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view Small_CPU/Src/GNSS.c @ 976:0b81ac558e89 Evo_2_23

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Devbugfix UART buffer cleaning: In the previous version a buffer cleaning function was used which resets the ringbuffer read index. As result the processing of data was stopped until the DMA write comes to the index 0. When reaching it the complete buffer was proceeded including possibly invalid data. The usage of the cleanbuffer function was replaced by the flush buffer function (meaning the data is discarded but the data index is maintained). There was already a function for this. Because the function was 99% the same as the read function, it was integrated into the ReadData function. Calling the function with parameter flush = 1 will result in a buffer flush. The workaround of the previous revision was updated to only be applied in case a DiveO2 sensor is operated in stand alone mode.
author Ideenmodellierer
date Wed, 29 Jan 2025 17:21:20 +0100 (7 weeks ago)
parents 3420e3ba698d
children
line wrap: on
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/*
 * 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;
}