--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Small_CPU/Src/GNSS.c	Tue Sep 03 15:30:53 2024 +0200
@@ -0,0 +1,311 @@
+/*
+ * GNSS.c
+ *
+ *  Created on: 03.10.2020
+ *      Author: SimpleMethod
+ *
+ *Copyright 2020 SimpleMethod
+ *
+ *Permission is hereby granted, free of charge, to any person obtaining a copy of
+ *this software and associated documentation files (the "Software"), to deal in
+ *the Software without restriction, including without limitation the rights to
+ *use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
+ *of the Software, and to permit persons to whom the Software is furnished to do
+ *so, subject to the following conditions:
+ *
+ *The above copyright notice and this permission notice shall be included in all
+ *copies or substantial portions of the Software.
+ *
+ *THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ *IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ *FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ *AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ *LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ *OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ *THE SOFTWARE.
+ ******************************************************************************
+ */
+
+#include "GNSS.h"
+
+union u_Short uShort;
+union i_Short iShort;
+union u_Long uLong;
+union i_Long iLong;
+
+/*!
+ * Structure initialization.
+ * @param GNSS Pointer to main GNSS structure.
+ * @param huart Pointer to uart handle.
+ */
+void GNSS_Init(GNSS_StateHandle *GNSS, UART_HandleTypeDef *huart) {
+	GNSS->huart = huart;
+	GNSS->year = 0;
+	GNSS->month = 0;
+	GNSS->day = 0;
+	GNSS->hour = 0;
+	GNSS->min = 0;
+	GNSS->sec = 0;
+	GNSS->fixType = 0;
+	GNSS->lon = 0;
+	GNSS->lat = 0;
+	GNSS->height = 0;
+	GNSS->hMSL = 0;
+	GNSS->hAcc = 0;
+	GNSS->vAcc = 0;
+	GNSS->gSpeed = 0;
+	GNSS->headMot = 0;
+}
+
+/*!
+ * Searching for a header in data buffer and matching class and message ID to buffer data.
+ * @param GNSS Pointer to main GNSS structure.
+ */
+void GNSS_ParseBuffer(GNSS_StateHandle *GNSS) {
+
+	for (int var = 0; var <= 100; ++var) {
+		if (GNSS->uartWorkingBuffer[var] == 0xB5
+				&& GNSS->uartWorkingBuffer[var + 1] == 0x62) {
+			if (GNSS->uartWorkingBuffer[var + 2] == 0x27
+					&& GNSS->uartWorkingBuffer[var + 3] == 0x03) { //Look at: 32.19.1.1 u-blox 8 Receiver description
+				GNSS_ParseUniqID(GNSS);
+			} else if (GNSS->uartWorkingBuffer[var + 2] == 0x01
+					&& GNSS->uartWorkingBuffer[var + 3] == 0x21) { //Look at: 32.17.14.1 u-blox 8 Receiver description
+				GNSS_ParseNavigatorData(GNSS);
+			} else if (GNSS->uartWorkingBuffer[var + 2] == 0x01
+					&& GNSS->uartWorkingBuffer[var + 3] == 0x07) { //ook at: 32.17.30.1 u-blox 8 Receiver description
+				GNSS_ParsePVTData(GNSS);
+			} else if (GNSS->uartWorkingBuffer[var + 2] == 0x01
+					&& GNSS->uartWorkingBuffer[var + 3] == 0x02) { // Look at: 32.17.15.1 u-blox 8 Receiver description
+				GNSS_ParsePOSLLHData(GNSS);
+			}
+		}
+	}
+}
+
+/*!
+ * Make request for unique chip ID data.
+ * @param GNSS Pointer to main GNSS structure.
+ */
+void GNSS_GetUniqID(GNSS_StateHandle *GNSS) {
+	HAL_UART_Transmit_DMA(GNSS->huart, getDeviceID,
+			sizeof(getDeviceID) / sizeof(uint8_t));
+	HAL_UART_Receive_IT(GNSS->huart, GNSS_Handle.uartWorkingBuffer, 17);
+}
+
+/*!
+ * Make request for UTC time solution data.
+ * @param GNSS Pointer to main GNSS structure.
+ */
+void GNSS_GetNavigatorData(GNSS_StateHandle *GNSS) {
+	HAL_UART_Transmit_DMA(GNSS->huart, getNavigatorData,
+			sizeof(getNavigatorData) / sizeof(uint8_t));
+	HAL_UART_Receive_IT(GNSS->huart, GNSS_Handle.uartWorkingBuffer, 28);
+}
+
+/*!
+ * Make request for geodetic position solution data.
+ * @param GNSS Pointer to main GNSS structure.
+ */
+void GNSS_GetPOSLLHData(GNSS_StateHandle *GNSS) {
+	HAL_UART_Transmit_DMA(GNSS->huart, getPOSLLHData,
+			sizeof(getPOSLLHData) / sizeof(uint8_t));
+	HAL_UART_Receive_IT(GNSS->huart, GNSS_Handle.uartWorkingBuffer, 36);
+}
+
+/*!
+ * Make request for navigation position velocity time solution data.
+ * @param GNSS Pointer to main GNSS structure.
+ */
+void GNSS_GetPVTData(GNSS_StateHandle *GNSS) {
+	HAL_UART_Transmit_DMA(GNSS->huart, getPVTData,
+			sizeof(getPVTData) / sizeof(uint8_t));
+	HAL_UART_Receive_IT(GNSS->huart, GNSS_Handle.uartWorkingBuffer, 100);
+}
+
+/*!
+ * Parse data to unique chip ID standard.
+ * Look at: 32.19.1.1 u-blox 8 Receiver description
+ * @param GNSS Pointer to main GNSS structure.
+ */
+void GNSS_ParseUniqID(GNSS_StateHandle *GNSS) {
+	for (int var = 0; var < 5; ++var) {
+		GNSS->uniqueID[var] = GNSS_Handle.uartWorkingBuffer[10 + var];
+	}
+}
+
+/*!
+ * Changing the GNSS mode.
+ * Look at: 32.10.19 u-blox 8 Receiver description
+ */
+void GNSS_SetMode(GNSS_StateHandle *GNSS, short gnssMode) {
+	if (gnssMode == 0) {
+		HAL_UART_Transmit_DMA(GNSS->huart, setPortableMode,sizeof(setPortableMode) / sizeof(uint8_t));
+	} else if (gnssMode == 1) {
+		HAL_UART_Transmit_DMA(GNSS->huart, setStationaryMode,sizeof(setStationaryMode) / sizeof(uint8_t));
+	} else if (gnssMode == 2) {
+		HAL_UART_Transmit_DMA(GNSS->huart, setPedestrianMode,sizeof(setPedestrianMode) / sizeof(uint8_t));
+	} else if (gnssMode == 3) {
+		HAL_UART_Transmit_DMA(GNSS->huart, setAutomotiveMode,sizeof(setAutomotiveMode) / sizeof(uint8_t));
+	} else if (gnssMode == 4) {
+		HAL_UART_Transmit_DMA(GNSS->huart, setAutomotiveMode,sizeof(setAutomotiveMode) / sizeof(uint8_t));
+	} else if (gnssMode == 5) {
+		HAL_UART_Transmit_DMA(GNSS->huart, setAirbone1GMode,sizeof(setAirbone1GMode) / sizeof(uint8_t));
+	} else if (gnssMode == 6) {
+		HAL_UART_Transmit_DMA(GNSS->huart, setAirbone2GMode,sizeof(setAirbone2GMode) / sizeof(uint8_t));
+	} else if (gnssMode == 7) {
+		HAL_UART_Transmit_DMA(GNSS->huart, setAirbone4GMode,sizeof(setAirbone4GMode) / sizeof(uint8_t));
+	} else if (gnssMode == 8) {
+		HAL_UART_Transmit_DMA(GNSS->huart, setWirstMode,sizeof(setWirstMode) / sizeof(uint8_t));
+	} else if (gnssMode == 9) {
+		HAL_UART_Transmit_DMA(GNSS->huart, setBikeMode,sizeof(setBikeMode) / sizeof(uint8_t));
+	}
+}
+/*!
+ * Parse data to navigation position velocity time solution standard.
+ * Look at: 32.17.15.1 u-blox 8 Receiver description.
+ * @param GNSS Pointer to main GNSS structure.
+ */
+void GNSS_ParsePVTData(GNSS_StateHandle *GNSS) {
+	uShort.bytes[0] = GNSS_Handle.uartWorkingBuffer[10];
+	GNSS->yearBytes[0]=GNSS_Handle.uartWorkingBuffer[10];
+	uShort.bytes[1] = GNSS_Handle.uartWorkingBuffer[11];
+	GNSS->yearBytes[1]=GNSS_Handle.uartWorkingBuffer[11];
+	GNSS->year = uShort.uShort;
+	GNSS->month = GNSS_Handle.uartWorkingBuffer[12];
+	GNSS->day = GNSS_Handle.uartWorkingBuffer[13];
+	GNSS->hour = GNSS_Handle.uartWorkingBuffer[14];
+	GNSS->min = GNSS_Handle.uartWorkingBuffer[15];
+	GNSS->sec = GNSS_Handle.uartWorkingBuffer[16];
+	GNSS->fixType = GNSS_Handle.uartWorkingBuffer[26];
+
+	for (int var = 0; var < 4; ++var) {
+		iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 30];
+		GNSS->lonBytes[var]= GNSS_Handle.uartWorkingBuffer[var + 30];
+	}
+	GNSS->lon = iLong.iLong;
+	GNSS->fLon=(float)iLong.iLong/10000000.0;
+	for (int var = 0; var < 4; ++var) {
+		iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 34];
+		GNSS->latBytes[var]=GNSS_Handle.uartWorkingBuffer[var + 34];
+	}
+	GNSS->lat = iLong.iLong;
+	GNSS->fLat=(float)iLong.iLong/10000000.0;
+	for (int var = 0; var < 4; ++var) {
+		iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 38];
+	}
+	GNSS->height = iLong.iLong;
+
+	for (int var = 0; var < 4; ++var) {
+		iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 42];
+		GNSS->hMSLBytes[var] = GNSS_Handle.uartWorkingBuffer[var + 42];
+	}
+	GNSS->hMSL = iLong.iLong;
+
+	for (int var = 0; var < 4; ++var) {
+		uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 46];
+	}
+	GNSS->hAcc = uLong.uLong;
+
+	for (int var = 0; var < 4; ++var) {
+		uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 50];
+	}
+	GNSS->vAcc = uLong.uLong;
+
+	for (int var = 0; var < 4; ++var) {
+		iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 66];
+		GNSS->gSpeedBytes[var] = GNSS_Handle.uartWorkingBuffer[var + 66];
+	}
+	GNSS->gSpeed = iLong.iLong;
+
+	for (int var = 0; var < 4; ++var) {
+		iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 70];
+	}
+	GNSS->headMot = iLong.iLong * 1e-5; // todo I'm not sure this good options.
+}
+
+/*!
+ * Parse data to UTC time solution standard.
+ * Look at: 32.17.30.1 u-blox 8 Receiver description.
+ * @param GNSS Pointer to main GNSS structure.
+ */
+void GNSS_ParseNavigatorData(GNSS_StateHandle *GNSS) {
+	uShort.bytes[0] = GNSS_Handle.uartWorkingBuffer[18];
+	uShort.bytes[1] = GNSS_Handle.uartWorkingBuffer[19];
+	GNSS->year = uShort.uShort;
+	GNSS->month = GNSS_Handle.uartWorkingBuffer[20];
+	GNSS->day = GNSS_Handle.uartWorkingBuffer[21];
+	GNSS->hour = GNSS_Handle.uartWorkingBuffer[22];
+	GNSS->min = GNSS_Handle.uartWorkingBuffer[23];
+	GNSS->sec = GNSS_Handle.uartWorkingBuffer[24];
+}
+
+/*!
+ * Parse data to geodetic position solution standard.
+ * Look at: 32.17.14.1 u-blox 8 Receiver description.
+ * @param GNSS Pointer to main GNSS structure.
+ */
+void GNSS_ParsePOSLLHData(GNSS_StateHandle *GNSS) {
+	for (int var = 0; var < 4; ++var) {
+		iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 10];
+	}
+	GNSS->lon = iLong.iLong;
+	GNSS->fLon=(float)iLong.iLong/10000000.0;
+
+	for (int var = 0; var < 4; ++var) {
+		iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 14];
+	}
+	GNSS->lat = iLong.iLong;
+	GNSS->fLat=(float)iLong.iLong/10000000.0;
+
+	for (int var = 0; var < 4; ++var) {
+		iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 18];
+	}
+	GNSS->height = iLong.iLong;
+
+	for (int var = 0; var < 4; ++var) {
+		iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 22];
+	}
+	GNSS->hMSL = iLong.iLong;
+
+	for (int var = 0; var < 4; ++var) {
+		uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 26];
+	}
+	GNSS->hAcc = uLong.uLong;
+
+	for (int var = 0; var < 4; ++var) {
+		uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 30];
+	}
+	GNSS->vAcc = uLong.uLong;
+}
+
+/*!
+ *  Sends the basic configuration: Activation of the UBX standard, change of NMEA version to 4.10 and turn on of the Galileo system.
+ * @param GNSS Pointer to main GNSS structure.
+ */
+void GNSS_LoadConfig(GNSS_StateHandle *GNSS) {
+	HAL_UART_Transmit_DMA(GNSS->huart, configUBX,
+			sizeof(configUBX) / sizeof(uint8_t));
+	HAL_Delay(250);
+	HAL_UART_Transmit_DMA(GNSS->huart, setNMEA410,
+			sizeof(setNMEA410) / sizeof(uint8_t));
+	HAL_Delay(250);
+	HAL_UART_Transmit_DMA(GNSS->huart, setGNSS,
+			sizeof(setGNSS) / sizeof(uint8_t));
+	HAL_Delay(250);
+}
+
+
+
+/*!
+ *  Creates a checksum based on UBX standard.
+ * @param class Class value from UBX doc.
+ * @param messageID MessageID value from UBX doc.
+ * @param dataLength Data length value from UBX doc.
+ * @param payload Just payload.
+ * @return  Returns checksum.
+ */
+uint8_t GNSS_Checksum(uint8_t class, uint8_t messageID, uint8_t dataLength,uint8_t *payload) {
+//todo: Look at 32.4 UBX Checksum
+	return 0;
+}