Mercurial > public > ostc4
annotate Small_CPU/Src/uartProtocol_GNSS.c @ 937:d461d9e89e3c Evo_2_23
Compile switch for RTE sleep debug:
there was already a compiler switch for enabling debugging while RTE is in sleep but the switches were distributed across the code => to make selection easier they are now part of the configuration.h
| author | Ideenmodellierer |
|---|---|
| date | Tue, 10 Dec 2024 20:59:37 +0100 |
| parents | 3029f0332f4f |
| children | f41974734268 |
| 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 { | |
| 69 ReqPowerDown = 1; | |
| 70 } | |
| 71 } | |
| 919 | 72 |
| 932 | 73 uartGnssStatus_t uartGnss_GetState() |
| 74 { | |
| 75 return gnssState; | |
| 76 } | |
| 77 void uartGnss_SetState(uartGnssStatus_t newState) | |
| 78 { | |
| 79 gnssState = newState; | |
| 80 } | |
| 81 | |
| 82 void UART_Gnss_SendCmd(uint8_t GnssCmd) | |
| 919 | 83 { |
| 922 | 84 const uint8_t* pData; |
| 919 | 85 uint8_t txLength = 0; |
| 86 | |
| 87 switch (GnssCmd) | |
| 88 { | |
| 89 case GNSSCMD_LOADCONF_0: pData = configUBX; | |
| 90 txLength = sizeof(configUBX) / sizeof(uint8_t); | |
| 91 break; | |
| 92 case GNSSCMD_LOADCONF_1: pData = setNMEA410; | |
| 93 txLength = sizeof(setNMEA410) / sizeof(uint8_t); | |
| 94 break; | |
| 95 case GNSSCMD_LOADCONF_2: pData = setGNSS; | |
| 96 txLength = sizeof(setGNSS) / sizeof(uint8_t); | |
| 97 break; | |
| 98 case GNSSCMD_GET_PVT_DATA: pData = getPVTData; | |
| 99 txLength = sizeof(getPVTData) / sizeof(uint8_t); | |
| 100 break; | |
| 101 case GNSSCMD_GET_NAV_DATA: pData = getNavigatorData; | |
| 102 txLength = sizeof(getNavigatorData) / sizeof(uint8_t); | |
| 103 break; | |
| 932 | 104 case GNSSCMD_GET_NAVSAT_DATA: pData = getNavSat; |
| 105 txLength = sizeof(getNavSat) / sizeof(uint8_t); | |
| 106 break; | |
| 936 | 107 case GNSSCMD_MODE_PWS: pData = setPowerLow; |
| 108 txLength = sizeof(setPowerLow) / sizeof(uint8_t); | |
| 109 break; | |
| 110 case GNSSCMD_MODE_NORMAL: pData = setPowerNormal; | |
| 111 txLength = sizeof(setPowerNormal) / sizeof(uint8_t); | |
| 112 break; | |
| 113 case GNSSCMD_SET_CONFIG: pData = setConfig; | |
| 114 txLength = sizeof(setConfig) / sizeof(uint8_t); | |
| 115 break; | |
| 919 | 116 default: |
| 117 break; | |
| 118 } | |
| 119 if(txLength != 0) | |
| 120 { | |
| 932 | 121 activeRequest.class = pData[2]; |
| 122 activeRequest.id = pData[3]; | |
| 919 | 123 UART_SendCmdUbx(pData, txLength); |
| 124 } | |
| 125 } | |
| 126 | |
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127 void uartGnss_Control(void) |
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128 { |
| 919 | 129 static uint32_t warmupTick = 0; |
| 932 | 130 static uint8_t dataToggle = 0; |
| 131 uint8_t activeSensor = 0; | |
| 132 sUartComCtrl* pUartCtrl = UART_GetGnssCtrl(); | |
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133 |
| 932 | 134 if(pUartCtrl == &Uart1Ctrl) |
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135 { |
| 932 | 136 activeSensor = externalInterface_GetActiveUartSensor(); |
| 137 gnssState = externalInterface_GetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET); | |
| 138 } | |
| 139 | |
| 140 switch (gnssState) | |
| 141 { | |
| 142 case UART_GNSS_INIT: gnssState = UART_GNSS_WARMUP; | |
| 919 | 143 warmupTick = HAL_GetTick(); |
| 932 | 144 UART_clearRxBuffer(pUartCtrl); |
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145 break; |
| 919 | 146 case UART_GNSS_WARMUP: if(time_elapsed_ms(warmupTick,HAL_GetTick()) > 1000) |
| 147 { | |
| 932 | 148 gnssState = UART_GNSS_LOADCONF_0; |
| 919 | 149 } |
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150 break; |
| 932 | 151 case UART_GNSS_LOADCONF_0: UART_Gnss_SendCmd(GNSSCMD_LOADCONF_0); |
| 152 rxState = GNSSRX_DETECT_ACK_0; | |
| 153 break; | |
| 154 case UART_GNSS_LOADCONF_1: UART_Gnss_SendCmd(GNSSCMD_LOADCONF_1); | |
| 155 rxState = GNSSRX_DETECT_ACK_0; | |
| 156 break; | |
| 157 case UART_GNSS_LOADCONF_2: UART_Gnss_SendCmd(GNSSCMD_LOADCONF_2); | |
| 919 | 158 rxState = GNSSRX_DETECT_ACK_0; |
| 159 break; | |
| 936 | 160 case UART_GNSS_PWRDOWN: UART_Gnss_SendCmd(GNSSCMD_MODE_PWS); |
| 161 rxState = GNSSRX_DETECT_ACK_0; | |
| 162 break; | |
| 163 | |
| 164 case UART_GNSS_PWRUP: | |
| 165 case UART_GNSS_INACTIVE: UART_Gnss_SendCmd(GNSSCMD_MODE_NORMAL); | |
| 166 rxState = GNSSRX_DETECT_ACK_0; | |
| 167 gnssState = UART_GNSS_PWRUP; | |
| 168 break; | |
| 169 case UART_GNSS_SETCONF: UART_Gnss_SendCmd(GNSSCMD_SET_CONFIG); | |
| 170 rxState = GNSSRX_DETECT_ACK_0; | |
| 171 break; | |
| 172 | |
| 173 case UART_GNSS_IDLE: if(ReqPowerDown) | |
| 932 | 174 { |
| 936 | 175 UART_Gnss_SendCmd(GNSSCMD_MODE_PWS); |
| 176 gnssState = UART_GNSS_PWRDOWN; | |
| 177 rxState = GNSSRX_DETECT_ACK_0; | |
| 932 | 178 } |
| 179 else | |
| 180 { | |
| 936 | 181 if(dataToggle) |
| 182 { | |
| 183 UART_Gnss_SendCmd(GNSSCMD_GET_PVT_DATA); | |
| 184 gnssState = UART_GNSS_GET_PVT; | |
| 185 rxState = GNSSRX_DETECT_HEADER_0; | |
| 186 dataToggle = 0; | |
| 187 } | |
| 188 else | |
| 189 { | |
| 190 UART_Gnss_SendCmd(GNSSCMD_GET_NAVSAT_DATA); | |
| 191 gnssState = UART_GNSS_GET_SAT; | |
| 192 rxState = GNSSRX_DETECT_HEADER_0; | |
| 193 dataToggle = 1; | |
| 194 } | |
| 932 | 195 } |
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196 break; |
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197 default: |
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198 break; |
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199 } |
| 932 | 200 if(pUartCtrl == &Uart1Ctrl) |
| 201 { | |
| 202 externalInterface_SetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET,gnssState); | |
| 203 } | |
| 919 | 204 |
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205 } |
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206 |
| 936 | 207 |
| 919 | 208 void uartGnss_ProcessData(uint8_t data) |
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209 { |
| 932 | 210 static uint16_t rxLength = 0; |
| 211 static uint8_t ck_A = 0; | |
| 212 static uint8_t ck_B = 0; | |
| 213 static uint8_t ck_A_Ref = 0; | |
| 214 static uint8_t ck_B_Ref = 0; | |
| 936 | 215 uint8_t activeSensor = 0; |
| 216 | |
| 217 sUartComCtrl* pUartCtrl = UART_GetGnssCtrl(); | |
| 218 | |
| 219 if(pUartCtrl == &Uart1Ctrl) | |
| 220 { | |
| 221 activeSensor = externalInterface_GetActiveUartSensor(); | |
| 222 gnssState = externalInterface_GetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET); | |
| 223 } | |
| 932 | 224 |
| 919 | 225 GNSS_Handle.uartWorkingBuffer[writeIndex++] = data; |
| 932 | 226 if((rxState >= GNSSRX_DETECT_HEADER_2) && (rxState < GNSSRX_READ_CK_A)) |
| 227 { | |
| 228 ck_A += data; | |
| 229 ck_B += ck_A; | |
| 230 } | |
| 231 | |
| 919 | 232 switch(rxState) |
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233 { |
| 919 | 234 case GNSSRX_DETECT_ACK_0: |
| 235 case GNSSRX_DETECT_HEADER_0: if(data == 0xB5) | |
| 236 { | |
| 237 writeIndex = 0; | |
| 932 | 238 memset(GNSS_Handle.uartWorkingBuffer,0xff, sizeof(GNSS_Handle.uartWorkingBuffer)); |
| 919 | 239 GNSS_Handle.uartWorkingBuffer[writeIndex++] = data; |
| 240 rxState++; | |
| 932 | 241 ck_A = 0; |
| 242 ck_B = 0; | |
| 919 | 243 } |
| 244 break; | |
| 245 case GNSSRX_DETECT_ACK_1: | |
| 246 case GNSSRX_DETECT_HEADER_1: if(data == 0x62) | |
| 247 { | |
| 248 rxState++; | |
| 249 } | |
| 250 else | |
| 251 { | |
| 252 rxState = GNSSRX_DETECT_HEADER_0; | |
| 253 } | |
| 254 break; | |
| 255 case GNSSRX_DETECT_ACK_2: if(data == 0x05) | |
| 256 { | |
| 257 rxState++; | |
| 258 } | |
| 259 else | |
| 260 { | |
| 261 rxState = GNSSRX_DETECT_HEADER_0; | |
| 262 } | |
| 263 break; | |
| 932 | 264 case GNSSRX_DETECT_ACK_3: if((data == 0x01)) |
| 919 | 265 { |
| 936 | 266 rxState = GNSSRX_READY; |
| 267 if(gnssState == UART_GNSS_PWRUP) | |
| 268 { | |
| 269 gnssState = UART_GNSS_IDLE; | |
| 270 } | |
| 271 else if(gnssState == UART_GNSS_PWRDOWN) | |
| 272 { | |
| 273 rxState = GNSSRX_DETECT_ACK_0; | |
| 274 UART_Gnss_SendCmd(GNSSCMD_SET_CONFIG); | |
| 275 gnssState = UART_GNSS_SETCONF; | |
| 276 } | |
| 277 else if(gnssState == UART_GNSS_SETCONF) | |
| 278 { | |
| 279 gnssState = UART_GNSS_INACTIVE; | |
| 280 } | |
| 281 else if((gnssState >= UART_GNSS_LOADCONF_0) && (gnssState <= UART_GNSS_LOADCONF_2)) | |
| 932 | 282 { |
| 283 if(gnssState == UART_GNSS_LOADCONF_2) | |
| 284 { | |
| 285 gnssState = UART_GNSS_IDLE; | |
| 286 } | |
| 287 else | |
| 288 { | |
| 289 gnssState++; | |
| 290 } | |
| 291 } | |
| 919 | 292 GnssConnected = 1; |
| 293 } | |
| 294 else | |
| 295 { | |
| 296 rxState = GNSSRX_DETECT_HEADER_0; | |
| 297 } | |
| 298 break; | |
| 932 | 299 case GNSSRX_DETECT_HEADER_2: if(data == activeRequest.class) |
| 919 | 300 { |
| 301 rxState++; | |
| 302 } | |
| 303 else | |
| 304 { | |
| 305 rxState = GNSSRX_DETECT_HEADER_0; | |
| 306 } | |
| 307 break; | |
| 932 | 308 case GNSSRX_DETECT_HEADER_3: if(data == activeRequest.id) |
| 309 { | |
| 310 rxState = GNSSRX_DETECT_LENGTH_0; | |
| 311 } | |
| 312 else | |
| 919 | 313 { |
| 932 | 314 rxState = GNSSRX_DETECT_HEADER_0; |
| 919 | 315 } |
| 932 | 316 break; |
| 317 case GNSSRX_DETECT_LENGTH_0: rxLength = GNSS_Handle.uartWorkingBuffer[4]; | |
| 318 rxState = GNSSRX_DETECT_LENGTH_1; | |
| 319 break; | |
| 320 case GNSSRX_DETECT_LENGTH_1: rxLength += (GNSS_Handle.uartWorkingBuffer[5] << 8); | |
| 321 rxState = GNSSRX_READ_DATA; | |
| 322 dataToRead = rxLength; | |
| 323 break; | |
| 324 case GNSSRX_READ_DATA: if(dataToRead > 0) | |
| 919 | 325 { |
| 326 dataToRead--; | |
| 327 } | |
| 932 | 328 if(dataToRead == 0) |
| 919 | 329 { |
| 932 | 330 rxState = GNSSRX_READ_CK_A; |
| 919 | 331 } |
| 332 break; | |
| 932 | 333 case GNSSRX_READ_CK_A: ck_A_Ref = data; |
| 334 rxState++; | |
| 335 break; | |
| 336 case GNSSRX_READ_CK_B: ck_B_Ref = data; | |
| 337 if((ck_A_Ref == ck_A) && (ck_B_Ref == ck_B)) | |
| 338 { | |
| 339 switch(gnssState) | |
| 340 { | |
| 341 case UART_GNSS_GET_PVT:GNSS_ParsePVTData(&GNSS_Handle); | |
| 342 break; | |
| 343 case UART_GNSS_GET_SAT: GNSS_ParseNavSatData(&GNSS_Handle); | |
| 344 break; | |
| 345 default: | |
| 346 break; | |
| 347 } | |
| 348 } | |
| 349 rxState = GNSSRX_DETECT_HEADER_0; | |
| 350 gnssState = UART_GNSS_IDLE; | |
| 351 break; | |
| 352 | |
| 919 | 353 default: rxState = GNSSRX_READY; |
| 354 break; | |
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355 } |
| 936 | 356 if(pUartCtrl == &Uart1Ctrl) |
| 357 { | |
| 358 externalInterface_SetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET,gnssState); | |
| 359 } | |
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360 } |
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361 |
| 919 | 362 uint8_t uartGnss_isSensorConnected() |
| 363 { | |
| 364 return GnssConnected; | |
| 365 } | |
| 366 | |
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367 #endif |
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368 |