Mercurial > public > ostc4
annotate Small_CPU/Src/uartProtocol_GNSS.c @ 936:3029f0332f4f Evo_2_23
GNSS introduced power saving mode:
In the previous implementation the modul always did a cold start. In the new one the power saving functions of the module are activated. The module will be switched to intervall mode while entering sleep. If the computer remains in sleep for a long time then the GNSS modul will be switchen of completly.
| author | Ideenmodellierer |
|---|---|
| date | Sun, 08 Dec 2024 22:03:07 +0100 |
| parents | effadaa3a1f7 |
| children | f41974734268 |
| rev | line source |
|---|---|
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1 /** |
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2 ****************************************************************************** |
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3 * @file uartProtocol_GNSS.c |
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4 * @author heinrichs weikamp gmbh |
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5 * @version V0.0.1 |
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6 * @date 30-Sep-2024 |
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7 * @brief Interface functionality operation of GNSS devices |
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8 * |
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9 @verbatim |
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10 |
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11 |
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12 @endverbatim |
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13 ****************************************************************************** |
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14 * @attention |
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15 * |
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16 * <h2><center>© COPYRIGHT(c) 2024 heinrichs weikamp</center></h2> |
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17 * |
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18 ****************************************************************************** |
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19 */ |
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20 /* Includes ------------------------------------------------------------------*/ |
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21 |
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22 #include <string.h> |
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23 #include "scheduler.h" |
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24 #include <uartProtocol_GNSS.h> |
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25 #include "uart.h" |
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26 #include "GNSS.h" |
| 919 | 27 #include "configuration.h" |
| 28 #include "externalInterface.h" | |
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29 |
| 932 | 30 |
| 31 #if defined ENABLE_GNSS || defined ENABLE_GNSS_SUPPORT || defined ENABLE_GPIO_V2 | |
| 32 | |
| 33 static uartGnssStatus_t gnssState = UART_GNSS_INIT; | |
| 34 static gnssRequest_s activeRequest = {0,0}; | |
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35 |
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36 static receiveStateGnss_t rxState = GNSSRX_READY; |
| 919 | 37 static uint8_t GnssConnected = 0; /* Binary indicator if a sensor is connected or not */ |
| 38 static uint8_t writeIndex = 0; | |
| 39 static uint8_t dataToRead = 0; | |
| 936 | 40 static uint8_t ReqPowerDown = 0; |
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41 |
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42 void ConvertByteToHexString(uint8_t byte, char* str) |
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43 { |
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44 uint8_t worker = 0; |
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45 uint8_t digit = 0; |
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46 uint8_t digitCnt = 1; |
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47 |
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48 worker = byte; |
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49 while((worker!=0) && (digitCnt != 255)) |
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50 { |
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51 digit = worker % 16; |
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52 if( digit < 10) |
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53 { |
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54 digit += '0'; |
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55 } |
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56 else |
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57 { |
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58 digit += 'A' - 10; |
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59 } |
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60 str[digitCnt--]= digit; |
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61 worker = worker / 16; |
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62 } |
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63 } |
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64 |
| 936 | 65 void uartGnss_ReqPowerDown(uint8_t request) |
| 66 { | |
| 67 if(GnssConnected) | |
| 68 { | |
| 69 ReqPowerDown = 1; | |
| 70 } | |
| 71 } | |
| 919 | 72 |
| 932 | 73 uartGnssStatus_t uartGnss_GetState() |
| 74 { | |
| 75 return gnssState; | |
| 76 } | |
| 77 void uartGnss_SetState(uartGnssStatus_t newState) | |
| 78 { | |
| 79 gnssState = newState; | |
| 80 } | |
| 81 | |
| 82 void UART_Gnss_SendCmd(uint8_t GnssCmd) | |
| 919 | 83 { |
| 922 | 84 const uint8_t* pData; |
| 919 | 85 uint8_t txLength = 0; |
| 86 | |
| 87 switch (GnssCmd) | |
| 88 { | |
| 89 case GNSSCMD_LOADCONF_0: pData = configUBX; | |
| 90 txLength = sizeof(configUBX) / sizeof(uint8_t); | |
| 91 break; | |
| 92 case GNSSCMD_LOADCONF_1: pData = setNMEA410; | |
| 93 txLength = sizeof(setNMEA410) / sizeof(uint8_t); | |
| 94 break; | |
| 95 case GNSSCMD_LOADCONF_2: pData = setGNSS; | |
| 96 txLength = sizeof(setGNSS) / sizeof(uint8_t); | |
| 97 break; | |
| 98 case GNSSCMD_GET_PVT_DATA: pData = getPVTData; | |
| 99 txLength = sizeof(getPVTData) / sizeof(uint8_t); | |
| 100 break; | |
| 101 case GNSSCMD_GET_NAV_DATA: pData = getNavigatorData; | |
| 102 txLength = sizeof(getNavigatorData) / sizeof(uint8_t); | |
| 103 break; | |
| 932 | 104 case GNSSCMD_GET_NAVSAT_DATA: pData = getNavSat; |
| 105 txLength = sizeof(getNavSat) / sizeof(uint8_t); | |
| 106 break; | |
| 936 | 107 case GNSSCMD_MODE_PWS: pData = setPowerLow; |
| 108 txLength = sizeof(setPowerLow) / sizeof(uint8_t); | |
| 109 break; | |
| 110 case GNSSCMD_MODE_NORMAL: pData = setPowerNormal; | |
| 111 txLength = sizeof(setPowerNormal) / sizeof(uint8_t); | |
| 112 break; | |
| 113 case GNSSCMD_SET_CONFIG: pData = setConfig; | |
| 114 txLength = sizeof(setConfig) / sizeof(uint8_t); | |
| 115 break; | |
| 919 | 116 default: |
| 117 break; | |
| 118 } | |
| 119 if(txLength != 0) | |
| 120 { | |
| 932 | 121 activeRequest.class = pData[2]; |
| 122 activeRequest.id = pData[3]; | |
| 919 | 123 UART_SendCmdUbx(pData, txLength); |
| 124 } | |
| 125 } | |
| 126 | |
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127 void uartGnss_Control(void) |
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128 { |
| 919 | 129 static uint32_t warmupTick = 0; |
| 932 | 130 static uint8_t dataToggle = 0; |
| 131 uint8_t activeSensor = 0; | |
| 132 sUartComCtrl* pUartCtrl = UART_GetGnssCtrl(); | |
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133 |
| 932 | 134 if(pUartCtrl == &Uart1Ctrl) |
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135 { |
| 932 | 136 activeSensor = externalInterface_GetActiveUartSensor(); |
| 137 gnssState = externalInterface_GetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET); | |
| 138 } | |
| 139 | |
| 140 switch (gnssState) | |
| 141 { | |
| 142 case UART_GNSS_INIT: gnssState = UART_GNSS_WARMUP; | |
| 919 | 143 warmupTick = HAL_GetTick(); |
| 932 | 144 UART_clearRxBuffer(pUartCtrl); |
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145 break; |
| 919 | 146 case UART_GNSS_WARMUP: if(time_elapsed_ms(warmupTick,HAL_GetTick()) > 1000) |
| 147 { | |
| 932 | 148 gnssState = UART_GNSS_LOADCONF_0; |
| 919 | 149 } |
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150 break; |
| 932 | 151 case UART_GNSS_LOADCONF_0: UART_Gnss_SendCmd(GNSSCMD_LOADCONF_0); |
| 152 rxState = GNSSRX_DETECT_ACK_0; | |
| 153 break; | |
| 154 case UART_GNSS_LOADCONF_1: UART_Gnss_SendCmd(GNSSCMD_LOADCONF_1); | |
| 155 rxState = GNSSRX_DETECT_ACK_0; | |
| 156 break; | |
| 157 case UART_GNSS_LOADCONF_2: UART_Gnss_SendCmd(GNSSCMD_LOADCONF_2); | |
| 919 | 158 rxState = GNSSRX_DETECT_ACK_0; |
| 159 break; | |
| 936 | 160 case UART_GNSS_PWRDOWN: UART_Gnss_SendCmd(GNSSCMD_MODE_PWS); |
| 161 rxState = GNSSRX_DETECT_ACK_0; | |
| 162 break; | |
| 163 | |
| 164 case UART_GNSS_PWRUP: | |
| 165 case UART_GNSS_INACTIVE: UART_Gnss_SendCmd(GNSSCMD_MODE_NORMAL); | |
| 166 rxState = GNSSRX_DETECT_ACK_0; | |
| 167 gnssState = UART_GNSS_PWRUP; | |
| 168 break; | |
| 169 case UART_GNSS_SETCONF: UART_Gnss_SendCmd(GNSSCMD_SET_CONFIG); | |
| 170 rxState = GNSSRX_DETECT_ACK_0; | |
| 171 break; | |
| 172 | |
| 173 case UART_GNSS_IDLE: if(ReqPowerDown) | |
| 932 | 174 { |
| 936 | 175 UART_Gnss_SendCmd(GNSSCMD_MODE_PWS); |
| 176 gnssState = UART_GNSS_PWRDOWN; | |
| 177 rxState = GNSSRX_DETECT_ACK_0; | |
| 932 | 178 } |
| 179 else | |
| 180 { | |
| 936 | 181 if(dataToggle) |
| 182 { | |
| 183 UART_Gnss_SendCmd(GNSSCMD_GET_PVT_DATA); | |
| 184 gnssState = UART_GNSS_GET_PVT; | |
| 185 rxState = GNSSRX_DETECT_HEADER_0; | |
| 186 dataToggle = 0; | |
| 187 } | |
| 188 else | |
| 189 { | |
| 190 UART_Gnss_SendCmd(GNSSCMD_GET_NAVSAT_DATA); | |
| 191 gnssState = UART_GNSS_GET_SAT; | |
| 192 rxState = GNSSRX_DETECT_HEADER_0; | |
| 193 dataToggle = 1; | |
| 194 } | |
| 932 | 195 } |
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196 break; |
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197 default: |
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198 break; |
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199 } |
| 932 | 200 if(pUartCtrl == &Uart1Ctrl) |
| 201 { | |
| 202 externalInterface_SetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET,gnssState); | |
| 203 } | |
| 919 | 204 |
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205 } |
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206 |
| 936 | 207 |
| 919 | 208 void uartGnss_ProcessData(uint8_t data) |
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209 { |
| 932 | 210 static uint16_t rxLength = 0; |
| 211 static uint8_t ck_A = 0; | |
| 212 static uint8_t ck_B = 0; | |
| 213 static uint8_t ck_A_Ref = 0; | |
| 214 static uint8_t ck_B_Ref = 0; | |
| 936 | 215 uint8_t activeSensor = 0; |
| 216 | |
| 217 sUartComCtrl* pUartCtrl = UART_GetGnssCtrl(); | |
| 218 | |
| 219 if(pUartCtrl == &Uart1Ctrl) | |
| 220 { | |
| 221 activeSensor = externalInterface_GetActiveUartSensor(); | |
| 222 gnssState = externalInterface_GetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET); | |
| 223 } | |
| 932 | 224 |
| 919 | 225 GNSS_Handle.uartWorkingBuffer[writeIndex++] = data; |
| 932 | 226 if((rxState >= GNSSRX_DETECT_HEADER_2) && (rxState < GNSSRX_READ_CK_A)) |
| 227 { | |
| 228 ck_A += data; | |
| 229 ck_B += ck_A; | |
| 230 } | |
| 231 | |
| 919 | 232 switch(rxState) |
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233 { |
| 919 | 234 case GNSSRX_DETECT_ACK_0: |
| 235 case GNSSRX_DETECT_HEADER_0: if(data == 0xB5) | |
| 236 { | |
| 237 writeIndex = 0; | |
| 932 | 238 memset(GNSS_Handle.uartWorkingBuffer,0xff, sizeof(GNSS_Handle.uartWorkingBuffer)); |
| 919 | 239 GNSS_Handle.uartWorkingBuffer[writeIndex++] = data; |
| 240 rxState++; | |
| 932 | 241 ck_A = 0; |
| 242 ck_B = 0; | |
| 919 | 243 } |
| 244 break; | |
| 245 case GNSSRX_DETECT_ACK_1: | |
| 246 case GNSSRX_DETECT_HEADER_1: if(data == 0x62) | |
| 247 { | |
| 248 rxState++; | |
| 249 } | |
| 250 else | |
| 251 { | |
| 252 rxState = GNSSRX_DETECT_HEADER_0; | |
| 253 } | |
| 254 break; | |
| 255 case GNSSRX_DETECT_ACK_2: if(data == 0x05) | |
| 256 { | |
| 257 rxState++; | |
| 258 } | |
| 259 else | |
| 260 { | |
| 261 rxState = GNSSRX_DETECT_HEADER_0; | |
| 262 } | |
| 263 break; | |
| 932 | 264 case GNSSRX_DETECT_ACK_3: if((data == 0x01)) |
| 919 | 265 { |
| 936 | 266 rxState = GNSSRX_READY; |
| 267 if(gnssState == UART_GNSS_PWRUP) | |
| 268 { | |
| 269 gnssState = UART_GNSS_IDLE; | |
| 270 } | |
| 271 else if(gnssState == UART_GNSS_PWRDOWN) | |
| 272 { | |
| 273 rxState = GNSSRX_DETECT_ACK_0; | |
| 274 UART_Gnss_SendCmd(GNSSCMD_SET_CONFIG); | |
| 275 gnssState = UART_GNSS_SETCONF; | |
| 276 } | |
| 277 else if(gnssState == UART_GNSS_SETCONF) | |
| 278 { | |
| 279 gnssState = UART_GNSS_INACTIVE; | |
| 280 } | |
| 281 else if((gnssState >= UART_GNSS_LOADCONF_0) && (gnssState <= UART_GNSS_LOADCONF_2)) | |
| 932 | 282 { |
| 283 if(gnssState == UART_GNSS_LOADCONF_2) | |
| 284 { | |
| 285 gnssState = UART_GNSS_IDLE; | |
| 286 } | |
| 287 else | |
| 288 { | |
| 289 gnssState++; | |
| 290 } | |
| 291 } | |
| 919 | 292 GnssConnected = 1; |
| 293 } | |
| 294 else | |
| 295 { | |
| 296 rxState = GNSSRX_DETECT_HEADER_0; | |
| 297 } | |
| 298 break; | |
| 932 | 299 case GNSSRX_DETECT_HEADER_2: if(data == activeRequest.class) |
| 919 | 300 { |
| 301 rxState++; | |
| 302 } | |
| 303 else | |
| 304 { | |
| 305 rxState = GNSSRX_DETECT_HEADER_0; | |
| 306 } | |
| 307 break; | |
| 932 | 308 case GNSSRX_DETECT_HEADER_3: if(data == activeRequest.id) |
| 309 { | |
| 310 rxState = GNSSRX_DETECT_LENGTH_0; | |
| 311 } | |
| 312 else | |
| 919 | 313 { |
| 932 | 314 rxState = GNSSRX_DETECT_HEADER_0; |
| 919 | 315 } |
| 932 | 316 break; |
| 317 case GNSSRX_DETECT_LENGTH_0: rxLength = GNSS_Handle.uartWorkingBuffer[4]; | |
| 318 rxState = GNSSRX_DETECT_LENGTH_1; | |
| 319 break; | |
| 320 case GNSSRX_DETECT_LENGTH_1: rxLength += (GNSS_Handle.uartWorkingBuffer[5] << 8); | |
| 321 rxState = GNSSRX_READ_DATA; | |
| 322 dataToRead = rxLength; | |
| 323 break; | |
| 324 case GNSSRX_READ_DATA: if(dataToRead > 0) | |
| 919 | 325 { |
| 326 dataToRead--; | |
| 327 } | |
| 932 | 328 if(dataToRead == 0) |
| 919 | 329 { |
| 932 | 330 rxState = GNSSRX_READ_CK_A; |
| 919 | 331 } |
| 332 break; | |
| 932 | 333 case GNSSRX_READ_CK_A: ck_A_Ref = data; |
| 334 rxState++; | |
| 335 break; | |
| 336 case GNSSRX_READ_CK_B: ck_B_Ref = data; | |
| 337 if((ck_A_Ref == ck_A) && (ck_B_Ref == ck_B)) | |
| 338 { | |
| 339 switch(gnssState) | |
| 340 { | |
| 341 case UART_GNSS_GET_PVT:GNSS_ParsePVTData(&GNSS_Handle); | |
| 342 break; | |
| 343 case UART_GNSS_GET_SAT: GNSS_ParseNavSatData(&GNSS_Handle); | |
| 344 break; | |
| 345 default: | |
| 346 break; | |
| 347 } | |
| 348 } | |
| 349 rxState = GNSSRX_DETECT_HEADER_0; | |
| 350 gnssState = UART_GNSS_IDLE; | |
| 351 break; | |
| 352 | |
| 919 | 353 default: rxState = GNSSRX_READY; |
| 354 break; | |
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355 } |
| 936 | 356 if(pUartCtrl == &Uart1Ctrl) |
| 357 { | |
| 358 externalInterface_SetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET,gnssState); | |
| 359 } | |
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360 } |
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361 |
| 919 | 362 uint8_t uartGnss_isSensorConnected() |
| 363 { | |
| 364 return GnssConnected; | |
| 365 } | |
| 366 | |
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367 #endif |
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368 |