Mercurial > public > ostc4
diff Small_CPU/Src/uart_Internal.c @ 931:5a9bc2e6112d Evo_2_23 tip
Added Sat Status Overview:
In addition to the navigation data now information regarding the satelliete and signal status are visualized. To enable the a new command has been added to the communication protocol and the position view has been extended.
| author | Ideenmodellierer |
|---|---|
| date | Tue, 03 Dec 2024 20:32:51 +0100 |
| parents | 908d9a8e8c84 |
| children |
line wrap: on
line diff
--- a/Small_CPU/Src/uart_Internal.c Tue Dec 03 20:24:06 2024 +0100 +++ b/Small_CPU/Src/uart_Internal.c Tue Dec 03 20:32:51 2024 +0100 @@ -29,14 +29,15 @@ static uint8_t isEndIndication6(uint8_t index); -static uint8_t gnssState = UART_GNSS_INIT; +static uartGnssStatus_t gnssState = UART_GNSS_INIT; +static gnssRequest_s activeRequest = {0,0}; /* Private variables ---------------------------------------------------------*/ #define TX_BUF_SIZE (40u) /* max length for commands */ -#define CHUNK_SIZE (25u) /* the DMA will handle chunk size transfers */ -#define CHUNKS_PER_BUFFER (6u) +#define CHUNK_SIZE (50u) /* the DMA will handle chunk size transfers */ +#define CHUNKS_PER_BUFFER (3u) #define REQUEST_INT_SENSOR_MS (1500) /* Minimum time interval for cyclic sensor data requests per sensor (UART mux) */ #define COMMAND_TX_DELAY (30u) /* The time the sensor needs to recover from a invalid command request */ @@ -48,7 +49,7 @@ static uint8_t writeIndex = 0; -static uint8_t dataToRead = 0; +static uint16_t dataToRead = 0; DMA_HandleTypeDef hdma_usart6_rx, hdma_usart6_tx; @@ -276,7 +277,13 @@ futureIndex = 0; } - if((!isEndIndication6(localRX)) || (!isEndIndication6(futureIndex))) do + if(!isEndIndication6(futureIndex)) + { + moreData = 1; + } + + if((!isEndIndication6(localRX)) || (moreData)) + do { while((!isEndIndication6(localRX)) || (moreData)) { @@ -348,12 +355,16 @@ case GNSSCMD_GET_NAV_DATA: pData = getNavigatorData; txLength = sizeof(getNavigatorData) / sizeof(uint8_t); break; - + case GNSSCMD_GET_NAVSAT_DATA: pData = getNavSat; + txLength = sizeof(getNavSat) / sizeof(uint8_t); + break; default: break; } if(txLength != 0) { + activeRequest.class = pData[2]; + activeRequest.id = pData[3]; UART6_SendCmdUbx(pData, txLength); } } @@ -361,6 +372,7 @@ void UART6_Gnss_Control(void) { static uint32_t warmupTick = 0; + static uint8_t dataToggle = 0; switch (gnssState) { @@ -385,9 +397,20 @@ gnssState = UART_GNSS_IDLE; rxState = GNSSRX_DETECT_ACK_0; break; - case UART_GNSS_IDLE: UART6_Gnss_SendCmd(GNSSCMD_GET_PVT_DATA); - gnssState = UART_GNSS_GET_PVT; - rxState = GNSSRX_DETECT_HEADER_0; + case UART_GNSS_IDLE: if(dataToggle) + { + UART6_Gnss_SendCmd(GNSSCMD_GET_PVT_DATA); + gnssState = UART_GNSS_GET_PVT; + rxState = GNSSRX_DETECT_HEADER_0; + dataToggle = 0; + } + else + { + UART6_Gnss_SendCmd(GNSSCMD_GET_NAVSAT_DATA); + gnssState = UART_GNSS_GET_SAT; + rxState = GNSSRX_DETECT_HEADER_0; + dataToggle = 1; + } break; default: break; @@ -396,16 +419,30 @@ void UART6_Gnss_ProcessData(uint8_t data) { + static uint16_t rxLength = 0; + static uint8_t ck_A = 0; + static uint8_t ck_B = 0; + static uint8_t ck_A_Ref = 0; + static uint8_t ck_B_Ref = 0; + GNSS_Handle.uartWorkingBuffer[writeIndex++] = data; + if((rxState >= GNSSRX_DETECT_HEADER_2) && (rxState < GNSSRX_READ_CK_A)) + { + ck_A += data; + ck_B += ck_A; + } + switch(rxState) { case GNSSRX_DETECT_ACK_0: case GNSSRX_DETECT_HEADER_0: if(data == 0xB5) { writeIndex = 0; - memset(GNSS_Handle.uartWorkingBuffer,0, sizeof(GNSS_Handle.uartWorkingBuffer)); + memset(GNSS_Handle.uartWorkingBuffer,0xff, sizeof(GNSS_Handle.uartWorkingBuffer)); GNSS_Handle.uartWorkingBuffer[writeIndex++] = data; rxState++; + ck_A = 0; + ck_B = 0; } break; case GNSSRX_DETECT_ACK_1: @@ -437,7 +474,7 @@ rxState = GNSSRX_DETECT_HEADER_0; } break; - case GNSSRX_DETECT_HEADER_2: if(data == 0x01) + case GNSSRX_DETECT_HEADER_2: if(data == activeRequest.class) { rxState++; } @@ -446,44 +483,51 @@ rxState = GNSSRX_DETECT_HEADER_0; } break; - case GNSSRX_DETECT_HEADER_3: - switch(data) + case GNSSRX_DETECT_HEADER_3: if(data == activeRequest.id) + { + rxState = GNSSRX_DETECT_LENGTH_0; + } + else { - 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; + rxState = GNSSRX_DETECT_HEADER_0; } - break; - case GNSSRX_READ_NAV_DATA: - case GNSSRX_READ_PVT_DATA: - case GNSSRX_READ_POSLLH_DATA: if(dataToRead > 0) + break; + case GNSSRX_DETECT_LENGTH_0: rxLength = GNSS_Handle.uartWorkingBuffer[4]; + rxState = GNSSRX_DETECT_LENGTH_1; + break; + case GNSSRX_DETECT_LENGTH_1: rxLength += (GNSS_Handle.uartWorkingBuffer[5] << 8); + rxState = GNSSRX_READ_DATA; + dataToRead = rxLength; + break; + case GNSSRX_READ_DATA: if(dataToRead > 0) { dataToRead--; } - else + if(dataToRead == 0) { - 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; - gnssState = UART_GNSS_IDLE; + rxState = GNSSRX_READ_CK_A; } break; + case GNSSRX_READ_CK_A: ck_A_Ref = data; + rxState++; + break; + case GNSSRX_READ_CK_B: ck_B_Ref = data; + if((ck_A_Ref == ck_A) && (ck_B_Ref == ck_B)) + { + switch(gnssState) + { + case UART_GNSS_GET_PVT:GNSS_ParsePVTData(&GNSS_Handle); + break; + case UART_GNSS_GET_SAT: GNSS_ParseNavSatData(&GNSS_Handle); + break; + default: + break; + } + } + rxState = GNSSRX_DETECT_HEADER_0; + gnssState = UART_GNSS_IDLE; + break; + default: rxState = GNSSRX_READY; break; } @@ -529,7 +573,7 @@ retryRequest = 0; timeToTrigger = 1; - if((gnssState == UART_GNSS_GET_PVT)) /* timeout */ + if((gnssState == UART_GNSS_GET_SAT) || (gnssState == UART_GNSS_GET_PVT)) /* timeout */ { gnssState = UART_GNSS_IDLE; }