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comparison Small_CPU/Src/GNSS.c @ 887:17f02ac9da67 Evo_2_23

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adding GNSS code
author heinrichsweikamp
date Tue, 03 Sep 2024 15:30:53 +0200
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children 2225c467f1e9
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886:d398ecc7d103 887:17f02ac9da67
1 /*
2 * GNSS.c
3 *
4 * Created on: 03.10.2020
5 * Author: SimpleMethod
6 *
7 *Copyright 2020 SimpleMethod
8 *
9 *Permission is hereby granted, free of charge, to any person obtaining a copy of
10 *this software and associated documentation files (the "Software"), to deal in
11 *the Software without restriction, including without limitation the rights to
12 *use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
13 *of the Software, and to permit persons to whom the Software is furnished to do
14 *so, subject to the following conditions:
15 *
16 *The above copyright notice and this permission notice shall be included in all
17 *copies or substantial portions of the Software.
18 *
19 *THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20 *IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21 *FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22 *AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23 *LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24 *OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25 *THE SOFTWARE.
26 ******************************************************************************
27 */
28
29 #include "GNSS.h"
30
31 union u_Short uShort;
32 union i_Short iShort;
33 union u_Long uLong;
34 union i_Long iLong;
35
36 /*!
37 * Structure initialization.
38 * @param GNSS Pointer to main GNSS structure.
39 * @param huart Pointer to uart handle.
40 */
41 void GNSS_Init(GNSS_StateHandle *GNSS, UART_HandleTypeDef *huart) {
42 GNSS->huart = huart;
43 GNSS->year = 0;
44 GNSS->month = 0;
45 GNSS->day = 0;
46 GNSS->hour = 0;
47 GNSS->min = 0;
48 GNSS->sec = 0;
49 GNSS->fixType = 0;
50 GNSS->lon = 0;
51 GNSS->lat = 0;
52 GNSS->height = 0;
53 GNSS->hMSL = 0;
54 GNSS->hAcc = 0;
55 GNSS->vAcc = 0;
56 GNSS->gSpeed = 0;
57 GNSS->headMot = 0;
58 }
59
60 /*!
61 * Searching for a header in data buffer and matching class and message ID to buffer data.
62 * @param GNSS Pointer to main GNSS structure.
63 */
64 void GNSS_ParseBuffer(GNSS_StateHandle *GNSS) {
65
66 for (int var = 0; var <= 100; ++var) {
67 if (GNSS->uartWorkingBuffer[var] == 0xB5
68 && GNSS->uartWorkingBuffer[var + 1] == 0x62) {
69 if (GNSS->uartWorkingBuffer[var + 2] == 0x27
70 && GNSS->uartWorkingBuffer[var + 3] == 0x03) { //Look at: 32.19.1.1 u-blox 8 Receiver description
71 GNSS_ParseUniqID(GNSS);
72 } else if (GNSS->uartWorkingBuffer[var + 2] == 0x01
73 && GNSS->uartWorkingBuffer[var + 3] == 0x21) { //Look at: 32.17.14.1 u-blox 8 Receiver description
74 GNSS_ParseNavigatorData(GNSS);
75 } else if (GNSS->uartWorkingBuffer[var + 2] == 0x01
76 && GNSS->uartWorkingBuffer[var + 3] == 0x07) { //ook at: 32.17.30.1 u-blox 8 Receiver description
77 GNSS_ParsePVTData(GNSS);
78 } else if (GNSS->uartWorkingBuffer[var + 2] == 0x01
79 && GNSS->uartWorkingBuffer[var + 3] == 0x02) { // Look at: 32.17.15.1 u-blox 8 Receiver description
80 GNSS_ParsePOSLLHData(GNSS);
81 }
82 }
83 }
84 }
85
86 /*!
87 * Make request for unique chip ID data.
88 * @param GNSS Pointer to main GNSS structure.
89 */
90 void GNSS_GetUniqID(GNSS_StateHandle *GNSS) {
91 HAL_UART_Transmit_DMA(GNSS->huart, getDeviceID,
92 sizeof(getDeviceID) / sizeof(uint8_t));
93 HAL_UART_Receive_IT(GNSS->huart, GNSS_Handle.uartWorkingBuffer, 17);
94 }
95
96 /*!
97 * Make request for UTC time solution data.
98 * @param GNSS Pointer to main GNSS structure.
99 */
100 void GNSS_GetNavigatorData(GNSS_StateHandle *GNSS) {
101 HAL_UART_Transmit_DMA(GNSS->huart, getNavigatorData,
102 sizeof(getNavigatorData) / sizeof(uint8_t));
103 HAL_UART_Receive_IT(GNSS->huart, GNSS_Handle.uartWorkingBuffer, 28);
104 }
105
106 /*!
107 * Make request for geodetic position solution data.
108 * @param GNSS Pointer to main GNSS structure.
109 */
110 void GNSS_GetPOSLLHData(GNSS_StateHandle *GNSS) {
111 HAL_UART_Transmit_DMA(GNSS->huart, getPOSLLHData,
112 sizeof(getPOSLLHData) / sizeof(uint8_t));
113 HAL_UART_Receive_IT(GNSS->huart, GNSS_Handle.uartWorkingBuffer, 36);
114 }
115
116 /*!
117 * Make request for navigation position velocity time solution data.
118 * @param GNSS Pointer to main GNSS structure.
119 */
120 void GNSS_GetPVTData(GNSS_StateHandle *GNSS) {
121 HAL_UART_Transmit_DMA(GNSS->huart, getPVTData,
122 sizeof(getPVTData) / sizeof(uint8_t));
123 HAL_UART_Receive_IT(GNSS->huart, GNSS_Handle.uartWorkingBuffer, 100);
124 }
125
126 /*!
127 * Parse data to unique chip ID standard.
128 * Look at: 32.19.1.1 u-blox 8 Receiver description
129 * @param GNSS Pointer to main GNSS structure.
130 */
131 void GNSS_ParseUniqID(GNSS_StateHandle *GNSS) {
132 for (int var = 0; var < 5; ++var) {
133 GNSS->uniqueID[var] = GNSS_Handle.uartWorkingBuffer[10 + var];
134 }
135 }
136
137 /*!
138 * Changing the GNSS mode.
139 * Look at: 32.10.19 u-blox 8 Receiver description
140 */
141 void GNSS_SetMode(GNSS_StateHandle *GNSS, short gnssMode) {
142 if (gnssMode == 0) {
143 HAL_UART_Transmit_DMA(GNSS->huart, setPortableMode,sizeof(setPortableMode) / sizeof(uint8_t));
144 } else if (gnssMode == 1) {
145 HAL_UART_Transmit_DMA(GNSS->huart, setStationaryMode,sizeof(setStationaryMode) / sizeof(uint8_t));
146 } else if (gnssMode == 2) {
147 HAL_UART_Transmit_DMA(GNSS->huart, setPedestrianMode,sizeof(setPedestrianMode) / sizeof(uint8_t));
148 } else if (gnssMode == 3) {
149 HAL_UART_Transmit_DMA(GNSS->huart, setAutomotiveMode,sizeof(setAutomotiveMode) / sizeof(uint8_t));
150 } else if (gnssMode == 4) {
151 HAL_UART_Transmit_DMA(GNSS->huart, setAutomotiveMode,sizeof(setAutomotiveMode) / sizeof(uint8_t));
152 } else if (gnssMode == 5) {
153 HAL_UART_Transmit_DMA(GNSS->huart, setAirbone1GMode,sizeof(setAirbone1GMode) / sizeof(uint8_t));
154 } else if (gnssMode == 6) {
155 HAL_UART_Transmit_DMA(GNSS->huart, setAirbone2GMode,sizeof(setAirbone2GMode) / sizeof(uint8_t));
156 } else if (gnssMode == 7) {
157 HAL_UART_Transmit_DMA(GNSS->huart, setAirbone4GMode,sizeof(setAirbone4GMode) / sizeof(uint8_t));
158 } else if (gnssMode == 8) {
159 HAL_UART_Transmit_DMA(GNSS->huart, setWirstMode,sizeof(setWirstMode) / sizeof(uint8_t));
160 } else if (gnssMode == 9) {
161 HAL_UART_Transmit_DMA(GNSS->huart, setBikeMode,sizeof(setBikeMode) / sizeof(uint8_t));
162 }
163 }
164 /*!
165 * Parse data to navigation position velocity time solution standard.
166 * Look at: 32.17.15.1 u-blox 8 Receiver description.
167 * @param GNSS Pointer to main GNSS structure.
168 */
169 void GNSS_ParsePVTData(GNSS_StateHandle *GNSS) {
170 uShort.bytes[0] = GNSS_Handle.uartWorkingBuffer[10];
171 GNSS->yearBytes[0]=GNSS_Handle.uartWorkingBuffer[10];
172 uShort.bytes[1] = GNSS_Handle.uartWorkingBuffer[11];
173 GNSS->yearBytes[1]=GNSS_Handle.uartWorkingBuffer[11];
174 GNSS->year = uShort.uShort;
175 GNSS->month = GNSS_Handle.uartWorkingBuffer[12];
176 GNSS->day = GNSS_Handle.uartWorkingBuffer[13];
177 GNSS->hour = GNSS_Handle.uartWorkingBuffer[14];
178 GNSS->min = GNSS_Handle.uartWorkingBuffer[15];
179 GNSS->sec = GNSS_Handle.uartWorkingBuffer[16];
180 GNSS->fixType = GNSS_Handle.uartWorkingBuffer[26];
181
182 for (int var = 0; var < 4; ++var) {
183 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 30];
184 GNSS->lonBytes[var]= GNSS_Handle.uartWorkingBuffer[var + 30];
185 }
186 GNSS->lon = iLong.iLong;
187 GNSS->fLon=(float)iLong.iLong/10000000.0;
188 for (int var = 0; var < 4; ++var) {
189 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 34];
190 GNSS->latBytes[var]=GNSS_Handle.uartWorkingBuffer[var + 34];
191 }
192 GNSS->lat = iLong.iLong;
193 GNSS->fLat=(float)iLong.iLong/10000000.0;
194 for (int var = 0; var < 4; ++var) {
195 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 38];
196 }
197 GNSS->height = iLong.iLong;
198
199 for (int var = 0; var < 4; ++var) {
200 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 42];
201 GNSS->hMSLBytes[var] = GNSS_Handle.uartWorkingBuffer[var + 42];
202 }
203 GNSS->hMSL = iLong.iLong;
204
205 for (int var = 0; var < 4; ++var) {
206 uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 46];
207 }
208 GNSS->hAcc = uLong.uLong;
209
210 for (int var = 0; var < 4; ++var) {
211 uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 50];
212 }
213 GNSS->vAcc = uLong.uLong;
214
215 for (int var = 0; var < 4; ++var) {
216 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 66];
217 GNSS->gSpeedBytes[var] = GNSS_Handle.uartWorkingBuffer[var + 66];
218 }
219 GNSS->gSpeed = iLong.iLong;
220
221 for (int var = 0; var < 4; ++var) {
222 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 70];
223 }
224 GNSS->headMot = iLong.iLong * 1e-5; // todo I'm not sure this good options.
225 }
226
227 /*!
228 * Parse data to UTC time solution standard.
229 * Look at: 32.17.30.1 u-blox 8 Receiver description.
230 * @param GNSS Pointer to main GNSS structure.
231 */
232 void GNSS_ParseNavigatorData(GNSS_StateHandle *GNSS) {
233 uShort.bytes[0] = GNSS_Handle.uartWorkingBuffer[18];
234 uShort.bytes[1] = GNSS_Handle.uartWorkingBuffer[19];
235 GNSS->year = uShort.uShort;
236 GNSS->month = GNSS_Handle.uartWorkingBuffer[20];
237 GNSS->day = GNSS_Handle.uartWorkingBuffer[21];
238 GNSS->hour = GNSS_Handle.uartWorkingBuffer[22];
239 GNSS->min = GNSS_Handle.uartWorkingBuffer[23];
240 GNSS->sec = GNSS_Handle.uartWorkingBuffer[24];
241 }
242
243 /*!
244 * Parse data to geodetic position solution standard.
245 * Look at: 32.17.14.1 u-blox 8 Receiver description.
246 * @param GNSS Pointer to main GNSS structure.
247 */
248 void GNSS_ParsePOSLLHData(GNSS_StateHandle *GNSS) {
249 for (int var = 0; var < 4; ++var) {
250 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 10];
251 }
252 GNSS->lon = iLong.iLong;
253 GNSS->fLon=(float)iLong.iLong/10000000.0;
254
255 for (int var = 0; var < 4; ++var) {
256 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 14];
257 }
258 GNSS->lat = iLong.iLong;
259 GNSS->fLat=(float)iLong.iLong/10000000.0;
260
261 for (int var = 0; var < 4; ++var) {
262 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 18];
263 }
264 GNSS->height = iLong.iLong;
265
266 for (int var = 0; var < 4; ++var) {
267 iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 22];
268 }
269 GNSS->hMSL = iLong.iLong;
270
271 for (int var = 0; var < 4; ++var) {
272 uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 26];
273 }
274 GNSS->hAcc = uLong.uLong;
275
276 for (int var = 0; var < 4; ++var) {
277 uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 30];
278 }
279 GNSS->vAcc = uLong.uLong;
280 }
281
282 /*!
283 * Sends the basic configuration: Activation of the UBX standard, change of NMEA version to 4.10 and turn on of the Galileo system.
284 * @param GNSS Pointer to main GNSS structure.
285 */
286 void GNSS_LoadConfig(GNSS_StateHandle *GNSS) {
287 HAL_UART_Transmit_DMA(GNSS->huart, configUBX,
288 sizeof(configUBX) / sizeof(uint8_t));
289 HAL_Delay(250);
290 HAL_UART_Transmit_DMA(GNSS->huart, setNMEA410,
291 sizeof(setNMEA410) / sizeof(uint8_t));
292 HAL_Delay(250);
293 HAL_UART_Transmit_DMA(GNSS->huart, setGNSS,
294 sizeof(setGNSS) / sizeof(uint8_t));
295 HAL_Delay(250);
296 }
297
298
299
300 /*!
301 * Creates a checksum based on UBX standard.
302 * @param class Class value from UBX doc.
303 * @param messageID MessageID value from UBX doc.
304 * @param dataLength Data length value from UBX doc.
305 * @param payload Just payload.
306 * @return Returns checksum.
307 */
308 uint8_t GNSS_Checksum(uint8_t class, uint8_t messageID, uint8_t dataLength,uint8_t *payload) {
309 //todo: Look at 32.4 UBX Checksum
310 return 0;
311 }