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887
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1 /*
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2 * GNSS.c
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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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931
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29 #include <string.h>
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887
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30 #include "GNSS.h"
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947
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31 #include "data_exchange.h"
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887
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32
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33 union u_Short uShort;
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34 union i_Short iShort;
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35 union u_Long uLong;
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36 union i_Long iLong;
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37
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38 /*!
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39 * Structure initialization.
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40 * @param GNSS Pointer to main GNSS structure.
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41 * @param huart Pointer to uart handle.
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42 */
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43 void GNSS_Init(GNSS_StateHandle *GNSS, UART_HandleTypeDef *huart) {
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44 GNSS->huart = huart;
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45 GNSS->year = 0;
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46 GNSS->month = 0;
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47 GNSS->day = 0;
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48 GNSS->hour = 0;
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49 GNSS->min = 0;
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50 GNSS->sec = 0;
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51 GNSS->fixType = 0;
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52 GNSS->lon = 0;
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53 GNSS->lat = 0;
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54 GNSS->height = 0;
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55 GNSS->hMSL = 0;
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56 GNSS->hAcc = 0;
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57 GNSS->vAcc = 0;
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58 GNSS->gSpeed = 0;
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59 GNSS->headMot = 0;
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947
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60 GNSS->alive = 0;
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887
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61 }
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62
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63 /*!
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64 * Parse data to unique chip ID standard.
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65 * Look at: 32.19.1.1 u-blox 8 Receiver description
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66 * @param GNSS Pointer to main GNSS structure.
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67 */
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68 void GNSS_ParseUniqID(GNSS_StateHandle *GNSS) {
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942
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69 for (int var = 0; var < 5; var++) {
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887
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70 GNSS->uniqueID[var] = GNSS_Handle.uartWorkingBuffer[10 + var];
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71 }
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72 }
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73
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74 /*!
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75 * Parse data to navigation position velocity time solution standard.
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76 * Look at: 32.17.15.1 u-blox 8 Receiver description.
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77 * @param GNSS Pointer to main GNSS structure.
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78 */
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79 void GNSS_ParsePVTData(GNSS_StateHandle *GNSS) {
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919
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80
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81 static float searchCnt = 1.0;
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82
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887
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83 uShort.bytes[0] = GNSS_Handle.uartWorkingBuffer[10];
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84 GNSS->yearBytes[0]=GNSS_Handle.uartWorkingBuffer[10];
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85 uShort.bytes[1] = GNSS_Handle.uartWorkingBuffer[11];
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86 GNSS->yearBytes[1]=GNSS_Handle.uartWorkingBuffer[11];
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87 GNSS->year = uShort.uShort;
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88 GNSS->month = GNSS_Handle.uartWorkingBuffer[12];
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89 GNSS->day = GNSS_Handle.uartWorkingBuffer[13];
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90 GNSS->hour = GNSS_Handle.uartWorkingBuffer[14];
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91 GNSS->min = GNSS_Handle.uartWorkingBuffer[15];
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92 GNSS->sec = GNSS_Handle.uartWorkingBuffer[16];
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93 GNSS->fixType = GNSS_Handle.uartWorkingBuffer[26];
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94
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95 for (int var = 0; var < 4; ++var) {
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96 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 30];
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97 GNSS->lonBytes[var]= GNSS_Handle.uartWorkingBuffer[var + 30];
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98 }
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99 GNSS->lon = iLong.iLong;
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100 GNSS->fLon=(float)iLong.iLong/10000000.0;
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101 for (int var = 0; var < 4; ++var) {
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102 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 34];
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103 GNSS->latBytes[var]=GNSS_Handle.uartWorkingBuffer[var + 34];
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104 }
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105 GNSS->lat = iLong.iLong;
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106 GNSS->fLat=(float)iLong.iLong/10000000.0;
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107 for (int var = 0; var < 4; ++var) {
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108 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 38];
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109 }
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110 GNSS->height = iLong.iLong;
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111
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112 for (int var = 0; var < 4; ++var) {
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113 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 42];
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114 GNSS->hMSLBytes[var] = GNSS_Handle.uartWorkingBuffer[var + 42];
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115 }
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116 GNSS->hMSL = iLong.iLong;
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117
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118 for (int var = 0; var < 4; ++var) {
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119 uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 46];
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120 }
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121 GNSS->hAcc = uLong.uLong;
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122
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123 for (int var = 0; var < 4; ++var) {
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124 uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 50];
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125 }
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126 GNSS->vAcc = uLong.uLong;
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127
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128 for (int var = 0; var < 4; ++var) {
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129 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 66];
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130 GNSS->gSpeedBytes[var] = GNSS_Handle.uartWorkingBuffer[var + 66];
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131 }
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132 GNSS->gSpeed = iLong.iLong;
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133
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134 for (int var = 0; var < 4; ++var) {
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135 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 70];
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136 }
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137 GNSS->headMot = iLong.iLong * 1e-5; // todo I'm not sure this good options.
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919
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138
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139 if((GNSS->fLat == 0.0) && (GNSS->fLon == 0.0))
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140 {
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141 GNSS->fLat = searchCnt++;
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142 }
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940
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143
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947
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144 if(GNSS->alive & GNSS_ALIVE_STATE_ALIVE) /* alive */
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145 {
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146 GNSS->alive &= !GNSS_ALIVE_STATE_ALIVE;
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147 }
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148 else
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149 {
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150 GNSS->alive |= GNSS_ALIVE_STATE_ALIVE;
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151 }
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152 if((GNSS_Handle.uartWorkingBuffer[17] & 0x03) == 0x03) /* date/time valid */
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153 {
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154 GNSS->alive |= GNSS_ALIVE_STATE_TIME;
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155 }
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156 else
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157 {
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158 GNSS->alive &= !GNSS_ALIVE_STATE_TIME;
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159 }
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887
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160 }
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161
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162 /*!
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163 * Parse data to UTC time solution standard.
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164 * Look at: 32.17.30.1 u-blox 8 Receiver description.
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165 * @param GNSS Pointer to main GNSS structure.
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166 */
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931
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167 void GNSS_ParseNavSatData(GNSS_StateHandle *GNSS) {
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168
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169 uint8_t loop = 0;
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170 uint8_t searchIndex = 0;
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171 uint8_t statIndex = 0; /* only 4 state information will be forwarded */
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172 uint8_t signalQuality = 0;
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173 GNSS->numSat = GNSS_Handle.uartWorkingBuffer[11];
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174
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175 memset(GNSS->statSat, 0, sizeof(GNSS->statSat));
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176
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177 if(GNSS->numSat > 0)
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178 {
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179 searchIndex = 0;
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180 while((searchIndex < GNSS->numSat) && (statIndex < 4)) /* get good signal quality */
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181 {
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182 signalQuality = (GNSS_Handle.uartWorkingBuffer[22 + searchIndex * 12] & 0x7);
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183 if(signalQuality > 4)
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184 {
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185 GNSS->statSat[statIndex++] = signalQuality;
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186 }
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187 if(statIndex == 4) break;
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188 searchIndex++;
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189 }
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190 searchIndex = 0;
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191 while((searchIndex < GNSS->numSat) && (statIndex < 4)) /* get medium signal quality */
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192 {
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193 signalQuality = (GNSS_Handle.uartWorkingBuffer[22 + searchIndex * 12] & 0x7);
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194 if((signalQuality > 2) && (signalQuality <= 4))
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195 {
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196 GNSS->statSat[statIndex++] = signalQuality;
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197 }
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198 if(statIndex == 4) break;
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199 searchIndex++;
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200 }
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201 searchIndex = 0;
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202 while((searchIndex < GNSS->numSat) && (statIndex < 4)) /* get poor signal quality */
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203 {
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204 signalQuality = (GNSS_Handle.uartWorkingBuffer[22 + searchIndex * 12] & 0x7);
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205 if(signalQuality <= 2)
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206 {
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207 GNSS->statSat[statIndex++] = signalQuality;
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208 }
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209 if(statIndex == 4) break;
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210 searchIndex++;
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211 }
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212 loop++;
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213 }
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214 }
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215
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887
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216 void GNSS_ParseNavigatorData(GNSS_StateHandle *GNSS) {
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217 uShort.bytes[0] = GNSS_Handle.uartWorkingBuffer[18];
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218 uShort.bytes[1] = GNSS_Handle.uartWorkingBuffer[19];
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219 GNSS->year = uShort.uShort;
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220 GNSS->month = GNSS_Handle.uartWorkingBuffer[20];
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221 GNSS->day = GNSS_Handle.uartWorkingBuffer[21];
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222 GNSS->hour = GNSS_Handle.uartWorkingBuffer[22];
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223 GNSS->min = GNSS_Handle.uartWorkingBuffer[23];
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224 GNSS->sec = GNSS_Handle.uartWorkingBuffer[24];
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225 }
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226
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227
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887
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228 /*!
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229 * Parse data to geodetic position solution standard.
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230 * Look at: 32.17.14.1 u-blox 8 Receiver description.
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231 * @param GNSS Pointer to main GNSS structure.
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232 */
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233 void GNSS_ParsePOSLLHData(GNSS_StateHandle *GNSS) {
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234 for (int var = 0; var < 4; ++var) {
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235 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 10];
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236 }
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237 GNSS->lon = iLong.iLong;
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238 GNSS->fLon=(float)iLong.iLong/10000000.0;
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239
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240 for (int var = 0; var < 4; ++var) {
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241 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 14];
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242 }
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243 GNSS->lat = iLong.iLong;
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244 GNSS->fLat=(float)iLong.iLong/10000000.0;
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245
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246 for (int var = 0; var < 4; ++var) {
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247 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 18];
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248 }
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249 GNSS->height = iLong.iLong;
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250
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251 for (int var = 0; var < 4; ++var) {
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252 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 22];
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253 }
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254 GNSS->hMSL = iLong.iLong;
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255
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256 for (int var = 0; var < 4; ++var) {
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257 uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 26];
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258 }
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259 GNSS->hAcc = uLong.uLong;
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260
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261 for (int var = 0; var < 4; ++var) {
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262 uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 30];
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263 }
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264 GNSS->vAcc = uLong.uLong;
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265 }
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