Mercurial > public > ostc4
annotate Small_CPU/Src/uartProtocol_GNSS.c @ 934:406d498786e7 Evo_2_23
Position visualization:
Splitted view into two steps. In the first step only the number of available satellietes and 4 states are shown. If a fix (valid position) is available then the display shows the coordinates. This avoids misunderstandings because if there was once a position information then it will be provided even no valid fix is available.
| author | Ideenmodellierer |
|---|---|
| date | Sun, 08 Dec 2024 21:56:48 +0100 |
| parents | effadaa3a1f7 |
| children | 3029f0332f4f |
| 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 | |
| 39 static uint8_t writeIndex = 0; | |
| 40 | |
| 41 static uint8_t dataToRead = 0; | |
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42 |
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43 void ConvertByteToHexString(uint8_t byte, char* str) |
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44 { |
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45 uint8_t worker = 0; |
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46 uint8_t digit = 0; |
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47 uint8_t digitCnt = 1; |
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48 |
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49 worker = byte; |
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50 while((worker!=0) && (digitCnt != 255)) |
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51 { |
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52 digit = worker % 16; |
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53 if( digit < 10) |
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54 { |
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55 digit += '0'; |
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56 } |
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57 else |
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58 { |
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59 digit += 'A' - 10; |
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60 } |
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61 str[digitCnt--]= digit; |
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62 worker = worker / 16; |
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63 } |
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64 } |
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65 |
| 919 | 66 |
| 932 | 67 uartGnssStatus_t uartGnss_GetState() |
| 68 { | |
| 69 return gnssState; | |
| 70 } | |
| 71 void uartGnss_SetState(uartGnssStatus_t newState) | |
| 72 { | |
| 73 gnssState = newState; | |
| 74 } | |
| 75 | |
| 76 void UART_Gnss_SendCmd(uint8_t GnssCmd) | |
| 919 | 77 { |
| 922 | 78 const uint8_t* pData; |
| 919 | 79 uint8_t txLength = 0; |
| 80 | |
| 81 switch (GnssCmd) | |
| 82 { | |
| 83 case GNSSCMD_LOADCONF_0: pData = configUBX; | |
| 84 txLength = sizeof(configUBX) / sizeof(uint8_t); | |
| 85 break; | |
| 86 case GNSSCMD_LOADCONF_1: pData = setNMEA410; | |
| 87 txLength = sizeof(setNMEA410) / sizeof(uint8_t); | |
| 88 break; | |
| 89 case GNSSCMD_LOADCONF_2: pData = setGNSS; | |
| 90 txLength = sizeof(setGNSS) / sizeof(uint8_t); | |
| 91 break; | |
| 92 case GNSSCMD_GET_PVT_DATA: pData = getPVTData; | |
| 93 txLength = sizeof(getPVTData) / sizeof(uint8_t); | |
| 94 break; | |
| 95 case GNSSCMD_GET_NAV_DATA: pData = getNavigatorData; | |
| 96 txLength = sizeof(getNavigatorData) / sizeof(uint8_t); | |
| 97 break; | |
| 932 | 98 case GNSSCMD_GET_NAVSAT_DATA: pData = getNavSat; |
| 99 txLength = sizeof(getNavSat) / sizeof(uint8_t); | |
| 100 break; | |
| 919 | 101 default: |
| 102 break; | |
| 103 } | |
| 104 if(txLength != 0) | |
| 105 { | |
| 932 | 106 activeRequest.class = pData[2]; |
| 107 activeRequest.id = pData[3]; | |
| 919 | 108 UART_SendCmdUbx(pData, txLength); |
| 109 } | |
| 110 } | |
| 111 | |
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112 void uartGnss_Control(void) |
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113 { |
| 919 | 114 static uint32_t warmupTick = 0; |
| 932 | 115 static uint8_t dataToggle = 0; |
| 116 uint8_t activeSensor = 0; | |
| 117 sUartComCtrl* pUartCtrl = UART_GetGnssCtrl(); | |
| 118 // uartGnssStatus_t localComState; | |
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119 |
| 932 | 120 if(pUartCtrl == &Uart1Ctrl) |
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121 { |
| 932 | 122 activeSensor = externalInterface_GetActiveUartSensor(); |
| 123 gnssState = externalInterface_GetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET); | |
| 124 } | |
| 125 | |
| 126 switch (gnssState) | |
| 127 { | |
| 128 case UART_GNSS_INIT: gnssState = UART_GNSS_WARMUP; | |
| 919 | 129 warmupTick = HAL_GetTick(); |
| 932 | 130 UART_clearRxBuffer(pUartCtrl); |
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131 break; |
| 919 | 132 case UART_GNSS_WARMUP: if(time_elapsed_ms(warmupTick,HAL_GetTick()) > 1000) |
| 133 { | |
| 932 | 134 gnssState = UART_GNSS_LOADCONF_0; |
| 919 | 135 } |
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136 break; |
| 932 | 137 case UART_GNSS_LOADCONF_0: UART_Gnss_SendCmd(GNSSCMD_LOADCONF_0); |
| 138 rxState = GNSSRX_DETECT_ACK_0; | |
| 139 break; | |
| 140 case UART_GNSS_LOADCONF_1: UART_Gnss_SendCmd(GNSSCMD_LOADCONF_1); | |
| 141 rxState = GNSSRX_DETECT_ACK_0; | |
| 142 break; | |
| 143 case UART_GNSS_LOADCONF_2: UART_Gnss_SendCmd(GNSSCMD_LOADCONF_2); | |
| 919 | 144 rxState = GNSSRX_DETECT_ACK_0; |
| 145 break; | |
| 932 | 146 case UART_GNSS_IDLE: if(dataToggle) |
| 147 { | |
| 148 UART_Gnss_SendCmd(GNSSCMD_GET_PVT_DATA); | |
| 149 gnssState = UART_GNSS_GET_PVT; | |
| 150 rxState = GNSSRX_DETECT_HEADER_0; | |
| 151 dataToggle = 0; | |
| 152 } | |
| 153 else | |
| 154 { | |
| 155 UART_Gnss_SendCmd(GNSSCMD_GET_NAVSAT_DATA); | |
| 156 gnssState = UART_GNSS_GET_SAT; | |
| 157 rxState = GNSSRX_DETECT_HEADER_0; | |
| 158 dataToggle = 1; | |
| 159 } | |
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160 break; |
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161 default: |
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162 break; |
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163 } |
| 932 | 164 if(pUartCtrl == &Uart1Ctrl) |
| 165 { | |
| 166 externalInterface_SetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET,gnssState); | |
| 167 } | |
| 919 | 168 |
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169 } |
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170 |
| 919 | 171 void uartGnss_ProcessData(uint8_t data) |
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172 { |
| 932 | 173 static uint16_t rxLength = 0; |
| 174 static uint8_t ck_A = 0; | |
| 175 static uint8_t ck_B = 0; | |
| 176 static uint8_t ck_A_Ref = 0; | |
| 177 static uint8_t ck_B_Ref = 0; | |
| 178 | |
| 919 | 179 GNSS_Handle.uartWorkingBuffer[writeIndex++] = data; |
| 932 | 180 if((rxState >= GNSSRX_DETECT_HEADER_2) && (rxState < GNSSRX_READ_CK_A)) |
| 181 { | |
| 182 ck_A += data; | |
| 183 ck_B += ck_A; | |
| 184 } | |
| 185 | |
| 919 | 186 switch(rxState) |
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187 { |
| 919 | 188 case GNSSRX_DETECT_ACK_0: |
| 189 case GNSSRX_DETECT_HEADER_0: if(data == 0xB5) | |
| 190 { | |
| 191 writeIndex = 0; | |
| 932 | 192 memset(GNSS_Handle.uartWorkingBuffer,0xff, sizeof(GNSS_Handle.uartWorkingBuffer)); |
| 919 | 193 GNSS_Handle.uartWorkingBuffer[writeIndex++] = data; |
| 194 rxState++; | |
| 932 | 195 ck_A = 0; |
| 196 ck_B = 0; | |
| 919 | 197 } |
| 198 break; | |
| 199 case GNSSRX_DETECT_ACK_1: | |
| 200 case GNSSRX_DETECT_HEADER_1: if(data == 0x62) | |
| 201 { | |
| 202 rxState++; | |
| 203 } | |
| 204 else | |
| 205 { | |
| 206 rxState = GNSSRX_DETECT_HEADER_0; | |
| 207 } | |
| 208 break; | |
| 209 case GNSSRX_DETECT_ACK_2: if(data == 0x05) | |
| 210 { | |
| 211 rxState++; | |
| 212 } | |
| 213 else | |
| 214 { | |
| 215 rxState = GNSSRX_DETECT_HEADER_0; | |
| 216 } | |
| 217 break; | |
| 932 | 218 case GNSSRX_DETECT_ACK_3: if((data == 0x01)) |
| 919 | 219 { |
| 932 | 220 if((gnssState >= UART_GNSS_LOADCONF_0) && (gnssState <= UART_GNSS_LOADCONF_2)) |
| 221 { | |
| 222 if(gnssState == UART_GNSS_LOADCONF_2) | |
| 223 { | |
| 224 gnssState = UART_GNSS_IDLE; | |
| 225 } | |
| 226 else | |
| 227 { | |
| 228 gnssState++; | |
| 229 } | |
| 230 } | |
| 919 | 231 GnssConnected = 1; |
| 232 rxState = GNSSRX_READY; | |
| 233 } | |
| 234 else | |
| 235 { | |
| 236 rxState = GNSSRX_DETECT_HEADER_0; | |
| 237 } | |
| 238 break; | |
| 932 | 239 case GNSSRX_DETECT_HEADER_2: if(data == activeRequest.class) |
| 919 | 240 { |
| 241 rxState++; | |
| 242 } | |
| 243 else | |
| 244 { | |
| 245 rxState = GNSSRX_DETECT_HEADER_0; | |
| 246 } | |
| 247 break; | |
| 932 | 248 case GNSSRX_DETECT_HEADER_3: if(data == activeRequest.id) |
| 249 { | |
| 250 rxState = GNSSRX_DETECT_LENGTH_0; | |
| 251 } | |
| 252 else | |
| 919 | 253 { |
| 932 | 254 rxState = GNSSRX_DETECT_HEADER_0; |
| 919 | 255 } |
| 932 | 256 break; |
| 257 case GNSSRX_DETECT_LENGTH_0: rxLength = GNSS_Handle.uartWorkingBuffer[4]; | |
| 258 rxState = GNSSRX_DETECT_LENGTH_1; | |
| 259 break; | |
| 260 case GNSSRX_DETECT_LENGTH_1: rxLength += (GNSS_Handle.uartWorkingBuffer[5] << 8); | |
| 261 rxState = GNSSRX_READ_DATA; | |
| 262 dataToRead = rxLength; | |
| 263 break; | |
| 264 case GNSSRX_READ_DATA: if(dataToRead > 0) | |
| 919 | 265 { |
| 266 dataToRead--; | |
| 267 } | |
| 932 | 268 if(dataToRead == 0) |
| 919 | 269 { |
| 932 | 270 rxState = GNSSRX_READ_CK_A; |
| 919 | 271 } |
| 272 break; | |
| 932 | 273 case GNSSRX_READ_CK_A: ck_A_Ref = data; |
| 274 rxState++; | |
| 275 break; | |
| 276 case GNSSRX_READ_CK_B: ck_B_Ref = data; | |
| 277 if((ck_A_Ref == ck_A) && (ck_B_Ref == ck_B)) | |
| 278 { | |
| 279 switch(gnssState) | |
| 280 { | |
| 281 case UART_GNSS_GET_PVT:GNSS_ParsePVTData(&GNSS_Handle); | |
| 282 break; | |
| 283 case UART_GNSS_GET_SAT: GNSS_ParseNavSatData(&GNSS_Handle); | |
| 284 break; | |
| 285 default: | |
| 286 break; | |
| 287 } | |
| 288 } | |
| 289 rxState = GNSSRX_DETECT_HEADER_0; | |
| 290 gnssState = UART_GNSS_IDLE; | |
| 291 break; | |
| 292 | |
| 919 | 293 default: rxState = GNSSRX_READY; |
| 294 break; | |
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295 } |
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296 } |
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297 |
| 919 | 298 uint8_t uartGnss_isSensorConnected() |
| 299 { | |
| 300 return GnssConnected; | |
| 301 } | |
| 302 | |
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303 #endif |
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304 |