Mercurial > public > ostc4
annotate Small_CPU/Src/GNSS.c @ 958:902cb199eee6 Evo_2_23
Changed menu name O2 Sensors to External Sensors:
Meanwhile not only O2 sensors may be connected using the external interface (e.g. CO2 sensors) => renamed menu to avoid confusions.
| author | Ideenmodellierer |
|---|---|
| date | Mon, 06 Jan 2025 21:34:33 +0100 |
| parents | 3420e3ba698d |
| children |
| rev | line source |
|---|---|
| 887 | 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 | |
| 931 | 29 #include <string.h> |
| 887 | 30 #include "GNSS.h" |
| 947 | 31 #include "data_exchange.h" |
| 955 | 32 #include "rtc.h" |
| 887 | 33 |
| 34 union u_Short uShort; | |
| 35 union i_Short iShort; | |
| 36 union u_Long uLong; | |
| 37 union i_Long iLong; | |
| 38 | |
| 39 /*! | |
| 40 * Structure initialization. | |
| 41 * @param GNSS Pointer to main GNSS structure. | |
| 42 * @param huart Pointer to uart handle. | |
| 43 */ | |
| 44 void GNSS_Init(GNSS_StateHandle *GNSS, UART_HandleTypeDef *huart) { | |
| 45 GNSS->huart = huart; | |
| 46 GNSS->year = 0; | |
| 47 GNSS->month = 0; | |
| 48 GNSS->day = 0; | |
| 49 GNSS->hour = 0; | |
| 50 GNSS->min = 0; | |
| 51 GNSS->sec = 0; | |
| 52 GNSS->fixType = 0; | |
| 53 GNSS->lon = 0; | |
| 54 GNSS->lat = 0; | |
| 55 GNSS->height = 0; | |
| 56 GNSS->hMSL = 0; | |
| 57 GNSS->hAcc = 0; | |
| 58 GNSS->vAcc = 0; | |
| 59 GNSS->gSpeed = 0; | |
| 60 GNSS->headMot = 0; | |
| 61 } | |
| 62 | |
| 63 /*! | |
| 64 * Parse data to unique chip ID standard. | |
| 65 * Look at: 32.19.1.1 u-blox 8 Receiver description | |
| 66 * @param GNSS Pointer to main GNSS structure. | |
| 67 */ | |
| 68 void GNSS_ParseUniqID(GNSS_StateHandle *GNSS) { | |
|
957
3420e3ba698d
External sensor commands: Add sensor ID to command:
Ideenmodellierer
parents:
955
diff
changeset
|
69 for (int var = 0; var < 4; var++) { |
| 887 | 70 GNSS->uniqueID[var] = GNSS_Handle.uartWorkingBuffer[10 + var]; |
| 71 } | |
| 72 } | |
| 73 | |
| 74 /*! | |
| 75 * Parse data to navigation position velocity time solution standard. | |
| 76 * Look at: 32.17.15.1 u-blox 8 Receiver description. | |
| 77 * @param GNSS Pointer to main GNSS structure. | |
| 78 */ | |
| 79 void GNSS_ParsePVTData(GNSS_StateHandle *GNSS) { | |
| 919 | 80 |
| 81 static float searchCnt = 1.0; | |
| 82 | |
| 955 | 83 RTC_TimeTypeDef sTimeNow; |
| 84 | |
| 887 | 85 uShort.bytes[0] = GNSS_Handle.uartWorkingBuffer[10]; |
| 86 GNSS->yearBytes[0]=GNSS_Handle.uartWorkingBuffer[10]; | |
| 87 uShort.bytes[1] = GNSS_Handle.uartWorkingBuffer[11]; | |
| 88 GNSS->yearBytes[1]=GNSS_Handle.uartWorkingBuffer[11]; | |
| 89 GNSS->year = uShort.uShort; | |
| 90 GNSS->month = GNSS_Handle.uartWorkingBuffer[12]; | |
| 91 GNSS->day = GNSS_Handle.uartWorkingBuffer[13]; | |
| 92 GNSS->hour = GNSS_Handle.uartWorkingBuffer[14]; | |
| 93 GNSS->min = GNSS_Handle.uartWorkingBuffer[15]; | |
| 94 GNSS->sec = GNSS_Handle.uartWorkingBuffer[16]; | |
| 95 GNSS->fixType = GNSS_Handle.uartWorkingBuffer[26]; | |
| 96 | |
| 97 for (int var = 0; var < 4; ++var) { | |
| 98 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 30]; | |
| 99 GNSS->lonBytes[var]= GNSS_Handle.uartWorkingBuffer[var + 30]; | |
| 100 } | |
| 101 GNSS->lon = iLong.iLong; | |
| 102 GNSS->fLon=(float)iLong.iLong/10000000.0; | |
| 103 for (int var = 0; var < 4; ++var) { | |
| 104 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 34]; | |
| 105 GNSS->latBytes[var]=GNSS_Handle.uartWorkingBuffer[var + 34]; | |
| 106 } | |
| 107 GNSS->lat = iLong.iLong; | |
| 108 GNSS->fLat=(float)iLong.iLong/10000000.0; | |
| 109 for (int var = 0; var < 4; ++var) { | |
| 110 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 38]; | |
| 111 } | |
| 112 GNSS->height = iLong.iLong; | |
| 113 | |
| 114 for (int var = 0; var < 4; ++var) { | |
| 115 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 42]; | |
| 116 GNSS->hMSLBytes[var] = GNSS_Handle.uartWorkingBuffer[var + 42]; | |
| 117 } | |
| 118 GNSS->hMSL = iLong.iLong; | |
| 119 | |
| 120 for (int var = 0; var < 4; ++var) { | |
| 121 uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 46]; | |
| 122 } | |
| 123 GNSS->hAcc = uLong.uLong; | |
| 124 | |
| 125 for (int var = 0; var < 4; ++var) { | |
| 126 uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 50]; | |
| 127 } | |
| 128 GNSS->vAcc = uLong.uLong; | |
| 129 | |
| 130 for (int var = 0; var < 4; ++var) { | |
| 131 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 66]; | |
| 132 GNSS->gSpeedBytes[var] = GNSS_Handle.uartWorkingBuffer[var + 66]; | |
| 133 } | |
| 134 GNSS->gSpeed = iLong.iLong; | |
| 135 | |
| 136 for (int var = 0; var < 4; ++var) { | |
| 137 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 70]; | |
| 138 } | |
| 139 GNSS->headMot = iLong.iLong * 1e-5; // todo I'm not sure this good options. | |
| 919 | 140 |
| 141 if((GNSS->fLat == 0.0) && (GNSS->fLon == 0.0)) | |
| 142 { | |
| 143 GNSS->fLat = searchCnt++; | |
| 144 } | |
| 940 | 145 |
| 947 | 146 if(GNSS->alive & GNSS_ALIVE_STATE_ALIVE) /* alive */ |
| 147 { | |
| 955 | 148 GNSS->alive &= ~GNSS_ALIVE_STATE_ALIVE; |
| 947 | 149 } |
| 150 else | |
| 151 { | |
| 152 GNSS->alive |= GNSS_ALIVE_STATE_ALIVE; | |
| 153 } | |
| 154 if((GNSS_Handle.uartWorkingBuffer[17] & 0x03) == 0x03) /* date/time valid */ | |
| 155 { | |
| 156 GNSS->alive |= GNSS_ALIVE_STATE_TIME; | |
| 157 } | |
| 158 else | |
| 159 { | |
| 955 | 160 GNSS->alive &= ~GNSS_ALIVE_STATE_TIME; |
| 161 } | |
| 162 | |
| 163 if(GNSS->fixType >= 2) | |
| 164 { | |
| 165 RTC_GetTime(&sTimeNow); | |
| 166 GNSS->alive |= GNSS_ALIVE_BACKUP_POS; | |
| 167 GNSS->last_fLat = GNSS->fLat; | |
| 168 GNSS->last_fLon = GNSS->fLon; | |
| 169 GNSS->last_hour = sTimeNow.Hours; | |
| 947 | 170 } |
| 887 | 171 } |
| 172 | |
| 173 /*! | |
| 174 * Parse data to UTC time solution standard. | |
| 175 * Look at: 32.17.30.1 u-blox 8 Receiver description. | |
| 176 * @param GNSS Pointer to main GNSS structure. | |
| 177 */ | |
| 931 | 178 void GNSS_ParseNavSatData(GNSS_StateHandle *GNSS) { |
| 179 | |
| 180 uint8_t loop = 0; | |
| 181 uint8_t searchIndex = 0; | |
| 182 uint8_t statIndex = 0; /* only 4 state information will be forwarded */ | |
| 183 uint8_t signalQuality = 0; | |
| 184 GNSS->numSat = GNSS_Handle.uartWorkingBuffer[11]; | |
| 185 | |
| 186 memset(GNSS->statSat, 0, sizeof(GNSS->statSat)); | |
| 187 | |
| 188 if(GNSS->numSat > 0) | |
| 189 { | |
| 190 searchIndex = 0; | |
| 191 while((searchIndex < GNSS->numSat) && (statIndex < 4)) /* get good signal quality */ | |
| 192 { | |
| 193 signalQuality = (GNSS_Handle.uartWorkingBuffer[22 + searchIndex * 12] & 0x7); | |
| 194 if(signalQuality > 4) | |
| 195 { | |
| 196 GNSS->statSat[statIndex++] = signalQuality; | |
| 197 } | |
| 198 if(statIndex == 4) break; | |
| 199 searchIndex++; | |
| 200 } | |
| 201 searchIndex = 0; | |
| 202 while((searchIndex < GNSS->numSat) && (statIndex < 4)) /* get medium signal quality */ | |
| 203 { | |
| 204 signalQuality = (GNSS_Handle.uartWorkingBuffer[22 + searchIndex * 12] & 0x7); | |
| 205 if((signalQuality > 2) && (signalQuality <= 4)) | |
| 206 { | |
| 207 GNSS->statSat[statIndex++] = signalQuality; | |
| 208 } | |
| 209 if(statIndex == 4) break; | |
| 210 searchIndex++; | |
| 211 } | |
| 212 searchIndex = 0; | |
| 213 while((searchIndex < GNSS->numSat) && (statIndex < 4)) /* get poor signal quality */ | |
| 214 { | |
| 215 signalQuality = (GNSS_Handle.uartWorkingBuffer[22 + searchIndex * 12] & 0x7); | |
| 216 if(signalQuality <= 2) | |
| 217 { | |
| 218 GNSS->statSat[statIndex++] = signalQuality; | |
| 219 } | |
| 220 if(statIndex == 4) break; | |
| 221 searchIndex++; | |
| 222 } | |
| 223 loop++; | |
| 224 } | |
| 225 } | |
| 226 | |
| 887 | 227 void GNSS_ParseNavigatorData(GNSS_StateHandle *GNSS) { |
| 228 uShort.bytes[0] = GNSS_Handle.uartWorkingBuffer[18]; | |
| 229 uShort.bytes[1] = GNSS_Handle.uartWorkingBuffer[19]; | |
| 230 GNSS->year = uShort.uShort; | |
| 231 GNSS->month = GNSS_Handle.uartWorkingBuffer[20]; | |
| 232 GNSS->day = GNSS_Handle.uartWorkingBuffer[21]; | |
| 233 GNSS->hour = GNSS_Handle.uartWorkingBuffer[22]; | |
| 234 GNSS->min = GNSS_Handle.uartWorkingBuffer[23]; | |
| 235 GNSS->sec = GNSS_Handle.uartWorkingBuffer[24]; | |
| 236 } | |
| 237 | |
| 931 | 238 |
| 887 | 239 /*! |
| 240 * Parse data to geodetic position solution standard. | |
| 241 * Look at: 32.17.14.1 u-blox 8 Receiver description. | |
| 242 * @param GNSS Pointer to main GNSS structure. | |
| 243 */ | |
| 244 void GNSS_ParsePOSLLHData(GNSS_StateHandle *GNSS) { | |
| 245 for (int var = 0; var < 4; ++var) { | |
| 246 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 10]; | |
| 247 } | |
| 248 GNSS->lon = iLong.iLong; | |
| 249 GNSS->fLon=(float)iLong.iLong/10000000.0; | |
| 250 | |
| 251 for (int var = 0; var < 4; ++var) { | |
| 252 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 14]; | |
| 253 } | |
| 254 GNSS->lat = iLong.iLong; | |
| 255 GNSS->fLat=(float)iLong.iLong/10000000.0; | |
| 256 | |
| 257 for (int var = 0; var < 4; ++var) { | |
| 258 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 18]; | |
| 259 } | |
| 260 GNSS->height = iLong.iLong; | |
| 261 | |
| 262 for (int var = 0; var < 4; ++var) { | |
| 263 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 22]; | |
| 264 } | |
| 265 GNSS->hMSL = iLong.iLong; | |
| 266 | |
| 267 for (int var = 0; var < 4; ++var) { | |
| 268 uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 26]; | |
| 269 } | |
| 270 GNSS->hAcc = uLong.uLong; | |
| 271 | |
| 272 for (int var = 0; var < 4; ++var) { | |
| 273 uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 30]; | |
| 274 } | |
| 275 GNSS->vAcc = uLong.uLong; | |
| 276 } |