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view Small_CPU/Src/GNSS.c @ 928:9b7859554beb Evo_2_23

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Cleanup Internal Uart: The compile switches have been updated to allow GNSS data flow if new GPIO config is available or if GNSS is enabled for the external UART.
author Ideenmodellierer
date Tue, 26 Nov 2024 21:30:06 +0100
parents c0553dd70608
children
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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 "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;
}

/*!
 * Searching for a header in data buffer and matching class and message ID to buffer data.
 * @param GNSS Pointer to main GNSS structure.
 */
uint8_t GNSS_ParseBuffer(GNSS_StateHandle *GNSS) {

	uint8_t DataReceived = 0;

	for (int var = 0; var <= 100; ++var) {
		if (GNSS->uartWorkingBuffer[var] == 0xB5
				&& GNSS->uartWorkingBuffer[var + 1] == 0x62) {
			DataReceived = 1;
			if (GNSS->uartWorkingBuffer[var + 2] == 0x27
					&& GNSS->uartWorkingBuffer[var + 3] == 0x03) { //Look at: 32.19.1.1 u-blox 8 Receiver description
				GNSS_ParseUniqID(GNSS);
			} else if (GNSS->uartWorkingBuffer[var + 2] == 0x01
					&& GNSS->uartWorkingBuffer[var + 3] == 0x21) { //Look at: 32.17.14.1 u-blox 8 Receiver description
				GNSS_ParseNavigatorData(GNSS);
			} else if (GNSS->uartWorkingBuffer[var + 2] == 0x01
					&& GNSS->uartWorkingBuffer[var + 3] == 0x07) { //ook at: 32.17.30.1 u-blox 8 Receiver description
				GNSS_ParsePVTData(GNSS);
			} else if (GNSS->uartWorkingBuffer[var + 2] == 0x01
					&& GNSS->uartWorkingBuffer[var + 3] == 0x02) { // Look at: 32.17.15.1 u-blox 8 Receiver description
				GNSS_ParsePOSLLHData(GNSS);
			}
		}
	}
	return DataReceived;
}

/*!
 * Make request for unique chip ID data.
 * @param GNSS Pointer to main GNSS structure.
 */
void GNSS_GetUniqID(GNSS_StateHandle *GNSS) {
	HAL_UART_Transmit_DMA(GNSS->huart, getDeviceID,
			sizeof(getDeviceID) / sizeof(uint8_t));
	HAL_UART_Receive_IT(GNSS->huart, GNSS_Handle.uartWorkingBuffer, 17);
}

/*!
 * Make request for UTC time solution data.
 * @param GNSS Pointer to main GNSS structure.
 */
void GNSS_GetNavigatorData(GNSS_StateHandle *GNSS) {
	HAL_UART_Transmit_DMA(GNSS->huart, getNavigatorData,
			sizeof(getNavigatorData) / sizeof(uint8_t));
	HAL_UART_Receive_IT(GNSS->huart, GNSS_Handle.uartWorkingBuffer, 28);
}

/*!
 * Make request for geodetic position solution data.
 * @param GNSS Pointer to main GNSS structure.
 */
void GNSS_GetPOSLLHData(GNSS_StateHandle *GNSS) {
	HAL_UART_Transmit_DMA(GNSS->huart, getPOSLLHData,
			sizeof(getPOSLLHData) / sizeof(uint8_t));
	HAL_UART_Receive_IT(GNSS->huart, GNSS_Handle.uartWorkingBuffer, 36);
}

/*!
 * Make request for navigation position velocity time solution data.
 * @param GNSS Pointer to main GNSS structure.
 */
void GNSS_GetPVTData(GNSS_StateHandle *GNSS) {
	HAL_UART_Transmit_DMA(GNSS->huart, getPVTData,
			sizeof(getPVTData) / sizeof(uint8_t));
	HAL_UART_Receive_IT(GNSS->huart, GNSS_Handle.uartWorkingBuffer, 100);
}

/*!
 * 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];
	}
}

/*!
 * Changing the GNSS mode.
 * Look at: 32.10.19 u-blox 8 Receiver description
 */
void GNSS_SetMode(GNSS_StateHandle *GNSS, short gnssMode) {
	if (gnssMode == 0) {
		HAL_UART_Transmit_DMA(GNSS->huart, setPortableMode,sizeof(setPortableMode) / sizeof(uint8_t));
	} else if (gnssMode == 1) {
		HAL_UART_Transmit_DMA(GNSS->huart, setStationaryMode,sizeof(setStationaryMode) / sizeof(uint8_t));
	} else if (gnssMode == 2) {
		HAL_UART_Transmit_DMA(GNSS->huart, setPedestrianMode,sizeof(setPedestrianMode) / sizeof(uint8_t));
	} else if (gnssMode == 3) {
		HAL_UART_Transmit_DMA(GNSS->huart, setAutomotiveMode,sizeof(setAutomotiveMode) / sizeof(uint8_t));
	} else if (gnssMode == 4) {
		HAL_UART_Transmit_DMA(GNSS->huart, setAutomotiveMode,sizeof(setAutomotiveMode) / sizeof(uint8_t));
	} else if (gnssMode == 5) {
		HAL_UART_Transmit_DMA(GNSS->huart, setAirbone1GMode,sizeof(setAirbone1GMode) / sizeof(uint8_t));
	} else if (gnssMode == 6) {
		HAL_UART_Transmit_DMA(GNSS->huart, setAirbone2GMode,sizeof(setAirbone2GMode) / sizeof(uint8_t));
	} else if (gnssMode == 7) {
		HAL_UART_Transmit_DMA(GNSS->huart, setAirbone4GMode,sizeof(setAirbone4GMode) / sizeof(uint8_t));
	} else if (gnssMode == 8) {
		HAL_UART_Transmit_DMA(GNSS->huart, setWirstMode,sizeof(setWirstMode) / sizeof(uint8_t));
	} else if (gnssMode == 9) {
		HAL_UART_Transmit_DMA(GNSS->huart, setBikeMode,sizeof(setBikeMode) / sizeof(uint8_t));
	}
}
/*!
 * 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++;
	}
}

/*!
 * 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_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;
}

/*!
 *  Sends the basic configuration: Activation of the UBX standard, change of NMEA version to 4.10 and turn on of the Galileo system.
 * @param GNSS Pointer to main GNSS structure.
 */
void GNSS_LoadConfig(GNSS_StateHandle *GNSS) {
	HAL_UART_Transmit_DMA(GNSS->huart, configUBX,
			sizeof(configUBX) / sizeof(uint8_t));
	HAL_Delay(250);
	HAL_UART_Transmit_DMA(GNSS->huart, setNMEA410,
			sizeof(setNMEA410) / sizeof(uint8_t));
	HAL_Delay(250);
	HAL_UART_Transmit_DMA(GNSS->huart, setGNSS,
			sizeof(setGNSS) / sizeof(uint8_t));
	HAL_Delay(250);
}



/*!
 *  Creates a checksum based on UBX standard.
 * @param class Class value from UBX doc.
 * @param messageID MessageID value from UBX doc.
 * @param dataLength Data length value from UBX doc.
 * @param payload Just payload.
 * @return  Returns checksum.
 */
uint8_t GNSS_Checksum(uint8_t class, uint8_t messageID, uint8_t dataLength,uint8_t *payload) {
//todo: Look at 32.4 UBX Checksum
	return 0;
}