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887
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1 /*
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2 * GNSS.h
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3 *
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4 * Created on: 03.10.2020
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5 * Author: SimpleMethod
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6 *
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7 *Copyright 2020 SimpleMethod
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8 *
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9 *Permission is hereby granted, free of charge, to any person obtaining a copy of
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10 *this software and associated documentation files (the "Software"), to deal in
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11 *the Software without restriction, including without limitation the rights to
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12 *use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
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13 *of the Software, and to permit persons to whom the Software is furnished to do
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14 *so, subject to the following conditions:
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15 *
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16 *The above copyright notice and this permission notice shall be included in all
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17 *copies or substantial portions of the Software.
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18 *
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19 *THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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20 *IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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21 *FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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22 *AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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23 *LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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24 *OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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25 *THE SOFTWARE.
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26 ******************************************************************************
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27 */
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28
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29 #ifndef INC_GNSS_H_
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30 #define INC_GNSS_H_
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31
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32 #include "stm32f4xx_hal.h"
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33
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34 union u_Short
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35 {
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36 uint8_t bytes[2];
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37 unsigned short uShort;
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38 };
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39
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40 union i_Short
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41 {
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42 uint8_t bytes[2];
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43 signed short iShort;
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44 };
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45
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46 union u_Long
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47 {
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48 uint8_t bytes[4];
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49 unsigned long uLong;
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50 };
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51
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52 union i_Long
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53 {
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54 uint8_t bytes[4];
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55 signed long iLong;
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56 };
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57
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58 typedef struct
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59 {
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60 UART_HandleTypeDef *huart;
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61
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62 uint8_t uniqueID[4];
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931
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63 uint8_t uartWorkingBuffer[255];
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887
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64
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65 unsigned short year;
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66 uint8_t yearBytes[2];
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67 uint8_t month;
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68 uint8_t day;
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69 uint8_t hour;
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70 uint8_t min;
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71 uint8_t sec;
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72 uint8_t fixType;
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73
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74 signed long lon;
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75 uint8_t lonBytes[4];
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76 signed long lat;
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77 uint8_t latBytes[4];
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78 float fLon;
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79 float fLat;
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80
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81 signed long height;
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82 signed long hMSL;
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83 uint8_t hMSLBytes[4];
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84 unsigned long hAcc;
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85 unsigned long vAcc;
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86
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87 signed long gSpeed;
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88 uint8_t gSpeedBytes[4];
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89 signed long headMot;
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90
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931
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91 uint8_t numSat;
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92 uint8_t statSat[4];
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93
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940
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94 uint8_t alive;
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95
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955
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96 float last_fLon; /* last known position storage and time stamp */
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97 float last_fLat;
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98 float last_hour;
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99
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887
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100 }GNSS_StateHandle;
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101
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102 GNSS_StateHandle GNSS_Handle;
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103
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104
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105 enum GNSSMode{Portable=0, Stationary=1, Pedestrian=2, Automotiv=3, Airbone1G=5, Airbone2G=6,Airbone4G=7,Wirst=8,Bike=9};
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106
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933
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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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887
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108
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933
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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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887
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110
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111 //Activation of navigation system: Galileo, Glonass, GPS, SBAS, IMES
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933
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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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887
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113
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933
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114 static const uint8_t getDeviceID[]={0xB5,0x62,0x27,0x03,0x00,0x00};
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887
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115
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933
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116 static const uint8_t getNavigatorData[]={0xB5,0x62,0x01,0x21,0x00,0x00};
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931
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117
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933
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118 static const uint8_t getPOSLLHData[]={0xB5,0x62,0x01,0x02,0x00,0x00};
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887
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119
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933
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120 static const uint8_t getPVTData[]={0xB5,0x62,0x01,0x07,0x00,0x00};
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887
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121
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933
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122 static const uint8_t getNavSat[]={0xB5,0x62,0x01,0x35,0x00,0x00};
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887
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123
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948
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124 static const uint8_t setPowerLow[]={0xB5,0x62,0x06,0x86,0x08,0x00,0x00,0x02,0x10,0x0E,0x14,0x00,0x00,0x00};
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936
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125
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939
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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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933
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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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887
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129
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933
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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};
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131
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936
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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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887
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133
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134 static const uint8_t setPortableType[]={};
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135 void GNSS_Init(GNSS_StateHandle *GNSS, UART_HandleTypeDef *huart);
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136 void GNSS_LoadConfig(GNSS_StateHandle *GNSS);
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899
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137 uint8_t GNSS_ParseBuffer(GNSS_StateHandle *GNSS);
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887
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138
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139 void GNSS_GetUniqID(GNSS_StateHandle *GNSS);
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140 void GNSS_ParseUniqID(GNSS_StateHandle *GNSS);
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141
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142 void GNSS_GetNavigatorData(GNSS_StateHandle *GNSS);
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143 void GNSS_ParseNavigatorData(GNSS_StateHandle *GNSS);
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931
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144 void GNSS_ParseNavSatData(GNSS_StateHandle *GNSS);
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887
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145
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146 void GNSS_GetPOSLLHData(GNSS_StateHandle *GNSS);
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147 void GNSS_ParsePOSLLHData(GNSS_StateHandle *GNSS);
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148
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149 void GNSS_GetPVTData(GNSS_StateHandle *GNSS);
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150 void GNSS_ParsePVTData(GNSS_StateHandle *GNSS);
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151
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152 void GNSS_SetMode(GNSS_StateHandle *GNSS, short gnssMode);
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153 #endif /* INC_GNSS_H_ */
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154
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155
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156
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