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+ − 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
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+ − 29 #include <string.h>
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+ − 30 #include "GNSS.h"
+ − 31
+ − 32 union u_Short uShort;
+ − 33 union i_Short iShort;
+ − 34 union u_Long uLong;
+ − 35 union i_Long iLong;
+ − 36
+ − 37 /*!
+ − 38 * Structure initialization.
+ − 39 * @param GNSS Pointer to main GNSS structure.
+ − 40 * @param huart Pointer to uart handle.
+ − 41 */
+ − 42 void GNSS_Init(GNSS_StateHandle *GNSS, UART_HandleTypeDef *huart) {
+ − 43 GNSS->huart = huart;
+ − 44 GNSS->year = 0;
+ − 45 GNSS->month = 0;
+ − 46 GNSS->day = 0;
+ − 47 GNSS->hour = 0;
+ − 48 GNSS->min = 0;
+ − 49 GNSS->sec = 0;
+ − 50 GNSS->fixType = 0;
+ − 51 GNSS->lon = 0;
+ − 52 GNSS->lat = 0;
+ − 53 GNSS->height = 0;
+ − 54 GNSS->hMSL = 0;
+ − 55 GNSS->hAcc = 0;
+ − 56 GNSS->vAcc = 0;
+ − 57 GNSS->gSpeed = 0;
+ − 58 GNSS->headMot = 0;
+ − 59 }
+ − 60
+ − 61 /*!
+ − 62 * Parse data to unique chip ID standard.
+ − 63 * Look at: 32.19.1.1 u-blox 8 Receiver description
+ − 64 * @param GNSS Pointer to main GNSS structure.
+ − 65 */
+ − 66 void GNSS_ParseUniqID(GNSS_StateHandle *GNSS) {
+ − 67 for (int var = 0; var < 5; ++var) {
+ − 68 GNSS->uniqueID[var] = GNSS_Handle.uartWorkingBuffer[10 + var];
+ − 69 }
+ − 70 }
+ − 71
+ − 72 /*!
+ − 73 * Parse data to navigation position velocity time solution standard.
+ − 74 * Look at: 32.17.15.1 u-blox 8 Receiver description.
+ − 75 * @param GNSS Pointer to main GNSS structure.
+ − 76 */
+ − 77 void GNSS_ParsePVTData(GNSS_StateHandle *GNSS) {
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+ − 78
+ − 79 static float searchCnt = 1.0;
+ − 80
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+ − 81 uShort.bytes[0] = GNSS_Handle.uartWorkingBuffer[10];
+ − 82 GNSS->yearBytes[0]=GNSS_Handle.uartWorkingBuffer[10];
+ − 83 uShort.bytes[1] = GNSS_Handle.uartWorkingBuffer[11];
+ − 84 GNSS->yearBytes[1]=GNSS_Handle.uartWorkingBuffer[11];
+ − 85 GNSS->year = uShort.uShort;
+ − 86 GNSS->month = GNSS_Handle.uartWorkingBuffer[12];
+ − 87 GNSS->day = GNSS_Handle.uartWorkingBuffer[13];
+ − 88 GNSS->hour = GNSS_Handle.uartWorkingBuffer[14];
+ − 89 GNSS->min = GNSS_Handle.uartWorkingBuffer[15];
+ − 90 GNSS->sec = GNSS_Handle.uartWorkingBuffer[16];
+ − 91 GNSS->fixType = GNSS_Handle.uartWorkingBuffer[26];
+ − 92
+ − 93 for (int var = 0; var < 4; ++var) {
+ − 94 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 30];
+ − 95 GNSS->lonBytes[var]= GNSS_Handle.uartWorkingBuffer[var + 30];
+ − 96 }
+ − 97 GNSS->lon = iLong.iLong;
+ − 98 GNSS->fLon=(float)iLong.iLong/10000000.0;
+ − 99 for (int var = 0; var < 4; ++var) {
+ − 100 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 34];
+ − 101 GNSS->latBytes[var]=GNSS_Handle.uartWorkingBuffer[var + 34];
+ − 102 }
+ − 103 GNSS->lat = iLong.iLong;
+ − 104 GNSS->fLat=(float)iLong.iLong/10000000.0;
+ − 105 for (int var = 0; var < 4; ++var) {
+ − 106 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 38];
+ − 107 }
+ − 108 GNSS->height = iLong.iLong;
+ − 109
+ − 110 for (int var = 0; var < 4; ++var) {
+ − 111 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 42];
+ − 112 GNSS->hMSLBytes[var] = GNSS_Handle.uartWorkingBuffer[var + 42];
+ − 113 }
+ − 114 GNSS->hMSL = iLong.iLong;
+ − 115
+ − 116 for (int var = 0; var < 4; ++var) {
+ − 117 uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 46];
+ − 118 }
+ − 119 GNSS->hAcc = uLong.uLong;
+ − 120
+ − 121 for (int var = 0; var < 4; ++var) {
+ − 122 uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 50];
+ − 123 }
+ − 124 GNSS->vAcc = uLong.uLong;
+ − 125
+ − 126 for (int var = 0; var < 4; ++var) {
+ − 127 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 66];
+ − 128 GNSS->gSpeedBytes[var] = GNSS_Handle.uartWorkingBuffer[var + 66];
+ − 129 }
+ − 130 GNSS->gSpeed = iLong.iLong;
+ − 131
+ − 132 for (int var = 0; var < 4; ++var) {
+ − 133 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 70];
+ − 134 }
+ − 135 GNSS->headMot = iLong.iLong * 1e-5; // todo I'm not sure this good options.
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+ − 136
+ − 137 if((GNSS->fLat == 0.0) && (GNSS->fLon == 0.0))
+ − 138 {
+ − 139 GNSS->fLat = searchCnt++;
+ − 140 }
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+ − 141
+ − 142 GNSS->alive = !GNSS->alive;
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+ − 143 }
+ − 144
+ − 145 /*!
+ − 146 * Parse data to UTC time solution standard.
+ − 147 * Look at: 32.17.30.1 u-blox 8 Receiver description.
+ − 148 * @param GNSS Pointer to main GNSS structure.
+ − 149 */
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+ − 150 void GNSS_ParseNavSatData(GNSS_StateHandle *GNSS) {
+ − 151
+ − 152 uint8_t loop = 0;
+ − 153 uint8_t searchIndex = 0;
+ − 154 uint8_t statIndex = 0; /* only 4 state information will be forwarded */
+ − 155 uint8_t signalQuality = 0;
+ − 156 GNSS->numSat = GNSS_Handle.uartWorkingBuffer[11];
+ − 157
+ − 158 memset(GNSS->statSat, 0, sizeof(GNSS->statSat));
+ − 159
+ − 160 if(GNSS->numSat > 0)
+ − 161 {
+ − 162 searchIndex = 0;
+ − 163 while((searchIndex < GNSS->numSat) && (statIndex < 4)) /* get good signal quality */
+ − 164 {
+ − 165 signalQuality = (GNSS_Handle.uartWorkingBuffer[22 + searchIndex * 12] & 0x7);
+ − 166 if(signalQuality > 4)
+ − 167 {
+ − 168 GNSS->statSat[statIndex++] = signalQuality;
+ − 169 }
+ − 170 if(statIndex == 4) break;
+ − 171 searchIndex++;
+ − 172 }
+ − 173 searchIndex = 0;
+ − 174 while((searchIndex < GNSS->numSat) && (statIndex < 4)) /* get medium signal quality */
+ − 175 {
+ − 176 signalQuality = (GNSS_Handle.uartWorkingBuffer[22 + searchIndex * 12] & 0x7);
+ − 177 if((signalQuality > 2) && (signalQuality <= 4))
+ − 178 {
+ − 179 GNSS->statSat[statIndex++] = signalQuality;
+ − 180 }
+ − 181 if(statIndex == 4) break;
+ − 182 searchIndex++;
+ − 183 }
+ − 184 searchIndex = 0;
+ − 185 while((searchIndex < GNSS->numSat) && (statIndex < 4)) /* get poor signal quality */
+ − 186 {
+ − 187 signalQuality = (GNSS_Handle.uartWorkingBuffer[22 + searchIndex * 12] & 0x7);
+ − 188 if(signalQuality <= 2)
+ − 189 {
+ − 190 GNSS->statSat[statIndex++] = signalQuality;
+ − 191 }
+ − 192 if(statIndex == 4) break;
+ − 193 searchIndex++;
+ − 194 }
+ − 195 loop++;
+ − 196 }
+ − 197 }
+ − 198
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+ − 199 void GNSS_ParseNavigatorData(GNSS_StateHandle *GNSS) {
+ − 200 uShort.bytes[0] = GNSS_Handle.uartWorkingBuffer[18];
+ − 201 uShort.bytes[1] = GNSS_Handle.uartWorkingBuffer[19];
+ − 202 GNSS->year = uShort.uShort;
+ − 203 GNSS->month = GNSS_Handle.uartWorkingBuffer[20];
+ − 204 GNSS->day = GNSS_Handle.uartWorkingBuffer[21];
+ − 205 GNSS->hour = GNSS_Handle.uartWorkingBuffer[22];
+ − 206 GNSS->min = GNSS_Handle.uartWorkingBuffer[23];
+ − 207 GNSS->sec = GNSS_Handle.uartWorkingBuffer[24];
+ − 208 }
+ − 209
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+ − 210
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+ − 211 /*!
+ − 212 * Parse data to geodetic position solution standard.
+ − 213 * Look at: 32.17.14.1 u-blox 8 Receiver description.
+ − 214 * @param GNSS Pointer to main GNSS structure.
+ − 215 */
+ − 216 void GNSS_ParsePOSLLHData(GNSS_StateHandle *GNSS) {
+ − 217 for (int var = 0; var < 4; ++var) {
+ − 218 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 10];
+ − 219 }
+ − 220 GNSS->lon = iLong.iLong;
+ − 221 GNSS->fLon=(float)iLong.iLong/10000000.0;
+ − 222
+ − 223 for (int var = 0; var < 4; ++var) {
+ − 224 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 14];
+ − 225 }
+ − 226 GNSS->lat = iLong.iLong;
+ − 227 GNSS->fLat=(float)iLong.iLong/10000000.0;
+ − 228
+ − 229 for (int var = 0; var < 4; ++var) {
+ − 230 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 18];
+ − 231 }
+ − 232 GNSS->height = iLong.iLong;
+ − 233
+ − 234 for (int var = 0; var < 4; ++var) {
+ − 235 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 22];
+ − 236 }
+ − 237 GNSS->hMSL = iLong.iLong;
+ − 238
+ − 239 for (int var = 0; var < 4; ++var) {
+ − 240 uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 26];
+ − 241 }
+ − 242 GNSS->hAcc = uLong.uLong;
+ − 243
+ − 244 for (int var = 0; var < 4; ++var) {
+ − 245 uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 30];
+ − 246 }
+ − 247 GNSS->vAcc = uLong.uLong;
+ − 248 }
