view Small_CPU/Src/GNSS.c @ 940:4a406e873a95
Evo_2_23
GNSS improvments:
- Introduce alive indicator; Status string will switch between white and grey with every message received from the module
- shorten visibility of "shutting down" string. a busy wait of 1 second was applied in the sleep prepare function. The time is now included in the time needed to prepare the module for low power operation
- make sure GPIO is properly initialized after deep sleep
author
Ideenmodellierer
date
Thu, 12 Dec 2024 21:12:07 +0100 (3 months ago)
parents
effadaa3a1f7
children
06aaccaf2e02
line source
/*+ − * 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"+ − + − 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 < 5; ++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;+ − + − 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++;+ − }+ − + − GNSS->alive = !GNSS->alive;+ − }+ − + − /*!+ − * 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;+ − }+ −
