--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Small_CPU/Src/GNSS.c	Tue Feb 11 18:12:00 2025 +0100
@@ -0,0 +1,276 @@
+/*
+ * 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 <string.h>
+#include "GNSS.h"
+#include "data_exchange.h"
+#include "rtc.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;
+}
+
+/*!
+ * 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 < 4; var++) {
+		GNSS->uniqueID[var] = GNSS_Handle.uartWorkingBuffer[10 + var];
+	}
+}
+
+/*!
+ * 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) {
+
+	static float searchCnt = 1.0;
+
+	RTC_TimeTypeDef sTimeNow;
+
+	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.
+
+	if((GNSS->fLat == 0.0) && (GNSS->fLon == 0.0))
+	{
+		GNSS->fLat = searchCnt++;
+	}
+
+	if(GNSS->alive & GNSS_ALIVE_STATE_ALIVE)							/* alive */
+	{
+		GNSS->alive &= ~GNSS_ALIVE_STATE_ALIVE;
+	}
+	else
+	{
+		GNSS->alive |= GNSS_ALIVE_STATE_ALIVE;
+	}
+	if((GNSS_Handle.uartWorkingBuffer[17] & 0x03) == 0x03)	/* date/time valid */
+	{
+		GNSS->alive |= GNSS_ALIVE_STATE_TIME;
+	}
+	else
+	{
+		GNSS->alive &= ~GNSS_ALIVE_STATE_TIME;
+	}
+
+	if(GNSS->fixType >= 2)
+	{
+		RTC_GetTime(&sTimeNow);
+		GNSS->alive |= GNSS_ALIVE_BACKUP_POS;
+		GNSS->last_fLat = GNSS->fLat;
+		GNSS->last_fLon = GNSS->fLon;
+		GNSS->last_hour = sTimeNow.Hours;
+	}
+}
+
+/*!
+ * 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_ParseNavSatData(GNSS_StateHandle *GNSS) {
+
+	uint8_t loop = 0;
+	uint8_t searchIndex = 0;
+	uint8_t statIndex = 0;	/* only 4 state information will be forwarded */
+	uint8_t signalQuality = 0;
+	GNSS->numSat = GNSS_Handle.uartWorkingBuffer[11];
+
+	memset(GNSS->statSat, 0, sizeof(GNSS->statSat));
+
+	if(GNSS->numSat > 0)
+	{
+		searchIndex = 0;
+		while((searchIndex < GNSS->numSat) && (statIndex < 4))	/* get good signal quality */
+		{
+			signalQuality = (GNSS_Handle.uartWorkingBuffer[22 + searchIndex * 12] & 0x7);
+			if(signalQuality > 4)
+			{
+				GNSS->statSat[statIndex++] = signalQuality;
+			}
+			if(statIndex == 4) break;
+			searchIndex++;
+		}
+		searchIndex = 0;
+		while((searchIndex < GNSS->numSat) && (statIndex < 4))	/* get medium signal quality */
+		{
+			signalQuality = (GNSS_Handle.uartWorkingBuffer[22 + searchIndex * 12] & 0x7);
+			if((signalQuality > 2) && (signalQuality <= 4))
+			{
+				GNSS->statSat[statIndex++] = signalQuality;
+			}
+			if(statIndex == 4) break;
+			searchIndex++;
+		}
+		searchIndex = 0;
+		while((searchIndex < GNSS->numSat) && (statIndex < 4))	/* get poor signal quality */
+		{
+			signalQuality = (GNSS_Handle.uartWorkingBuffer[22 + searchIndex * 12] & 0x7);
+			if(signalQuality <= 2)
+			{
+				GNSS->statSat[statIndex++] = signalQuality;
+			}
+			if(statIndex == 4) break;
+			searchIndex++;
+		}
+		loop++;
+	}
+}
+
+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;
+}