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diff Small_CPU/Src/uartProtocol_GNSS.c @ 919:c0553dd70608 Evo_2_23

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GNSS support for external UART interface: An ubox gps module may now be connected to the external UART. Per default the functionality is disabled using the compile switch ENABLE_GNSS_SUPPORT
author Ideenmodellierer
date Sun, 03 Nov 2024 15:43:04 +0100
parents 2225c467f1e9
children 7c996354b8ac
line wrap: on
line diff
--- a/Small_CPU/Src/uartProtocol_GNSS.c	Sun Nov 03 15:40:55 2024 +0100
+++ b/Small_CPU/Src/uartProtocol_GNSS.c	Sun Nov 03 15:43:04 2024 +0100
@@ -24,11 +24,17 @@
 #include <uartProtocol_GNSS.h>
 #include "uart.h"
 #include "GNSS.h"
+#include "configuration.h"
+#include "externalInterface.h"
 
-#ifdef ENABLE_GNSS
+#if defined ENABLE_GNSS || defined ENABLE_GNSS_SUPPORT
 
-static uartGnssStatus_t gnssOpState = UART_GNSS_INIT;
 static receiveStateGnss_t rxState = GNSSRX_READY;
+static uint8_t GnssConnected = 0;						/* Binary indicator if a sensor is connected or not */
+
+static uint8_t writeIndex = 0;
+
+static uint8_t dataToRead = 0;
 
 void ConvertByteToHexString(uint8_t byte, char* str)
 {
@@ -53,61 +59,181 @@
 	}
 }
 
+
+void uartGnss_SendCmd(uint8_t GnssCmd)
+{
+	uint8_t* pData;
+	uint8_t txLength = 0;
+
+	switch (GnssCmd)
+	{
+		case GNSSCMD_LOADCONF_0:	pData = configUBX;
+									txLength = sizeof(configUBX) / sizeof(uint8_t);
+				break;
+		case GNSSCMD_LOADCONF_1:	pData = setNMEA410;
+									txLength = sizeof(setNMEA410) / sizeof(uint8_t);
+				break;
+		case GNSSCMD_LOADCONF_2:	pData = setGNSS;
+									txLength = sizeof(setGNSS) / sizeof(uint8_t);
+				break;
+		case GNSSCMD_GET_PVT_DATA:	pData = getPVTData;
+									txLength = sizeof(getPVTData) / sizeof(uint8_t);
+			break;
+		case GNSSCMD_GET_NAV_DATA:	pData = getNavigatorData;
+									txLength = sizeof(getNavigatorData) / sizeof(uint8_t);
+			break;
+
+		default:
+			break;
+	}
+	if(txLength != 0)
+	{
+		UART_SendCmdUbx(pData, txLength);
+	}
+}
+
 void uartGnss_Control(void)
 {
-	static uint32_t delayStartTick = 0;
+	static uint32_t warmupTick = 0;
 
-	uint32_t tick = HAL_GetTick();
+	uint8_t activeSensor = externalInterface_GetActiveUartSensor();
+	uartGnssStatus_t localComState = externalInterface_GetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET);
 
-	switch (gnssOpState)
+	switch (localComState)
 	{
-		case UART_GNSS_INIT:	delayStartTick = tick;
-								gnssOpState = UART_GNSS_LOAD;
+		case UART_GNSS_INIT:  		localComState = UART_GNSS_WARMUP;
+									warmupTick =  HAL_GetTick();
+									UART_clearRxBuffer();
 				break;
-		case UART_GNSS_LOAD:	if(time_elapsed_ms(delayStartTick,HAL_GetTick()) > 1000)
-								{
-									GNSS_LoadConfig(&GNSS_Handle);
-									gnssOpState = UART_GNSS_GET_ID;
-									delayStartTick = tick;
-								}
+		case UART_GNSS_WARMUP:		if(time_elapsed_ms(warmupTick,HAL_GetTick()) > 1000)
+									{
+										localComState = UART_GNSS_LOADCONF_0;
+									}
 				break;
-		case UART_GNSS_GET_ID:	if(time_elapsed_ms(delayStartTick,HAL_GetTick()) > 250)
-								{
-									GNSS_GetUniqID(&GNSS_Handle);
-									gnssOpState = UART_GNSS_IDLE;
-									rxState = GNSSRX_RECEIVING;
-									delayStartTick = tick;
-								}
+		case UART_GNSS_LOADCONF_0:	uartGnss_SendCmd(GNSSCMD_LOADCONF_0);
+									localComState = UART_GNSS_LOADCONF_1;
+									rxState = GNSSRX_DETECT_ACK_0;
+				break;
+		case UART_GNSS_LOADCONF_1:	uartGnss_SendCmd(GNSSCMD_LOADCONF_1);
+									localComState = UART_GNSS_LOADCONF_2;
+									rxState = GNSSRX_DETECT_ACK_0;
 				break;
-		case UART_GNSS_IDLE:	if(time_elapsed_ms(delayStartTick,HAL_GetTick()) > 1000)
-								{
-									GNSS_GetPVTData(&GNSS_Handle);
-									gnssOpState = UART_GNSS_OPERATING;
-									rxState = GNSSRX_RECEIVING;
-									delayStartTick = tick;
-								}
+		case UART_GNSS_LOADCONF_2:	uartGnss_SendCmd(GNSSCMD_LOADCONF_2);
+									localComState = UART_GNSS_IDLE;
+									rxState = GNSSRX_DETECT_ACK_0;
 				break;
-		case UART_GNSS_OPERATING: if(time_elapsed_ms(delayStartTick,HAL_GetTick()) > 1000)
-								{
-									gnssOpState = UART_GNSS_IDLE;	/* simple error handling => start next request */
-									rxState = GNSSRX_READY;
-								}
+		case UART_GNSS_IDLE:		uartGnss_SendCmd(GNSSCMD_GET_PVT_DATA);
+									localComState = UART_GNSS_GET_PVT;
+									rxState = GNSSRX_DETECT_HEADER_0;
 				break;
 		default:
 				break;
 	}
+
+	externalInterface_SetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET,localComState);
+
 }
 
-void uartGnss_ProcessData(void)
+void uartGnss_ProcessData(uint8_t data)
 {
-	if(rxState == GNSSRX_RECEIVING)
+	uint8_t activeSensor = externalInterface_GetActiveUartSensor();
+	GNSS_Handle.uartWorkingBuffer[writeIndex++] = data;
+	switch(rxState)
 	{
-		if(GNSS_ParseBuffer(&GNSS_Handle))
-		{
-			gnssOpState = UART_GNSS_IDLE;
-		}
+		case GNSSRX_DETECT_ACK_0:
+		case GNSSRX_DETECT_HEADER_0:	if(data == 0xB5)
+										{
+											writeIndex = 0;
+											memset(GNSS_Handle.uartWorkingBuffer,0, sizeof(GNSS_Handle.uartWorkingBuffer));
+											GNSS_Handle.uartWorkingBuffer[writeIndex++] = data;
+											rxState++;
+										}
+			break;
+		case GNSSRX_DETECT_ACK_1:
+		case GNSSRX_DETECT_HEADER_1:	if(data == 0x62)
+			 	 	 	 	 	 	 	{
+											rxState++;
+			 	 	 	 	 	 	 	}
+										else
+										{
+											rxState = GNSSRX_DETECT_HEADER_0;
+										}
+			break;
+		case GNSSRX_DETECT_ACK_2:		if(data == 0x05)
+										{
+											rxState++;
+										}
+										else
+										{
+											rxState = GNSSRX_DETECT_HEADER_0;
+										}
+			break;
+		case GNSSRX_DETECT_ACK_3:		if((data == 0x01) || (data == 0x00))
+										{
+											GnssConnected = 1;
+											rxState = GNSSRX_READY;
+										}
+										else
+										{
+											rxState = GNSSRX_DETECT_HEADER_0;
+										}
+			break;
+		case GNSSRX_DETECT_HEADER_2:	if(data == 0x01)
+			 	 	 	 	 	 	 	{
+											rxState++;
+			 	 	 	 	 	 	 	}
+										else
+										{
+											rxState = GNSSRX_DETECT_HEADER_0;
+										}
+			break;
+		case GNSSRX_DETECT_HEADER_3:
+										switch(data)
+										{
+											case 0x21: rxState = GNSSRX_READ_NAV_DATA;
+														dataToRead = 20;
+												break;
+											case 0x07:	rxState = GNSSRX_READ_PVT_DATA;
+														dataToRead = 92;
+												break;
+											case 0x02:  rxState = GNSSRX_READ_POSLLH_DATA;
+												break;
+											default: 	rxState = GNSSRX_DETECT_HEADER_0;
+												break;
+										}
+			break;
+			case GNSSRX_READ_NAV_DATA:
+			case GNSSRX_READ_PVT_DATA:
+			case GNSSRX_READ_POSLLH_DATA:		if(dataToRead > 0)
+												{
+													dataToRead--;
+												}
+												else
+												{
+														switch(rxState)
+														{
+															case GNSSRX_READ_NAV_DATA: GNSS_ParseNavigatorData(&GNSS_Handle);
+																break;
+															case GNSSRX_READ_PVT_DATA:	GNSS_ParsePVTData(&GNSS_Handle);
+																break;
+															case GNSSRX_READ_POSLLH_DATA:  GNSS_ParsePOSLLHData(&GNSS_Handle);
+																break;
+															default: 	rxState = GNSSRX_DETECT_HEADER_0;
+																break;
+														}
+														rxState = GNSSRX_DETECT_HEADER_0;
+														externalInterface_SetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET,UART_GNSS_IDLE);
+												}
+				break;
+		default:	rxState = GNSSRX_READY;
+			break;
 	}
 }
 
+uint8_t uartGnss_isSensorConnected()
+{
+	return GnssConnected;
+}
+
 #endif