163 HAL_UART_Transmit_DMA(GNSS->huart, setWirstMode,sizeof(setWirstMode) / sizeof(uint8_t)); | |
| 164 } else if (gnssMode == 9) { | |
| 165 HAL_UART_Transmit_DMA(GNSS->huart, setBikeMode,sizeof(setBikeMode) / sizeof(uint8_t)); | |
| 166 } | |
| 167 } | |
| 168 /*! | |
| 169 * Parse data to navigation position velocity time solution standard. | |
| 170 * Look at: 32.17.15.1 u-blox 8 Receiver description. | |
| 171 * @param GNSS Pointer to main GNSS structure. | |
| 172 */ | |
| 173 void GNSS_ParsePVTData(GNSS_StateHandle *GNSS) { | |
| 174 uShort.bytes[0] = GNSS_Handle.uartWorkingBuffer[10]; | |
| 175 GNSS->yearBytes[0]=GNSS_Handle.uartWorkingBuffer[10]; | |
| 176 uShort.bytes[1] = GNSS_Handle.uartWorkingBuffer[11]; | |
| 177 GNSS->yearBytes[1]=GNSS_Handle.uartWorkingBuffer[11]; | |
| 178 GNSS->year = uShort.uShort; | |
| 179 GNSS->month = GNSS_Handle.uartWorkingBuffer[12]; | |
| 180 GNSS->day = GNSS_Handle.uartWorkingBuffer[13]; | |
| 181 GNSS->hour = GNSS_Handle.uartWorkingBuffer[14]; | |
| 182 GNSS->min = GNSS_Handle.uartWorkingBuffer[15]; | |
| 183 GNSS->sec = GNSS_Handle.uartWorkingBuffer[16]; | |
| 184 GNSS->fixType = GNSS_Handle.uartWorkingBuffer[26]; | |
| 185 | |
| 186 for (int var = 0; var < 4; ++var) { | |
| 187 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 30]; | |
| 188 GNSS->lonBytes[var]= GNSS_Handle.uartWorkingBuffer[var + 30]; | |
| 189 } | |
| 190 GNSS->lon = iLong.iLong; | |
| 191 GNSS->fLon=(float)iLong.iLong/10000000.0; | |
| 192 for (int var = 0; var < 4; ++var) { | |
| 193 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 34]; | |
| 194 GNSS->latBytes[var]=GNSS_Handle.uartWorkingBuffer[var + 34]; | |
| 195 } | |
| 196 GNSS->lat = iLong.iLong; | |
| 197 GNSS->fLat=(float)iLong.iLong/10000000.0; | |
| 198 for (int var = 0; var < 4; ++var) { | |
| 199 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 38]; | |
| 200 } | |
| 201 GNSS->height = iLong.iLong; | |
| 202 | |
| 203 for (int var = 0; var < 4; ++var) { | |
| 204 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 42]; | |
| 205 GNSS->hMSLBytes[var] = GNSS_Handle.uartWorkingBuffer[var + 42]; | |
| 206 } | |
| 207 GNSS->hMSL = iLong.iLong; | |
| 208 | |
| 209 for (int var = 0; var < 4; ++var) { | |
| 210 uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 46]; | |
| 211 } | |
| 212 GNSS->hAcc = uLong.uLong; | |
| 213 | |
| 214 for (int var = 0; var < 4; ++var) { | |
| 215 uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 50]; | |
| 216 } | |
| 217 GNSS->vAcc = uLong.uLong; | |
| 218 | |
| 219 for (int var = 0; var < 4; ++var) { | |
| 220 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 66]; | |
| 221 GNSS->gSpeedBytes[var] = GNSS_Handle.uartWorkingBuffer[var + 66]; | |
| 222 } | |
| 223 GNSS->gSpeed = iLong.iLong; | |
| 224 | |
| 225 for (int var = 0; var < 4; ++var) { | |
| 226 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 70]; | |
| 227 } | |
| 228 GNSS->headMot = iLong.iLong * 1e-5; // todo I'm not sure this good options. | |
| 229 } | |
| 230 | |
| 231 /*! | |
| 232 * Parse data to UTC time solution standard. | |
| 233 * Look at: 32.17.30.1 u-blox 8 Receiver description. | |
| 234 * @param GNSS Pointer to main GNSS structure. | |
| 235 */ | |
| 236 void GNSS_ParseNavigatorData(GNSS_StateHandle *GNSS) { | |
| 237 uShort.bytes[0] = GNSS_Handle.uartWorkingBuffer[18]; | |
| 238 uShort.bytes[1] = GNSS_Handle.uartWorkingBuffer[19]; | |
| 239 GNSS->year = uShort.uShort; | |
| 240 GNSS->month = GNSS_Handle.uartWorkingBuffer[20]; | |
| 241 GNSS->day = GNSS_Handle.uartWorkingBuffer[21]; | |
| 242 GNSS->hour = GNSS_Handle.uartWorkingBuffer[22]; | |
| 243 GNSS->min = GNSS_Handle.uartWorkingBuffer[23]; | |
| 244 GNSS->sec = GNSS_Handle.uartWorkingBuffer[24]; | |
| 245 } | |
| 246 | |
| 247 /*! | |
| 248 * Parse data to geodetic position solution standard. | |
| 249 * Look at: 32.17.14.1 u-blox 8 Receiver description. | |
| 250 * @param GNSS Pointer to main GNSS structure. | |
| 251 */ | |
| 252 void GNSS_ParsePOSLLHData(GNSS_StateHandle *GNSS) { | |
| 253 for (int var = 0; var < 4; ++var) { | |
| 254 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 10]; | |
| 255 } | |
| 256 GNSS->lon = iLong.iLong; | |
| 257 GNSS->fLon=(float)iLong.iLong/10000000.0; | |
| 258 | |
| 259 for (int var = 0; var < 4; ++var) { | |
| 260 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 14]; | |
| 261 } | |
| 262 GNSS->lat = iLong.iLong; | |
| 263 GNSS->fLat=(float)iLong.iLong/10000000.0; | |
| 264 | |
| 265 for (int var = 0; var < 4; ++var) { | |
| 266 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 18]; | |
| 267 } | |
| 268 GNSS->height = iLong.iLong; | |
| 269 | |
| 270 for (int var = 0; var < 4; ++var) { | |
| 271 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 22]; | |
| 272 } | |
| 273 GNSS->hMSL = iLong.iLong; | |
| 274 | |
| 275 for (int var = 0; var < 4; ++var) { | |
| 276 uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 26]; | |
| 277 } | |
| 278 GNSS->hAcc = uLong.uLong; | |
| 279 | |
| 280 for (int var = 0; var < 4; ++var) { | |
| 281 uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 30]; | |
| 282 } | |
| 283 GNSS->vAcc = uLong.uLong; | |
| 284 } | |
| 285 | |
| 286 /*! | |
| 287 * Sends the basic configuration: Activation of the UBX standard, change of NMEA version to 4.10 and turn on of the Galileo system. | |
| 288 * @param GNSS Pointer to main GNSS structure. | |
| 289 */ | |
| 290 void GNSS_LoadConfig(GNSS_StateHandle *GNSS) { | |
| 291 HAL_UART_Transmit_DMA(GNSS->huart, configUBX, | |
| 292 sizeof(configUBX) / sizeof(uint8_t)); | |
| 293 HAL_Delay(250); | |
| 294 HAL_UART_Transmit_DMA(GNSS->huart, setNMEA410, | |
| 295 sizeof(setNMEA410) / sizeof(uint8_t)); | |
| 296 HAL_Delay(250); | |
| 297 HAL_UART_Transmit_DMA(GNSS->huart, setGNSS, | |
| 298 sizeof(setGNSS) / sizeof(uint8_t)); | |
| 299 HAL_Delay(250); | |
| 300 } | |
| 301 | |
| 302 | |
| 303 | |
| 304 /*! | |
| 305 * Creates a checksum based on UBX standard. | |
| 306 * @param class Class value from UBX doc. | |
| 307 * @param messageID MessageID value from UBX doc. | |
| 308 * @param dataLength Data length value from UBX doc. | |
| 309 * @param payload Just payload. | |
| 310 * @return Returns checksum. | |
| 311 */ | |
| 312 uint8_t GNSS_Checksum(uint8_t class, uint8_t messageID, uint8_t dataLength,uint8_t *payload) { | |
| 313 //todo: Look at 32.4 UBX Checksum | |
| 314 return 0; | |
| 315 } |