/**+
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  ******************************************************************************+
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  * @file    uart_Internal.c+
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  * @author  heinrichs weikamp gmbh+
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  * @version V0.0.1+
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  * @date    03-November-2044+
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  * @brief   Control functions for devices connected to the internal UART+
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  *           +
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  @verbatim                 +
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  ============================================================================== +
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                        ##### How to use #####+
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  ============================================================================== +
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  @endverbatim+
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  ******************************************************************************+
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  * @attention+
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  *+
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  * <h2><center>&copy; COPYRIGHT(c) 2015 heinrichs weikamp</center></h2>+
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  *+
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  ******************************************************************************+
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  */ +
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/* Includes ------------------------------------------------------------------*/+
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#include "uart.h"+
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#include "uart_Internal.h"+
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#include "uartProtocol_GNSS.h"+
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#include "GNSS.h"+
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#include "externalInterface.h"+
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#include "data_exchange.h"+
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#include <string.h>	/* memset */+
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+
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+
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/* Private variables ---------------------------------------------------------*/+
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+
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#define REQUEST_INT_SENSOR_MS	(1500)		/* Minimum time interval for cyclic sensor data requests per sensor (UART mux) */+
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#define COMMAND_TX_DELAY		(30u)		/* The time the sensor needs to recover from a invalid command request */+
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#define TIMEOUT_SENSOR_ANSWER	(300)		/* Time till a request is repeated if no answer was received */+
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+
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DMA_HandleTypeDef  hdma_usart6_rx, hdma_usart6_tx;+
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+
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uint8_t tx6Buffer[CHUNK_SIZE];							/* tx uses less bytes */+
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+
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uint8_t rxBufferUart6[CHUNK_SIZE * CHUNKS_PER_BUFFER];		/* The complete buffer has a X * chunk size to allow variations in buffer read time */+
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uint8_t txBufferUart6[CHUNK_SIZE * CHUNKS_PER_BUFFER];		/* The complete buffer has a X * chunk size to allow variations in buffer read time */+
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+
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sUartComCtrl Uart6Ctrl;+
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+
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/* Exported functions --------------------------------------------------------*/+
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+
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void GNSS_IO_init() {+
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+
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	GPIO_InitTypeDef GPIO_InitStruct = { 0 };+
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	/* Peripheral clock enable */+
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	__HAL_RCC_USART6_CLK_ENABLE()+
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	;+
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+
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	__HAL_RCC_GPIOA_CLK_ENABLE()+
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	;+
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	/**USART6 GPIO Configuration+
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	 PA11     ------> USART6_TX+
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	 PA12     ------> USART6_RX+
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	 */+
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	GPIO_InitStruct.Pin = GPIO_PIN_11 | GPIO_PIN_12;+
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	GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;+
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	GPIO_InitStruct.Pull = GPIO_NOPULL;+
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	GPIO_InitStruct.Speed = GPIO_SPEED_FAST;+
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	GPIO_InitStruct.Alternate = GPIO_AF8_USART6;+
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	HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);+
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+
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	/* USART6 DMA Init */+
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	/* USART6_RX Init */+
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	hdma_usart6_rx.Instance = DMA2_Stream2;+
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	hdma_usart6_rx.Init.Channel = DMA_CHANNEL_5;+
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	hdma_usart6_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;+
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	hdma_usart6_rx.Init.PeriphInc = DMA_PINC_DISABLE;+
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	hdma_usart6_rx.Init.MemInc = DMA_MINC_ENABLE;+
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	hdma_usart6_rx.Init.PeriphDataAlignment = DMA_MDATAALIGN_BYTE;+
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	hdma_usart6_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;+
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	hdma_usart6_rx.Init.Mode = DMA_NORMAL;+
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	hdma_usart6_rx.Init.Priority = DMA_PRIORITY_LOW;+
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	hdma_usart6_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;+
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	HAL_DMA_Init(&hdma_usart6_rx);+
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+
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	__HAL_LINKDMA(&huart6, hdmarx, hdma_usart6_rx);+
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+
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	/* USART6_TX Init */+
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	hdma_usart6_tx.Instance = DMA2_Stream6;+
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	hdma_usart6_tx.Init.Channel = DMA_CHANNEL_5;+
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	hdma_usart6_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;+
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	hdma_usart6_tx.Init.PeriphInc = DMA_PINC_DISABLE;+
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	hdma_usart6_tx.Init.MemInc = DMA_MINC_ENABLE;+
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	hdma_usart6_tx.Init.PeriphDataAlignment = DMA_MDATAALIGN_BYTE;+
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	hdma_usart6_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;+
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	hdma_usart6_tx.Init.Mode = DMA_NORMAL;+
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	hdma_usart6_tx.Init.Priority = DMA_PRIORITY_LOW;+
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	hdma_usart6_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;+
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	HAL_DMA_Init(&hdma_usart6_tx);+
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+
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	__HAL_LINKDMA(&huart6, hdmatx, hdma_usart6_tx);+
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+
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	/* USART6 interrupt Init */+
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	HAL_NVIC_SetPriority(USART6_IRQn, 0, 0);+
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	HAL_NVIC_EnableIRQ(USART6_IRQn);+
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+
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	MX_USART6_DMA_Init();+
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+
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}+
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+
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void MX_USART6_DMA_Init() {+
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	  /* DMA controller clock enable */+
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	  __HAL_RCC_DMA2_CLK_ENABLE();+
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+
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	  /* DMA interrupt init */+
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	  /* DMA2_Stream2_IRQn interrupt configuration */+
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	  HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 0, 0);+
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	  HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);+
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	  /* DMA2_Stream6_IRQn interrupt configuration */+
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	  HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 0, 0);+
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	  HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn);+
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}+
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+
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+
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void MX_USART6_UART_DeInit(void)+
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{+
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	HAL_DMA_Abort(&hdma_usart6_rx);+
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	HAL_DMA_DeInit(&hdma_usart6_rx);+
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	HAL_DMA_Abort(&hdma_usart6_tx);+
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	HAL_DMA_DeInit(&hdma_usart6_tx);+
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	HAL_UART_DeInit(&huart6);+
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	HAL_UART_DeInit(&huart6);+
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}+
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+
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void MX_USART6_UART_Init(void) {+
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	huart6.Instance = USART6;+
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	huart6.Init.BaudRate = 9600;+
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	huart6.Init.WordLength = UART_WORDLENGTH_8B;+
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	huart6.Init.StopBits = UART_STOPBITS_1;+
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	huart6.Init.Parity = UART_PARITY_NONE;+
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	huart6.Init.Mode = UART_MODE_TX_RX;+
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	huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE;+
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	huart6.Init.OverSampling = UART_OVERSAMPLING_16;+
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	HAL_UART_Init(&huart6);+
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+
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	UART_clearRxBuffer(&Uart6Ctrl);+
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+
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	Uart6Ctrl.pHandle = &huart6;+
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	Uart6Ctrl.dmaRxActive = 0;+
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	Uart6Ctrl.dmaTxActive = 0;+
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	Uart6Ctrl.pRxBuffer = rxBufferUart6;+
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	Uart6Ctrl.pTxBuffer = txBufferUart6;+
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	Uart6Ctrl.rxReadIndex = 0;+
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	Uart6Ctrl.rxWriteIndex = 0;+
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	Uart6Ctrl.txBufferQueLen = 0;+
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+
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	UART_SetGnssCtrl(&Uart6Ctrl);+
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}+
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+
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void UART6_HandleUART()+
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{+
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	static uint8_t retryRequest = 0;+
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	static uint32_t lastRequestTick = 0;+
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	static uint32_t TriggerTick = 0;+
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	static uint16_t timeToTrigger = 0;+
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	uint32_t tick =  HAL_GetTick();+
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+
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	uartGnssStatus_t gnssState = uartGnss_GetState();+
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+
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		if(gnssState != UART_GNSS_INIT)+
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		{+
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			UART_ReadData(SENSOR_GNSS, 0);+
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			UART_WriteData(&Uart6Ctrl);+
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		}+
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		if(gnssState == UART_GNSS_INIT)+
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		{+
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			lastRequestTick = tick;+
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			TriggerTick = tick - 10;	/* just to make sure control is triggered */+
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			timeToTrigger = 1;+
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			retryRequest = 0;+
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		}+
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		else if((gnssState == UART_GNSS_INACTIVE) && (!uartGnss_isPowerDownRequested()))		/* send dummy bytes to wakeup receiver */+
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		{+
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			txBufferUart6[0] = 0xFF;+
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			txBufferUart6[1] = 0xFF;+
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			HAL_UART_Transmit_DMA(Uart6Ctrl.pHandle, Uart6Ctrl.pTxBuffer,2);+
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			timeToTrigger = 500;						/* receiver needs 500ms for wakeup */+
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			lastRequestTick = tick;+
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			gnssState = UART_GNSS_PWRUP;+
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			uartGnss_SetState(gnssState);+
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		}+
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		else if(((retryRequest == 0)		/* timeout or error */+
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				&& (((time_elapsed_ms(lastRequestTick,tick) > (TIMEOUT_SENSOR_ANSWER)) && (gnssState != UART_GNSS_IDLE))	/* retry if no answer after half request interval */+
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					|| (gnssState == UART_GNSS_ERROR))))+
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		{+
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			/* The channel switch will cause the sensor to respond with an error message. */+
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			/* The sensor needs ~30ms to recover before he is ready to receive the next command => transmission delay needed */+
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+
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			TriggerTick = tick;+
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			timeToTrigger = COMMAND_TX_DELAY;+
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			retryRequest = 1;+
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		}+
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+
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		else if(time_elapsed_ms(lastRequestTick,tick) > 1000)	/* switch sensor and / or trigger next request */+
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		{+
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			lastRequestTick = tick;+
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			TriggerTick = tick;+
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			retryRequest = 0;+
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			timeToTrigger = 1;+
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+
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			if((gnssState == UART_GNSS_GET_SAT) || (gnssState == UART_GNSS_GET_PVT) || (gnssState == UART_GNSS_PWRUP))	/* timeout */+
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			{+
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				gnssState = UART_GNSS_IDLE;+
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				uartGnss_SetState(gnssState);+
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			}+
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			timeToTrigger = 1;+
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		}+
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		if((timeToTrigger != 0) && (time_elapsed_ms(TriggerTick,tick) > timeToTrigger))+
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		{+
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			timeToTrigger = 0;+
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			uartGnss_Control();+
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		}+
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+
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}+
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+
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+
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/************************ (C) COPYRIGHT heinrichs weikamp *****END OF FILE****/+
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