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1 /**
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2 ******************************************************************************
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3 * @file uart_Internal.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 03-November-2044
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7 * @brief Control functions for devices connected to the internal UART
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8 *
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9 @verbatim
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10 ==============================================================================
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11 ##### How to use #####
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12 ==============================================================================
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13 @endverbatim
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14 ******************************************************************************
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15 * @attention
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16 *
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17 * <h2><center>© COPYRIGHT(c) 2015 heinrichs weikamp</center></h2>
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18 *
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19 ******************************************************************************
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20 */
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21 /* Includes ------------------------------------------------------------------*/
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22 #include "uart.h"
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23 #include "uart_Internal.h"
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24 #include "uartProtocol_GNSS.h"
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25 #include "GNSS.h"
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26 #include "externalInterface.h"
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27 #include "data_exchange.h"
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28 #include <string.h> /* memset */
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29
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30
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31 static uint8_t isEndIndication6(uint8_t index);
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32 static uartGnssStatus_t gnssState = UART_GNSS_INIT;
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33 static gnssRequest_s activeRequest = {0,0};
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34
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35 /* Private variables ---------------------------------------------------------*/
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36
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37
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38 #define TX_BUF_SIZE (40u) /* max length for commands */
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931
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39 #define CHUNK_SIZE (50u) /* the DMA will handle chunk size transfers */
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40 #define CHUNKS_PER_BUFFER (3u)
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41
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42 #define REQUEST_INT_SENSOR_MS (1500) /* Minimum time interval for cyclic sensor data requests per sensor (UART mux) */
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43 #define COMMAND_TX_DELAY (30u) /* The time the sensor needs to recover from a invalid command request */
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44 #define TIMEOUT_SENSOR_ANSWER (300) /* Time till a request is repeated if no answer was received */
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45
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46
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47 static receiveStateGnss_t rxState = GNSSRX_READY;
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48 static uint8_t GnssConnected = 0; /* Binary indicator if a sensor is connected or not */
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49
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50 static uint8_t writeIndex = 0;
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51
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52 static uint16_t dataToRead = 0;
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53
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54 DMA_HandleTypeDef hdma_usart6_rx, hdma_usart6_tx;
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55
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56 uint8_t tx6Buffer[CHUNK_SIZE]; /* tx uses less bytes */
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57 uint8_t tx6BufferQue[TX_BUF_SIZE]; /* In MUX mode command may be send shortly after each other => allow q 1 entry que */
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58 uint8_t tx6BufferQueLen;
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59
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60 uint8_t rxBufferUart6[CHUNK_SIZE * CHUNKS_PER_BUFFER]; /* The complete buffer has a X * chunk size to allow variations in buffer read time */
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61 uint8_t txBufferUart6[CHUNK_SIZE * CHUNKS_PER_BUFFER]; /* The complete buffer has a X * chunk size to allow variations in buffer read time */
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62
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63 static uint8_t rx6WriteIndex; /* Index of the data item which is analysed */
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64 static uint8_t rx6ReadIndex; /* Index at which new data is stared */
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65
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66 static uint8_t dmaRx6Active; /* Indicator if DMA reception needs to be started */
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67 static uint8_t dmaTx6Active; /* Indicator if DMA reception needs to be started */
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68
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69
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70 /* Exported functions --------------------------------------------------------*/
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71
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72 void UART_clearRx6Buffer(void)
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73 {
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74 uint16_t index = 0;
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75 do
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76 {
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77 rxBufferUart6[index++] = BUFFER_NODATA_LOW;
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78 rxBufferUart6[index++] = BUFFER_NODATA_HIGH;
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79 } while (index < sizeof(rxBufferUart6));
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80
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81 rx6ReadIndex = 0;
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82 rx6WriteIndex = 0;
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83 }
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84
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85 void GNSS_IO_init() {
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86
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87 GPIO_InitTypeDef GPIO_InitStruct = { 0 };
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88 /* Peripheral clock enable */
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89 __HAL_RCC_USART6_CLK_ENABLE()
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90 ;
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91
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92 __HAL_RCC_GPIOA_CLK_ENABLE()
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93 ;
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94 /**USART6 GPIO Configuration
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95 PA11 ------> USART6_TX
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96 PA12 ------> USART6_RX
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97 */
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98 GPIO_InitStruct.Pin = GPIO_PIN_11 | GPIO_PIN_12;
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99 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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100 GPIO_InitStruct.Pull = GPIO_NOPULL;
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101 GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
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102 GPIO_InitStruct.Alternate = GPIO_AF8_USART6;
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103 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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104
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105 /* USART6 DMA Init */
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106 /* USART6_RX Init */
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107 hdma_usart6_rx.Instance = DMA2_Stream2;
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108 hdma_usart6_rx.Init.Channel = DMA_CHANNEL_5;
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109 hdma_usart6_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
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110 hdma_usart6_rx.Init.PeriphInc = DMA_PINC_DISABLE;
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111 hdma_usart6_rx.Init.MemInc = DMA_MINC_ENABLE;
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112 hdma_usart6_rx.Init.PeriphDataAlignment = DMA_MDATAALIGN_BYTE;
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113 hdma_usart6_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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114 hdma_usart6_rx.Init.Mode = DMA_NORMAL;
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115 hdma_usart6_rx.Init.Priority = DMA_PRIORITY_LOW;
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116 hdma_usart6_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
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117 HAL_DMA_Init(&hdma_usart6_rx);
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118
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119 __HAL_LINKDMA(&huart6, hdmarx, hdma_usart6_rx);
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120
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121 /* USART6_TX Init */
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122 hdma_usart6_tx.Instance = DMA2_Stream6;
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123 hdma_usart6_tx.Init.Channel = DMA_CHANNEL_5;
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124 hdma_usart6_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
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125 hdma_usart6_tx.Init.PeriphInc = DMA_PINC_DISABLE;
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126 hdma_usart6_tx.Init.MemInc = DMA_MINC_ENABLE;
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127 hdma_usart6_tx.Init.PeriphDataAlignment = DMA_MDATAALIGN_BYTE;
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128 hdma_usart6_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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129 hdma_usart6_tx.Init.Mode = DMA_NORMAL;
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130 hdma_usart6_tx.Init.Priority = DMA_PRIORITY_LOW;
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131 hdma_usart6_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
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132 HAL_DMA_Init(&hdma_usart6_tx);
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133
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134 __HAL_LINKDMA(&huart6, hdmatx, hdma_usart6_tx);
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135
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136 /* USART6 interrupt Init */
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137 HAL_NVIC_SetPriority(USART6_IRQn, 0, 0);
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138 HAL_NVIC_EnableIRQ(USART6_IRQn);
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139
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140 MX_USART6_DMA_Init();
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141
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142 }
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143
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144 void MX_USART6_DMA_Init() {
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145 /* DMA controller clock enable */
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146 __HAL_RCC_DMA2_CLK_ENABLE();
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147
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148 /* DMA interrupt init */
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149 /* DMA2_Stream2_IRQn interrupt configuration */
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150 HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 0, 0);
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151 HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
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152 /* DMA2_Stream6_IRQn interrupt configuration */
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153 HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 0, 0);
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154 HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn);
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155 }
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156
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157
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158 void MX_USART6_UART_DeInit(void)
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159 {
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160 HAL_DMA_Abort(&hdma_usart6_rx);
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161 HAL_DMA_DeInit(&hdma_usart6_rx);
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162 HAL_DMA_Abort(&hdma_usart6_tx);
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163 HAL_DMA_DeInit(&hdma_usart6_tx);
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164 HAL_UART_DeInit(&huart6);
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165 HAL_UART_DeInit(&huart6);
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166 }
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167
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168 void MX_USART6_UART_Init(void) {
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169 huart6.Instance = USART6;
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170 huart6.Init.BaudRate = 9600;
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171 huart6.Init.WordLength = UART_WORDLENGTH_8B;
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172 huart6.Init.StopBits = UART_STOPBITS_1;
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173 huart6.Init.Parity = UART_PARITY_NONE;
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174 huart6.Init.Mode = UART_MODE_TX_RX;
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175 huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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176 huart6.Init.OverSampling = UART_OVERSAMPLING_16;
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177 HAL_UART_Init(&huart6);
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178
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179 UART_clearRx6Buffer();
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180 dmaRx6Active = 0;
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181 dmaTx6Active = 0;
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182 tx6BufferQueLen = 0;
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183 }
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184
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185
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186
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187 void UART6_SendCmdUbx(const uint8_t *cmd, uint8_t len)
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188 {
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189 if(len < TX_BUF_SIZE) /* A longer string is an indication for a missing 0 termination */
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190 {
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191 if(dmaRx6Active == 0)
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192 {
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193 UART6_StartDMA_Receiption();
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194 }
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195 memcpy(tx6Buffer, cmd, len);
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196 if(HAL_OK == HAL_UART_Transmit_DMA(&huart6,tx6Buffer,len))
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197 {
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198 dmaTx6Active = 1;
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199 }
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200 }
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201 }
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202
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203 uint8_t isEndIndication6(uint8_t index)
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204 {
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205 uint8_t ret = 0;
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206 if(index % 2)
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207 {
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208 if(rxBufferUart6[index] == BUFFER_NODATA_HIGH)
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209 {
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210 ret = 1;
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211 }
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212 }
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213 else
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214 {
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215 if(rxBufferUart6[index] == BUFFER_NODATA_LOW)
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216 {
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217 ret = 1;
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218 }
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219 }
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220
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221 return ret;
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222 }
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223
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224 void UART6_StartDMA_Receiption()
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225 {
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226 if(dmaRx6Active == 0)
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227 {
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228 if(((rx6WriteIndex / CHUNK_SIZE) != (rx6ReadIndex / CHUNK_SIZE)) || ((isEndIndication6(rx6WriteIndex)) && (isEndIndication6(rx6WriteIndex + 1)))) /* start next transfer if we did not catch up with read index */
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229 {
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230 if(HAL_OK == HAL_UART_Receive_DMA (&huart6, &rxBufferUart6[rx6WriteIndex], CHUNK_SIZE))
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231 {
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232 dmaRx6Active = 1;
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233 }
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234 }
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235 }
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236 }
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237
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238
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239
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240 void UART6_RxCpltCallback(UART_HandleTypeDef *huart)
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241 {
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242 if(huart == &huart6)
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243 {
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244 dmaRx6Active = 0;
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245 rx6WriteIndex+=CHUNK_SIZE;
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246 if(rx6WriteIndex >= CHUNK_SIZE * CHUNKS_PER_BUFFER)
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247 {
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248 rx6WriteIndex = 0;
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249 }
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250 UART6_StartDMA_Receiption();
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251 }
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252 }
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253 void UART6_TxCpltCallback(UART_HandleTypeDef *huart)
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254 {
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255 if(huart == &huart6)
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256 {
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257 dmaTx6Active = 0;
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258 UART6_WriteData();
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259 if(tx6BufferQueLen)
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260 {
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261 memcpy(tx6Buffer, tx6BufferQue, tx6BufferQueLen);
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262 HAL_UART_Transmit_DMA(&huart6,tx6Buffer,tx6BufferQueLen);
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263 dmaTx6Active = 1;
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264 tx6BufferQueLen = 0;
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265 }
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266 }
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267 }
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268
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269 void UART6_ReadData()
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270 {
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271 uint8_t localRX = rx6ReadIndex;
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272 uint8_t futureIndex = rx6ReadIndex + 1;
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273 uint8_t moreData = 0;
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274
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275 if(futureIndex >= CHUNK_SIZE * CHUNKS_PER_BUFFER)
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276 {
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277 futureIndex = 0;
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278 }
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279
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280 if(!isEndIndication6(futureIndex))
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281 {
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282 moreData = 1;
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283 }
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284
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285 if((!isEndIndication6(localRX)) || (moreData))
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286 do
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287 {
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288 while((!isEndIndication6(localRX)) || (moreData))
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289 {
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290 moreData = 0;
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291 UART6_Gnss_ProcessData(rxBufferUart6[localRX]);
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292
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293 if(localRX % 2)
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294 {
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295 rxBufferUart6[localRX] = BUFFER_NODATA_HIGH;
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296 }
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297 else
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298 {
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299 rxBufferUart6[localRX] = BUFFER_NODATA_LOW;
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300 }
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301
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302 localRX++;
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303 rx6ReadIndex++;
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304 if(rx6ReadIndex >= CHUNK_SIZE * CHUNKS_PER_BUFFER)
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305 {
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306 localRX = 0;
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307 rx6ReadIndex = 0;
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308 }
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309 futureIndex++;
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310 if(futureIndex >= CHUNK_SIZE * CHUNKS_PER_BUFFER)
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311 {
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312 futureIndex = 0;
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313 }
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314 }
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315 if(!isEndIndication6(futureIndex))
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316 {
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317 moreData = 1;
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318 }
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319 } while(moreData);
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320 }
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321
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322 void UART6_WriteData(void)
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323 {
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324 if(huart6.hdmatx->State == HAL_DMA_STATE_READY)
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325 {
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326 huart6.gState = HAL_UART_STATE_READY;
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327 dmaTx6Active = 0;
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328 }
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329 if(huart6.hdmarx->State == HAL_DMA_STATE_READY)
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330 {
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331 huart6.RxState = HAL_UART_STATE_READY;
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332 dmaRx6Active = 0;
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333 }
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334 }
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335
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336 void UART6_Gnss_SendCmd(uint8_t GnssCmd)
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337 {
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338 const uint8_t* pData;
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339 uint8_t txLength = 0;
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340
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341 switch (GnssCmd)
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342 {
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343 case GNSSCMD_LOADCONF_0: pData = configUBX;
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344 txLength = sizeof(configUBX) / sizeof(uint8_t);
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345 break;
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346 case GNSSCMD_LOADCONF_1: pData = setNMEA410;
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347 txLength = sizeof(setNMEA410) / sizeof(uint8_t);
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348 break;
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349 case GNSSCMD_LOADCONF_2: pData = setGNSS;
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350 txLength = sizeof(setGNSS) / sizeof(uint8_t);
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351 break;
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352 case GNSSCMD_GET_PVT_DATA: pData = getPVTData;
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353 txLength = sizeof(getPVTData) / sizeof(uint8_t);
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354 break;
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355 case GNSSCMD_GET_NAV_DATA: pData = getNavigatorData;
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356 txLength = sizeof(getNavigatorData) / sizeof(uint8_t);
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357 break;
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358 case GNSSCMD_GET_NAVSAT_DATA: pData = getNavSat;
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359 txLength = sizeof(getNavSat) / sizeof(uint8_t);
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360 break;
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361 default:
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362 break;
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363 }
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364 if(txLength != 0)
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365 {
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366 activeRequest.class = pData[2];
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367 activeRequest.id = pData[3];
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368 UART6_SendCmdUbx(pData, txLength);
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369 }
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370 }
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371
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372 void UART6_Gnss_Control(void)
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373 {
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374 static uint32_t warmupTick = 0;
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931
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375 static uint8_t dataToggle = 0;
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376
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377 switch (gnssState)
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378 {
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379 case UART_GNSS_INIT: gnssState = UART_GNSS_WARMUP;
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380 warmupTick = HAL_GetTick();
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381 UART_clearRxBuffer();
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382 break;
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383 case UART_GNSS_WARMUP: if(time_elapsed_ms(warmupTick,HAL_GetTick()) > 1000)
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384 {
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385 gnssState = UART_GNSS_LOADCONF_0;
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386 }
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387 break;
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388 case UART_GNSS_LOADCONF_0: UART6_Gnss_SendCmd(GNSSCMD_LOADCONF_0);
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389 gnssState = UART_GNSS_LOADCONF_1;
|
|
|
390 rxState = GNSSRX_DETECT_ACK_0;
|
|
|
391 break;
|
|
|
392 case UART_GNSS_LOADCONF_1: UART6_Gnss_SendCmd(GNSSCMD_LOADCONF_1);
|
|
|
393 gnssState = UART_GNSS_LOADCONF_2;
|
|
|
394 rxState = GNSSRX_DETECT_ACK_0;
|
|
|
395 break;
|
|
|
396 case UART_GNSS_LOADCONF_2: UART6_Gnss_SendCmd(GNSSCMD_LOADCONF_2);
|
|
|
397 gnssState = UART_GNSS_IDLE;
|
|
|
398 rxState = GNSSRX_DETECT_ACK_0;
|
|
|
399 break;
|
|
931
|
400 case UART_GNSS_IDLE: if(dataToggle)
|
|
|
401 {
|
|
|
402 UART6_Gnss_SendCmd(GNSSCMD_GET_PVT_DATA);
|
|
|
403 gnssState = UART_GNSS_GET_PVT;
|
|
|
404 rxState = GNSSRX_DETECT_HEADER_0;
|
|
|
405 dataToggle = 0;
|
|
|
406 }
|
|
|
407 else
|
|
|
408 {
|
|
|
409 UART6_Gnss_SendCmd(GNSSCMD_GET_NAVSAT_DATA);
|
|
|
410 gnssState = UART_GNSS_GET_SAT;
|
|
|
411 rxState = GNSSRX_DETECT_HEADER_0;
|
|
|
412 dataToggle = 1;
|
|
|
413 }
|
|
922
|
414 break;
|
|
|
415 default:
|
|
|
416 break;
|
|
|
417 }
|
|
|
418 }
|
|
|
419
|
|
|
420 void UART6_Gnss_ProcessData(uint8_t data)
|
|
|
421 {
|
|
931
|
422 static uint16_t rxLength = 0;
|
|
|
423 static uint8_t ck_A = 0;
|
|
|
424 static uint8_t ck_B = 0;
|
|
|
425 static uint8_t ck_A_Ref = 0;
|
|
|
426 static uint8_t ck_B_Ref = 0;
|
|
|
427
|
|
922
|
428 GNSS_Handle.uartWorkingBuffer[writeIndex++] = data;
|
|
931
|
429 if((rxState >= GNSSRX_DETECT_HEADER_2) && (rxState < GNSSRX_READ_CK_A))
|
|
|
430 {
|
|
|
431 ck_A += data;
|
|
|
432 ck_B += ck_A;
|
|
|
433 }
|
|
|
434
|
|
922
|
435 switch(rxState)
|
|
|
436 {
|
|
|
437 case GNSSRX_DETECT_ACK_0:
|
|
|
438 case GNSSRX_DETECT_HEADER_0: if(data == 0xB5)
|
|
|
439 {
|
|
|
440 writeIndex = 0;
|
|
931
|
441 memset(GNSS_Handle.uartWorkingBuffer,0xff, sizeof(GNSS_Handle.uartWorkingBuffer));
|
|
922
|
442 GNSS_Handle.uartWorkingBuffer[writeIndex++] = data;
|
|
|
443 rxState++;
|
|
931
|
444 ck_A = 0;
|
|
|
445 ck_B = 0;
|
|
922
|
446 }
|
|
|
447 break;
|
|
|
448 case GNSSRX_DETECT_ACK_1:
|
|
|
449 case GNSSRX_DETECT_HEADER_1: if(data == 0x62)
|
|
|
450 {
|
|
|
451 rxState++;
|
|
|
452 }
|
|
|
453 else
|
|
|
454 {
|
|
|
455 rxState = GNSSRX_DETECT_HEADER_0;
|
|
|
456 }
|
|
|
457 break;
|
|
|
458 case GNSSRX_DETECT_ACK_2: if(data == 0x05)
|
|
|
459 {
|
|
|
460 rxState++;
|
|
|
461 }
|
|
|
462 else
|
|
|
463 {
|
|
|
464 rxState = GNSSRX_DETECT_HEADER_0;
|
|
|
465 }
|
|
|
466 break;
|
|
|
467 case GNSSRX_DETECT_ACK_3: if((data == 0x01) || (data == 0x00))
|
|
|
468 {
|
|
|
469 GnssConnected = 1;
|
|
|
470 rxState = GNSSRX_READY;
|
|
|
471 }
|
|
|
472 else
|
|
|
473 {
|
|
|
474 rxState = GNSSRX_DETECT_HEADER_0;
|
|
|
475 }
|
|
|
476 break;
|
|
931
|
477 case GNSSRX_DETECT_HEADER_2: if(data == activeRequest.class)
|
|
922
|
478 {
|
|
|
479 rxState++;
|
|
|
480 }
|
|
|
481 else
|
|
|
482 {
|
|
|
483 rxState = GNSSRX_DETECT_HEADER_0;
|
|
|
484 }
|
|
|
485 break;
|
|
931
|
486 case GNSSRX_DETECT_HEADER_3: if(data == activeRequest.id)
|
|
|
487 {
|
|
|
488 rxState = GNSSRX_DETECT_LENGTH_0;
|
|
|
489 }
|
|
|
490 else
|
|
922
|
491 {
|
|
931
|
492 rxState = GNSSRX_DETECT_HEADER_0;
|
|
922
|
493 }
|
|
931
|
494 break;
|
|
|
495 case GNSSRX_DETECT_LENGTH_0: rxLength = GNSS_Handle.uartWorkingBuffer[4];
|
|
|
496 rxState = GNSSRX_DETECT_LENGTH_1;
|
|
|
497 break;
|
|
|
498 case GNSSRX_DETECT_LENGTH_1: rxLength += (GNSS_Handle.uartWorkingBuffer[5] << 8);
|
|
|
499 rxState = GNSSRX_READ_DATA;
|
|
|
500 dataToRead = rxLength;
|
|
|
501 break;
|
|
|
502 case GNSSRX_READ_DATA: if(dataToRead > 0)
|
|
922
|
503 {
|
|
|
504 dataToRead--;
|
|
|
505 }
|
|
931
|
506 if(dataToRead == 0)
|
|
922
|
507 {
|
|
931
|
508 rxState = GNSSRX_READ_CK_A;
|
|
922
|
509 }
|
|
|
510 break;
|
|
931
|
511 case GNSSRX_READ_CK_A: ck_A_Ref = data;
|
|
|
512 rxState++;
|
|
|
513 break;
|
|
|
514 case GNSSRX_READ_CK_B: ck_B_Ref = data;
|
|
|
515 if((ck_A_Ref == ck_A) && (ck_B_Ref == ck_B))
|
|
|
516 {
|
|
|
517 switch(gnssState)
|
|
|
518 {
|
|
|
519 case UART_GNSS_GET_PVT:GNSS_ParsePVTData(&GNSS_Handle);
|
|
|
520 break;
|
|
|
521 case UART_GNSS_GET_SAT: GNSS_ParseNavSatData(&GNSS_Handle);
|
|
|
522 break;
|
|
|
523 default:
|
|
|
524 break;
|
|
|
525 }
|
|
|
526 }
|
|
|
527 rxState = GNSSRX_DETECT_HEADER_0;
|
|
|
528 gnssState = UART_GNSS_IDLE;
|
|
|
529 break;
|
|
|
530
|
|
922
|
531 default: rxState = GNSSRX_READY;
|
|
|
532 break;
|
|
|
533 }
|
|
|
534 }
|
|
|
535
|
|
|
536
|
|
|
537 void UART6_HandleUART()
|
|
|
538 {
|
|
|
539 static uint8_t retryRequest = 0;
|
|
|
540 static uint32_t lastRequestTick = 0;
|
|
|
541 static uint32_t TriggerTick = 0;
|
|
|
542 static uint8_t timeToTrigger = 0;
|
|
|
543 uint32_t tick = HAL_GetTick();
|
|
|
544
|
|
|
545 if(gnssState != UART_GNSS_INIT)
|
|
|
546 {
|
|
|
547 UART6_ReadData();
|
|
|
548 UART6_WriteData();
|
|
|
549 }
|
|
|
550 if(gnssState == UART_GNSS_INIT)
|
|
|
551 {
|
|
|
552 lastRequestTick = tick;
|
|
|
553 TriggerTick = tick - 10; /* just to make sure control is triggered */
|
|
|
554 timeToTrigger = 1;
|
|
|
555 retryRequest = 0;
|
|
|
556 }
|
|
|
557 else if(((retryRequest == 0) /* timeout or error */
|
|
|
558 && (((time_elapsed_ms(lastRequestTick,tick) > (TIMEOUT_SENSOR_ANSWER)) && (gnssState != UART_GNSS_IDLE)) /* retry if no answer after half request interval */
|
|
|
559 || (gnssState == UART_GNSS_ERROR))))
|
|
|
560 {
|
|
|
561 /* The channel switch will cause the sensor to respond with an error message. */
|
|
|
562 /* The sensor needs ~30ms to recover before he is ready to receive the next command => transmission delay needed */
|
|
|
563
|
|
|
564 TriggerTick = tick;
|
|
|
565 timeToTrigger = COMMAND_TX_DELAY;
|
|
|
566 retryRequest = 1;
|
|
|
567 }
|
|
|
568
|
|
|
569 else if(time_elapsed_ms(lastRequestTick,tick) > 1000) /* switch sensor and / or trigger next request */
|
|
|
570 {
|
|
|
571 lastRequestTick = tick;
|
|
|
572 TriggerTick = tick;
|
|
|
573 retryRequest = 0;
|
|
|
574 timeToTrigger = 1;
|
|
|
575
|
|
931
|
576 if((gnssState == UART_GNSS_GET_SAT) || (gnssState == UART_GNSS_GET_PVT)) /* timeout */
|
|
922
|
577 {
|
|
|
578 gnssState = UART_GNSS_IDLE;
|
|
|
579 }
|
|
|
580 timeToTrigger = 1;
|
|
|
581 }
|
|
|
582 if((timeToTrigger != 0) && (time_elapsed_ms(TriggerTick,tick) > timeToTrigger))
|
|
|
583 {
|
|
|
584 timeToTrigger = 0;
|
|
|
585 UART6_Gnss_Control();
|
|
|
586 }
|
|
|
587
|
|
|
588 }
|
|
|
589
|
|
|
590
|
|
|
591 /************************ (C) COPYRIGHT heinrichs weikamp *****END OF FILE****/
|
