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view Small_CPU/Src/uartProtocol_GNSS.c @ 988:d9290c76b840 GasConsumption

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OSTC4/5 joined code: In the previous version code differences between OSTC4/5 were identified using the ENABLE_GPIO_V2 compiler switch. In the new version this is done using the display version as indicator which OSTC model is in used. Since this is detected by Firmware the information is forwarded from there to the RTE. This causes a little delay in the GPIO initialization but this applies only to the cold start of the RTE which should not happen very often.
author ideenmodellierer
date Sun, 06 Apr 2025 21:02:17 +0200 (6 days ago)
parents 9b29995d6619
children
line wrap: on
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>&copy; 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_INTERN || defined ENABLE_GNSS_EXTERN

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