Mercurial > public > ostc4
annotate Small_CPU/Src/uartProtocol_GNSS.c @ 935:f2494a708f52 Evo_2_23
Added unit files for GPIO:
The new gpios need to be accessed from severall units. That's why the current, static implementation in the baseCPU did not fit. To enable global usage of the function they have been moved into new source / header file
| author | Ideenmodellierer |
|---|---|
| date | Sun, 08 Dec 2024 21:59:22 +0100 |
| parents | effadaa3a1f7 |
| children | 3029f0332f4f |
| rev | line source |
|---|---|
|
899
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
1 /** |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
2 ****************************************************************************** |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
3 * @file uartProtocol_GNSS.c |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
4 * @author heinrichs weikamp gmbh |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
5 * @version V0.0.1 |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
6 * @date 30-Sep-2024 |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
7 * @brief Interface functionality operation of GNSS devices |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
8 * |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
9 @verbatim |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
10 |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
11 |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
12 @endverbatim |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
13 ****************************************************************************** |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
14 * @attention |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
15 * |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
16 * <h2><center>© COPYRIGHT(c) 2024 heinrichs weikamp</center></h2> |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
17 * |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
18 ****************************************************************************** |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
19 */ |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
20 /* Includes ------------------------------------------------------------------*/ |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
21 |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
22 #include <string.h> |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
23 #include "scheduler.h" |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
24 #include <uartProtocol_GNSS.h> |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
25 #include "uart.h" |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
26 #include "GNSS.h" |
| 919 | 27 #include "configuration.h" |
| 28 #include "externalInterface.h" | |
|
899
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
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}; | |
|
899
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
35 |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
36 static receiveStateGnss_t rxState = GNSSRX_READY; |
| 919 | 37 static uint8_t GnssConnected = 0; /* Binary indicator if a sensor is connected or not */ |
| 38 | |
| 39 static uint8_t writeIndex = 0; | |
| 40 | |
| 41 static uint8_t dataToRead = 0; | |
|
899
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
42 |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
43 void ConvertByteToHexString(uint8_t byte, char* str) |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
44 { |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
45 uint8_t worker = 0; |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
46 uint8_t digit = 0; |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
47 uint8_t digitCnt = 1; |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
48 |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
49 worker = byte; |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
50 while((worker!=0) && (digitCnt != 255)) |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
51 { |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
52 digit = worker % 16; |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
53 if( digit < 10) |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
54 { |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
55 digit += '0'; |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
56 } |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
57 else |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
58 { |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
59 digit += 'A' - 10; |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
60 } |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
61 str[digitCnt--]= digit; |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
62 worker = worker / 16; |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
63 } |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
64 } |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
65 |
| 919 | 66 |
| 932 | 67 uartGnssStatus_t uartGnss_GetState() |
| 68 { | |
| 69 return gnssState; | |
| 70 } | |
| 71 void uartGnss_SetState(uartGnssStatus_t newState) | |
| 72 { | |
| 73 gnssState = newState; | |
| 74 } | |
| 75 | |
| 76 void UART_Gnss_SendCmd(uint8_t GnssCmd) | |
| 919 | 77 { |
| 922 | 78 const uint8_t* pData; |
| 919 | 79 uint8_t txLength = 0; |
| 80 | |
| 81 switch (GnssCmd) | |
| 82 { | |
| 83 case GNSSCMD_LOADCONF_0: pData = configUBX; | |
| 84 txLength = sizeof(configUBX) / sizeof(uint8_t); | |
| 85 break; | |
| 86 case GNSSCMD_LOADCONF_1: pData = setNMEA410; | |
| 87 txLength = sizeof(setNMEA410) / sizeof(uint8_t); | |
| 88 break; | |
| 89 case GNSSCMD_LOADCONF_2: pData = setGNSS; | |
| 90 txLength = sizeof(setGNSS) / sizeof(uint8_t); | |
| 91 break; | |
| 92 case GNSSCMD_GET_PVT_DATA: pData = getPVTData; | |
| 93 txLength = sizeof(getPVTData) / sizeof(uint8_t); | |
| 94 break; | |
| 95 case GNSSCMD_GET_NAV_DATA: pData = getNavigatorData; | |
| 96 txLength = sizeof(getNavigatorData) / sizeof(uint8_t); | |
| 97 break; | |
| 932 | 98 case GNSSCMD_GET_NAVSAT_DATA: pData = getNavSat; |
| 99 txLength = sizeof(getNavSat) / sizeof(uint8_t); | |
| 100 break; | |
| 919 | 101 default: |
| 102 break; | |
| 103 } | |
| 104 if(txLength != 0) | |
| 105 { | |
| 932 | 106 activeRequest.class = pData[2]; |
| 107 activeRequest.id = pData[3]; | |
| 919 | 108 UART_SendCmdUbx(pData, txLength); |
| 109 } | |
| 110 } | |
| 111 | |
|
899
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
112 void uartGnss_Control(void) |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
113 { |
| 919 | 114 static uint32_t warmupTick = 0; |
| 932 | 115 static uint8_t dataToggle = 0; |
| 116 uint8_t activeSensor = 0; | |
| 117 sUartComCtrl* pUartCtrl = UART_GetGnssCtrl(); | |
| 118 // uartGnssStatus_t localComState; | |
|
899
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
119 |
| 932 | 120 if(pUartCtrl == &Uart1Ctrl) |
|
899
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
121 { |
| 932 | 122 activeSensor = externalInterface_GetActiveUartSensor(); |
| 123 gnssState = externalInterface_GetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET); | |
| 124 } | |
| 125 | |
| 126 switch (gnssState) | |
| 127 { | |
| 128 case UART_GNSS_INIT: gnssState = UART_GNSS_WARMUP; | |
| 919 | 129 warmupTick = HAL_GetTick(); |
| 932 | 130 UART_clearRxBuffer(pUartCtrl); |
|
899
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
131 break; |
| 919 | 132 case UART_GNSS_WARMUP: if(time_elapsed_ms(warmupTick,HAL_GetTick()) > 1000) |
| 133 { | |
| 932 | 134 gnssState = UART_GNSS_LOADCONF_0; |
| 919 | 135 } |
|
899
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
136 break; |
| 932 | 137 case UART_GNSS_LOADCONF_0: UART_Gnss_SendCmd(GNSSCMD_LOADCONF_0); |
| 138 rxState = GNSSRX_DETECT_ACK_0; | |
| 139 break; | |
| 140 case UART_GNSS_LOADCONF_1: UART_Gnss_SendCmd(GNSSCMD_LOADCONF_1); | |
| 141 rxState = GNSSRX_DETECT_ACK_0; | |
| 142 break; | |
| 143 case UART_GNSS_LOADCONF_2: UART_Gnss_SendCmd(GNSSCMD_LOADCONF_2); | |
| 919 | 144 rxState = GNSSRX_DETECT_ACK_0; |
| 145 break; | |
| 932 | 146 case UART_GNSS_IDLE: if(dataToggle) |
| 147 { | |
| 148 UART_Gnss_SendCmd(GNSSCMD_GET_PVT_DATA); | |
| 149 gnssState = UART_GNSS_GET_PVT; | |
| 150 rxState = GNSSRX_DETECT_HEADER_0; | |
| 151 dataToggle = 0; | |
| 152 } | |
| 153 else | |
| 154 { | |
| 155 UART_Gnss_SendCmd(GNSSCMD_GET_NAVSAT_DATA); | |
| 156 gnssState = UART_GNSS_GET_SAT; | |
| 157 rxState = GNSSRX_DETECT_HEADER_0; | |
| 158 dataToggle = 1; | |
| 159 } | |
|
899
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
160 break; |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
161 default: |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
162 break; |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
163 } |
| 932 | 164 if(pUartCtrl == &Uart1Ctrl) |
| 165 { | |
| 166 externalInterface_SetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET,gnssState); | |
| 167 } | |
| 919 | 168 |
|
899
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
169 } |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
170 |
| 919 | 171 void uartGnss_ProcessData(uint8_t data) |
|
899
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
172 { |
| 932 | 173 static uint16_t rxLength = 0; |
| 174 static uint8_t ck_A = 0; | |
| 175 static uint8_t ck_B = 0; | |
| 176 static uint8_t ck_A_Ref = 0; | |
| 177 static uint8_t ck_B_Ref = 0; | |
| 178 | |
| 919 | 179 GNSS_Handle.uartWorkingBuffer[writeIndex++] = data; |
| 932 | 180 if((rxState >= GNSSRX_DETECT_HEADER_2) && (rxState < GNSSRX_READ_CK_A)) |
| 181 { | |
| 182 ck_A += data; | |
| 183 ck_B += ck_A; | |
| 184 } | |
| 185 | |
| 919 | 186 switch(rxState) |
|
899
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
187 { |
| 919 | 188 case GNSSRX_DETECT_ACK_0: |
| 189 case GNSSRX_DETECT_HEADER_0: if(data == 0xB5) | |
| 190 { | |
| 191 writeIndex = 0; | |
| 932 | 192 memset(GNSS_Handle.uartWorkingBuffer,0xff, sizeof(GNSS_Handle.uartWorkingBuffer)); |
| 919 | 193 GNSS_Handle.uartWorkingBuffer[writeIndex++] = data; |
| 194 rxState++; | |
| 932 | 195 ck_A = 0; |
| 196 ck_B = 0; | |
| 919 | 197 } |
| 198 break; | |
| 199 case GNSSRX_DETECT_ACK_1: | |
| 200 case GNSSRX_DETECT_HEADER_1: if(data == 0x62) | |
| 201 { | |
| 202 rxState++; | |
| 203 } | |
| 204 else | |
| 205 { | |
| 206 rxState = GNSSRX_DETECT_HEADER_0; | |
| 207 } | |
| 208 break; | |
| 209 case GNSSRX_DETECT_ACK_2: if(data == 0x05) | |
| 210 { | |
| 211 rxState++; | |
| 212 } | |
| 213 else | |
| 214 { | |
| 215 rxState = GNSSRX_DETECT_HEADER_0; | |
| 216 } | |
| 217 break; | |
| 932 | 218 case GNSSRX_DETECT_ACK_3: if((data == 0x01)) |
| 919 | 219 { |
| 932 | 220 if((gnssState >= UART_GNSS_LOADCONF_0) && (gnssState <= UART_GNSS_LOADCONF_2)) |
| 221 { | |
| 222 if(gnssState == UART_GNSS_LOADCONF_2) | |
| 223 { | |
| 224 gnssState = UART_GNSS_IDLE; | |
| 225 } | |
| 226 else | |
| 227 { | |
| 228 gnssState++; | |
| 229 } | |
| 230 } | |
| 919 | 231 GnssConnected = 1; |
| 232 rxState = GNSSRX_READY; | |
| 233 } | |
| 234 else | |
| 235 { | |
| 236 rxState = GNSSRX_DETECT_HEADER_0; | |
| 237 } | |
| 238 break; | |
| 932 | 239 case GNSSRX_DETECT_HEADER_2: if(data == activeRequest.class) |
| 919 | 240 { |
| 241 rxState++; | |
| 242 } | |
| 243 else | |
| 244 { | |
| 245 rxState = GNSSRX_DETECT_HEADER_0; | |
| 246 } | |
| 247 break; | |
| 932 | 248 case GNSSRX_DETECT_HEADER_3: if(data == activeRequest.id) |
| 249 { | |
| 250 rxState = GNSSRX_DETECT_LENGTH_0; | |
| 251 } | |
| 252 else | |
| 919 | 253 { |
| 932 | 254 rxState = GNSSRX_DETECT_HEADER_0; |
| 919 | 255 } |
| 932 | 256 break; |
| 257 case GNSSRX_DETECT_LENGTH_0: rxLength = GNSS_Handle.uartWorkingBuffer[4]; | |
| 258 rxState = GNSSRX_DETECT_LENGTH_1; | |
| 259 break; | |
| 260 case GNSSRX_DETECT_LENGTH_1: rxLength += (GNSS_Handle.uartWorkingBuffer[5] << 8); | |
| 261 rxState = GNSSRX_READ_DATA; | |
| 262 dataToRead = rxLength; | |
| 263 break; | |
| 264 case GNSSRX_READ_DATA: if(dataToRead > 0) | |
| 919 | 265 { |
| 266 dataToRead--; | |
| 267 } | |
| 932 | 268 if(dataToRead == 0) |
| 919 | 269 { |
| 932 | 270 rxState = GNSSRX_READ_CK_A; |
| 919 | 271 } |
| 272 break; | |
| 932 | 273 case GNSSRX_READ_CK_A: ck_A_Ref = data; |
| 274 rxState++; | |
| 275 break; | |
| 276 case GNSSRX_READ_CK_B: ck_B_Ref = data; | |
| 277 if((ck_A_Ref == ck_A) && (ck_B_Ref == ck_B)) | |
| 278 { | |
| 279 switch(gnssState) | |
| 280 { | |
| 281 case UART_GNSS_GET_PVT:GNSS_ParsePVTData(&GNSS_Handle); | |
| 282 break; | |
| 283 case UART_GNSS_GET_SAT: GNSS_ParseNavSatData(&GNSS_Handle); | |
| 284 break; | |
| 285 default: | |
| 286 break; | |
| 287 } | |
| 288 } | |
| 289 rxState = GNSSRX_DETECT_HEADER_0; | |
| 290 gnssState = UART_GNSS_IDLE; | |
| 291 break; | |
| 292 | |
| 919 | 293 default: rxState = GNSSRX_READY; |
| 294 break; | |
|
899
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
295 } |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
296 } |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
297 |
| 919 | 298 uint8_t uartGnss_isSensorConnected() |
| 299 { | |
| 300 return GnssConnected; | |
| 301 } | |
| 302 | |
|
899
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
303 #endif |
|
2225c467f1e9
Added data path and visualization for position data:
Ideenmodellierer
parents:
diff
changeset
|
304 |