887
+ − 1 /*
+ − 2 * GNSS.h
+ − 3 *
+ − 4 * Created on: 03.10.2020
+ − 5 * Author: SimpleMethod
+ − 6 *
+ − 7 *Copyright 2020 SimpleMethod
+ − 8 *
+ − 9 *Permission is hereby granted, free of charge, to any person obtaining a copy of
+ − 10 *this software and associated documentation files (the "Software"), to deal in
+ − 11 *the Software without restriction, including without limitation the rights to
+ − 12 *use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
+ − 13 *of the Software, and to permit persons to whom the Software is furnished to do
+ − 14 *so, subject to the following conditions:
+ − 15 *
+ − 16 *The above copyright notice and this permission notice shall be included in all
+ − 17 *copies or substantial portions of the Software.
+ − 18 *
+ − 19 *THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ − 20 *IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ − 21 *FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ − 22 *AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ − 23 *LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ − 24 *OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ − 25 *THE SOFTWARE.
+ − 26 ******************************************************************************
+ − 27 */
+ − 28
+ − 29 #ifndef INC_GNSS_H_
+ − 30 #define INC_GNSS_H_
+ − 31
+ − 32 #include "stm32f4xx_hal.h"
+ − 33
+ − 34 union u_Short
+ − 35 {
+ − 36 uint8_t bytes[2];
+ − 37 unsigned short uShort;
+ − 38 };
+ − 39
+ − 40 union i_Short
+ − 41 {
+ − 42 uint8_t bytes[2];
+ − 43 signed short iShort;
+ − 44 };
+ − 45
+ − 46 union u_Long
+ − 47 {
+ − 48 uint8_t bytes[4];
+ − 49 unsigned long uLong;
+ − 50 };
+ − 51
+ − 52 union i_Long
+ − 53 {
+ − 54 uint8_t bytes[4];
+ − 55 signed long iLong;
+ − 56 };
+ − 57
+ − 58 typedef struct
+ − 59 {
+ − 60 UART_HandleTypeDef *huart;
+ − 61
+ − 62 uint8_t uniqueID[4];
931
+ − 63 uint8_t uartWorkingBuffer[255];
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+ − 64
+ − 65 unsigned short year;
+ − 66 uint8_t yearBytes[2];
+ − 67 uint8_t month;
+ − 68 uint8_t day;
+ − 69 uint8_t hour;
+ − 70 uint8_t min;
+ − 71 uint8_t sec;
+ − 72 uint8_t fixType;
+ − 73
+ − 74 signed long lon;
+ − 75 uint8_t lonBytes[4];
+ − 76 signed long lat;
+ − 77 uint8_t latBytes[4];
+ − 78 float fLon;
+ − 79 float fLat;
+ − 80
+ − 81 signed long height;
+ − 82 signed long hMSL;
+ − 83 uint8_t hMSLBytes[4];
+ − 84 unsigned long hAcc;
+ − 85 unsigned long vAcc;
+ − 86
+ − 87 signed long gSpeed;
+ − 88 uint8_t gSpeedBytes[4];
+ − 89 signed long headMot;
+ − 90
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+ − 91 uint8_t numSat;
+ − 92 uint8_t statSat[4];
+ − 93
940
+ − 94 uint8_t alive;
+ − 95
955
+ − 96 float last_fLon; /* last known position storage and time stamp */
+ − 97 float last_fLat;
+ − 98 float last_hour;
+ − 99
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+ − 100 }GNSS_StateHandle;
+ − 101
+ − 102 GNSS_StateHandle GNSS_Handle;
+ − 103
+ − 104
+ − 105 enum GNSSMode{Portable=0, Stationary=1, Pedestrian=2, Automotiv=3, Airbone1G=5, Airbone2G=6,Airbone4G=7,Wirst=8,Bike=9};
+ − 106
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+ − 107 static const uint8_t configUBX[]={0xB5,0x62,0x06,0x00,0x14,0x00,0x01,0x00,0x00,0x00,0xD0,0x08,0x00,0x00,0x80,0x25,0x00,0x00,0x01,0x00,0x01,0x00,0x00,0x00,0x00,0x00};
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+ − 108
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+ − 109 static const uint8_t setNMEA410[]={0xB5,0x62,0x06,0x17,0x14,0x00,0x00,0x41,0x00,0x02,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
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+ − 110
+ − 111 //Activation of navigation system: Galileo, Glonass, GPS, SBAS, IMES
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+ − 112 static const uint8_t setGNSS[]={0xB5,0x62,0x06,0x3E,0x24,0x00,0x00,0x00,0x20,0x04,0x00,0x08,0x10,0x00,0x01,0x00,0x01,0x01,0x01,0x01,0x03,0x00,0x01,0x00,0x01,0x01,0x02,0x04,0x08,0x00,0x01,0x00,0x01,0x01,0x06,0x08,0x0E,0x00,0x01,0x00,0x01,0x01};
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+ − 113
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+ − 114 static const uint8_t getDeviceID[]={0xB5,0x62,0x27,0x03,0x00,0x00};
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+ − 115
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+ − 116 static const uint8_t getNavigatorData[]={0xB5,0x62,0x01,0x21,0x00,0x00};
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+ − 117
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+ − 118 static const uint8_t getPOSLLHData[]={0xB5,0x62,0x01,0x02,0x00,0x00};
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+ − 119
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+ − 120 static const uint8_t getPVTData[]={0xB5,0x62,0x01,0x07,0x00,0x00};
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+ − 121
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+ − 122 static const uint8_t getNavSat[]={0xB5,0x62,0x01,0x35,0x00,0x00};
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+ − 123
948
+ − 124 static const uint8_t setPowerLow[]={0xB5,0x62,0x06,0x86,0x08,0x00,0x00,0x02,0x10,0x0E,0x14,0x00,0x00,0x00};
936
+ − 125
939
+ − 126 static const uint8_t setPowerNormal[]={0xB5,0x62,0x06,0x86,0x08,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
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+ − 127
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+ − 128 static const uint8_t setPortableMode[]={0xB5,0x62,0x06,0x24,0x24,0x00,0xFF,0xFF,0x00,0x03,0x00,0x00,0x00,0x00,0x10,0x27,0x00,0x00,0x05,0x00,0xFA,0x00,0xFA,0x00,0x64,0x00,0x5E,0x01,0x00,0x3C,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
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+ − 129
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+ − 130 static const uint8_t setPedestrianMode[]={0xB5,0x62,0x06,0x24,0x24,0x00,0xFF,0xFF,0x03,0x03,0x00,0x00,0x00,0x00,0x10,0x27,0x00,0x00,0x05,0x00,0xFA,0x00,0xFA,0x00,0x64,0x00,0x5E,0x01,0x00,0x3C,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
+ − 131
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+ − 132 static const uint8_t setConfig[]={0xB5,0x62,0x06,0x09,0x0D,0x00, 0x00,0x00,0x00,0x00, 0x18,0x00,0x00,0x00, 0x00,0x00,0x00,0x00, 0x01};
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+ − 133
+ − 134 static const uint8_t setPortableType[]={};
+ − 135 void GNSS_Init(GNSS_StateHandle *GNSS, UART_HandleTypeDef *huart);
+ − 136 void GNSS_LoadConfig(GNSS_StateHandle *GNSS);
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+ − 137 uint8_t GNSS_ParseBuffer(GNSS_StateHandle *GNSS);
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+ − 138
+ − 139 void GNSS_GetUniqID(GNSS_StateHandle *GNSS);
+ − 140 void GNSS_ParseUniqID(GNSS_StateHandle *GNSS);
+ − 141
+ − 142 void GNSS_GetNavigatorData(GNSS_StateHandle *GNSS);
+ − 143 void GNSS_ParseNavigatorData(GNSS_StateHandle *GNSS);
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+ − 144 void GNSS_ParseNavSatData(GNSS_StateHandle *GNSS);
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+ − 145
+ − 146 void GNSS_GetPOSLLHData(GNSS_StateHandle *GNSS);
+ − 147 void GNSS_ParsePOSLLHData(GNSS_StateHandle *GNSS);
+ − 148
+ − 149 void GNSS_GetPVTData(GNSS_StateHandle *GNSS);
+ − 150 void GNSS_ParsePVTData(GNSS_StateHandle *GNSS);
+ − 151
+ − 152 void GNSS_SetMode(GNSS_StateHandle *GNSS, short gnssMode);
+ − 153 #endif /* INC_GNSS_H_ */
+ − 154
+ − 155
+ − 156
