Mercurial > public > ostc4
annotate Small_CPU/Src/uartProtocol_GNSS.c @ 919:c0553dd70608 Evo_2_23
GNSS support for external UART interface:
An ubox gps module may now be connected to the external UART. Per default the functionality is disabled using the compile switch ENABLE_GNSS_SUPPORT
| author | Ideenmodellierer |
|---|---|
| date | Sun, 03 Nov 2024 15:43:04 +0100 |
| parents | 2225c467f1e9 |
| children | 7c996354b8ac |
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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 |
| 919 | 30 #if defined ENABLE_GNSS || defined ENABLE_GNSS_SUPPORT |
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31 |
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32 static receiveStateGnss_t rxState = GNSSRX_READY; |
| 919 | 33 static uint8_t GnssConnected = 0; /* Binary indicator if a sensor is connected or not */ |
| 34 | |
| 35 static uint8_t writeIndex = 0; | |
| 36 | |
| 37 static uint8_t dataToRead = 0; | |
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38 |
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39 void ConvertByteToHexString(uint8_t byte, char* str) |
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40 { |
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41 uint8_t worker = 0; |
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42 uint8_t digit = 0; |
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43 uint8_t digitCnt = 1; |
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44 |
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45 worker = byte; |
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46 while((worker!=0) && (digitCnt != 255)) |
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47 { |
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48 digit = worker % 16; |
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49 if( digit < 10) |
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50 { |
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51 digit += '0'; |
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52 } |
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53 else |
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54 { |
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55 digit += 'A' - 10; |
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56 } |
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57 str[digitCnt--]= digit; |
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58 worker = worker / 16; |
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59 } |
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60 } |
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61 |
| 919 | 62 |
| 63 void uartGnss_SendCmd(uint8_t GnssCmd) | |
| 64 { | |
| 65 uint8_t* pData; | |
| 66 uint8_t txLength = 0; | |
| 67 | |
| 68 switch (GnssCmd) | |
| 69 { | |
| 70 case GNSSCMD_LOADCONF_0: pData = configUBX; | |
| 71 txLength = sizeof(configUBX) / sizeof(uint8_t); | |
| 72 break; | |
| 73 case GNSSCMD_LOADCONF_1: pData = setNMEA410; | |
| 74 txLength = sizeof(setNMEA410) / sizeof(uint8_t); | |
| 75 break; | |
| 76 case GNSSCMD_LOADCONF_2: pData = setGNSS; | |
| 77 txLength = sizeof(setGNSS) / sizeof(uint8_t); | |
| 78 break; | |
| 79 case GNSSCMD_GET_PVT_DATA: pData = getPVTData; | |
| 80 txLength = sizeof(getPVTData) / sizeof(uint8_t); | |
| 81 break; | |
| 82 case GNSSCMD_GET_NAV_DATA: pData = getNavigatorData; | |
| 83 txLength = sizeof(getNavigatorData) / sizeof(uint8_t); | |
| 84 break; | |
| 85 | |
| 86 default: | |
| 87 break; | |
| 88 } | |
| 89 if(txLength != 0) | |
| 90 { | |
| 91 UART_SendCmdUbx(pData, txLength); | |
| 92 } | |
| 93 } | |
| 94 | |
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95 void uartGnss_Control(void) |
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96 { |
| 919 | 97 static uint32_t warmupTick = 0; |
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98 |
| 919 | 99 uint8_t activeSensor = externalInterface_GetActiveUartSensor(); |
| 100 uartGnssStatus_t localComState = externalInterface_GetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET); | |
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101 |
| 919 | 102 switch (localComState) |
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103 { |
| 919 | 104 case UART_GNSS_INIT: localComState = UART_GNSS_WARMUP; |
| 105 warmupTick = HAL_GetTick(); | |
| 106 UART_clearRxBuffer(); | |
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107 break; |
| 919 | 108 case UART_GNSS_WARMUP: if(time_elapsed_ms(warmupTick,HAL_GetTick()) > 1000) |
| 109 { | |
| 110 localComState = UART_GNSS_LOADCONF_0; | |
| 111 } | |
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112 break; |
| 919 | 113 case UART_GNSS_LOADCONF_0: uartGnss_SendCmd(GNSSCMD_LOADCONF_0); |
| 114 localComState = UART_GNSS_LOADCONF_1; | |
| 115 rxState = GNSSRX_DETECT_ACK_0; | |
| 116 break; | |
| 117 case UART_GNSS_LOADCONF_1: uartGnss_SendCmd(GNSSCMD_LOADCONF_1); | |
| 118 localComState = UART_GNSS_LOADCONF_2; | |
| 119 rxState = GNSSRX_DETECT_ACK_0; | |
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120 break; |
| 919 | 121 case UART_GNSS_LOADCONF_2: uartGnss_SendCmd(GNSSCMD_LOADCONF_2); |
| 122 localComState = UART_GNSS_IDLE; | |
| 123 rxState = GNSSRX_DETECT_ACK_0; | |
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124 break; |
| 919 | 125 case UART_GNSS_IDLE: uartGnss_SendCmd(GNSSCMD_GET_PVT_DATA); |
| 126 localComState = UART_GNSS_GET_PVT; | |
| 127 rxState = GNSSRX_DETECT_HEADER_0; | |
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128 break; |
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129 default: |
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130 break; |
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131 } |
| 919 | 132 |
| 133 externalInterface_SetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET,localComState); | |
| 134 | |
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135 } |
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136 |
| 919 | 137 void uartGnss_ProcessData(uint8_t data) |
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138 { |
| 919 | 139 uint8_t activeSensor = externalInterface_GetActiveUartSensor(); |
| 140 GNSS_Handle.uartWorkingBuffer[writeIndex++] = data; | |
| 141 switch(rxState) | |
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142 { |
| 919 | 143 case GNSSRX_DETECT_ACK_0: |
| 144 case GNSSRX_DETECT_HEADER_0: if(data == 0xB5) | |
| 145 { | |
| 146 writeIndex = 0; | |
| 147 memset(GNSS_Handle.uartWorkingBuffer,0, sizeof(GNSS_Handle.uartWorkingBuffer)); | |
| 148 GNSS_Handle.uartWorkingBuffer[writeIndex++] = data; | |
| 149 rxState++; | |
| 150 } | |
| 151 break; | |
| 152 case GNSSRX_DETECT_ACK_1: | |
| 153 case GNSSRX_DETECT_HEADER_1: if(data == 0x62) | |
| 154 { | |
| 155 rxState++; | |
| 156 } | |
| 157 else | |
| 158 { | |
| 159 rxState = GNSSRX_DETECT_HEADER_0; | |
| 160 } | |
| 161 break; | |
| 162 case GNSSRX_DETECT_ACK_2: if(data == 0x05) | |
| 163 { | |
| 164 rxState++; | |
| 165 } | |
| 166 else | |
| 167 { | |
| 168 rxState = GNSSRX_DETECT_HEADER_0; | |
| 169 } | |
| 170 break; | |
| 171 case GNSSRX_DETECT_ACK_3: if((data == 0x01) || (data == 0x00)) | |
| 172 { | |
| 173 GnssConnected = 1; | |
| 174 rxState = GNSSRX_READY; | |
| 175 } | |
| 176 else | |
| 177 { | |
| 178 rxState = GNSSRX_DETECT_HEADER_0; | |
| 179 } | |
| 180 break; | |
| 181 case GNSSRX_DETECT_HEADER_2: if(data == 0x01) | |
| 182 { | |
| 183 rxState++; | |
| 184 } | |
| 185 else | |
| 186 { | |
| 187 rxState = GNSSRX_DETECT_HEADER_0; | |
| 188 } | |
| 189 break; | |
| 190 case GNSSRX_DETECT_HEADER_3: | |
| 191 switch(data) | |
| 192 { | |
| 193 case 0x21: rxState = GNSSRX_READ_NAV_DATA; | |
| 194 dataToRead = 20; | |
| 195 break; | |
| 196 case 0x07: rxState = GNSSRX_READ_PVT_DATA; | |
| 197 dataToRead = 92; | |
| 198 break; | |
| 199 case 0x02: rxState = GNSSRX_READ_POSLLH_DATA; | |
| 200 break; | |
| 201 default: rxState = GNSSRX_DETECT_HEADER_0; | |
| 202 break; | |
| 203 } | |
| 204 break; | |
| 205 case GNSSRX_READ_NAV_DATA: | |
| 206 case GNSSRX_READ_PVT_DATA: | |
| 207 case GNSSRX_READ_POSLLH_DATA: if(dataToRead > 0) | |
| 208 { | |
| 209 dataToRead--; | |
| 210 } | |
| 211 else | |
| 212 { | |
| 213 switch(rxState) | |
| 214 { | |
| 215 case GNSSRX_READ_NAV_DATA: GNSS_ParseNavigatorData(&GNSS_Handle); | |
| 216 break; | |
| 217 case GNSSRX_READ_PVT_DATA: GNSS_ParsePVTData(&GNSS_Handle); | |
| 218 break; | |
| 219 case GNSSRX_READ_POSLLH_DATA: GNSS_ParsePOSLLHData(&GNSS_Handle); | |
| 220 break; | |
| 221 default: rxState = GNSSRX_DETECT_HEADER_0; | |
| 222 break; | |
| 223 } | |
| 224 rxState = GNSSRX_DETECT_HEADER_0; | |
| 225 externalInterface_SetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET,UART_GNSS_IDLE); | |
| 226 } | |
| 227 break; | |
| 228 default: rxState = GNSSRX_READY; | |
| 229 break; | |
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230 } |
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231 } |
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232 |
| 919 | 233 uint8_t uartGnss_isSensorConnected() |
| 234 { | |
| 235 return GnssConnected; | |
| 236 } | |
| 237 | |
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238 #endif |
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239 |