Mercurial > public > ostc4
annotate Small_CPU/Inc/GNSS.h @ 1028:3d9552e4997c GasConsumption
Code improvment: line <=> menu id function:
In generell the structure of the menus is defined by the tStructure.h using global state defines. In some implementation hardcoded line numbers are used. Risk: In case the order of menu items change the update of other code sections could be forgotten (in the case the update of the top menu) causing unintended behavior. To avoid this the hard coded lines have been replaced by a function connecting the intended function to the menu item defined in the tstructure.h.
| author | Ideenmodellierer |
|---|---|
| date | Sun, 07 Sep 2025 19:08:43 +0200 |
| parents | efb7d18cc564 |
| children |
| rev | line source |
|---|---|
| 887 | 1 /* |
| 2 * GNSS.h | |
| 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 #ifndef INC_GNSS_H_ | |
| 30 #define INC_GNSS_H_ | |
| 31 | |
| 32 #include "stm32f4xx_hal.h" | |
| 33 | |
| 34 union u_Short | |
| 35 { | |
| 36 uint8_t bytes[2]; | |
| 37 unsigned short uShort; | |
| 38 }; | |
| 39 | |
| 40 union i_Short | |
| 41 { | |
| 42 uint8_t bytes[2]; | |
| 43 signed short iShort; | |
| 44 }; | |
| 45 | |
| 46 union u_Long | |
| 47 { | |
| 48 uint8_t bytes[4]; | |
| 49 unsigned long uLong; | |
| 50 }; | |
| 51 | |
| 52 union i_Long | |
| 53 { | |
| 54 uint8_t bytes[4]; | |
| 55 signed long iLong; | |
| 56 }; | |
| 57 | |
| 58 typedef struct | |
| 59 { | |
| 60 UART_HandleTypeDef *huart; | |
| 61 | |
| 62 uint8_t uniqueID[4]; | |
| 931 | 63 uint8_t uartWorkingBuffer[255]; |
| 887 | 64 |
| 65 unsigned short year; | |
| 66 uint8_t yearBytes[2]; | |
| 67 uint8_t month; | |
| 68 uint8_t day; | |
| 69 uint8_t hour; | |
| 70 uint8_t min; | |
| 71 uint8_t sec; | |
| 72 uint8_t fixType; | |
| 73 | |
| 74 signed long lon; | |
| 75 uint8_t lonBytes[4]; | |
| 76 signed long lat; | |
| 77 uint8_t latBytes[4]; | |
| 78 float fLon; | |
| 79 float fLat; | |
| 80 | |
| 81 signed long height; | |
| 82 signed long hMSL; | |
| 83 uint8_t hMSLBytes[4]; | |
| 84 unsigned long hAcc; | |
| 85 unsigned long vAcc; | |
| 86 | |
| 87 signed long gSpeed; | |
| 88 uint8_t gSpeedBytes[4]; | |
| 89 signed long headMot; | |
| 90 | |
| 931 | 91 uint8_t numSat; |
| 92 uint8_t statSat[4]; | |
| 93 | |
| 940 | 94 uint8_t alive; |
| 95 | |
| 955 | 96 float last_fLon; /* last known position storage and time stamp */ |
| 97 float last_fLat; | |
| 98 float last_hour; | |
| 99 | |
| 887 | 100 }GNSS_StateHandle; |
| 101 | |
| 102 GNSS_StateHandle GNSS_Handle; | |
| 103 | |
| 1000 | 104 typedef struct { |
| 105 uint8_t header1; | |
| 106 uint8_t header2; | |
| 107 uint8_t msgClass; | |
| 108 uint8_t msgID; | |
| 109 uint16_t length; | |
| 110 uint8_t type; | |
| 111 uint8_t version; | |
| 112 uint8_t ref; | |
| 113 uint8_t leapsec; | |
| 114 uint16_t year; | |
| 115 uint8_t month; | |
| 116 uint8_t day; | |
| 117 uint8_t hour; | |
| 118 uint8_t minute; | |
| 119 uint8_t second; | |
| 120 uint8_t flags; | |
| 121 uint32_t nanoseconds; | |
| 122 uint16_t accuracy_seconds; | |
| 123 uint16_t reserved; | |
| 124 uint32_t accuracy_nano; | |
|
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125 } __attribute__((packed)) UBX_MGA_INI_TIME_UTC_t; |
| 1000 | 126 |
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127 typedef struct { |
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DevelopmentOption: added the possibility to provide a fixed position info to the gnss module. Code is deactivated at the moment.
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128 uint8_t header1; |
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129 uint8_t header2; |
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130 uint8_t class_id; |
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DevelopmentOption: added the possibility to provide a fixed position info to the gnss module. Code is deactivated at the moment.
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parents:
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131 uint8_t msg_id; |
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efb7d18cc564
DevelopmentOption: added the possibility to provide a fixed position info to the gnss module. Code is deactivated at the moment.
Ideenmodellierer
parents:
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changeset
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132 uint16_t length; |
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efb7d18cc564
DevelopmentOption: added the possibility to provide a fixed position info to the gnss module. Code is deactivated at the moment.
Ideenmodellierer
parents:
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133 uint8_t type; |
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DevelopmentOption: added the possibility to provide a fixed position info to the gnss module. Code is deactivated at the moment.
Ideenmodellierer
parents:
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134 uint8_t version; |
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efb7d18cc564
DevelopmentOption: added the possibility to provide a fixed position info to the gnss module. Code is deactivated at the moment.
Ideenmodellierer
parents:
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135 uint16_t reserved; |
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efb7d18cc564
DevelopmentOption: added the possibility to provide a fixed position info to the gnss module. Code is deactivated at the moment.
Ideenmodellierer
parents:
1000
diff
changeset
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136 int32_t latitude; |
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efb7d18cc564
DevelopmentOption: added the possibility to provide a fixed position info to the gnss module. Code is deactivated at the moment.
Ideenmodellierer
parents:
1000
diff
changeset
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137 int32_t longitude; |
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efb7d18cc564
DevelopmentOption: added the possibility to provide a fixed position info to the gnss module. Code is deactivated at the moment.
Ideenmodellierer
parents:
1000
diff
changeset
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138 int32_t altitude; |
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efb7d18cc564
DevelopmentOption: added the possibility to provide a fixed position info to the gnss module. Code is deactivated at the moment.
Ideenmodellierer
parents:
1000
diff
changeset
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139 uint32_t accuracy; |
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efb7d18cc564
DevelopmentOption: added the possibility to provide a fixed position info to the gnss module. Code is deactivated at the moment.
Ideenmodellierer
parents:
1000
diff
changeset
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140 } __attribute__((packed)) UBX_MGA_INI_POS_LLH_t; |
| 1000 | 141 |
| 887 | 142 |
| 143 enum GNSSMode{Portable=0, Stationary=1, Pedestrian=2, Automotiv=3, Airbone1G=5, Airbone2G=6,Airbone4G=7,Wirst=8,Bike=9}; | |
| 144 | |
| 933 | 145 static const uint8_t configUBX[]={0xB5,0x62,0x06,0x00,0x14,0x00,0x01,0x00,0x00,0x00,0xD0,0x08,0x00,0x00,0x80,0x25,0x00,0x00,0x01,0x00,0x01,0x00,0x00,0x00,0x00,0x00}; |
| 887 | 146 |
| 933 | 147 static const uint8_t setNMEA410[]={0xB5,0x62,0x06,0x17,0x14,0x00,0x00,0x41,0x00,0x02,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}; |
| 887 | 148 |
| 149 //Activation of navigation system: Galileo, Glonass, GPS, SBAS, IMES | |
| 933 | 150 static const uint8_t setGNSS[]={0xB5,0x62,0x06,0x3E,0x24,0x00,0x00,0x00,0x20,0x04,0x00,0x08,0x10,0x00,0x01,0x00,0x01,0x01,0x01,0x01,0x03,0x00,0x01,0x00,0x01,0x01,0x02,0x04,0x08,0x00,0x01,0x00,0x01,0x01,0x06,0x08,0x0E,0x00,0x01,0x00,0x01,0x01}; |
| 887 | 151 |
| 933 | 152 static const uint8_t getDeviceID[]={0xB5,0x62,0x27,0x03,0x00,0x00}; |
| 887 | 153 |
| 933 | 154 static const uint8_t getNavigatorData[]={0xB5,0x62,0x01,0x21,0x00,0x00}; |
| 931 | 155 |
| 933 | 156 static const uint8_t getPOSLLHData[]={0xB5,0x62,0x01,0x02,0x00,0x00}; |
| 887 | 157 |
| 933 | 158 static const uint8_t getPVTData[]={0xB5,0x62,0x01,0x07,0x00,0x00}; |
| 887 | 159 |
| 933 | 160 static const uint8_t getNavSat[]={0xB5,0x62,0x01,0x35,0x00,0x00}; |
| 887 | 161 |
| 948 | 162 static const uint8_t setPowerLow[]={0xB5,0x62,0x06,0x86,0x08,0x00,0x00,0x02,0x10,0x0E,0x14,0x00,0x00,0x00}; |
| 936 | 163 |
| 939 | 164 static const uint8_t setPowerNormal[]={0xB5,0x62,0x06,0x86,0x08,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}; |
| 887 | 165 |
| 1000 | 166 /* UBX-CFG-NAV5 */ |
| 933 | 167 static const uint8_t setPortableMode[]={0xB5,0x62,0x06,0x24,0x24,0x00,0xFF,0xFF,0x00,0x03,0x00,0x00,0x00,0x00,0x10,0x27,0x00,0x00,0x05,0x00,0xFA,0x00,0xFA,0x00,0x64,0x00,0x5E,0x01,0x00,0x3C,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}; |
| 168 static const uint8_t setPedestrianMode[]={0xB5,0x62,0x06,0x24,0x24,0x00,0xFF,0xFF,0x03,0x03,0x00,0x00,0x00,0x00,0x10,0x27,0x00,0x00,0x05,0x00,0xFA,0x00,0xFA,0x00,0x64,0x00,0x5E,0x01,0x00,0x3C,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}; | |
| 169 | |
| 936 | 170 static const uint8_t setConfig[]={0xB5,0x62,0x06,0x09,0x0D,0x00, 0x00,0x00,0x00,0x00, 0x18,0x00,0x00,0x00, 0x00,0x00,0x00,0x00, 0x01}; |
| 1000 | 171 /* UBX-MGA-INI-TIME_UTC */ |
| 172 static const uint8_t setDateTime[] = {0xB5,0x62,0x13,0x40,0x18,0x00,0x10,0x00,0x00,0x80,0x07,0xE9,0x01,0x02,0x03,0x04,0x05,0x00,0x01,0x02,0x03,0x04,0x00,0x3C,0x00,0x00,0x00,0x00,0x00,0x00}; | |
| 887 | 173 |
| 174 static const uint8_t setPortableType[]={}; | |
| 175 void GNSS_Init(GNSS_StateHandle *GNSS, UART_HandleTypeDef *huart); | |
| 176 void GNSS_LoadConfig(GNSS_StateHandle *GNSS); | |
|
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Added data path and visualization for position data:
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177 uint8_t GNSS_ParseBuffer(GNSS_StateHandle *GNSS); |
| 887 | 178 |
| 179 void GNSS_GetUniqID(GNSS_StateHandle *GNSS); | |
| 180 void GNSS_ParseUniqID(GNSS_StateHandle *GNSS); | |
| 181 | |
| 182 void GNSS_GetNavigatorData(GNSS_StateHandle *GNSS); | |
| 183 void GNSS_ParseNavigatorData(GNSS_StateHandle *GNSS); | |
| 931 | 184 void GNSS_ParseNavSatData(GNSS_StateHandle *GNSS); |
| 887 | 185 |
| 186 void GNSS_GetPOSLLHData(GNSS_StateHandle *GNSS); | |
| 187 void GNSS_ParsePOSLLHData(GNSS_StateHandle *GNSS); | |
| 188 | |
| 189 void GNSS_GetPVTData(GNSS_StateHandle *GNSS); | |
| 190 void GNSS_ParsePVTData(GNSS_StateHandle *GNSS); | |
| 191 | |
| 192 void GNSS_SetMode(GNSS_StateHandle *GNSS, short gnssMode); | |
| 193 #endif /* INC_GNSS_H_ */ | |
| 194 | |
| 195 | |
| 196 |