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annotate Small_CPU/Src/uartProtocol_GNSS.c @ 933:43055e069bd1 Evo_2_23

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UART Gnss: Added fletcher calculation: Communication is verified using the Fletcher check. In the example code the commands were har coded including the check bytes. To make definition of new commands easier the check bytes are now calculated at runtime. This may be referted to hardcoded values once the implementation is getting a mature state.
author Ideenmodellierer
date Sun, 08 Dec 2024 17:38:16 +0100
parents effadaa3a1f7
children 3029f0332f4f
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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>&copy; 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"
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27 #include "configuration.h"
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28 #include "externalInterface.h"
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29
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30
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31 #if defined ENABLE_GNSS || defined ENABLE_GNSS_SUPPORT || defined ENABLE_GPIO_V2
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32
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33 static uartGnssStatus_t gnssState = UART_GNSS_INIT;
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34 static gnssRequest_s activeRequest = {0,0};
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35
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36 static receiveStateGnss_t rxState = GNSSRX_READY;
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37 static uint8_t GnssConnected = 0; /* Binary indicator if a sensor is connected or not */
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38
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39 static uint8_t writeIndex = 0;
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40
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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
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66
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67 uartGnssStatus_t uartGnss_GetState()
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68 {
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69 return gnssState;
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70 }
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71 void uartGnss_SetState(uartGnssStatus_t newState)
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72 {
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73 gnssState = newState;
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74 }
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75
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76 void UART_Gnss_SendCmd(uint8_t GnssCmd)
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77 {
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78 const uint8_t* pData;
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79 uint8_t txLength = 0;
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80
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81 switch (GnssCmd)
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82 {
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83 case GNSSCMD_LOADCONF_0: pData = configUBX;
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84 txLength = sizeof(configUBX) / sizeof(uint8_t);
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85 break;
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86 case GNSSCMD_LOADCONF_1: pData = setNMEA410;
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87 txLength = sizeof(setNMEA410) / sizeof(uint8_t);
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88 break;
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89 case GNSSCMD_LOADCONF_2: pData = setGNSS;
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90 txLength = sizeof(setGNSS) / sizeof(uint8_t);
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91 break;
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92 case GNSSCMD_GET_PVT_DATA: pData = getPVTData;
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93 txLength = sizeof(getPVTData) / sizeof(uint8_t);
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94 break;
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95 case GNSSCMD_GET_NAV_DATA: pData = getNavigatorData;
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96 txLength = sizeof(getNavigatorData) / sizeof(uint8_t);
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97 break;
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98 case GNSSCMD_GET_NAVSAT_DATA: pData = getNavSat;
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99 txLength = sizeof(getNavSat) / sizeof(uint8_t);
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100 break;
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101 default:
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102 break;
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103 }
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104 if(txLength != 0)
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105 {
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106 activeRequest.class = pData[2];
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107 activeRequest.id = pData[3];
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108 UART_SendCmdUbx(pData, txLength);
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109 }
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110 }
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111
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112 void uartGnss_Control(void)
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113 {
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114 static uint32_t warmupTick = 0;
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115 static uint8_t dataToggle = 0;
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116 uint8_t activeSensor = 0;
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117 sUartComCtrl* pUartCtrl = UART_GetGnssCtrl();
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118 // uartGnssStatus_t localComState;
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119
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120 if(pUartCtrl == &Uart1Ctrl)
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121 {
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122 activeSensor = externalInterface_GetActiveUartSensor();
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123 gnssState = externalInterface_GetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET);
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124 }
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125
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126 switch (gnssState)
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127 {
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128 case UART_GNSS_INIT: gnssState = UART_GNSS_WARMUP;
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129 warmupTick = HAL_GetTick();
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130 UART_clearRxBuffer(pUartCtrl);
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131 break;
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132 case UART_GNSS_WARMUP: if(time_elapsed_ms(warmupTick,HAL_GetTick()) > 1000)
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133 {
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134 gnssState = UART_GNSS_LOADCONF_0;
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135 }
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136 break;
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137 case UART_GNSS_LOADCONF_0: UART_Gnss_SendCmd(GNSSCMD_LOADCONF_0);
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138 rxState = GNSSRX_DETECT_ACK_0;
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139 break;
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140 case UART_GNSS_LOADCONF_1: UART_Gnss_SendCmd(GNSSCMD_LOADCONF_1);
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141 rxState = GNSSRX_DETECT_ACK_0;
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142 break;
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143 case UART_GNSS_LOADCONF_2: UART_Gnss_SendCmd(GNSSCMD_LOADCONF_2);
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144 rxState = GNSSRX_DETECT_ACK_0;
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145 break;
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146 case UART_GNSS_IDLE: if(dataToggle)
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147 {
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148 UART_Gnss_SendCmd(GNSSCMD_GET_PVT_DATA);
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149 gnssState = UART_GNSS_GET_PVT;
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150 rxState = GNSSRX_DETECT_HEADER_0;
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151 dataToggle = 0;
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152 }
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153 else
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154 {
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155 UART_Gnss_SendCmd(GNSSCMD_GET_NAVSAT_DATA);
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156 gnssState = UART_GNSS_GET_SAT;
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157 rxState = GNSSRX_DETECT_HEADER_0;
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158 dataToggle = 1;
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159 }
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160 break;
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161 default:
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162 break;
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163 }
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164 if(pUartCtrl == &Uart1Ctrl)
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165 {
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166 externalInterface_SetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET,gnssState);
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diff changeset
167 }
919
c0553dd70608 GNSS support for external UART interface:
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diff changeset
168
899
2225c467f1e9 Added data path and visualization for position data:
Ideenmodellierer
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169 }
2225c467f1e9 Added data path and visualization for position data:
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diff changeset
170
919
c0553dd70608 GNSS support for external UART interface:
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diff changeset
171 void uartGnss_ProcessData(uint8_t data)
899
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172 {
932
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diff changeset
173 static uint16_t rxLength = 0;
effadaa3a1f7 Cleanup Gnss UART implementation:
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diff changeset
174 static uint8_t ck_A = 0;
effadaa3a1f7 Cleanup Gnss UART implementation:
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diff changeset
175 static uint8_t ck_B = 0;
effadaa3a1f7 Cleanup Gnss UART implementation:
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diff changeset
176 static uint8_t ck_A_Ref = 0;
effadaa3a1f7 Cleanup Gnss UART implementation:
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diff changeset
177 static uint8_t ck_B_Ref = 0;
effadaa3a1f7 Cleanup Gnss UART implementation:
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diff changeset
178
919
c0553dd70608 GNSS support for external UART interface:
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diff changeset
179 GNSS_Handle.uartWorkingBuffer[writeIndex++] = data;
932
effadaa3a1f7 Cleanup Gnss UART implementation:
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diff changeset
180 if((rxState >= GNSSRX_DETECT_HEADER_2) && (rxState < GNSSRX_READ_CK_A))
effadaa3a1f7 Cleanup Gnss UART implementation:
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diff changeset
181 {
effadaa3a1f7 Cleanup Gnss UART implementation:
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diff changeset
182 ck_A += data;
effadaa3a1f7 Cleanup Gnss UART implementation:
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diff changeset
183 ck_B += ck_A;
effadaa3a1f7 Cleanup Gnss UART implementation:
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diff changeset
184 }
effadaa3a1f7 Cleanup Gnss UART implementation:
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diff changeset
185
919
c0553dd70608 GNSS support for external UART interface:
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diff changeset
186 switch(rxState)
899
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diff changeset
187 {
919
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diff changeset
188 case GNSSRX_DETECT_ACK_0:
c0553dd70608 GNSS support for external UART interface:
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diff changeset
189 case GNSSRX_DETECT_HEADER_0: if(data == 0xB5)
c0553dd70608 GNSS support for external UART interface:
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diff changeset
190 {
c0553dd70608 GNSS support for external UART interface:
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diff changeset
191 writeIndex = 0;
932
effadaa3a1f7 Cleanup Gnss UART implementation:
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diff changeset
192 memset(GNSS_Handle.uartWorkingBuffer,0xff, sizeof(GNSS_Handle.uartWorkingBuffer));
919
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diff changeset
193 GNSS_Handle.uartWorkingBuffer[writeIndex++] = data;
c0553dd70608 GNSS support for external UART interface:
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diff changeset
194 rxState++;
932
effadaa3a1f7 Cleanup Gnss UART implementation:
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diff changeset
195 ck_A = 0;
effadaa3a1f7 Cleanup Gnss UART implementation:
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diff changeset
196 ck_B = 0;
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c0553dd70608 GNSS support for external UART interface:
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diff changeset
197 }
c0553dd70608 GNSS support for external UART interface:
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diff changeset
198 break;
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diff changeset
199 case GNSSRX_DETECT_ACK_1:
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diff changeset
200 case GNSSRX_DETECT_HEADER_1: if(data == 0x62)
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
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diff changeset
201 {
c0553dd70608 GNSS support for external UART interface:
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diff changeset
202 rxState++;
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
203 }
c0553dd70608 GNSS support for external UART interface:
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parents: 899
diff changeset
204 else
c0553dd70608 GNSS support for external UART interface:
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parents: 899
diff changeset
205 {
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diff changeset
206 rxState = GNSSRX_DETECT_HEADER_0;
c0553dd70608 GNSS support for external UART interface:
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diff changeset
207 }
c0553dd70608 GNSS support for external UART interface:
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diff changeset
208 break;
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diff changeset
209 case GNSSRX_DETECT_ACK_2: if(data == 0x05)
c0553dd70608 GNSS support for external UART interface:
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diff changeset
210 {
c0553dd70608 GNSS support for external UART interface:
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diff changeset
211 rxState++;
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
212 }
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
213 else
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
214 {
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
215 rxState = GNSSRX_DETECT_HEADER_0;
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
216 }
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
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diff changeset
217 break;
932
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
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diff changeset
218 case GNSSRX_DETECT_ACK_3: if((data == 0x01))
919
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
219 {
932
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
220 if((gnssState >= UART_GNSS_LOADCONF_0) && (gnssState <= UART_GNSS_LOADCONF_2))
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
221 {
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
222 if(gnssState == UART_GNSS_LOADCONF_2)
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
223 {
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
224 gnssState = UART_GNSS_IDLE;
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
225 }
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
226 else
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
227 {
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
228 gnssState++;
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
229 }
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
230 }
919
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
231 GnssConnected = 1;
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
232 rxState = GNSSRX_READY;
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
233 }
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
234 else
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
235 {
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
236 rxState = GNSSRX_DETECT_HEADER_0;
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
237 }
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
238 break;
932
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
239 case GNSSRX_DETECT_HEADER_2: if(data == activeRequest.class)
919
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
240 {
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
241 rxState++;
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
242 }
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
243 else
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
244 {
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
245 rxState = GNSSRX_DETECT_HEADER_0;
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
246 }
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
247 break;
932
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
248 case GNSSRX_DETECT_HEADER_3: if(data == activeRequest.id)
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
249 {
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
250 rxState = GNSSRX_DETECT_LENGTH_0;
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
251 }
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
252 else
919
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
253 {
932
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
254 rxState = GNSSRX_DETECT_HEADER_0;
919
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
255 }
932
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
256 break;
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
257 case GNSSRX_DETECT_LENGTH_0: rxLength = GNSS_Handle.uartWorkingBuffer[4];
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
258 rxState = GNSSRX_DETECT_LENGTH_1;
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
259 break;
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
260 case GNSSRX_DETECT_LENGTH_1: rxLength += (GNSS_Handle.uartWorkingBuffer[5] << 8);
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
261 rxState = GNSSRX_READ_DATA;
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
262 dataToRead = rxLength;
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
263 break;
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
264 case GNSSRX_READ_DATA: if(dataToRead > 0)
919
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
265 {
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
266 dataToRead--;
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
267 }
932
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
268 if(dataToRead == 0)
919
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
269 {
932
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
270 rxState = GNSSRX_READ_CK_A;
919
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
271 }
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
272 break;
932
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
273 case GNSSRX_READ_CK_A: ck_A_Ref = data;
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
274 rxState++;
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
275 break;
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
276 case GNSSRX_READ_CK_B: ck_B_Ref = data;
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
277 if((ck_A_Ref == ck_A) && (ck_B_Ref == ck_B))
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
278 {
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
279 switch(gnssState)
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
280 {
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
281 case UART_GNSS_GET_PVT:GNSS_ParsePVTData(&GNSS_Handle);
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
282 break;
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
283 case UART_GNSS_GET_SAT: GNSS_ParseNavSatData(&GNSS_Handle);
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
284 break;
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
285 default:
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
286 break;
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
287 }
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
288 }
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
289 rxState = GNSSRX_DETECT_HEADER_0;
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
290 gnssState = UART_GNSS_IDLE;
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
291 break;
effadaa3a1f7 Cleanup Gnss UART implementation:
Ideenmodellierer
parents: 922
diff changeset
292
919
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
293 default: rxState = GNSSRX_READY;
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
294 break;
899
2225c467f1e9 Added data path and visualization for position data:
Ideenmodellierer
parents:
diff changeset
295 }
2225c467f1e9 Added data path and visualization for position data:
Ideenmodellierer
parents:
diff changeset
296 }
2225c467f1e9 Added data path and visualization for position data:
Ideenmodellierer
parents:
diff changeset
297
919
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
298 uint8_t uartGnss_isSensorConnected()
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
299 {
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
300 return GnssConnected;
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
301 }
c0553dd70608 GNSS support for external UART interface:
Ideenmodellierer
parents: 899
diff changeset
302
899
2225c467f1e9 Added data path and visualization for position data:
Ideenmodellierer
parents:
diff changeset
303 #endif
2225c467f1e9 Added data path and visualization for position data:
Ideenmodellierer
parents:
diff changeset
304