view Small_CPU/Src/uartProtocol_GNSS.c @ 978:57b82ae99969
Evo_2_23
Remove sensor index for CO2 sensors:
The is only one CO2 sensor supported at a time => no need to use index numbers. This avoids strange indexing (CO3) as well.
author
Ideenmodellierer
date
Thu, 30 Jan 2025 21:26:38 +0100 (7 weeks ago)
parents
9b29995d6619
children
line source
/**+ − ******************************************************************************+ − * @file uartProtocol_GNSS.c+ − * @author heinrichs weikamp gmbh+ − * @version V0.0.1+ − * @date 30-Sep-2024+ − * @brief Interface functionality operation of GNSS devices+ − *+ − @verbatim+ − + − + − @endverbatim+ − ******************************************************************************+ − * @attention+ − *+ − * <h2><center>© COPYRIGHT(c) 2024 heinrichs weikamp</center></h2>+ − *+ − ******************************************************************************+ − */+ − /* Includes ------------------------------------------------------------------*/+ − + − #include <string.h>+ − #include "scheduler.h"+ − #include <uartProtocol_GNSS.h>+ − #include "uart.h"+ − #include "GNSS.h"+ − #include "configuration.h"+ − #include "externalInterface.h"+ − + − + − #if defined ENABLE_GNSS || defined ENABLE_GNSS_SUPPORT || defined ENABLE_GPIO_V2+ − + − static uartGnssStatus_t gnssState = UART_GNSS_INIT;+ − static gnssRequest_s activeRequest = {0,0};+ − + − 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;+ − static uint8_t ReqPowerDown = 0;+ − + − void ConvertByteToHexString(uint8_t byte, char* str)+ − {+ − uint8_t worker = 0;+ − uint8_t digit = 0;+ − uint8_t digitCnt = 1;+ − + − worker = byte;+ − while((worker!=0) && (digitCnt != 255))+ − {+ − digit = worker % 16;+ − if( digit < 10)+ − {+ − digit += '0';+ − }+ − else+ − {+ − digit += 'A' - 10;+ − }+ − str[digitCnt--]= digit;+ − worker = worker / 16;+ − }+ − }+ − + − void uartGnss_ReqPowerDown(uint8_t request)+ − {+ − if(GnssConnected)+ − {+ − ReqPowerDown = request;+ − }+ − }+ − + − uint8_t uartGnss_isPowerDownRequested()+ − {+ − return ReqPowerDown;+ − }+ − + − uartGnssStatus_t uartGnss_GetState()+ − {+ − return gnssState;+ − }+ − void uartGnss_SetState(uartGnssStatus_t newState)+ − {+ − gnssState = newState;+ − }+ − + − void UART_Gnss_SendCmd(uint8_t GnssCmd)+ − {+ − const 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_SETMOBILE: pData = setPortableMode;+ − txLength = sizeof(setPortableMode) / 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;+ − case GNSSCMD_GET_NAVSAT_DATA: pData = getNavSat;+ − txLength = sizeof(getNavSat) / sizeof(uint8_t);+ − break;+ − case GNSSCMD_MODE_PWS: pData = setPowerLow;+ − txLength = sizeof(setPowerLow) / sizeof(uint8_t);+ − break;+ − case GNSSCMD_MODE_NORMAL: pData = setPowerNormal;+ − txLength = sizeof(setPowerNormal) / sizeof(uint8_t);+ − break;+ − case GNSSCMD_SET_CONFIG: pData = setConfig;+ − txLength = sizeof(setConfig) / sizeof(uint8_t);+ − break;+ − default:+ − break;+ − }+ − if(txLength != 0)+ − {+ − activeRequest.class = pData[2];+ − activeRequest.id = pData[3];+ − UART_SendCmdUbx(pData, txLength);+ − }+ − }+ − + − void uartGnss_Control(void)+ − {+ − static uint32_t warmupTick = 0;+ − static uint8_t dataToggle = 0;+ − uint8_t activeSensor = 0;+ − sUartComCtrl* pUartCtrl = UART_GetGnssCtrl();+ − + − if(pUartCtrl == &Uart1Ctrl)+ − {+ − activeSensor = externalInterface_GetActiveUartSensor();+ − gnssState = externalInterface_GetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET);+ − }+ − + − switch (gnssState)+ − {+ − case UART_GNSS_INIT: gnssState = UART_GNSS_WARMUP;+ − warmupTick = HAL_GetTick();+ − UART_clearRxBuffer(pUartCtrl);+ − break;+ − case UART_GNSS_WARMUP: if(time_elapsed_ms(warmupTick,HAL_GetTick()) > 1000)+ − {+ − gnssState = UART_GNSS_LOADCONF_0;+ − }+ − break;+ − case UART_GNSS_LOADCONF_0: UART_Gnss_SendCmd(GNSSCMD_LOADCONF_0);+ − rxState = GNSSRX_DETECT_ACK_0;+ − break;+ − case UART_GNSS_LOADCONF_1: UART_Gnss_SendCmd(GNSSCMD_LOADCONF_1);+ − rxState = GNSSRX_DETECT_ACK_0;+ − break;+ − case UART_GNSS_LOADCONF_2: UART_Gnss_SendCmd(GNSSCMD_LOADCONF_2);+ − rxState = GNSSRX_DETECT_ACK_0;+ − break;+ − case UART_GNSS_SETMODE_MOBILE: UART_Gnss_SendCmd(GNSSCMD_LOADCONF_2);+ − rxState = GNSSRX_DETECT_ACK_0;+ − break;+ − case UART_GNSS_PWRDOWN: UART_Gnss_SendCmd(GNSSCMD_MODE_PWS);+ − rxState = GNSSRX_DETECT_ACK_0;+ − break;+ − + − case UART_GNSS_PWRUP: UART_Gnss_SendCmd(GNSSCMD_MODE_NORMAL);+ − rxState = GNSSRX_DETECT_ACK_0;+ − gnssState = UART_GNSS_PWRUP;+ − break;+ − case UART_GNSS_SETCONF: UART_Gnss_SendCmd(GNSSCMD_SET_CONFIG);+ − rxState = GNSSRX_DETECT_ACK_0;+ − break;+ − + − case UART_GNSS_IDLE: if(ReqPowerDown)+ − {+ − UART_Gnss_SendCmd(GNSSCMD_MODE_PWS);+ − gnssState = UART_GNSS_PWRDOWN;+ − rxState = GNSSRX_DETECT_ACK_0;+ − }+ − else+ − {+ − if(dataToggle)+ − {+ − UART_Gnss_SendCmd(GNSSCMD_GET_PVT_DATA);+ − gnssState = UART_GNSS_GET_PVT;+ − rxState = GNSSRX_DETECT_HEADER_0;+ − dataToggle = 0;+ − }+ − else+ − {+ − UART_Gnss_SendCmd(GNSSCMD_GET_NAVSAT_DATA);+ − gnssState = UART_GNSS_GET_SAT;+ − rxState = GNSSRX_DETECT_HEADER_0;+ − dataToggle = 1;+ − }+ − }+ − break;+ − default:+ − break;+ − }+ − if(pUartCtrl == &Uart1Ctrl)+ − {+ − externalInterface_SetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET,gnssState);+ − }+ − + − }+ − + − + − void uartGnss_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;+ − uint8_t activeSensor = 0;+ − + − sUartComCtrl* pUartCtrl = UART_GetGnssCtrl();+ − + − if(pUartCtrl == &Uart1Ctrl)+ − {+ − activeSensor = externalInterface_GetActiveUartSensor();+ − gnssState = externalInterface_GetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET);+ − }+ − + − 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,0xff, sizeof(GNSS_Handle.uartWorkingBuffer));+ − GNSS_Handle.uartWorkingBuffer[writeIndex++] = data;+ − rxState++;+ − ck_A = 0;+ − ck_B = 0;+ − }+ − 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))+ − {+ − rxState = GNSSRX_READY;+ − switch(gnssState)+ − {+ − case UART_GNSS_PWRUP: gnssState = UART_GNSS_IDLE;+ − break;+ − case UART_GNSS_PWRDOWN: rxState = GNSSRX_DETECT_ACK_0;+ − UART_Gnss_SendCmd(GNSSCMD_SET_CONFIG);+ − gnssState = UART_GNSS_SETCONF;+ − break;+ − case UART_GNSS_SETCONF: gnssState = UART_GNSS_INACTIVE;+ − break;+ − case UART_GNSS_LOADCONF_0:+ − case UART_GNSS_LOADCONF_1: gnssState++;+ − break;+ − case UART_GNSS_LOADCONF_2: gnssState = UART_GNSS_SETMODE_MOBILE;+ − break;+ − case UART_GNSS_SETMODE_MOBILE: rxState = GNSSRX_DETECT_ACK_0;+ − UART_Gnss_SendCmd(GNSSCMD_MODE_NORMAL);+ − gnssState = UART_GNSS_PWRUP;+ − break;+ − default:+ − break;+ − }+ − GnssConnected = 1;+ − }+ − else+ − {+ − rxState = GNSSRX_DETECT_HEADER_0;+ − }+ − break;+ − case GNSSRX_DETECT_HEADER_2: if(data == activeRequest.class)+ − {+ − rxState++;+ − }+ − else+ − {+ − rxState = GNSSRX_DETECT_HEADER_0;+ − }+ − break;+ − case GNSSRX_DETECT_HEADER_3: if(data == activeRequest.id)+ − {+ − rxState = GNSSRX_DETECT_LENGTH_0;+ − }+ − else+ − {+ − rxState = GNSSRX_DETECT_HEADER_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--;+ − }+ − if(dataToRead == 0)+ − {+ − 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;+ − }+ − if(pUartCtrl == &Uart1Ctrl)+ − {+ − externalInterface_SetSensorState(activeSensor + EXT_INTERFACE_MUX_OFFSET,gnssState);+ − }+ − }+ − + − uint8_t uartGnss_isSensorConnected()+ − {+ − return GnssConnected;+ − }+ − + − #endif+ − + −
