Mercurial > public > ostc4
annotate Small_CPU/Src/uartProtocol_GNSS.c @ 955:9b29995d6619 Evo_2_23 tip
GNSS backup position:
In the previous implementation a position had to be provided by the module in order to be stored in the log. This may cause a wrong position entry (default) in the log, for example if signal is lost while preparing for the dive in the water. To avoid this the last received position will be used for ~2 hours => Diver may take the dive side position before starting with the dive preparation. The last known position will be display in the GNSS position search window as well.
| author | Ideenmodellierer |
|---|---|
| date | Wed, 01 Jan 2025 20:37:17 +0100 |
| parents | 80ae8ea7f0a0 |
| children |
| rev | line source |
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1 /** |
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2 ****************************************************************************** |
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3 * @file uartProtocol_GNSS.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 30-Sep-2024 |
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7 * @brief Interface functionality operation of GNSS devices |
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8 * |
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9 @verbatim |
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10 |
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11 |
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12 @endverbatim |
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13 ****************************************************************************** |
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14 * @attention |
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15 * |
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16 * <h2><center>© COPYRIGHT(c) 2024 heinrichs weikamp</center></h2> |
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17 * |
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18 ****************************************************************************** |
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19 */ |
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20 /* Includes ------------------------------------------------------------------*/ |
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21 |
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22 #include <string.h> |
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23 #include "scheduler.h" |
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24 #include <uartProtocol_GNSS.h> |
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25 #include "uart.h" |
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26 #include "GNSS.h" |
| 919 | 27 #include "configuration.h" |
| 28 #include "externalInterface.h" | |
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29 |
| 932 | 30 |
| 31 #if defined ENABLE_GNSS || defined ENABLE_GNSS_SUPPORT || defined ENABLE_GPIO_V2 | |
| 32 | |
| 33 static uartGnssStatus_t gnssState = UART_GNSS_INIT; | |
| 34 static gnssRequest_s activeRequest = {0,0}; | |
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35 |
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36 static receiveStateGnss_t rxState = GNSSRX_READY; |
| 919 | 37 static uint8_t GnssConnected = 0; /* Binary indicator if a sensor is connected or not */ |
| 38 static uint8_t writeIndex = 0; | |
| 39 static uint8_t dataToRead = 0; | |
| 936 | 40 static uint8_t ReqPowerDown = 0; |
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41 |
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42 void ConvertByteToHexString(uint8_t byte, char* str) |
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43 { |
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44 uint8_t worker = 0; |
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45 uint8_t digit = 0; |
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46 uint8_t digitCnt = 1; |
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47 |
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48 worker = byte; |
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49 while((worker!=0) && (digitCnt != 255)) |
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50 { |
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51 digit = worker % 16; |
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52 if( digit < 10) |
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53 { |
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54 digit += '0'; |
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55 } |
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56 else |
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57 { |
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58 digit += 'A' - 10; |
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59 } |
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60 str[digitCnt--]= digit; |
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61 worker = worker / 16; |
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62 } |
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63 } |
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64 |
| 936 | 65 void uartGnss_ReqPowerDown(uint8_t request) |
| 66 { | |
| 67 if(GnssConnected) | |
| 68 { | |
| 939 | 69 ReqPowerDown = request; |
| 936 | 70 } |
| 71 } | |
| 919 | 72 |
| 939 | 73 uint8_t uartGnss_isPowerDownRequested() |
| 74 { | |
| 75 return ReqPowerDown; | |
| 76 } | |
| 77 | |
| 932 | 78 uartGnssStatus_t uartGnss_GetState() |
| 79 { | |
| 80 return gnssState; | |
| 81 } | |
| 82 void uartGnss_SetState(uartGnssStatus_t newState) | |
| 83 { | |
| 84 gnssState = newState; | |
| 85 } | |
| 86 | |
| 87 void UART_Gnss_SendCmd(uint8_t GnssCmd) | |
| 919 | 88 { |
| 922 | 89 const uint8_t* pData; |
| 919 | 90 uint8_t txLength = 0; |
| 91 | |
| 92 switch (GnssCmd) | |
| 93 { | |
| 94 case GNSSCMD_LOADCONF_0: pData = configUBX; | |
| 95 txLength = sizeof(configUBX) / sizeof(uint8_t); | |
| 96 break; | |
| 97 case GNSSCMD_LOADCONF_1: pData = setNMEA410; | |
| 98 txLength = sizeof(setNMEA410) / sizeof(uint8_t); | |
| 99 break; | |
| 100 case GNSSCMD_LOADCONF_2: pData = setGNSS; | |
| 101 txLength = sizeof(setGNSS) / sizeof(uint8_t); | |
| 102 break; | |
| 939 | 103 case GNSSCMD_SETMOBILE: pData = setPortableMode; |
| 104 txLength = sizeof(setPortableMode) / sizeof(uint8_t); | |
| 105 break; | |
| 919 | 106 case GNSSCMD_GET_PVT_DATA: pData = getPVTData; |
| 107 txLength = sizeof(getPVTData) / sizeof(uint8_t); | |
| 108 break; | |
| 109 case GNSSCMD_GET_NAV_DATA: pData = getNavigatorData; | |
| 110 txLength = sizeof(getNavigatorData) / sizeof(uint8_t); | |
| 111 break; | |
| 932 | 112 case GNSSCMD_GET_NAVSAT_DATA: pData = getNavSat; |
| 113 txLength = sizeof(getNavSat) / sizeof(uint8_t); | |
| 114 break; | |
| 936 | 115 case GNSSCMD_MODE_PWS: pData = setPowerLow; |
| 116 txLength = sizeof(setPowerLow) / sizeof(uint8_t); | |
| 117 break; | |
| 118 case GNSSCMD_MODE_NORMAL: pData = setPowerNormal; | |
| 119 txLength = sizeof(setPowerNormal) / sizeof(uint8_t); | |
| 120 break; | |
| 121 case GNSSCMD_SET_CONFIG: pData = setConfig; | |
| 122 txLength = sizeof(setConfig) / sizeof(uint8_t); | |
| 123 break; | |
| 919 | 124 default: |
| 125 break; | |
| 126 } | |
| 127 if(txLength != 0) | |
| 128 { | |
| 932 | 129 activeRequest.class = pData[2]; |
| 130 activeRequest.id = pData[3]; | |
| 919 | 131 UART_SendCmdUbx(pData, txLength); |
| 132 } | |
| 133 } | |
| 134 | |
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135 void uartGnss_Control(void) |
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136 { |
| 919 | 137 static uint32_t warmupTick = 0; |
| 932 | 138 static uint8_t dataToggle = 0; |
| 139 uint8_t activeSensor = 0; | |
| 140 sUartComCtrl* pUartCtrl = UART_GetGnssCtrl(); | |
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141 |
| 932 | 142 if(pUartCtrl == &Uart1Ctrl) |
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143 { |
| 932 | 144 activeSensor = externalInterface_GetActiveUartSensor(); |
| 145 gnssState = externalInterface_GetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET); | |
| 146 } | |
| 147 | |
| 148 switch (gnssState) | |
| 149 { | |
| 150 case UART_GNSS_INIT: gnssState = UART_GNSS_WARMUP; | |
| 919 | 151 warmupTick = HAL_GetTick(); |
| 932 | 152 UART_clearRxBuffer(pUartCtrl); |
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153 break; |
| 919 | 154 case UART_GNSS_WARMUP: if(time_elapsed_ms(warmupTick,HAL_GetTick()) > 1000) |
| 155 { | |
| 932 | 156 gnssState = UART_GNSS_LOADCONF_0; |
| 919 | 157 } |
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158 break; |
| 932 | 159 case UART_GNSS_LOADCONF_0: UART_Gnss_SendCmd(GNSSCMD_LOADCONF_0); |
| 160 rxState = GNSSRX_DETECT_ACK_0; | |
| 161 break; | |
| 162 case UART_GNSS_LOADCONF_1: UART_Gnss_SendCmd(GNSSCMD_LOADCONF_1); | |
| 163 rxState = GNSSRX_DETECT_ACK_0; | |
| 164 break; | |
| 165 case UART_GNSS_LOADCONF_2: UART_Gnss_SendCmd(GNSSCMD_LOADCONF_2); | |
| 919 | 166 rxState = GNSSRX_DETECT_ACK_0; |
| 167 break; | |
| 939 | 168 case UART_GNSS_SETMODE_MOBILE: UART_Gnss_SendCmd(GNSSCMD_LOADCONF_2); |
| 169 rxState = GNSSRX_DETECT_ACK_0; | |
| 170 break; | |
| 936 | 171 case UART_GNSS_PWRDOWN: UART_Gnss_SendCmd(GNSSCMD_MODE_PWS); |
| 172 rxState = GNSSRX_DETECT_ACK_0; | |
| 173 break; | |
| 174 | |
| 939 | 175 case UART_GNSS_PWRUP: UART_Gnss_SendCmd(GNSSCMD_MODE_NORMAL); |
| 936 | 176 rxState = GNSSRX_DETECT_ACK_0; |
| 177 gnssState = UART_GNSS_PWRUP; | |
| 178 break; | |
| 179 case UART_GNSS_SETCONF: UART_Gnss_SendCmd(GNSSCMD_SET_CONFIG); | |
| 180 rxState = GNSSRX_DETECT_ACK_0; | |
| 181 break; | |
| 182 | |
| 183 case UART_GNSS_IDLE: if(ReqPowerDown) | |
| 932 | 184 { |
| 936 | 185 UART_Gnss_SendCmd(GNSSCMD_MODE_PWS); |
| 186 gnssState = UART_GNSS_PWRDOWN; | |
| 187 rxState = GNSSRX_DETECT_ACK_0; | |
| 932 | 188 } |
| 189 else | |
| 190 { | |
| 936 | 191 if(dataToggle) |
| 192 { | |
| 193 UART_Gnss_SendCmd(GNSSCMD_GET_PVT_DATA); | |
| 194 gnssState = UART_GNSS_GET_PVT; | |
| 195 rxState = GNSSRX_DETECT_HEADER_0; | |
| 196 dataToggle = 0; | |
| 197 } | |
| 198 else | |
| 199 { | |
| 200 UART_Gnss_SendCmd(GNSSCMD_GET_NAVSAT_DATA); | |
| 201 gnssState = UART_GNSS_GET_SAT; | |
| 202 rxState = GNSSRX_DETECT_HEADER_0; | |
| 203 dataToggle = 1; | |
| 204 } | |
| 932 | 205 } |
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206 break; |
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207 default: |
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208 break; |
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209 } |
| 932 | 210 if(pUartCtrl == &Uart1Ctrl) |
| 211 { | |
| 212 externalInterface_SetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET,gnssState); | |
| 213 } | |
| 919 | 214 |
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215 } |
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216 |
| 936 | 217 |
| 919 | 218 void uartGnss_ProcessData(uint8_t data) |
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219 { |
| 932 | 220 static uint16_t rxLength = 0; |
| 221 static uint8_t ck_A = 0; | |
| 222 static uint8_t ck_B = 0; | |
| 223 static uint8_t ck_A_Ref = 0; | |
| 224 static uint8_t ck_B_Ref = 0; | |
| 936 | 225 uint8_t activeSensor = 0; |
| 226 | |
| 227 sUartComCtrl* pUartCtrl = UART_GetGnssCtrl(); | |
| 228 | |
| 229 if(pUartCtrl == &Uart1Ctrl) | |
| 230 { | |
| 231 activeSensor = externalInterface_GetActiveUartSensor(); | |
| 232 gnssState = externalInterface_GetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET); | |
| 233 } | |
| 932 | 234 |
| 919 | 235 GNSS_Handle.uartWorkingBuffer[writeIndex++] = data; |
| 932 | 236 if((rxState >= GNSSRX_DETECT_HEADER_2) && (rxState < GNSSRX_READ_CK_A)) |
| 237 { | |
| 238 ck_A += data; | |
| 239 ck_B += ck_A; | |
| 240 } | |
| 241 | |
| 919 | 242 switch(rxState) |
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243 { |
| 919 | 244 case GNSSRX_DETECT_ACK_0: |
| 245 case GNSSRX_DETECT_HEADER_0: if(data == 0xB5) | |
| 246 { | |
| 247 writeIndex = 0; | |
| 932 | 248 memset(GNSS_Handle.uartWorkingBuffer,0xff, sizeof(GNSS_Handle.uartWorkingBuffer)); |
| 919 | 249 GNSS_Handle.uartWorkingBuffer[writeIndex++] = data; |
| 250 rxState++; | |
| 932 | 251 ck_A = 0; |
| 252 ck_B = 0; | |
| 919 | 253 } |
| 254 break; | |
| 255 case GNSSRX_DETECT_ACK_1: | |
| 256 case GNSSRX_DETECT_HEADER_1: if(data == 0x62) | |
| 257 { | |
| 258 rxState++; | |
| 259 } | |
| 260 else | |
| 261 { | |
| 262 rxState = GNSSRX_DETECT_HEADER_0; | |
| 263 } | |
| 264 break; | |
| 265 case GNSSRX_DETECT_ACK_2: if(data == 0x05) | |
| 266 { | |
| 267 rxState++; | |
| 268 } | |
| 269 else | |
| 270 { | |
| 271 rxState = GNSSRX_DETECT_HEADER_0; | |
| 272 } | |
| 273 break; | |
| 932 | 274 case GNSSRX_DETECT_ACK_3: if((data == 0x01)) |
| 919 | 275 { |
| 936 | 276 rxState = GNSSRX_READY; |
| 939 | 277 switch(gnssState) |
| 936 | 278 { |
| 939 | 279 case UART_GNSS_PWRUP: gnssState = UART_GNSS_IDLE; |
| 280 break; | |
| 281 case UART_GNSS_PWRDOWN: rxState = GNSSRX_DETECT_ACK_0; | |
| 282 UART_Gnss_SendCmd(GNSSCMD_SET_CONFIG); | |
| 283 gnssState = UART_GNSS_SETCONF; | |
| 284 break; | |
| 285 case UART_GNSS_SETCONF: gnssState = UART_GNSS_INACTIVE; | |
| 286 break; | |
| 287 case UART_GNSS_LOADCONF_0: | |
| 288 case UART_GNSS_LOADCONF_1: gnssState++; | |
| 289 break; | |
| 290 case UART_GNSS_LOADCONF_2: gnssState = UART_GNSS_SETMODE_MOBILE; | |
| 291 break; | |
| 955 | 292 case UART_GNSS_SETMODE_MOBILE: rxState = GNSSRX_DETECT_ACK_0; |
| 293 UART_Gnss_SendCmd(GNSSCMD_MODE_NORMAL); | |
| 294 gnssState = UART_GNSS_PWRUP; | |
| 939 | 295 break; |
| 296 default: | |
| 297 break; | |
| 932 | 298 } |
| 919 | 299 GnssConnected = 1; |
| 300 } | |
| 301 else | |
| 302 { | |
| 303 rxState = GNSSRX_DETECT_HEADER_0; | |
| 304 } | |
| 305 break; | |
| 932 | 306 case GNSSRX_DETECT_HEADER_2: if(data == activeRequest.class) |
| 919 | 307 { |
| 308 rxState++; | |
| 309 } | |
| 310 else | |
| 311 { | |
| 312 rxState = GNSSRX_DETECT_HEADER_0; | |
| 313 } | |
| 314 break; | |
| 932 | 315 case GNSSRX_DETECT_HEADER_3: if(data == activeRequest.id) |
| 316 { | |
| 317 rxState = GNSSRX_DETECT_LENGTH_0; | |
| 318 } | |
| 319 else | |
| 919 | 320 { |
| 932 | 321 rxState = GNSSRX_DETECT_HEADER_0; |
| 919 | 322 } |
| 932 | 323 break; |
| 324 case GNSSRX_DETECT_LENGTH_0: rxLength = GNSS_Handle.uartWorkingBuffer[4]; | |
| 325 rxState = GNSSRX_DETECT_LENGTH_1; | |
| 326 break; | |
| 327 case GNSSRX_DETECT_LENGTH_1: rxLength += (GNSS_Handle.uartWorkingBuffer[5] << 8); | |
| 328 rxState = GNSSRX_READ_DATA; | |
| 329 dataToRead = rxLength; | |
| 330 break; | |
| 331 case GNSSRX_READ_DATA: if(dataToRead > 0) | |
| 919 | 332 { |
| 333 dataToRead--; | |
| 334 } | |
| 932 | 335 if(dataToRead == 0) |
| 919 | 336 { |
| 932 | 337 rxState = GNSSRX_READ_CK_A; |
| 919 | 338 } |
| 339 break; | |
| 932 | 340 case GNSSRX_READ_CK_A: ck_A_Ref = data; |
| 341 rxState++; | |
| 342 break; | |
| 343 case GNSSRX_READ_CK_B: ck_B_Ref = data; | |
| 344 if((ck_A_Ref == ck_A) && (ck_B_Ref == ck_B)) | |
| 345 { | |
| 346 switch(gnssState) | |
| 347 { | |
| 348 case UART_GNSS_GET_PVT:GNSS_ParsePVTData(&GNSS_Handle); | |
| 349 break; | |
| 350 case UART_GNSS_GET_SAT: GNSS_ParseNavSatData(&GNSS_Handle); | |
| 351 break; | |
| 352 default: | |
| 353 break; | |
| 354 } | |
| 355 } | |
| 356 rxState = GNSSRX_DETECT_HEADER_0; | |
| 357 gnssState = UART_GNSS_IDLE; | |
| 358 break; | |
| 359 | |
| 919 | 360 default: rxState = GNSSRX_READY; |
| 361 break; | |
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362 } |
| 936 | 363 if(pUartCtrl == &Uart1Ctrl) |
| 364 { | |
| 365 externalInterface_SetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET,gnssState); | |
| 366 } | |
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367 } |
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368 |
| 919 | 369 uint8_t uartGnss_isSensorConnected() |
| 370 { | |
| 371 return GnssConnected; | |
| 372 } | |
| 373 | |
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374 #endif |
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375 |