Csr location class shows location and satellite information, which supports H13467 + ST F103RB/NXP LCP1549 boards now.
Dependents: CsrLocationDemo CsrLocationDemo
Fork of CsrLocation by
CsrLocation.cpp@2:d4fe184925f2, 2014-03-26 (annotated)
- Committer:
- zhjcpi
- Date:
- Wed Mar 26 09:16:55 2014 +0000
- Revision:
- 2:d4fe184925f2
- Parent:
- 1:bbaf9b8d646a
- Child:
- 3:71690f7bb480
optimization
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
zhjcpi | 0:aba381fc8158 | 1 | |
zhjcpi | 0:aba381fc8158 | 2 | /* CsrLocation class for mbed Microcontroller |
zhjcpi | 0:aba381fc8158 | 3 | * Copyright 2014 CSR plc |
zhjcpi | 0:aba381fc8158 | 4 | */ |
zhjcpi | 0:aba381fc8158 | 5 | |
zhjcpi | 0:aba381fc8158 | 6 | |
zhjcpi | 0:aba381fc8158 | 7 | #include "mbed.h" |
zhjcpi | 0:aba381fc8158 | 8 | #include "CsrLocation.h" |
zhjcpi | 0:aba381fc8158 | 9 | |
zhjcpi | 0:aba381fc8158 | 10 | |
zhjcpi | 2:d4fe184925f2 | 11 | static uint8_t sOspStopReq[] = {0xa0, 0xa2, 0x00, 0x02, 0xcd, 0x10, 0x00, 0xdd, 0xb0, 0xb3}; |
zhjcpi | 2:d4fe184925f2 | 12 | static uint8_t sOspVerReq[] = {0xA0, 0xA2, 0x00, 0x02, 0x84, 0x00, 0x00, 0x84, 0xB0, 0xB3}; |
zhjcpi | 2:d4fe184925f2 | 13 | static uint8_t sOspLpmReq[] = {0xA0, 0xA2, 0x00, 0x2A, 0xDA, 0x06, 0x01, 0x00, 0x00, 0x00, 0x00, 0x1E, 0x00, 0x01, 0x00, 0x78, 0x00, 0x1E, |
zhjcpi | 1:bbaf9b8d646a | 14 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xC8, 0x00, 0x00, 0x01, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
zhjcpi | 1:bbaf9b8d646a | 15 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x63, 0xB0, 0xB3}; |
zhjcpi | 2:d4fe184925f2 | 16 | static uint8_t sOspFpmReq[] = {0xA0, 0xA2, 0x00, 0x03, 0xDA, 0x00, 0x00, 0x00, 0xDA, 0xB0, 0xB3}; |
zhjcpi | 2:d4fe184925f2 | 17 | static uint8_t sOspSwitch2NmeaReq[] = {0xA0, 0xA2, 0x00, 0x18, 0x81, 0x00, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x05, 0x01, 0x01, 0x01, 0x00, |
zhjcpi | 0:aba381fc8158 | 18 | 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x12, 0xC0, 0x01, 0x64, 0xB0, 0xB3}; |
zhjcpi | 2:d4fe184925f2 | 19 | static char sNmeaSwitch2OspReq[] = "$PSRF100,0,115200,8,1,0*04\r\n"; |
zhjcpi | 0:aba381fc8158 | 20 | |
zhjcpi | 0:aba381fc8158 | 21 | CsrLocation::CsrLocation(tCsrLocConfig *pLocConfig) |
zhjcpi | 0:aba381fc8158 | 22 | { |
zhjcpi | 0:aba381fc8158 | 23 | memset(&csrLocInst, 0, sizeof(tCsrLocInst)); |
zhjcpi | 0:aba381fc8158 | 24 | csrLocInst.pSerialDebug = pLocConfig->pSerialDebug; |
zhjcpi | 0:aba381fc8158 | 25 | csrLocInst.pSerialLoc = pLocConfig->pSerialLoc; |
zhjcpi | 0:aba381fc8158 | 26 | csrLocInst.pPinOnoff = pLocConfig->pPinOnoff; |
zhjcpi | 0:aba381fc8158 | 27 | csrLocInst.pPinReset = pLocConfig->pPinReset; |
zhjcpi | 0:aba381fc8158 | 28 | csrLocInst.pTimeoutChk = new Timeout(); |
zhjcpi | 0:aba381fc8158 | 29 | |
zhjcpi | 0:aba381fc8158 | 30 | csrLocInst.pPinReset->write(1); |
zhjcpi | 0:aba381fc8158 | 31 | csrLocInst.pPinOnoff->write(0); |
zhjcpi | 0:aba381fc8158 | 32 | } |
zhjcpi | 0:aba381fc8158 | 33 | |
zhjcpi | 0:aba381fc8158 | 34 | CsrLocation::~CsrLocation(void) |
zhjcpi | 0:aba381fc8158 | 35 | { |
zhjcpi | 0:aba381fc8158 | 36 | if(csrLocInst.pTimeoutChk != NULL) |
zhjcpi | 0:aba381fc8158 | 37 | { |
zhjcpi | 0:aba381fc8158 | 38 | delete csrLocInst.pTimeoutChk; |
zhjcpi | 0:aba381fc8158 | 39 | csrLocInst.pTimeoutChk = NULL; |
zhjcpi | 0:aba381fc8158 | 40 | } |
zhjcpi | 0:aba381fc8158 | 41 | csrLocInst.pSerialLoc->attach(NULL); |
zhjcpi | 0:aba381fc8158 | 42 | csrLocInst.pPinReset->write(0); |
zhjcpi | 0:aba381fc8158 | 43 | csrLocInst.pPinOnoff->write(0); |
zhjcpi | 0:aba381fc8158 | 44 | memset(&csrLocInst, 0, sizeof(tCsrLocInst)); |
zhjcpi | 0:aba381fc8158 | 45 | |
zhjcpi | 0:aba381fc8158 | 46 | } |
zhjcpi | 0:aba381fc8158 | 47 | |
zhjcpi | 0:aba381fc8158 | 48 | void CsrLocation::CsrLocRegOutput(csr_app_output_callback app_output_cb, csr_app_event_callback app_event_cb) |
zhjcpi | 0:aba381fc8158 | 49 | { |
zhjcpi | 0:aba381fc8158 | 50 | csrLocInst.appOutCb = app_output_cb; |
zhjcpi | 0:aba381fc8158 | 51 | csrLocInst.appEventCb = app_event_cb; |
zhjcpi | 0:aba381fc8158 | 52 | } |
zhjcpi | 0:aba381fc8158 | 53 | |
zhjcpi | 0:aba381fc8158 | 54 | void CsrLocation::CsrLocReset(void) |
zhjcpi | 0:aba381fc8158 | 55 | { |
zhjcpi | 0:aba381fc8158 | 56 | _CsrLocHwReset(); |
zhjcpi | 0:aba381fc8158 | 57 | } |
zhjcpi | 0:aba381fc8158 | 58 | |
zhjcpi | 0:aba381fc8158 | 59 | void CsrLocation::CsrLocStart(ePowerMode pwrMode) |
zhjcpi | 0:aba381fc8158 | 60 | { |
zhjcpi | 0:aba381fc8158 | 61 | csrLocInst.pwrMode = pwrMode; |
zhjcpi | 0:aba381fc8158 | 62 | |
zhjcpi | 0:aba381fc8158 | 63 | if(csrLocInst.locState == CSR_LOC_STATE_IDLE) |
zhjcpi | 0:aba381fc8158 | 64 | { |
zhjcpi | 0:aba381fc8158 | 65 | /* Csr Location SDK version */ |
zhjcpi | 0:aba381fc8158 | 66 | CSR_LOG_INFO("==== CSR LOC SDK version: %s Date: %s ====\r\n", CSR_LOC_SDK_VER, __DATE__ " " __TIME__); |
zhjcpi | 0:aba381fc8158 | 67 | /* open UART */ |
zhjcpi | 0:aba381fc8158 | 68 | CSR_LOG_INFO("Checking OSP protocol...\r\n"); |
zhjcpi | 0:aba381fc8158 | 69 | csrLocInst.protoState = PROTO_STATE_DET_OSP; |
zhjcpi | 0:aba381fc8158 | 70 | csrLocInst.baudRate = BAUDRATE_OSP; |
zhjcpi | 0:aba381fc8158 | 71 | _CsrLocUartInit(); |
zhjcpi | 0:aba381fc8158 | 72 | |
zhjcpi | 0:aba381fc8158 | 73 | /* trigger on_off */ |
zhjcpi | 0:aba381fc8158 | 74 | _CsrLocHwOnoff(); |
zhjcpi | 0:aba381fc8158 | 75 | |
zhjcpi | 0:aba381fc8158 | 76 | csrLocInst.locState = CSR_LOC_STATE_RUN; |
zhjcpi | 2:d4fe184925f2 | 77 | csrLocInst.bPwrModeRsp = false; |
zhjcpi | 2:d4fe184925f2 | 78 | csrLocInst.bVerRsp = false; |
zhjcpi | 1:bbaf9b8d646a | 79 | |
zhjcpi | 0:aba381fc8158 | 80 | } |
zhjcpi | 0:aba381fc8158 | 81 | else |
zhjcpi | 0:aba381fc8158 | 82 | { |
zhjcpi | 0:aba381fc8158 | 83 | CSR_LOG_INFO("Already started.\r\n"); |
zhjcpi | 0:aba381fc8158 | 84 | } |
zhjcpi | 0:aba381fc8158 | 85 | } |
zhjcpi | 0:aba381fc8158 | 86 | |
zhjcpi | 0:aba381fc8158 | 87 | void CsrLocation::CsrLocUpdate(void) |
zhjcpi | 0:aba381fc8158 | 88 | { |
zhjcpi | 0:aba381fc8158 | 89 | if(csrLocInst.locState == CSR_LOC_STATE_RUN) |
zhjcpi | 0:aba381fc8158 | 90 | { |
zhjcpi | 0:aba381fc8158 | 91 | /* wait and process uart data */ |
zhjcpi | 0:aba381fc8158 | 92 | _CsrLocProcessRawStream(); |
zhjcpi | 0:aba381fc8158 | 93 | } |
zhjcpi | 0:aba381fc8158 | 94 | } |
zhjcpi | 0:aba381fc8158 | 95 | |
zhjcpi | 0:aba381fc8158 | 96 | void CsrLocation::CsrLocStop(void) |
zhjcpi | 0:aba381fc8158 | 97 | { |
zhjcpi | 0:aba381fc8158 | 98 | csrLocInst.pSerialLoc->attach(NULL); |
zhjcpi | 0:aba381fc8158 | 99 | CSR_LOG_INFO("Stop command processed.\r\n"); |
zhjcpi | 0:aba381fc8158 | 100 | |
zhjcpi | 0:aba381fc8158 | 101 | if(csrLocInst.locState == CSR_LOC_STATE_RUN && csrLocInst.pwrMode == PWR_PTF && csrLocInst.engStatus == ENGINE_STATUS_NOTOK2SEND) |
zhjcpi | 0:aba381fc8158 | 102 | { |
zhjcpi | 0:aba381fc8158 | 103 | /* in sleep mode, trigger on_off firstly */ |
zhjcpi | 0:aba381fc8158 | 104 | _CsrLocHwOnoff(); |
zhjcpi | 0:aba381fc8158 | 105 | wait_ms(500); |
zhjcpi | 0:aba381fc8158 | 106 | } |
zhjcpi | 0:aba381fc8158 | 107 | _CsrLocSendData(SEND_DATA_TYPE_OSP_STOP_REQ); |
zhjcpi | 0:aba381fc8158 | 108 | wait_ms(10); |
zhjcpi | 0:aba381fc8158 | 109 | _CsrLocHwReset(); |
zhjcpi | 0:aba381fc8158 | 110 | csrLocInst.locState = CSR_LOC_STATE_IDLE; |
zhjcpi | 0:aba381fc8158 | 111 | csrLocInst.appEventCb(CSR_LOC_EVENT_STOP_RESULT, 0); |
zhjcpi | 0:aba381fc8158 | 112 | |
zhjcpi | 0:aba381fc8158 | 113 | } |
zhjcpi | 0:aba381fc8158 | 114 | |
zhjcpi | 0:aba381fc8158 | 115 | void CsrLocation::CsrLocLpmGetPos(void) |
zhjcpi | 0:aba381fc8158 | 116 | { |
zhjcpi | 0:aba381fc8158 | 117 | if(csrLocInst.locState == CSR_LOC_STATE_RUN && csrLocInst.pwrMode == PWR_PTF && csrLocInst.engStatus == ENGINE_STATUS_NOTOK2SEND) |
zhjcpi | 0:aba381fc8158 | 118 | { |
zhjcpi | 0:aba381fc8158 | 119 | CSR_LOG_INFO("LpmGetPos "); |
zhjcpi | 0:aba381fc8158 | 120 | _CsrLocHwOnoff(); |
zhjcpi | 2:d4fe184925f2 | 121 | } |
zhjcpi | 2:d4fe184925f2 | 122 | else |
zhjcpi | 2:d4fe184925f2 | 123 | { |
zhjcpi | 2:d4fe184925f2 | 124 | if(csrLocInst.locState != CSR_LOC_STATE_RUN) |
zhjcpi | 2:d4fe184925f2 | 125 | { |
zhjcpi | 2:d4fe184925f2 | 126 | CSR_LOG_INFO("Not in run state.\r\n"); |
zhjcpi | 2:d4fe184925f2 | 127 | } |
zhjcpi | 2:d4fe184925f2 | 128 | else if(csrLocInst.pwrMode != PWR_PTF) |
zhjcpi | 2:d4fe184925f2 | 129 | { |
zhjcpi | 2:d4fe184925f2 | 130 | CSR_LOG_INFO("Not in low power PTF mode.\r\n"); |
zhjcpi | 2:d4fe184925f2 | 131 | } |
zhjcpi | 2:d4fe184925f2 | 132 | } |
zhjcpi | 0:aba381fc8158 | 133 | } |
zhjcpi | 0:aba381fc8158 | 134 | |
zhjcpi | 0:aba381fc8158 | 135 | void CsrLocation::CsrLocDebugSwitch2Nmea(void) |
zhjcpi | 0:aba381fc8158 | 136 | { |
zhjcpi | 0:aba381fc8158 | 137 | if(csrLocInst.locState == CSR_LOC_STATE_RUN) |
zhjcpi | 0:aba381fc8158 | 138 | { |
zhjcpi | 0:aba381fc8158 | 139 | _CsrLocSendData(SEND_DATA_TYPE_OSP_SWITCH2NMEA_REQ); |
zhjcpi | 0:aba381fc8158 | 140 | wait_ms(200); |
zhjcpi | 0:aba381fc8158 | 141 | _CsrLocHwReset(); |
zhjcpi | 0:aba381fc8158 | 142 | } |
zhjcpi | 0:aba381fc8158 | 143 | } |
zhjcpi | 0:aba381fc8158 | 144 | |
zhjcpi | 0:aba381fc8158 | 145 | void CsrLocation::_CsrLocUartInit(void) |
zhjcpi | 0:aba381fc8158 | 146 | { |
zhjcpi | 0:aba381fc8158 | 147 | tCsrLocInst *pLocInst = &csrLocInst; |
zhjcpi | 0:aba381fc8158 | 148 | |
zhjcpi | 0:aba381fc8158 | 149 | pLocInst->in = 0; |
zhjcpi | 0:aba381fc8158 | 150 | pLocInst->out = 0; |
zhjcpi | 0:aba381fc8158 | 151 | memset(pLocInst->serialBuf, 0 , MAX_SERIAL_BUF_LEN); |
zhjcpi | 0:aba381fc8158 | 152 | memset(pLocInst->serialPkt, 0 , MAX_SERIAL_PKT_LEN); |
zhjcpi | 0:aba381fc8158 | 153 | |
zhjcpi | 0:aba381fc8158 | 154 | pLocInst->checksum = 0; |
zhjcpi | 0:aba381fc8158 | 155 | pLocInst->msgSize = 0; |
zhjcpi | 0:aba381fc8158 | 156 | pLocInst->decodeIndex = 0; |
zhjcpi | 0:aba381fc8158 | 157 | pLocInst->protoDetState = STATE_START1; |
zhjcpi | 0:aba381fc8158 | 158 | pLocInst->pTimeoutChk->attach(this, &CsrLocation::_CsrLocTimeout, PROTO_CHECK_TIMEOUT); |
zhjcpi | 0:aba381fc8158 | 159 | |
zhjcpi | 0:aba381fc8158 | 160 | pLocInst->pSerialLoc->baud(pLocInst->baudRate); |
zhjcpi | 0:aba381fc8158 | 161 | pLocInst->pSerialLoc->attach(this, &CsrLocation::_CsrLocRxHandler ); |
zhjcpi | 0:aba381fc8158 | 162 | } |
zhjcpi | 0:aba381fc8158 | 163 | |
zhjcpi | 0:aba381fc8158 | 164 | void CsrLocation::_CsrLocProcessRawStream(void) |
zhjcpi | 0:aba381fc8158 | 165 | { |
zhjcpi | 0:aba381fc8158 | 166 | tCsrLocInst *pLocInst = &csrLocInst; |
zhjcpi | 2:d4fe184925f2 | 167 | uint8_t data; |
zhjcpi | 0:aba381fc8158 | 168 | |
zhjcpi | 0:aba381fc8158 | 169 | if(pLocInst->in != pLocInst->out) |
zhjcpi | 0:aba381fc8158 | 170 | { |
zhjcpi | 0:aba381fc8158 | 171 | data = pLocInst->serialBuf[pLocInst->out++]; |
zhjcpi | 0:aba381fc8158 | 172 | pLocInst->out &= (MAX_SERIAL_BUF_LEN-1); |
zhjcpi | 0:aba381fc8158 | 173 | switch(pLocInst->protoState) |
zhjcpi | 0:aba381fc8158 | 174 | { |
zhjcpi | 0:aba381fc8158 | 175 | case PROTO_STATE_DET_OSP: |
zhjcpi | 2:d4fe184925f2 | 176 | case PROTO_STATE_DET_OSP_FROM_NMEA: |
zhjcpi | 0:aba381fc8158 | 177 | _CsrLocDetProtoOsp(data); |
zhjcpi | 0:aba381fc8158 | 178 | break; |
zhjcpi | 0:aba381fc8158 | 179 | case PROTO_STATE_DET_NMEA: |
zhjcpi | 0:aba381fc8158 | 180 | _CsrLocDetProtoNmea(data); |
zhjcpi | 0:aba381fc8158 | 181 | break; |
zhjcpi | 0:aba381fc8158 | 182 | case PROTO_STATE_DET_OK: |
zhjcpi | 0:aba381fc8158 | 183 | _CsrLocProcessRawOspStream(data); |
zhjcpi | 0:aba381fc8158 | 184 | break; |
zhjcpi | 0:aba381fc8158 | 185 | default: |
zhjcpi | 0:aba381fc8158 | 186 | /* Discard received data */ |
zhjcpi | 1:bbaf9b8d646a | 187 | //pLocInst->out = pLocInst->in; |
zhjcpi | 0:aba381fc8158 | 188 | break; |
zhjcpi | 0:aba381fc8158 | 189 | } |
zhjcpi | 0:aba381fc8158 | 190 | } |
zhjcpi | 0:aba381fc8158 | 191 | } |
zhjcpi | 0:aba381fc8158 | 192 | |
zhjcpi | 2:d4fe184925f2 | 193 | void CsrLocation::_CsrLocDetProtoOsp(uint8_t data) |
zhjcpi | 0:aba381fc8158 | 194 | { |
zhjcpi | 0:aba381fc8158 | 195 | tCsrLocInst *pLocInst = &csrLocInst; |
zhjcpi | 0:aba381fc8158 | 196 | |
zhjcpi | 0:aba381fc8158 | 197 | if(pLocInst->bTimeoutFlag) |
zhjcpi | 0:aba381fc8158 | 198 | { |
zhjcpi | 0:aba381fc8158 | 199 | /* Failed to detect OSP and try to detect NMEA */ |
zhjcpi | 0:aba381fc8158 | 200 | pLocInst->pSerialLoc->attach(NULL); |
zhjcpi | 0:aba381fc8158 | 201 | pLocInst->pTimeoutChk->detach(); |
zhjcpi | 2:d4fe184925f2 | 202 | pLocInst->bTimeoutFlag = false; |
zhjcpi | 0:aba381fc8158 | 203 | if(pLocInst->protoState == PROTO_STATE_DET_OSP) |
zhjcpi | 0:aba381fc8158 | 204 | { |
zhjcpi | 0:aba381fc8158 | 205 | pLocInst->protoState = PROTO_STATE_DET_NMEA; |
zhjcpi | 0:aba381fc8158 | 206 | pLocInst->baudRate = BAUDRATE_NMEA; |
zhjcpi | 0:aba381fc8158 | 207 | CSR_LOG_INFO("Checking OSP protocol failed, now check NMEA protocol...\r\n"); |
zhjcpi | 0:aba381fc8158 | 208 | _CsrLocUartInit(); |
zhjcpi | 0:aba381fc8158 | 209 | } |
zhjcpi | 0:aba381fc8158 | 210 | else |
zhjcpi | 0:aba381fc8158 | 211 | { |
zhjcpi | 0:aba381fc8158 | 212 | pLocInst->protoState = PROTO_STATE_DET_INVALID; |
zhjcpi | 0:aba381fc8158 | 213 | CSR_LOG_INFO("Checking switched OSP protocol failed.\r\n"); |
zhjcpi | 0:aba381fc8158 | 214 | pLocInst->appEventCb(CSR_LOC_EVENT_START_RESULT, 1); |
zhjcpi | 0:aba381fc8158 | 215 | } |
zhjcpi | 0:aba381fc8158 | 216 | return; |
zhjcpi | 0:aba381fc8158 | 217 | } |
zhjcpi | 0:aba381fc8158 | 218 | |
zhjcpi | 0:aba381fc8158 | 219 | _CsrLocProcessRawOspStream(data); |
zhjcpi | 0:aba381fc8158 | 220 | } |
zhjcpi | 0:aba381fc8158 | 221 | |
zhjcpi | 2:d4fe184925f2 | 222 | void CsrLocation::_CsrLocDetProtoNmea(uint8_t data) |
zhjcpi | 0:aba381fc8158 | 223 | { |
zhjcpi | 0:aba381fc8158 | 224 | tCsrLocInst *pLocInst = &csrLocInst; |
zhjcpi | 0:aba381fc8158 | 225 | |
zhjcpi | 0:aba381fc8158 | 226 | if(pLocInst->bTimeoutFlag) |
zhjcpi | 0:aba381fc8158 | 227 | { |
zhjcpi | 0:aba381fc8158 | 228 | /* Failed to detect OSP and try to detect NMEA */ |
zhjcpi | 0:aba381fc8158 | 229 | pLocInst->pSerialLoc->attach(NULL); |
zhjcpi | 0:aba381fc8158 | 230 | pLocInst->pTimeoutChk->detach(); |
zhjcpi | 2:d4fe184925f2 | 231 | pLocInst->bTimeoutFlag = false; |
zhjcpi | 0:aba381fc8158 | 232 | pLocInst->protoState = PROTO_STATE_DET_INVALID; |
zhjcpi | 0:aba381fc8158 | 233 | pLocInst->baudRate = BAUDRATE_OSP; |
zhjcpi | 0:aba381fc8158 | 234 | CSR_LOG_INFO("Checking NMEA failed.\r\n"); |
zhjcpi | 0:aba381fc8158 | 235 | pLocInst->appEventCb(CSR_LOC_EVENT_START_RESULT, 1); |
zhjcpi | 0:aba381fc8158 | 236 | return; |
zhjcpi | 0:aba381fc8158 | 237 | } |
zhjcpi | 0:aba381fc8158 | 238 | |
zhjcpi | 0:aba381fc8158 | 239 | switch (pLocInst->protoDetState) |
zhjcpi | 0:aba381fc8158 | 240 | { |
zhjcpi | 0:aba381fc8158 | 241 | case STATE_START1: |
zhjcpi | 0:aba381fc8158 | 242 | if (NMEA_MSG_HEAD0 == data) |
zhjcpi | 0:aba381fc8158 | 243 | { |
zhjcpi | 0:aba381fc8158 | 244 | pLocInst->protoDetState = STATE_START2; |
zhjcpi | 0:aba381fc8158 | 245 | } |
zhjcpi | 0:aba381fc8158 | 246 | break; |
zhjcpi | 0:aba381fc8158 | 247 | |
zhjcpi | 0:aba381fc8158 | 248 | case STATE_START2: |
zhjcpi | 0:aba381fc8158 | 249 | if (NMEA_MSG_HEAD1 == data) |
zhjcpi | 0:aba381fc8158 | 250 | { |
zhjcpi | 0:aba381fc8158 | 251 | pLocInst->protoDetState = STATE_END1; |
zhjcpi | 0:aba381fc8158 | 252 | } |
zhjcpi | 0:aba381fc8158 | 253 | else if (NMEA_MSG_HEAD0 == data) |
zhjcpi | 0:aba381fc8158 | 254 | { |
zhjcpi | 0:aba381fc8158 | 255 | pLocInst->protoDetState = STATE_START2; |
zhjcpi | 0:aba381fc8158 | 256 | } |
zhjcpi | 0:aba381fc8158 | 257 | else |
zhjcpi | 0:aba381fc8158 | 258 | { |
zhjcpi | 0:aba381fc8158 | 259 | pLocInst->protoDetState = STATE_START1; |
zhjcpi | 0:aba381fc8158 | 260 | } |
zhjcpi | 0:aba381fc8158 | 261 | break; |
zhjcpi | 0:aba381fc8158 | 262 | case STATE_END1: |
zhjcpi | 0:aba381fc8158 | 263 | if (NMEA_MSG_TAIL0 == data) |
zhjcpi | 0:aba381fc8158 | 264 | { |
zhjcpi | 0:aba381fc8158 | 265 | pLocInst->pSerialLoc->attach(NULL); |
zhjcpi | 0:aba381fc8158 | 266 | pLocInst->pTimeoutChk->detach(); |
zhjcpi | 2:d4fe184925f2 | 267 | pLocInst->bTimeoutFlag = false; |
zhjcpi | 0:aba381fc8158 | 268 | pLocInst->protoState = PROTO_STATE_SWI_OSP_FROM_NMEA; |
zhjcpi | 0:aba381fc8158 | 269 | pLocInst->protoDetState = STATE_START1; |
zhjcpi | 0:aba381fc8158 | 270 | CSR_LOG_INFO("Checking OSP protocol OK, switching to OSP...\r\n"); |
zhjcpi | 0:aba381fc8158 | 271 | _CsrLocSendData(SEND_DATA_TYPE_NMEA_SWITCH2OSP_REQ); |
zhjcpi | 0:aba381fc8158 | 272 | wait_ms(100); |
zhjcpi | 0:aba381fc8158 | 273 | |
zhjcpi | 0:aba381fc8158 | 274 | pLocInst->protoState = PROTO_STATE_DET_OSP_FROM_NMEA; |
zhjcpi | 0:aba381fc8158 | 275 | pLocInst->baudRate = BAUDRATE_OSP; |
zhjcpi | 0:aba381fc8158 | 276 | CSR_LOG_INFO("Checking switched OSP protocol...\r\n"); |
zhjcpi | 0:aba381fc8158 | 277 | _CsrLocUartInit(); |
zhjcpi | 0:aba381fc8158 | 278 | } |
zhjcpi | 0:aba381fc8158 | 279 | else if (NMEA_MSG_HEAD0 == data) |
zhjcpi | 0:aba381fc8158 | 280 | { |
zhjcpi | 0:aba381fc8158 | 281 | pLocInst->protoDetState = STATE_START2; |
zhjcpi | 0:aba381fc8158 | 282 | } |
zhjcpi | 0:aba381fc8158 | 283 | break; |
zhjcpi | 0:aba381fc8158 | 284 | default: |
zhjcpi | 0:aba381fc8158 | 285 | break; |
zhjcpi | 0:aba381fc8158 | 286 | } |
zhjcpi | 0:aba381fc8158 | 287 | } |
zhjcpi | 0:aba381fc8158 | 288 | |
zhjcpi | 2:d4fe184925f2 | 289 | void CsrLocation::_CsrLocProcessRawOspStream(uint8_t data) |
zhjcpi | 0:aba381fc8158 | 290 | { |
zhjcpi | 0:aba381fc8158 | 291 | tCsrLocInst *pLocInst = &csrLocInst; |
zhjcpi | 0:aba381fc8158 | 292 | |
zhjcpi | 0:aba381fc8158 | 293 | switch (pLocInst->protoDetState) |
zhjcpi | 0:aba381fc8158 | 294 | { |
zhjcpi | 0:aba381fc8158 | 295 | case STATE_START1: |
zhjcpi | 0:aba381fc8158 | 296 | if (OSP_MSG_HEAD0 == data) |
zhjcpi | 0:aba381fc8158 | 297 | { |
zhjcpi | 0:aba381fc8158 | 298 | pLocInst->protoDetState = STATE_START2; |
zhjcpi | 0:aba381fc8158 | 299 | } |
zhjcpi | 0:aba381fc8158 | 300 | break; |
zhjcpi | 0:aba381fc8158 | 301 | |
zhjcpi | 0:aba381fc8158 | 302 | case STATE_START2: |
zhjcpi | 0:aba381fc8158 | 303 | if (OSP_MSG_HEAD1 == data) |
zhjcpi | 0:aba381fc8158 | 304 | { |
zhjcpi | 0:aba381fc8158 | 305 | pLocInst->protoDetState = STATE_SIZE1; |
zhjcpi | 0:aba381fc8158 | 306 | } |
zhjcpi | 0:aba381fc8158 | 307 | else if (OSP_MSG_HEAD0 == data) |
zhjcpi | 0:aba381fc8158 | 308 | { |
zhjcpi | 0:aba381fc8158 | 309 | pLocInst->protoDetState = STATE_START2; |
zhjcpi | 0:aba381fc8158 | 310 | } |
zhjcpi | 0:aba381fc8158 | 311 | else |
zhjcpi | 0:aba381fc8158 | 312 | { |
zhjcpi | 0:aba381fc8158 | 313 | pLocInst->protoDetState = STATE_START1; |
zhjcpi | 0:aba381fc8158 | 314 | } |
zhjcpi | 0:aba381fc8158 | 315 | break; |
zhjcpi | 0:aba381fc8158 | 316 | |
zhjcpi | 0:aba381fc8158 | 317 | case STATE_SIZE1: |
zhjcpi | 0:aba381fc8158 | 318 | pLocInst->msgSize = data ; |
zhjcpi | 2:d4fe184925f2 | 319 | pLocInst->msgSize <<= 8; /* high uint8_t */ |
zhjcpi | 0:aba381fc8158 | 320 | pLocInst->protoDetState = STATE_SIZE2; |
zhjcpi | 0:aba381fc8158 | 321 | break; |
zhjcpi | 0:aba381fc8158 | 322 | |
zhjcpi | 0:aba381fc8158 | 323 | case STATE_SIZE2: |
zhjcpi | 0:aba381fc8158 | 324 | pLocInst->msgSize += data ; |
zhjcpi | 0:aba381fc8158 | 325 | if (MAX_SERIAL_PKT_LEN < pLocInst->msgSize || 0 == pLocInst->msgSize) |
zhjcpi | 0:aba381fc8158 | 326 | { |
zhjcpi | 0:aba381fc8158 | 327 | if (OSP_MSG_HEAD0 == data) |
zhjcpi | 0:aba381fc8158 | 328 | { |
zhjcpi | 0:aba381fc8158 | 329 | pLocInst->protoDetState = STATE_START2; |
zhjcpi | 0:aba381fc8158 | 330 | } |
zhjcpi | 0:aba381fc8158 | 331 | else |
zhjcpi | 0:aba381fc8158 | 332 | { |
zhjcpi | 0:aba381fc8158 | 333 | pLocInst->protoDetState = STATE_START1; |
zhjcpi | 0:aba381fc8158 | 334 | } |
zhjcpi | 0:aba381fc8158 | 335 | } |
zhjcpi | 0:aba381fc8158 | 336 | else |
zhjcpi | 0:aba381fc8158 | 337 | { |
zhjcpi | 0:aba381fc8158 | 338 | pLocInst->computedCheckSum = 0; |
zhjcpi | 0:aba381fc8158 | 339 | pLocInst->decodeIndex = 0; |
zhjcpi | 0:aba381fc8158 | 340 | pLocInst->protoDetState = STATE_PAYLOAD; |
zhjcpi | 0:aba381fc8158 | 341 | } |
zhjcpi | 0:aba381fc8158 | 342 | break; |
zhjcpi | 0:aba381fc8158 | 343 | |
zhjcpi | 0:aba381fc8158 | 344 | case STATE_PAYLOAD: |
zhjcpi | 0:aba381fc8158 | 345 | /* check for a catastrophic error case */ |
zhjcpi | 0:aba381fc8158 | 346 | if (MAX_SERIAL_PKT_LEN <= pLocInst->decodeIndex) |
zhjcpi | 0:aba381fc8158 | 347 | { |
zhjcpi | 0:aba381fc8158 | 348 | /* This is really bad. And should never happen since we |
zhjcpi | 0:aba381fc8158 | 349 | * gurantee that msgSize is always less than RECEIVE_PACKET_SIZE |
zhjcpi | 0:aba381fc8158 | 350 | * Change the state back to STATE_START1 and start over */ |
zhjcpi | 0:aba381fc8158 | 351 | if (OSP_MSG_HEAD0 == data) |
zhjcpi | 0:aba381fc8158 | 352 | { |
zhjcpi | 0:aba381fc8158 | 353 | pLocInst->protoDetState = STATE_START2; |
zhjcpi | 0:aba381fc8158 | 354 | } |
zhjcpi | 0:aba381fc8158 | 355 | else |
zhjcpi | 0:aba381fc8158 | 356 | { |
zhjcpi | 0:aba381fc8158 | 357 | pLocInst->protoDetState = STATE_START1; |
zhjcpi | 0:aba381fc8158 | 358 | } |
zhjcpi | 0:aba381fc8158 | 359 | break; |
zhjcpi | 0:aba381fc8158 | 360 | } |
zhjcpi | 0:aba381fc8158 | 361 | /* Store the byte */ |
zhjcpi | 0:aba381fc8158 | 362 | pLocInst->serialPkt[pLocInst->decodeIndex++] = data; |
zhjcpi | 0:aba381fc8158 | 363 | pLocInst->computedCheckSum += data; |
zhjcpi | 0:aba381fc8158 | 364 | |
zhjcpi | 0:aba381fc8158 | 365 | /* Check to see if we've read the full payload */ |
zhjcpi | 0:aba381fc8158 | 366 | if (0 == (--pLocInst->msgSize)) |
zhjcpi | 0:aba381fc8158 | 367 | { |
zhjcpi | 0:aba381fc8158 | 368 | pLocInst->computedCheckSum &= 0x7FFF; |
zhjcpi | 0:aba381fc8158 | 369 | pLocInst->protoDetState = STATE_CHECKSUM1; |
zhjcpi | 0:aba381fc8158 | 370 | } |
zhjcpi | 0:aba381fc8158 | 371 | break; |
zhjcpi | 0:aba381fc8158 | 372 | |
zhjcpi | 0:aba381fc8158 | 373 | case STATE_CHECKSUM1: |
zhjcpi | 0:aba381fc8158 | 374 | pLocInst->checksum = data ; |
zhjcpi | 0:aba381fc8158 | 375 | pLocInst->checksum <<= 8; |
zhjcpi | 0:aba381fc8158 | 376 | pLocInst->protoDetState = STATE_CHECKSUM2; |
zhjcpi | 0:aba381fc8158 | 377 | break; |
zhjcpi | 0:aba381fc8158 | 378 | |
zhjcpi | 0:aba381fc8158 | 379 | case STATE_CHECKSUM2: |
zhjcpi | 0:aba381fc8158 | 380 | pLocInst->checksum += data; |
zhjcpi | 0:aba381fc8158 | 381 | if (pLocInst->computedCheckSum != pLocInst->checksum) |
zhjcpi | 0:aba381fc8158 | 382 | { |
zhjcpi | 0:aba381fc8158 | 383 | if (OSP_MSG_HEAD0 == data) |
zhjcpi | 0:aba381fc8158 | 384 | { |
zhjcpi | 0:aba381fc8158 | 385 | pLocInst->protoDetState = STATE_START2; |
zhjcpi | 0:aba381fc8158 | 386 | } |
zhjcpi | 0:aba381fc8158 | 387 | else |
zhjcpi | 0:aba381fc8158 | 388 | { |
zhjcpi | 0:aba381fc8158 | 389 | pLocInst->protoDetState = STATE_START1; |
zhjcpi | 0:aba381fc8158 | 390 | } |
zhjcpi | 0:aba381fc8158 | 391 | } |
zhjcpi | 0:aba381fc8158 | 392 | else |
zhjcpi | 0:aba381fc8158 | 393 | { |
zhjcpi | 0:aba381fc8158 | 394 | pLocInst->protoDetState = STATE_END1; |
zhjcpi | 0:aba381fc8158 | 395 | } |
zhjcpi | 0:aba381fc8158 | 396 | break; |
zhjcpi | 0:aba381fc8158 | 397 | |
zhjcpi | 0:aba381fc8158 | 398 | case STATE_END1: |
zhjcpi | 0:aba381fc8158 | 399 | if (OSP_MSG_TAIL0 == data) |
zhjcpi | 0:aba381fc8158 | 400 | { |
zhjcpi | 0:aba381fc8158 | 401 | pLocInst->protoDetState = STATE_END2; |
zhjcpi | 0:aba381fc8158 | 402 | } |
zhjcpi | 0:aba381fc8158 | 403 | else |
zhjcpi | 0:aba381fc8158 | 404 | { |
zhjcpi | 0:aba381fc8158 | 405 | if (OSP_MSG_HEAD0 == data) |
zhjcpi | 0:aba381fc8158 | 406 | { |
zhjcpi | 0:aba381fc8158 | 407 | pLocInst->protoDetState = STATE_START2; |
zhjcpi | 0:aba381fc8158 | 408 | } |
zhjcpi | 0:aba381fc8158 | 409 | else |
zhjcpi | 0:aba381fc8158 | 410 | { |
zhjcpi | 0:aba381fc8158 | 411 | pLocInst->protoDetState = STATE_START1; |
zhjcpi | 0:aba381fc8158 | 412 | } |
zhjcpi | 0:aba381fc8158 | 413 | } |
zhjcpi | 0:aba381fc8158 | 414 | break; |
zhjcpi | 0:aba381fc8158 | 415 | |
zhjcpi | 0:aba381fc8158 | 416 | case STATE_END2: |
zhjcpi | 0:aba381fc8158 | 417 | if (OSP_MSG_TAIL1 == data) |
zhjcpi | 0:aba381fc8158 | 418 | { |
zhjcpi | 0:aba381fc8158 | 419 | pLocInst->pTimeoutChk->detach(); |
zhjcpi | 2:d4fe184925f2 | 420 | pLocInst->bTimeoutFlag = false; |
zhjcpi | 0:aba381fc8158 | 421 | |
zhjcpi | 0:aba381fc8158 | 422 | if(pLocInst->protoState == PROTO_STATE_DET_OSP || pLocInst->protoState == PROTO_STATE_DET_OSP_FROM_NMEA) |
zhjcpi | 0:aba381fc8158 | 423 | { |
zhjcpi | 0:aba381fc8158 | 424 | CSR_LOG_INFO("Checking OSP protocol OK.\r\n"); |
zhjcpi | 0:aba381fc8158 | 425 | pLocInst->protoState = PROTO_STATE_DET_OK; |
zhjcpi | 0:aba381fc8158 | 426 | pLocInst->appEventCb(CSR_LOC_EVENT_START_RESULT, 0); |
zhjcpi | 0:aba381fc8158 | 427 | } |
zhjcpi | 1:bbaf9b8d646a | 428 | |
zhjcpi | 0:aba381fc8158 | 429 | _CsrLocProcessRawOspPkt(); |
zhjcpi | 0:aba381fc8158 | 430 | pLocInst->protoDetState = STATE_START1; |
zhjcpi | 0:aba381fc8158 | 431 | } |
zhjcpi | 0:aba381fc8158 | 432 | else |
zhjcpi | 0:aba381fc8158 | 433 | { |
zhjcpi | 0:aba381fc8158 | 434 | if (OSP_MSG_HEAD0 == data) |
zhjcpi | 0:aba381fc8158 | 435 | { |
zhjcpi | 0:aba381fc8158 | 436 | pLocInst->protoDetState = STATE_START2; |
zhjcpi | 0:aba381fc8158 | 437 | } |
zhjcpi | 0:aba381fc8158 | 438 | else |
zhjcpi | 0:aba381fc8158 | 439 | { |
zhjcpi | 0:aba381fc8158 | 440 | pLocInst->protoDetState = STATE_START1; |
zhjcpi | 0:aba381fc8158 | 441 | } |
zhjcpi | 0:aba381fc8158 | 442 | } |
zhjcpi | 0:aba381fc8158 | 443 | break; |
zhjcpi | 0:aba381fc8158 | 444 | } /* switch. */ |
zhjcpi | 0:aba381fc8158 | 445 | |
zhjcpi | 0:aba381fc8158 | 446 | } |
zhjcpi | 0:aba381fc8158 | 447 | |
zhjcpi | 0:aba381fc8158 | 448 | void CsrLocation::_CsrLocProcessRawOspPkt(void) |
zhjcpi | 0:aba381fc8158 | 449 | { |
zhjcpi | 0:aba381fc8158 | 450 | tCsrLocInst *pLocInst = &csrLocInst; |
zhjcpi | 0:aba381fc8158 | 451 | tOspMsg *pOspMsg; |
zhjcpi | 2:d4fe184925f2 | 452 | uint32_t msgSize; |
zhjcpi | 0:aba381fc8158 | 453 | CsrResult result; |
zhjcpi | 0:aba381fc8158 | 454 | |
zhjcpi | 0:aba381fc8158 | 455 | msgSize = _CsrLocCalcMsgSize(); |
zhjcpi | 0:aba381fc8158 | 456 | if(msgSize > 0) |
zhjcpi | 0:aba381fc8158 | 457 | { |
zhjcpi | 0:aba381fc8158 | 458 | msgSize += sizeof(tOspMsg); |
zhjcpi | 0:aba381fc8158 | 459 | pOspMsg = (tOspMsg *)malloc(msgSize); |
zhjcpi | 0:aba381fc8158 | 460 | if(pOspMsg != NULL) |
zhjcpi | 0:aba381fc8158 | 461 | { |
zhjcpi | 0:aba381fc8158 | 462 | memset(pOspMsg, 0, msgSize); |
zhjcpi | 0:aba381fc8158 | 463 | } |
zhjcpi | 0:aba381fc8158 | 464 | else |
zhjcpi | 0:aba381fc8158 | 465 | { |
zhjcpi | 0:aba381fc8158 | 466 | CSR_LOG_INFO("No memory for received OSP message.\r\n"); |
zhjcpi | 0:aba381fc8158 | 467 | return; |
zhjcpi | 0:aba381fc8158 | 468 | } |
zhjcpi | 0:aba381fc8158 | 469 | } |
zhjcpi | 0:aba381fc8158 | 470 | else |
zhjcpi | 0:aba381fc8158 | 471 | { |
zhjcpi | 0:aba381fc8158 | 472 | /* discard the unprocessed message */ |
zhjcpi | 0:aba381fc8158 | 473 | return; |
zhjcpi | 0:aba381fc8158 | 474 | } |
zhjcpi | 0:aba381fc8158 | 475 | |
zhjcpi | 0:aba381fc8158 | 476 | result = _CsrLocDecodeOspPkt(pLocInst->serialPkt,pLocInst->decodeIndex, &pOspMsg->msgId, pOspMsg->payload, &pOspMsg->length); |
zhjcpi | 0:aba381fc8158 | 477 | if ( CSR_RESULT_SUCCESS == result) |
zhjcpi | 0:aba381fc8158 | 478 | { |
zhjcpi | 0:aba381fc8158 | 479 | _CsrLocProcessOspPkt(pOspMsg); |
zhjcpi | 0:aba381fc8158 | 480 | } |
zhjcpi | 0:aba381fc8158 | 481 | |
zhjcpi | 0:aba381fc8158 | 482 | free(pOspMsg); |
zhjcpi | 0:aba381fc8158 | 483 | } |
zhjcpi | 0:aba381fc8158 | 484 | |
zhjcpi | 2:d4fe184925f2 | 485 | uint32_t CsrLocation::_CsrLocCalcMsgSize(void) |
zhjcpi | 0:aba381fc8158 | 486 | { |
zhjcpi | 0:aba381fc8158 | 487 | tCsrLocInst *pLocInst = &csrLocInst; |
zhjcpi | 2:d4fe184925f2 | 488 | uint8_t *ptr = pLocInst->serialPkt; |
zhjcpi | 2:d4fe184925f2 | 489 | uint32_t msgSize = 0; |
zhjcpi | 2:d4fe184925f2 | 490 | uint32_t msgId; |
zhjcpi | 2:d4fe184925f2 | 491 | uint8_t mid, sid = 0; |
zhjcpi | 0:aba381fc8158 | 492 | |
zhjcpi | 0:aba381fc8158 | 493 | mid = BINARY_IMPORT_UINT8(ptr); |
zhjcpi | 0:aba381fc8158 | 494 | msgId = OSP_MAKE_MSG_ID(mid,sid); |
zhjcpi | 0:aba381fc8158 | 495 | |
zhjcpi | 0:aba381fc8158 | 496 | if(OSP_MSG_PWR_MODE_RSP == msgId || OSP_MSG_MULTI_CONSTELLATION == msgId) |
zhjcpi | 0:aba381fc8158 | 497 | { |
zhjcpi | 0:aba381fc8158 | 498 | /* add the sub-id to the message id */ |
zhjcpi | 0:aba381fc8158 | 499 | sid = BINARY_IMPORT_UINT8(ptr); |
zhjcpi | 0:aba381fc8158 | 500 | msgId = OSP_MAKE_MSG_ID(mid,sid); |
zhjcpi | 0:aba381fc8158 | 501 | } |
zhjcpi | 0:aba381fc8158 | 502 | |
zhjcpi | 0:aba381fc8158 | 503 | switch(msgId) |
zhjcpi | 0:aba381fc8158 | 504 | { |
zhjcpi | 0:aba381fc8158 | 505 | case OSP_MSG_OK_TO_SEND: |
zhjcpi | 0:aba381fc8158 | 506 | case OSP_MSG_PWR_MODE_FPM_RSP: |
zhjcpi | 0:aba381fc8158 | 507 | case OSP_MSG_PWR_MODE_LPM_RSP: |
zhjcpi | 0:aba381fc8158 | 508 | case OSP_MSG_HW_CONFIG_REQ : |
zhjcpi | 2:d4fe184925f2 | 509 | msgSize = sizeof(uint8_t); |
zhjcpi | 0:aba381fc8158 | 510 | break; |
zhjcpi | 0:aba381fc8158 | 511 | case OSP_MSG_SW_VERSION : |
zhjcpi | 0:aba381fc8158 | 512 | msgSize = MAX_VERSION_LENGTH; |
zhjcpi | 0:aba381fc8158 | 513 | break; |
zhjcpi | 0:aba381fc8158 | 514 | case OSP_MSG_GEODETIC_NAVIGATION: |
zhjcpi | 0:aba381fc8158 | 515 | msgSize = sizeof(tLocPosResp); |
zhjcpi | 0:aba381fc8158 | 516 | break; |
zhjcpi | 0:aba381fc8158 | 517 | case OSP_MSG_GNSS_SAT_DATA: |
zhjcpi | 2:d4fe184925f2 | 518 | msgSize = sizeof(uint8_t); |
zhjcpi | 0:aba381fc8158 | 519 | break; |
zhjcpi | 0:aba381fc8158 | 520 | case OSP_MSG_GNSS_NAV_DATA: |
zhjcpi | 2:d4fe184925f2 | 521 | msgSize = sizeof(uint8_t); |
zhjcpi | 0:aba381fc8158 | 522 | break; |
zhjcpi | 0:aba381fc8158 | 523 | |
zhjcpi | 0:aba381fc8158 | 524 | default : |
zhjcpi | 0:aba381fc8158 | 525 | msgSize = 0; |
zhjcpi | 0:aba381fc8158 | 526 | break; |
zhjcpi | 0:aba381fc8158 | 527 | } |
zhjcpi | 0:aba381fc8158 | 528 | |
zhjcpi | 0:aba381fc8158 | 529 | return msgSize; |
zhjcpi | 0:aba381fc8158 | 530 | } |
zhjcpi | 0:aba381fc8158 | 531 | |
zhjcpi | 2:d4fe184925f2 | 532 | CsrResult CsrLocation::_CsrLocDecodeOspPkt( uint8_t *pPayload, uint32_t payloadLen, uint32_t *pMsgId, void *pMsgData, uint32_t *pMsgLen) |
zhjcpi | 0:aba381fc8158 | 533 | { |
zhjcpi | 0:aba381fc8158 | 534 | CsrResult tRet = CSR_RESULT_SUCCESS; |
zhjcpi | 2:d4fe184925f2 | 535 | uint8_t *ptr = pPayload; |
zhjcpi | 2:d4fe184925f2 | 536 | uint32_t i; |
zhjcpi | 2:d4fe184925f2 | 537 | uint8_t mid, sid = 0; |
zhjcpi | 0:aba381fc8158 | 538 | |
zhjcpi | 0:aba381fc8158 | 539 | mid = BINARY_IMPORT_UINT8(ptr); |
zhjcpi | 0:aba381fc8158 | 540 | *pMsgId = OSP_MAKE_MSG_ID(mid,sid); |
zhjcpi | 0:aba381fc8158 | 541 | *pMsgLen = 0; |
zhjcpi | 0:aba381fc8158 | 542 | |
zhjcpi | 0:aba381fc8158 | 543 | /* add the sub-id to the message id */ |
zhjcpi | 0:aba381fc8158 | 544 | if (OSP_MSG_PWR_MODE_RSP == *pMsgId || OSP_MSG_MULTI_CONSTELLATION == *pMsgId) |
zhjcpi | 0:aba381fc8158 | 545 | { |
zhjcpi | 0:aba381fc8158 | 546 | sid = BINARY_IMPORT_UINT8(ptr); |
zhjcpi | 0:aba381fc8158 | 547 | *pMsgId = OSP_MAKE_MSG_ID(mid,sid); |
zhjcpi | 0:aba381fc8158 | 548 | } |
zhjcpi | 0:aba381fc8158 | 549 | |
zhjcpi | 0:aba381fc8158 | 550 | switch (*pMsgId) |
zhjcpi | 0:aba381fc8158 | 551 | { |
zhjcpi | 0:aba381fc8158 | 552 | case OSP_MSG_SW_VERSION: /* 0x06 */ |
zhjcpi | 0:aba381fc8158 | 553 | *pMsgLen = BINARY_IMPORT_UINT8(ptr); |
zhjcpi | 0:aba381fc8158 | 554 | ptr++; |
zhjcpi | 0:aba381fc8158 | 555 | if(*pMsgLen >= MAX_VERSION_LENGTH) |
zhjcpi | 0:aba381fc8158 | 556 | { |
zhjcpi | 0:aba381fc8158 | 557 | tRet = CSR_RESULT_FAILURE; |
zhjcpi | 0:aba381fc8158 | 558 | } |
zhjcpi | 0:aba381fc8158 | 559 | else |
zhjcpi | 0:aba381fc8158 | 560 | { |
zhjcpi | 0:aba381fc8158 | 561 | memcpy(pMsgData, ptr, *pMsgLen); |
zhjcpi | 0:aba381fc8158 | 562 | } |
zhjcpi | 0:aba381fc8158 | 563 | break; |
zhjcpi | 0:aba381fc8158 | 564 | |
zhjcpi | 0:aba381fc8158 | 565 | case OSP_MSG_OK_TO_SEND: /* 0x12 */ |
zhjcpi | 2:d4fe184925f2 | 566 | *((uint8_t *)pMsgData) = BINARY_IMPORT_UINT8(ptr); |
zhjcpi | 2:d4fe184925f2 | 567 | *pMsgLen = sizeof(uint8_t); |
zhjcpi | 0:aba381fc8158 | 568 | break; |
zhjcpi | 0:aba381fc8158 | 569 | |
zhjcpi | 0:aba381fc8158 | 570 | case OSP_MSG_GEODETIC_NAVIGATION: /* 0x29 */ |
zhjcpi | 0:aba381fc8158 | 571 | { |
zhjcpi | 0:aba381fc8158 | 572 | tLocPosResp *pPos = (tLocPosResp*) pMsgData; |
zhjcpi | 2:d4fe184925f2 | 573 | uint16_t valid; |
zhjcpi | 0:aba381fc8158 | 574 | |
zhjcpi | 0:aba381fc8158 | 575 | valid = BINARY_IMPORT_UINT16(ptr); |
zhjcpi | 0:aba381fc8158 | 576 | if(valid != 0) |
zhjcpi | 0:aba381fc8158 | 577 | { |
zhjcpi | 0:aba381fc8158 | 578 | tRet = CSR_RESULT_FAILURE; |
zhjcpi | 0:aba381fc8158 | 579 | } |
zhjcpi | 0:aba381fc8158 | 580 | else |
zhjcpi | 0:aba381fc8158 | 581 | { |
zhjcpi | 0:aba381fc8158 | 582 | *pMsgLen = sizeof(*pPos); |
zhjcpi | 0:aba381fc8158 | 583 | |
zhjcpi | 0:aba381fc8158 | 584 | ptr += 2; |
zhjcpi | 0:aba381fc8158 | 585 | pPos->gps_week = BINARY_IMPORT_UINT16(ptr); |
zhjcpi | 0:aba381fc8158 | 586 | pPos->tow = BINARY_IMPORT_UINT32(ptr); |
zhjcpi | 0:aba381fc8158 | 587 | ptr += 12; |
zhjcpi | 2:d4fe184925f2 | 588 | pPos->lat = (double)BINARY_IMPORT_SINT32(ptr); |
zhjcpi | 0:aba381fc8158 | 589 | pPos->lat *= 1e-7; |
zhjcpi | 2:d4fe184925f2 | 590 | pPos->lon = (double)BINARY_IMPORT_SINT32(ptr); |
zhjcpi | 0:aba381fc8158 | 591 | pPos->lon *= 1e-7; |
zhjcpi | 0:aba381fc8158 | 592 | ptr += 4; |
zhjcpi | 2:d4fe184925f2 | 593 | pPos->alt = (double)BINARY_IMPORT_SINT32(ptr); |
zhjcpi | 0:aba381fc8158 | 594 | pPos->alt *= 1e-2; |
zhjcpi | 0:aba381fc8158 | 595 | } |
zhjcpi | 0:aba381fc8158 | 596 | break; |
zhjcpi | 0:aba381fc8158 | 597 | } |
zhjcpi | 0:aba381fc8158 | 598 | |
zhjcpi | 0:aba381fc8158 | 599 | case OSP_MSG_GNSS_NAV_DATA: /* 0x43, 0x01 */ |
zhjcpi | 0:aba381fc8158 | 600 | { |
zhjcpi | 0:aba381fc8158 | 601 | tLocSvStatus *pSvStatus = &csrLocInst.svStatus; |
zhjcpi | 0:aba381fc8158 | 602 | |
zhjcpi | 0:aba381fc8158 | 603 | *pMsgLen = sizeof(*pSvStatus); |
zhjcpi | 0:aba381fc8158 | 604 | |
zhjcpi | 0:aba381fc8158 | 605 | ptr += 100; |
zhjcpi | 0:aba381fc8158 | 606 | pSvStatus->svUsedInFixMask = BINARY_IMPORT_UINT32(ptr); |
zhjcpi | 0:aba381fc8158 | 607 | pSvStatus->sbasSvUsedInFixMask = BINARY_IMPORT_UINT32(ptr); |
zhjcpi | 0:aba381fc8158 | 608 | pSvStatus->gloSvUsedInFixMask = BINARY_IMPORT_UINT32(ptr); |
zhjcpi | 0:aba381fc8158 | 609 | pSvStatus->qzssSvUsedInFixMask = BINARY_IMPORT_UINT32(ptr); |
zhjcpi | 0:aba381fc8158 | 610 | break; |
zhjcpi | 0:aba381fc8158 | 611 | } |
zhjcpi | 0:aba381fc8158 | 612 | |
zhjcpi | 0:aba381fc8158 | 613 | case OSP_MSG_GNSS_SAT_DATA: /* 0x43, 0x10 */ |
zhjcpi | 0:aba381fc8158 | 614 | { |
zhjcpi | 0:aba381fc8158 | 615 | tLocSvStatus *pSvStatus = &csrLocInst.svStatus; |
zhjcpi | 2:d4fe184925f2 | 616 | uint16_t week; |
zhjcpi | 2:d4fe184925f2 | 617 | uint32_t tow; |
zhjcpi | 2:d4fe184925f2 | 618 | uint32_t towSubMs; |
zhjcpi | 2:d4fe184925f2 | 619 | uint8_t info; |
zhjcpi | 2:d4fe184925f2 | 620 | int32_t nMsg = 0; |
zhjcpi | 2:d4fe184925f2 | 621 | uint16_t satInfo; |
zhjcpi | 2:d4fe184925f2 | 622 | uint16_t az; |
zhjcpi | 2:d4fe184925f2 | 623 | uint16_t el; |
zhjcpi | 2:d4fe184925f2 | 624 | uint16_t cno; |
zhjcpi | 2:d4fe184925f2 | 625 | uint8_t gnssType; |
zhjcpi | 2:d4fe184925f2 | 626 | uint16_t index = 0; |
zhjcpi | 0:aba381fc8158 | 627 | |
zhjcpi | 0:aba381fc8158 | 628 | *pMsgLen = sizeof(*pSvStatus); |
zhjcpi | 0:aba381fc8158 | 629 | |
zhjcpi | 0:aba381fc8158 | 630 | week = BINARY_IMPORT_UINT16(ptr); |
zhjcpi | 0:aba381fc8158 | 631 | tow = BINARY_IMPORT_UINT32(ptr); |
zhjcpi | 0:aba381fc8158 | 632 | towSubMs = BINARY_IMPORT_UINT32(ptr); |
zhjcpi | 0:aba381fc8158 | 633 | ptr += 4; |
zhjcpi | 0:aba381fc8158 | 634 | info = BINARY_IMPORT_UINT8(ptr); |
zhjcpi | 0:aba381fc8158 | 635 | |
zhjcpi | 0:aba381fc8158 | 636 | nMsg = info & 0x0F; |
zhjcpi | 0:aba381fc8158 | 637 | if(nMsg == 1) |
zhjcpi | 0:aba381fc8158 | 638 | { |
zhjcpi | 0:aba381fc8158 | 639 | memset(pSvStatus, 0, sizeof(tLocSvStatus)); |
zhjcpi | 0:aba381fc8158 | 640 | pSvStatus->gps_week = week; |
zhjcpi | 0:aba381fc8158 | 641 | pSvStatus->tow = tow; |
zhjcpi | 0:aba381fc8158 | 642 | pSvStatus->tow_sub_ms = towSubMs; |
zhjcpi | 0:aba381fc8158 | 643 | } |
zhjcpi | 0:aba381fc8158 | 644 | |
zhjcpi | 0:aba381fc8158 | 645 | ptr++; |
zhjcpi | 0:aba381fc8158 | 646 | for (i = 0; i < GNSS_SAT_DATA_NUM_OF_SATS; i++) |
zhjcpi | 0:aba381fc8158 | 647 | { |
zhjcpi | 0:aba381fc8158 | 648 | satInfo = BINARY_IMPORT_UINT16(ptr); |
zhjcpi | 0:aba381fc8158 | 649 | az = BINARY_IMPORT_UINT16(ptr); |
zhjcpi | 0:aba381fc8158 | 650 | el = BINARY_IMPORT_UINT16(ptr); |
zhjcpi | 0:aba381fc8158 | 651 | cno = BINARY_IMPORT_UINT16(ptr); |
zhjcpi | 0:aba381fc8158 | 652 | ptr += 4; |
zhjcpi | 0:aba381fc8158 | 653 | |
zhjcpi | 2:d4fe184925f2 | 654 | gnssType = (uint8_t)((satInfo>>13)&0x0003); |
zhjcpi | 0:aba381fc8158 | 655 | if(0 == gnssType || 1 == gnssType) // GPS, SBAS, QZSS |
zhjcpi | 0:aba381fc8158 | 656 | { |
zhjcpi | 0:aba381fc8158 | 657 | index = pSvStatus->numOfSVs; |
zhjcpi | 0:aba381fc8158 | 658 | if(index < LOC_MAX_GNSS_SVS && cno >0) |
zhjcpi | 0:aba381fc8158 | 659 | { |
zhjcpi | 2:d4fe184925f2 | 660 | pSvStatus->svList[index].prn = (uint8_t)(satInfo & 0xFF); |
zhjcpi | 2:d4fe184925f2 | 661 | pSvStatus->svList[index].cno = (float)(cno/10.0); // Scale: 10 |
zhjcpi | 2:d4fe184925f2 | 662 | pSvStatus->svList[index].elevation = (float)(el/10.0); // Scale: 10 |
zhjcpi | 2:d4fe184925f2 | 663 | pSvStatus->svList[index].azimuth = (float)(az/10.0); // Scale: 10 |
zhjcpi | 0:aba381fc8158 | 664 | pSvStatus->numOfSVs++; |
zhjcpi | 0:aba381fc8158 | 665 | pSvStatus->ephemerisMask |= 0x1 << (pSvStatus->svList[index].prn-1); // prn range: 1-32 |
zhjcpi | 0:aba381fc8158 | 666 | } |
zhjcpi | 0:aba381fc8158 | 667 | } |
zhjcpi | 0:aba381fc8158 | 668 | else if(2 == gnssType) // GLONASS |
zhjcpi | 0:aba381fc8158 | 669 | { |
zhjcpi | 0:aba381fc8158 | 670 | index = pSvStatus->numOfGloSVs; |
zhjcpi | 0:aba381fc8158 | 671 | if(index < CODEC_GLO_MAX_CHANNELS && cno>0) |
zhjcpi | 0:aba381fc8158 | 672 | { |
zhjcpi | 2:d4fe184925f2 | 673 | int16_t freqChan = (satInfo & 0X1F00)>>8; |
zhjcpi | 2:d4fe184925f2 | 674 | int16_t slotNum = (satInfo & 0X00FF); |
zhjcpi | 0:aba381fc8158 | 675 | if(slotNum > 0) |
zhjcpi | 0:aba381fc8158 | 676 | { |
zhjcpi | 0:aba381fc8158 | 677 | if(freqChan & 0X0010) |
zhjcpi | 0:aba381fc8158 | 678 | { |
zhjcpi | 0:aba381fc8158 | 679 | freqChan |= 0xFFE0; |
zhjcpi | 0:aba381fc8158 | 680 | } |
zhjcpi | 2:d4fe184925f2 | 681 | pSvStatus->gloSvList[index].prn = (uint8_t)(freqChan + LOC_GLO_FREQ_OFFSET); |
zhjcpi | 2:d4fe184925f2 | 682 | pSvStatus->gloSvList[index].sno = (uint8_t)slotNum; |
zhjcpi | 2:d4fe184925f2 | 683 | pSvStatus->gloSvList[index].cno = (float)(cno/10.0); // Scale: 10 |
zhjcpi | 2:d4fe184925f2 | 684 | pSvStatus->gloSvList[index].elevation = (float)(el/10.0); // Scale: 10 |
zhjcpi | 2:d4fe184925f2 | 685 | pSvStatus->gloSvList[index].azimuth = (float)(az/10.0); // Scale: 10 |
zhjcpi | 0:aba381fc8158 | 686 | pSvStatus->numOfGloSVs++; |
zhjcpi | 0:aba381fc8158 | 687 | pSvStatus->gloEphemerisMask |= 0x1 << (pSvStatus->gloSvList[index].prn-LOC_GLO_FREQ_ID_START); |
zhjcpi | 0:aba381fc8158 | 688 | } |
zhjcpi | 0:aba381fc8158 | 689 | } |
zhjcpi | 0:aba381fc8158 | 690 | } |
zhjcpi | 0:aba381fc8158 | 691 | } |
zhjcpi | 0:aba381fc8158 | 692 | |
zhjcpi | 0:aba381fc8158 | 693 | break; |
zhjcpi | 0:aba381fc8158 | 694 | } |
zhjcpi | 0:aba381fc8158 | 695 | |
zhjcpi | 0:aba381fc8158 | 696 | case OSP_MSG_HW_CONFIG_REQ: /* 0x47 */ |
zhjcpi | 0:aba381fc8158 | 697 | break; |
zhjcpi | 0:aba381fc8158 | 698 | |
zhjcpi | 0:aba381fc8158 | 699 | case OSP_MSG_PWR_MODE_FPM_RSP: /* 0x5A, 0x00 */ |
zhjcpi | 0:aba381fc8158 | 700 | break; |
zhjcpi | 0:aba381fc8158 | 701 | |
zhjcpi | 0:aba381fc8158 | 702 | case OSP_MSG_PWR_MODE_LPM_RSP: /* 0x5A, 0x06 */ |
zhjcpi | 2:d4fe184925f2 | 703 | *((uint8_t *)pMsgData) = *ptr; |
zhjcpi | 2:d4fe184925f2 | 704 | *pMsgLen = sizeof(uint8_t); |
zhjcpi | 0:aba381fc8158 | 705 | break; |
zhjcpi | 0:aba381fc8158 | 706 | |
zhjcpi | 0:aba381fc8158 | 707 | default: |
zhjcpi | 0:aba381fc8158 | 708 | tRet = CSR_RESULT_FAILURE; |
zhjcpi | 0:aba381fc8158 | 709 | break; |
zhjcpi | 0:aba381fc8158 | 710 | } |
zhjcpi | 0:aba381fc8158 | 711 | |
zhjcpi | 0:aba381fc8158 | 712 | /* check if length does not match */ |
zhjcpi | 0:aba381fc8158 | 713 | if(tRet == CSR_RESULT_FAILURE) |
zhjcpi | 0:aba381fc8158 | 714 | { |
zhjcpi | 0:aba381fc8158 | 715 | *pMsgId = *pMsgLen = 0; |
zhjcpi | 0:aba381fc8158 | 716 | } |
zhjcpi | 0:aba381fc8158 | 717 | |
zhjcpi | 0:aba381fc8158 | 718 | return tRet; |
zhjcpi | 0:aba381fc8158 | 719 | |
zhjcpi | 0:aba381fc8158 | 720 | } /* CsrUlocCodecSsbDecode() */ |
zhjcpi | 0:aba381fc8158 | 721 | |
zhjcpi | 0:aba381fc8158 | 722 | void CsrLocation::_CsrLocProcessOspPkt(tOspMsg *pOspMsg) |
zhjcpi | 0:aba381fc8158 | 723 | { |
zhjcpi | 0:aba381fc8158 | 724 | switch(pOspMsg->msgId) |
zhjcpi | 0:aba381fc8158 | 725 | { |
zhjcpi | 0:aba381fc8158 | 726 | case OSP_MSG_GEODETIC_NAVIGATION: |
zhjcpi | 0:aba381fc8158 | 727 | csrLocInst.appOutCb(LOC_OUTPUT_LOCATION, pOspMsg->payload, sizeof(tLocPosResp)); |
zhjcpi | 0:aba381fc8158 | 728 | break; |
zhjcpi | 0:aba381fc8158 | 729 | case OSP_MSG_GNSS_SAT_DATA: |
zhjcpi | 0:aba381fc8158 | 730 | break; |
zhjcpi | 0:aba381fc8158 | 731 | case OSP_MSG_GNSS_NAV_DATA: |
zhjcpi | 0:aba381fc8158 | 732 | csrLocInst.appOutCb(LOC_OUTPUT_SV_STATUS, &csrLocInst.svStatus, sizeof(tLocSvStatus)); |
zhjcpi | 0:aba381fc8158 | 733 | break; |
zhjcpi | 0:aba381fc8158 | 734 | case OSP_MSG_OK_TO_SEND: |
zhjcpi | 0:aba381fc8158 | 735 | csrLocInst.engStatus = (*(pOspMsg->payload)) ? ENGINE_STATUS_OK2SEND : ENGINE_STATUS_NOTOK2SEND; |
zhjcpi | 0:aba381fc8158 | 736 | CSR_LOG_INFO("Ok to send %u\r\n", csrLocInst.engStatus); |
zhjcpi | 0:aba381fc8158 | 737 | break; |
zhjcpi | 0:aba381fc8158 | 738 | case OSP_MSG_SW_VERSION: |
zhjcpi | 2:d4fe184925f2 | 739 | csrLocInst.bVerRsp = true; |
zhjcpi | 0:aba381fc8158 | 740 | CSR_LOG_INFO("Ver: %s\r\n", pOspMsg->payload); |
zhjcpi | 0:aba381fc8158 | 741 | break; |
zhjcpi | 0:aba381fc8158 | 742 | case OSP_MSG_HW_CONFIG_REQ: |
zhjcpi | 0:aba381fc8158 | 743 | CSR_LOG_INFO("hw config req.\r\n"); |
zhjcpi | 2:d4fe184925f2 | 744 | if(!csrLocInst.bVerRsp) |
zhjcpi | 1:bbaf9b8d646a | 745 | { |
zhjcpi | 0:aba381fc8158 | 746 | _CsrLocSendData(SEND_DATA_TYPE_OSP_VER_REQ); |
zhjcpi | 0:aba381fc8158 | 747 | } |
zhjcpi | 1:bbaf9b8d646a | 748 | |
zhjcpi | 1:bbaf9b8d646a | 749 | if(!csrLocInst.bPwrModeRsp) |
zhjcpi | 0:aba381fc8158 | 750 | { |
zhjcpi | 1:bbaf9b8d646a | 751 | if(csrLocInst.pwrMode == PWR_PTF) |
zhjcpi | 1:bbaf9b8d646a | 752 | { |
zhjcpi | 1:bbaf9b8d646a | 753 | _CsrLocSendData(SEND_DATA_TYPE_OSP_LPM_REQ); |
zhjcpi | 1:bbaf9b8d646a | 754 | } |
zhjcpi | 1:bbaf9b8d646a | 755 | else |
zhjcpi | 1:bbaf9b8d646a | 756 | { |
zhjcpi | 1:bbaf9b8d646a | 757 | _CsrLocSendData(SEND_DATA_TYPE_OSP_FPM_REQ); |
zhjcpi | 1:bbaf9b8d646a | 758 | } |
zhjcpi | 0:aba381fc8158 | 759 | } |
zhjcpi | 0:aba381fc8158 | 760 | break; |
zhjcpi | 0:aba381fc8158 | 761 | case OSP_MSG_PWR_MODE_LPM_RSP: |
zhjcpi | 2:d4fe184925f2 | 762 | csrLocInst.bPwrModeRsp = true; |
zhjcpi | 0:aba381fc8158 | 763 | CSR_LOG_INFO("lpm response.\r\n"); |
zhjcpi | 0:aba381fc8158 | 764 | break; |
zhjcpi | 0:aba381fc8158 | 765 | case OSP_MSG_PWR_MODE_FPM_RSP: |
zhjcpi | 2:d4fe184925f2 | 766 | csrLocInst.bPwrModeRsp = true; |
zhjcpi | 0:aba381fc8158 | 767 | CSR_LOG_INFO("fpm response.\r\n"); |
zhjcpi | 0:aba381fc8158 | 768 | break; |
zhjcpi | 0:aba381fc8158 | 769 | default: |
zhjcpi | 0:aba381fc8158 | 770 | CSR_LOG_INFO("Unknown OSP message 0x%lx.\r\n", pOspMsg->msgId); |
zhjcpi | 0:aba381fc8158 | 771 | break; |
zhjcpi | 0:aba381fc8158 | 772 | } |
zhjcpi | 0:aba381fc8158 | 773 | } |
zhjcpi | 0:aba381fc8158 | 774 | |
zhjcpi | 0:aba381fc8158 | 775 | void CsrLocation::_CsrLocTimeout(void) |
zhjcpi | 0:aba381fc8158 | 776 | { |
zhjcpi | 2:d4fe184925f2 | 777 | csrLocInst.bTimeoutFlag = true; |
zhjcpi | 0:aba381fc8158 | 778 | } |
zhjcpi | 0:aba381fc8158 | 779 | |
zhjcpi | 0:aba381fc8158 | 780 | void CsrLocation::_CsrLocRxHandler(void) |
zhjcpi | 0:aba381fc8158 | 781 | { |
zhjcpi | 0:aba381fc8158 | 782 | tCsrLocInst *pLocInst = &csrLocInst; |
zhjcpi | 0:aba381fc8158 | 783 | |
zhjcpi | 0:aba381fc8158 | 784 | pLocInst->serialBuf[pLocInst->in++] = pLocInst->pSerialLoc->getc(); |
zhjcpi | 0:aba381fc8158 | 785 | pLocInst->in &= (MAX_SERIAL_BUF_LEN-1); |
zhjcpi | 0:aba381fc8158 | 786 | if(pLocInst->in == pLocInst->out) |
zhjcpi | 0:aba381fc8158 | 787 | { |
zhjcpi | 1:bbaf9b8d646a | 788 | CSR_LOG_INFO("rx overwritten %d %d.\r\n", pLocInst->in, pLocInst->out); |
zhjcpi | 0:aba381fc8158 | 789 | } |
zhjcpi | 0:aba381fc8158 | 790 | } |
zhjcpi | 0:aba381fc8158 | 791 | |
zhjcpi | 0:aba381fc8158 | 792 | void CsrLocation::_CsrLocSendData(eSendDataType type) |
zhjcpi | 0:aba381fc8158 | 793 | { |
zhjcpi | 0:aba381fc8158 | 794 | tCsrLocInst *pLocInst = &csrLocInst; |
zhjcpi | 2:d4fe184925f2 | 795 | uint32_t i, size; |
zhjcpi | 2:d4fe184925f2 | 796 | const uint8_t *pData; |
zhjcpi | 0:aba381fc8158 | 797 | |
zhjcpi | 0:aba381fc8158 | 798 | switch(type) |
zhjcpi | 0:aba381fc8158 | 799 | { |
zhjcpi | 0:aba381fc8158 | 800 | case SEND_DATA_TYPE_OSP_STOP_REQ: |
zhjcpi | 0:aba381fc8158 | 801 | pData = sOspStopReq; |
zhjcpi | 0:aba381fc8158 | 802 | size = sizeof(sOspStopReq); |
zhjcpi | 0:aba381fc8158 | 803 | break; |
zhjcpi | 0:aba381fc8158 | 804 | case SEND_DATA_TYPE_OSP_VER_REQ: |
zhjcpi | 0:aba381fc8158 | 805 | pData = sOspVerReq; |
zhjcpi | 0:aba381fc8158 | 806 | size = sizeof(sOspVerReq); |
zhjcpi | 0:aba381fc8158 | 807 | break; |
zhjcpi | 0:aba381fc8158 | 808 | case SEND_DATA_TYPE_OSP_LPM_REQ: |
zhjcpi | 0:aba381fc8158 | 809 | pData = sOspLpmReq; |
zhjcpi | 0:aba381fc8158 | 810 | size = sizeof(sOspLpmReq); |
zhjcpi | 0:aba381fc8158 | 811 | break; |
zhjcpi | 0:aba381fc8158 | 812 | case SEND_DATA_TYPE_OSP_FPM_REQ: |
zhjcpi | 0:aba381fc8158 | 813 | pData = sOspFpmReq; |
zhjcpi | 0:aba381fc8158 | 814 | size = sizeof(sOspFpmReq); |
zhjcpi | 0:aba381fc8158 | 815 | break; |
zhjcpi | 0:aba381fc8158 | 816 | case SEND_DATA_TYPE_OSP_SWITCH2NMEA_REQ: |
zhjcpi | 0:aba381fc8158 | 817 | pData = sOspSwitch2NmeaReq; |
zhjcpi | 0:aba381fc8158 | 818 | size = sizeof(sOspSwitch2NmeaReq); |
zhjcpi | 0:aba381fc8158 | 819 | break; |
zhjcpi | 0:aba381fc8158 | 820 | case SEND_DATA_TYPE_NMEA_SWITCH2OSP_REQ: |
zhjcpi | 2:d4fe184925f2 | 821 | pData = (const uint8_t *)sNmeaSwitch2OspReq; |
zhjcpi | 0:aba381fc8158 | 822 | size = strlen(sNmeaSwitch2OspReq); |
zhjcpi | 0:aba381fc8158 | 823 | break; |
zhjcpi | 0:aba381fc8158 | 824 | |
zhjcpi | 0:aba381fc8158 | 825 | default: |
zhjcpi | 0:aba381fc8158 | 826 | pData = NULL; |
zhjcpi | 0:aba381fc8158 | 827 | } |
zhjcpi | 0:aba381fc8158 | 828 | |
zhjcpi | 0:aba381fc8158 | 829 | if(pData != NULL) |
zhjcpi | 0:aba381fc8158 | 830 | { |
zhjcpi | 0:aba381fc8158 | 831 | for (i = 0; i < size; i++) |
zhjcpi | 0:aba381fc8158 | 832 | { |
zhjcpi | 0:aba381fc8158 | 833 | pLocInst->pSerialLoc->putc(pData[i]); |
zhjcpi | 0:aba381fc8158 | 834 | } |
zhjcpi | 0:aba381fc8158 | 835 | } |
zhjcpi | 0:aba381fc8158 | 836 | } |
zhjcpi | 0:aba381fc8158 | 837 | |
zhjcpi | 0:aba381fc8158 | 838 | void CsrLocation::_CsrLocHwOnoff(void) |
zhjcpi | 0:aba381fc8158 | 839 | { |
zhjcpi | 0:aba381fc8158 | 840 | csrLocInst.pPinOnoff->write(1); |
zhjcpi | 0:aba381fc8158 | 841 | wait_ms(10); |
zhjcpi | 0:aba381fc8158 | 842 | csrLocInst.pPinOnoff->write(0); |
zhjcpi | 0:aba381fc8158 | 843 | CSR_LOG_INFO("Onoff pulse given.\r\n"); |
zhjcpi | 0:aba381fc8158 | 844 | } |
zhjcpi | 0:aba381fc8158 | 845 | |
zhjcpi | 0:aba381fc8158 | 846 | void CsrLocation::_CsrLocHwReset(void) |
zhjcpi | 0:aba381fc8158 | 847 | { |
zhjcpi | 0:aba381fc8158 | 848 | csrLocInst.pPinReset->write(1); |
zhjcpi | 0:aba381fc8158 | 849 | wait_ms(10); |
zhjcpi | 0:aba381fc8158 | 850 | csrLocInst.pPinReset->write(0); |
zhjcpi | 0:aba381fc8158 | 851 | CSR_LOG_INFO("Reset pulse given.\r\n"); |
zhjcpi | 0:aba381fc8158 | 852 | } |