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