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@13:1d2f2dccc4ee, 2014-11-04 (annotated)
- Committer:
- rgrover1
- Date:
- Tue Nov 04 14:23:45 2014 +0000
- Revision:
- 13:1d2f2dccc4ee
- Parent:
- 12:5fb829ce6b82
- Child:
- 16:37d3ea06cbb4
minor updates to Jie's work
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
zhjcpi | 12:5fb829ce6b82 | 1 | /* CSRLocation class for mbed Microcontroller |
zhjcpi | 0:aba381fc8158 | 2 | * Copyright 2014 CSR plc |
zhjcpi | 0:aba381fc8158 | 3 | */ |
zhjcpi | 0:aba381fc8158 | 4 | |
zhjcpi | 0:aba381fc8158 | 5 | #include "mbed.h" |
zhjcpi | 0:aba381fc8158 | 6 | #include "CsrLocation.h" |
zhjcpi | 0:aba381fc8158 | 7 | |
zhjcpi | 2:d4fe184925f2 | 8 | static uint8_t sOspStopReq[] = {0xa0, 0xa2, 0x00, 0x02, 0xcd, 0x10, 0x00, 0xdd, 0xb0, 0xb3}; |
zhjcpi | 2:d4fe184925f2 | 9 | static uint8_t sOspVerReq[] = {0xA0, 0xA2, 0x00, 0x02, 0x84, 0x00, 0x00, 0x84, 0xB0, 0xB3}; |
zhjcpi | 2:d4fe184925f2 | 10 | static uint8_t sOspLpmReq[] = {0xA0, 0xA2, 0x00, 0x2A, 0xDA, 0x06, 0x01, 0x00, 0x00, 0x00, 0x00, 0x1E, 0x00, 0x01, 0x00, 0x78, 0x00, 0x1E, |
zhjcpi | 12:5fb829ce6b82 | 11 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xC8, 0x00, 0x00, 0x01, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, |
zhjcpi | 12:5fb829ce6b82 | 12 | 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x63, 0xB0, 0xB3}; |
zhjcpi | 2:d4fe184925f2 | 13 | static uint8_t sOspFpmReq[] = {0xA0, 0xA2, 0x00, 0x03, 0xDA, 0x00, 0x00, 0x00, 0xDA, 0xB0, 0xB3}; |
zhjcpi | 12:5fb829ce6b82 | 14 | static uint8_t sOspSwitch2NmeaReq[] = {0xA0, 0xA2, 0x00, 0x18, 0x81, 0x00, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x05, 0x01, 0x01, 0x01, 0x00, |
zhjcpi | 12:5fb829ce6b82 | 15 | 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x12, 0xC0, 0x01, 0x64, 0xB0, 0xB3}; |
zhjcpi | 12:5fb829ce6b82 | 16 | static char sNmeaSwitch2OspReq[] = "$PSRF100,0,115200,8,1,0*04\r\n"; |
zhjcpi | 12:5fb829ce6b82 | 17 | static char sNmeaStopReq[] = "$PSRF117,16*0B\r\n"; |
zhjcpi | 3:71690f7bb480 | 18 | |
zhjcpi | 12:5fb829ce6b82 | 19 | CSRLocation::CSRLocation(RawSerial &_serialLoc, |
zhjcpi | 12:5fb829ce6b82 | 20 | DigitalOut &_pinOnoff, |
zhjcpi | 12:5fb829ce6b82 | 21 | DigitalOut &_pinReset, |
zhjcpi | 12:5fb829ce6b82 | 22 | DigitalIn &_wakeup, |
zhjcpi | 12:5fb829ce6b82 | 23 | Serial *debugP): |
zhjcpi | 12:5fb829ce6b82 | 24 | serialLoc(_serialLoc), |
zhjcpi | 12:5fb829ce6b82 | 25 | pinOnoff(_pinOnoff), |
zhjcpi | 12:5fb829ce6b82 | 26 | pinReset(_pinReset), |
zhjcpi | 12:5fb829ce6b82 | 27 | wakeup(_wakeup), |
zhjcpi | 12:5fb829ce6b82 | 28 | proto(PROTO_OSP), |
zhjcpi | 12:5fb829ce6b82 | 29 | locState(CSR_LOC_STATE_IDLE), |
zhjcpi | 12:5fb829ce6b82 | 30 | protoState(PROTO_STATE_DET_INVALID), |
zhjcpi | 12:5fb829ce6b82 | 31 | pwrMode(PWR_FULL), |
zhjcpi | 12:5fb829ce6b82 | 32 | baudRate(), |
zhjcpi | 12:5fb829ce6b82 | 33 | computedCheckSum(), |
zhjcpi | 12:5fb829ce6b82 | 34 | checksum(), |
zhjcpi | 12:5fb829ce6b82 | 35 | msgSize(), |
zhjcpi | 12:5fb829ce6b82 | 36 | decodeIndex(), |
zhjcpi | 12:5fb829ce6b82 | 37 | protoDetState(STATE_START1), |
zhjcpi | 12:5fb829ce6b82 | 38 | pTimeoutChk(NULL), |
zhjcpi | 12:5fb829ce6b82 | 39 | bTimeoutFlag(false), |
zhjcpi | 12:5fb829ce6b82 | 40 | engStatus(ENGINE_STATUS_NOTOK2SEND), |
zhjcpi | 12:5fb829ce6b82 | 41 | svStatus(), |
zhjcpi | 12:5fb829ce6b82 | 42 | serialBuf(), |
zhjcpi | 12:5fb829ce6b82 | 43 | serialPkt(), |
zhjcpi | 12:5fb829ce6b82 | 44 | in(), |
zhjcpi | 12:5fb829ce6b82 | 45 | out(), |
zhjcpi | 12:5fb829ce6b82 | 46 | pSerialDebug(debugP) |
zhjcpi | 0:aba381fc8158 | 47 | { |
zhjcpi | 12:5fb829ce6b82 | 48 | pTimeoutChk = new Timeout(); |
zhjcpi | 12:5fb829ce6b82 | 49 | |
zhjcpi | 12:5fb829ce6b82 | 50 | pinReset.write(1); |
zhjcpi | 12:5fb829ce6b82 | 51 | pinOnoff.write(0); |
zhjcpi | 12:5fb829ce6b82 | 52 | } |
zhjcpi | 0:aba381fc8158 | 53 | |
zhjcpi | 12:5fb829ce6b82 | 54 | CSRLocation::~CSRLocation(void) |
zhjcpi | 12:5fb829ce6b82 | 55 | { |
zhjcpi | 12:5fb829ce6b82 | 56 | serialLoc.attach(NULL); |
zhjcpi | 12:5fb829ce6b82 | 57 | |
zhjcpi | 12:5fb829ce6b82 | 58 | if (pTimeoutChk != NULL) { |
zhjcpi | 12:5fb829ce6b82 | 59 | delete pTimeoutChk; |
zhjcpi | 12:5fb829ce6b82 | 60 | pTimeoutChk = NULL; |
zhjcpi | 12:5fb829ce6b82 | 61 | } |
zhjcpi | 12:5fb829ce6b82 | 62 | pinReset.write(0); |
zhjcpi | 12:5fb829ce6b82 | 63 | pinOnoff.write(0); |
zhjcpi | 0:aba381fc8158 | 64 | } |
zhjcpi | 0:aba381fc8158 | 65 | |
zhjcpi | 12:5fb829ce6b82 | 66 | void CSRLocation::CsrLocRegOutput(csr_app_output_callback app_output_cb, csr_app_event_callback app_event_cb) |
zhjcpi | 0:aba381fc8158 | 67 | { |
zhjcpi | 12:5fb829ce6b82 | 68 | appOutCb = app_output_cb; |
zhjcpi | 12:5fb829ce6b82 | 69 | appEventCb = app_event_cb; |
zhjcpi | 0:aba381fc8158 | 70 | } |
zhjcpi | 0:aba381fc8158 | 71 | |
zhjcpi | 12:5fb829ce6b82 | 72 | void |
zhjcpi | 12:5fb829ce6b82 | 73 | CSRLocation::outputHandler(uint32_t msgId, void *const pMsgData, uint32_t msgLength) |
zhjcpi | 0:aba381fc8158 | 74 | { |
zhjcpi | 12:5fb829ce6b82 | 75 | switch (msgId) { |
zhjcpi | 12:5fb829ce6b82 | 76 | case LOC_OUTPUT_LOCATION: { |
zhjcpi | 12:5fb829ce6b82 | 77 | const tLocPosResp *pPosRsp = (const tLocPosResp *)pMsgData; |
zhjcpi | 12:5fb829ce6b82 | 78 | lastLocation.version = 1; |
zhjcpi | 12:5fb829ce6b82 | 79 | lastLocation.valid = true; |
zhjcpi | 12:5fb829ce6b82 | 80 | lastLocation.lat = pPosRsp->lat; |
zhjcpi | 12:5fb829ce6b82 | 81 | lastLocation.lon = pPosRsp->lon; |
zhjcpi | 12:5fb829ce6b82 | 82 | lastLocation.altitude = pPosRsp->alt; |
zhjcpi | 12:5fb829ce6b82 | 83 | |
zhjcpi | 12:5fb829ce6b82 | 84 | if (locationCallback) { |
zhjcpi | 12:5fb829ce6b82 | 85 | locationCallback(&lastLocation); |
zhjcpi | 12:5fb829ce6b82 | 86 | } |
zhjcpi | 12:5fb829ce6b82 | 87 | break; |
zhjcpi | 12:5fb829ce6b82 | 88 | } |
zhjcpi | 12:5fb829ce6b82 | 89 | case LOC_OUTPUT_SV_STATUS: { |
zhjcpi | 12:5fb829ce6b82 | 90 | const tLocSvStatus *pSvStatus = (const tLocSvStatus *)pMsgData; |
zhjcpi | 12:5fb829ce6b82 | 91 | lastLocation.version = 1; |
zhjcpi | 12:5fb829ce6b82 | 92 | lastLocation.valid = true; |
zhjcpi | 12:5fb829ce6b82 | 93 | lastLocation.numGPSSVs = pSvStatus->numOfSVs; |
zhjcpi | 12:5fb829ce6b82 | 94 | lastLocation.numGLOSVs = pSvStatus->numOfGloSVs; |
zhjcpi | 12:5fb829ce6b82 | 95 | lastLocation.u.gpsTime.gps_week = pSvStatus->gps_week; |
zhjcpi | 12:5fb829ce6b82 | 96 | lastLocation.u.gpsTime.tow = pSvStatus->tow; |
zhjcpi | 12:5fb829ce6b82 | 97 | |
zhjcpi | 12:5fb829ce6b82 | 98 | break; |
zhjcpi | 12:5fb829ce6b82 | 99 | } |
zhjcpi | 12:5fb829ce6b82 | 100 | |
zhjcpi | 12:5fb829ce6b82 | 101 | default: |
zhjcpi | 12:5fb829ce6b82 | 102 | break; |
zhjcpi | 12:5fb829ce6b82 | 103 | } |
zhjcpi | 12:5fb829ce6b82 | 104 | |
zhjcpi | 12:5fb829ce6b82 | 105 | if (appOutCb) { |
zhjcpi | 12:5fb829ce6b82 | 106 | appOutCb(msgId, pMsgData, msgLength); |
zhjcpi | 12:5fb829ce6b82 | 107 | } |
zhjcpi | 0:aba381fc8158 | 108 | } |
zhjcpi | 0:aba381fc8158 | 109 | |
zhjcpi | 12:5fb829ce6b82 | 110 | void |
zhjcpi | 12:5fb829ce6b82 | 111 | CSRLocation::eventHandler(eCsrLocEventType event, uint32_t data) |
zhjcpi | 0:aba381fc8158 | 112 | { |
zhjcpi | 12:5fb829ce6b82 | 113 | if (appEventCb) { |
zhjcpi | 12:5fb829ce6b82 | 114 | appEventCb(event, data); |
zhjcpi | 12:5fb829ce6b82 | 115 | } |
zhjcpi | 0:aba381fc8158 | 116 | } |
zhjcpi | 0:aba381fc8158 | 117 | |
zhjcpi | 12:5fb829ce6b82 | 118 | void CSRLocation::reset(void) |
zhjcpi | 0:aba381fc8158 | 119 | { |
zhjcpi | 12:5fb829ce6b82 | 120 | _CsrLocHwReset(); |
zhjcpi | 12:5fb829ce6b82 | 121 | lastLocation.valid = false; |
zhjcpi | 12:5fb829ce6b82 | 122 | } |
zhjcpi | 0:aba381fc8158 | 123 | |
zhjcpi | 12:5fb829ce6b82 | 124 | void CSRLocation::start() |
zhjcpi | 12:5fb829ce6b82 | 125 | { |
zhjcpi | 12:5fb829ce6b82 | 126 | if (locState == CSR_LOC_STATE_IDLE) { |
zhjcpi | 0:aba381fc8158 | 127 | /* Csr Location SDK version */ |
zhjcpi | 0:aba381fc8158 | 128 | CSR_LOG_INFO("==== CSR LOC SDK version: %s Date: %s ====\r\n", CSR_LOC_SDK_VER, __DATE__ " " __TIME__); |
zhjcpi | 3:71690f7bb480 | 129 | |
zhjcpi | 0:aba381fc8158 | 130 | /* open UART */ |
zhjcpi | 12:5fb829ce6b82 | 131 | if (proto == PROTO_NMEA) { |
zhjcpi | 3:71690f7bb480 | 132 | CSR_LOG_INFO("Checking NMEA protocol...\r\n"); |
zhjcpi | 12:5fb829ce6b82 | 133 | protoState = PROTO_STATE_DET_NMEA; |
zhjcpi | 12:5fb829ce6b82 | 134 | baudRate = BAUDRATE_NMEA; |
zhjcpi | 12:5fb829ce6b82 | 135 | } else { |
zhjcpi | 3:71690f7bb480 | 136 | CSR_LOG_INFO("Checking OSP protocol...\r\n"); |
zhjcpi | 12:5fb829ce6b82 | 137 | protoState = PROTO_STATE_DET_OSP; |
zhjcpi | 12:5fb829ce6b82 | 138 | baudRate = BAUDRATE_OSP; |
zhjcpi | 3:71690f7bb480 | 139 | } |
zhjcpi | 0:aba381fc8158 | 140 | _CsrLocUartInit(); |
zhjcpi | 0:aba381fc8158 | 141 | |
zhjcpi | 0:aba381fc8158 | 142 | /* trigger on_off */ |
zhjcpi | 0:aba381fc8158 | 143 | _CsrLocHwOnoff(); |
zhjcpi | 0:aba381fc8158 | 144 | |
zhjcpi | 12:5fb829ce6b82 | 145 | locState = CSR_LOC_STATE_RUN; |
zhjcpi | 12:5fb829ce6b82 | 146 | bPwrModeRsp = false; |
zhjcpi | 12:5fb829ce6b82 | 147 | bVerRsp = false; |
zhjcpi | 12:5fb829ce6b82 | 148 | } else { |
zhjcpi | 0:aba381fc8158 | 149 | CSR_LOG_INFO("Already started.\r\n"); |
zhjcpi | 0:aba381fc8158 | 150 | } |
zhjcpi | 0:aba381fc8158 | 151 | } |
zhjcpi | 0:aba381fc8158 | 152 | |
zhjcpi | 12:5fb829ce6b82 | 153 | void CSRLocation::process(void) |
zhjcpi | 0:aba381fc8158 | 154 | { |
zhjcpi | 12:5fb829ce6b82 | 155 | if (locState == CSR_LOC_STATE_RUN) { |
zhjcpi | 0:aba381fc8158 | 156 | /* wait and process uart data */ |
zhjcpi | 0:aba381fc8158 | 157 | _CsrLocProcessRawStream(); |
zhjcpi | 0:aba381fc8158 | 158 | } |
zhjcpi | 0:aba381fc8158 | 159 | } |
zhjcpi | 0:aba381fc8158 | 160 | |
zhjcpi | 12:5fb829ce6b82 | 161 | void CSRLocation::stop(void) |
zhjcpi | 0:aba381fc8158 | 162 | { |
zhjcpi | 12:5fb829ce6b82 | 163 | if (locState == CSR_LOC_STATE_IDLE) { |
zhjcpi | 12:5fb829ce6b82 | 164 | return; |
zhjcpi | 12:5fb829ce6b82 | 165 | } |
zhjcpi | 12:5fb829ce6b82 | 166 | |
zhjcpi | 12:5fb829ce6b82 | 167 | serialLoc.attach(NULL); |
zhjcpi | 0:aba381fc8158 | 168 | CSR_LOG_INFO("Stop command processed.\r\n"); |
zhjcpi | 0:aba381fc8158 | 169 | |
zhjcpi | 12:5fb829ce6b82 | 170 | if ((locState == CSR_LOC_STATE_RUN) && (pwrMode == PWR_PTF) && (engStatus == ENGINE_STATUS_NOTOK2SEND)) { |
zhjcpi | 0:aba381fc8158 | 171 | /* in sleep mode, trigger on_off firstly */ |
zhjcpi | 0:aba381fc8158 | 172 | _CsrLocHwOnoff(); |
zhjcpi | 0:aba381fc8158 | 173 | wait_ms(500); |
zhjcpi | 3:71690f7bb480 | 174 | } |
zhjcpi | 12:5fb829ce6b82 | 175 | if (proto == PROTO_NMEA) { |
zhjcpi | 3:71690f7bb480 | 176 | _CsrLocSendData(SEND_DATA_TYPE_NMEA_STOP_REQ); |
zhjcpi | 12:5fb829ce6b82 | 177 | } else { |
zhjcpi | 3:71690f7bb480 | 178 | _CsrLocSendData(SEND_DATA_TYPE_OSP_STOP_REQ); |
zhjcpi | 3:71690f7bb480 | 179 | } |
zhjcpi | 8:fa29f8455134 | 180 | wait_ms(200); |
zhjcpi | 12:5fb829ce6b82 | 181 | if (_CsrLocIsWakeup()) { |
zhjcpi | 8:fa29f8455134 | 182 | _CsrLocHwOnoff(); |
zhjcpi | 12:5fb829ce6b82 | 183 | wait_ms(300); |
zhjcpi | 12:5fb829ce6b82 | 184 | if (_CsrLocIsWakeup()) { |
zhjcpi | 8:fa29f8455134 | 185 | _CsrLocHwReset(); |
zhjcpi | 8:fa29f8455134 | 186 | } |
zhjcpi | 8:fa29f8455134 | 187 | } |
zhjcpi | 0:aba381fc8158 | 188 | |
zhjcpi | 12:5fb829ce6b82 | 189 | locState = CSR_LOC_STATE_IDLE; |
zhjcpi | 12:5fb829ce6b82 | 190 | eventHandler(CSR_LOC_EVENT_STOP_RESULT, 0); |
zhjcpi | 0:aba381fc8158 | 191 | } |
zhjcpi | 0:aba381fc8158 | 192 | |
zhjcpi | 12:5fb829ce6b82 | 193 | uint32_t CSRLocation::ioctl(uint32_t command, void *arg) |
zhjcpi | 0:aba381fc8158 | 194 | { |
zhjcpi | 12:5fb829ce6b82 | 195 | uint32_t ret = 0; |
zhjcpi | 12:5fb829ce6b82 | 196 | |
zhjcpi | 12:5fb829ce6b82 | 197 | CSR_LOG_INFO("ioctl command 0x%lx\r\n", command); |
zhjcpi | 12:5fb829ce6b82 | 198 | switch(command) |
zhjcpi | 0:aba381fc8158 | 199 | { |
zhjcpi | 12:5fb829ce6b82 | 200 | case CSR_IOCTL_CMD_PROTO_NMEA: |
zhjcpi | 12:5fb829ce6b82 | 201 | CSR_LOG_INFO("set NMEA protocol.\r\n"); |
zhjcpi | 12:5fb829ce6b82 | 202 | proto = PROTO_NMEA; |
zhjcpi | 12:5fb829ce6b82 | 203 | break; |
zhjcpi | 12:5fb829ce6b82 | 204 | case CSR_IOCTL_CMD_PROTO_OSP: |
zhjcpi | 12:5fb829ce6b82 | 205 | CSR_LOG_INFO("set OSP protocol.\r\n"); |
zhjcpi | 12:5fb829ce6b82 | 206 | proto = PROTO_OSP; |
zhjcpi | 12:5fb829ce6b82 | 207 | break; |
zhjcpi | 12:5fb829ce6b82 | 208 | case CSR_IOCTL_CMD_WAKEUP_STATUS: |
zhjcpi | 12:5fb829ce6b82 | 209 | CSR_LOG_INFO("wakeup status : %d.\r\n", wakeup.read()); |
zhjcpi | 12:5fb829ce6b82 | 210 | break; |
zhjcpi | 12:5fb829ce6b82 | 211 | case CSR_IOCTL_CMD_ONOFF_ON: |
zhjcpi | 12:5fb829ce6b82 | 212 | CSR_LOG_INFO("onoff ON.\r\n"); |
zhjcpi | 12:5fb829ce6b82 | 213 | pinOnoff.write(1); |
zhjcpi | 12:5fb829ce6b82 | 214 | break; |
zhjcpi | 12:5fb829ce6b82 | 215 | case CSR_IOCTL_CMD_ONOFF_OFF: |
zhjcpi | 12:5fb829ce6b82 | 216 | CSR_LOG_INFO("onoff OFF.\r\n"); |
zhjcpi | 12:5fb829ce6b82 | 217 | pinOnoff.write(0); |
zhjcpi | 12:5fb829ce6b82 | 218 | break; |
zhjcpi | 12:5fb829ce6b82 | 219 | case CSR_IOCTL_CMD_ONOFF_PULSE: |
zhjcpi | 12:5fb829ce6b82 | 220 | CSR_LOG_INFO("onoff pulse.\r\n"); |
zhjcpi | 12:5fb829ce6b82 | 221 | pinOnoff.write(1); |
zhjcpi | 12:5fb829ce6b82 | 222 | wait_ms(100); |
zhjcpi | 12:5fb829ce6b82 | 223 | pinOnoff.write(0); |
zhjcpi | 12:5fb829ce6b82 | 224 | break; |
zhjcpi | 12:5fb829ce6b82 | 225 | case CSR_IOCTL_CMD_RESET_ON: |
zhjcpi | 12:5fb829ce6b82 | 226 | CSR_LOG_INFO("reset ON.\r\n"); |
zhjcpi | 12:5fb829ce6b82 | 227 | pinReset.write(1); |
zhjcpi | 12:5fb829ce6b82 | 228 | break; |
zhjcpi | 12:5fb829ce6b82 | 229 | case CSR_IOCTL_CMD_RESET_OFF: |
zhjcpi | 12:5fb829ce6b82 | 230 | CSR_LOG_INFO("reset OFF.\r\n"); |
zhjcpi | 12:5fb829ce6b82 | 231 | pinReset.write(0); |
zhjcpi | 12:5fb829ce6b82 | 232 | break; |
zhjcpi | 12:5fb829ce6b82 | 233 | |
zhjcpi | 12:5fb829ce6b82 | 234 | default: |
zhjcpi | 12:5fb829ce6b82 | 235 | CSR_LOG_INFO("Unknown ioctl command 0x%lx\r\n", command); |
zhjcpi | 12:5fb829ce6b82 | 236 | ret = 0xFFFFFFFF; |
zhjcpi | 12:5fb829ce6b82 | 237 | break; |
zhjcpi | 12:5fb829ce6b82 | 238 | } |
zhjcpi | 12:5fb829ce6b82 | 239 | |
zhjcpi | 12:5fb829ce6b82 | 240 | return ret; |
zhjcpi | 12:5fb829ce6b82 | 241 | } |
zhjcpi | 12:5fb829ce6b82 | 242 | |
zhjcpi | 12:5fb829ce6b82 | 243 | void CSRLocation::lpmGetImmediateLocation(void) |
zhjcpi | 12:5fb829ce6b82 | 244 | { |
zhjcpi | 12:5fb829ce6b82 | 245 | if ((locState == CSR_LOC_STATE_RUN) && (pwrMode == PWR_PTF) && (engStatus == ENGINE_STATUS_NOTOK2SEND)) { |
zhjcpi | 0:aba381fc8158 | 246 | CSR_LOG_INFO("LpmGetPos "); |
zhjcpi | 0:aba381fc8158 | 247 | _CsrLocHwOnoff(); |
zhjcpi | 12:5fb829ce6b82 | 248 | } else { |
zhjcpi | 12:5fb829ce6b82 | 249 | if (locState != CSR_LOC_STATE_RUN) { |
zhjcpi | 12:5fb829ce6b82 | 250 | CSR_LOG_INFO("Not in run state.\r\n"); |
zhjcpi | 12:5fb829ce6b82 | 251 | } else if (pwrMode != PWR_PTF) { |
zhjcpi | 12:5fb829ce6b82 | 252 | CSR_LOG_INFO("Not in low power PTF mode.\r\n"); |
zhjcpi | 12:5fb829ce6b82 | 253 | } |
zhjcpi | 2:d4fe184925f2 | 254 | } |
zhjcpi | 0:aba381fc8158 | 255 | } |
zhjcpi | 0:aba381fc8158 | 256 | |
zhjcpi | 12:5fb829ce6b82 | 257 | void CSRLocation::CsrLocDebugSwitch2Nmea(void) |
zhjcpi | 0:aba381fc8158 | 258 | { |
zhjcpi | 12:5fb829ce6b82 | 259 | if (locState == CSR_LOC_STATE_RUN) { |
zhjcpi | 0:aba381fc8158 | 260 | _CsrLocSendData(SEND_DATA_TYPE_OSP_SWITCH2NMEA_REQ); |
zhjcpi | 0:aba381fc8158 | 261 | wait_ms(200); |
zhjcpi | 0:aba381fc8158 | 262 | _CsrLocHwReset(); |
zhjcpi | 12:5fb829ce6b82 | 263 | } |
zhjcpi | 0:aba381fc8158 | 264 | } |
zhjcpi | 0:aba381fc8158 | 265 | |
zhjcpi | 12:5fb829ce6b82 | 266 | void CSRLocation::_CsrLocUartInit(void) |
zhjcpi | 0:aba381fc8158 | 267 | { |
zhjcpi | 12:5fb829ce6b82 | 268 | in = 0; |
zhjcpi | 12:5fb829ce6b82 | 269 | out = 0; |
zhjcpi | 12:5fb829ce6b82 | 270 | memset(serialBuf, 0, MAX_SERIAL_BUF_LEN); |
zhjcpi | 12:5fb829ce6b82 | 271 | memset(serialPkt, 0, MAX_SERIAL_PKT_LEN); |
zhjcpi | 0:aba381fc8158 | 272 | |
zhjcpi | 12:5fb829ce6b82 | 273 | checksum = 0; |
zhjcpi | 12:5fb829ce6b82 | 274 | msgSize = 0; |
zhjcpi | 12:5fb829ce6b82 | 275 | decodeIndex = 0; |
zhjcpi | 12:5fb829ce6b82 | 276 | protoDetState = STATE_START1; |
zhjcpi | 12:5fb829ce6b82 | 277 | pTimeoutChk->attach(this, &CSRLocation::_CsrLocTimeout, PROTO_CHECK_TIMEOUT); |
zhjcpi | 0:aba381fc8158 | 278 | |
zhjcpi | 12:5fb829ce6b82 | 279 | serialLoc.baud(baudRate); |
zhjcpi | 12:5fb829ce6b82 | 280 | serialLoc.attach(this, &CSRLocation::_CsrLocRxHandler ); |
zhjcpi | 0:aba381fc8158 | 281 | } |
zhjcpi | 0:aba381fc8158 | 282 | |
zhjcpi | 12:5fb829ce6b82 | 283 | void CSRLocation::_CsrLocProcessRawStream(void) |
zhjcpi | 0:aba381fc8158 | 284 | { |
zhjcpi | 12:5fb829ce6b82 | 285 | uint8_t data; |
zhjcpi | 0:aba381fc8158 | 286 | |
zhjcpi | 12:5fb829ce6b82 | 287 | if (bTimeoutFlag) { |
zhjcpi | 12:5fb829ce6b82 | 288 | pTimeoutChk->detach(); |
zhjcpi | 12:5fb829ce6b82 | 289 | bTimeoutFlag = false; |
zhjcpi | 12:5fb829ce6b82 | 290 | if ((protoState == PROTO_STATE_DET_OSP) || (protoState == PROTO_STATE_DET_OSP_FROM_NMEA)) { |
zhjcpi | 3:71690f7bb480 | 291 | _CsrLocDetProtoOspTimeout(); |
zhjcpi | 12:5fb829ce6b82 | 292 | } else if ((protoState == PROTO_STATE_DET_NMEA) || (protoState == PROTO_STATE_DET_NMEA_FROM_OSP)) { |
zhjcpi | 3:71690f7bb480 | 293 | _CsrLocDetProtoNmeaTimeout(); |
zhjcpi | 12:5fb829ce6b82 | 294 | } else { |
zhjcpi | 12:5fb829ce6b82 | 295 | CSR_LOG_INFO("timeout in unknown protocol state %d.\r\n", protoState); |
zhjcpi | 3:71690f7bb480 | 296 | } |
zhjcpi | 3:71690f7bb480 | 297 | return; |
zhjcpi | 3:71690f7bb480 | 298 | } |
zhjcpi | 3:71690f7bb480 | 299 | |
zhjcpi | 12:5fb829ce6b82 | 300 | if (in != out) { |
zhjcpi | 12:5fb829ce6b82 | 301 | data = serialBuf[out++]; |
zhjcpi | 12:5fb829ce6b82 | 302 | out &= (MAX_SERIAL_BUF_LEN - 1); |
zhjcpi | 12:5fb829ce6b82 | 303 | switch (protoState) { |
zhjcpi | 12:5fb829ce6b82 | 304 | case PROTO_STATE_DET_OSP: |
zhjcpi | 12:5fb829ce6b82 | 305 | case PROTO_STATE_DET_OSP_FROM_NMEA: |
zhjcpi | 12:5fb829ce6b82 | 306 | _CsrLocProcessRawOspStream(data); |
zhjcpi | 12:5fb829ce6b82 | 307 | break; |
zhjcpi | 12:5fb829ce6b82 | 308 | case PROTO_STATE_DET_NMEA: |
zhjcpi | 12:5fb829ce6b82 | 309 | case PROTO_STATE_DET_NMEA_FROM_OSP: |
zhjcpi | 3:71690f7bb480 | 310 | _CsrLocProcessRawNmeaStream(data); |
zhjcpi | 12:5fb829ce6b82 | 311 | break; |
zhjcpi | 12:5fb829ce6b82 | 312 | case PROTO_STATE_DET_OK: |
zhjcpi | 12:5fb829ce6b82 | 313 | if (proto == PROTO_NMEA) { |
zhjcpi | 12:5fb829ce6b82 | 314 | _CsrLocProcessRawNmeaStream(data); |
zhjcpi | 12:5fb829ce6b82 | 315 | } else { |
zhjcpi | 12:5fb829ce6b82 | 316 | _CsrLocProcessRawOspStream(data); |
zhjcpi | 12:5fb829ce6b82 | 317 | } |
zhjcpi | 12:5fb829ce6b82 | 318 | break; |
zhjcpi | 12:5fb829ce6b82 | 319 | default: |
zhjcpi | 12:5fb829ce6b82 | 320 | /* Discard received data */ |
zhjcpi | 12:5fb829ce6b82 | 321 | //out = pLocInst->in; |
zhjcpi | 12:5fb829ce6b82 | 322 | break; |
zhjcpi | 0:aba381fc8158 | 323 | } |
zhjcpi | 0:aba381fc8158 | 324 | } |
zhjcpi | 0:aba381fc8158 | 325 | } |
zhjcpi | 0:aba381fc8158 | 326 | |
zhjcpi | 12:5fb829ce6b82 | 327 | void CSRLocation::_CsrLocDetProtoOspTimeout(void) |
zhjcpi | 0:aba381fc8158 | 328 | { |
zhjcpi | 12:5fb829ce6b82 | 329 | if (proto == PROTO_NMEA) { |
zhjcpi | 3:71690f7bb480 | 330 | /* Failed to detect OSP */ |
zhjcpi | 12:5fb829ce6b82 | 331 | serialLoc.attach(NULL); |
zhjcpi | 12:5fb829ce6b82 | 332 | protoState = PROTO_STATE_DET_INVALID; |
zhjcpi | 12:5fb829ce6b82 | 333 | baudRate = BAUDRATE_NMEA; |
zhjcpi | 3:71690f7bb480 | 334 | CSR_LOG_INFO("Checking OSP failed.\r\n"); |
zhjcpi | 12:5fb829ce6b82 | 335 | eventHandler(CSR_LOC_EVENT_START_RESULT, 1); |
zhjcpi | 12:5fb829ce6b82 | 336 | } else { |
zhjcpi | 0:aba381fc8158 | 337 | /* Failed to detect OSP and try to detect NMEA */ |
zhjcpi | 12:5fb829ce6b82 | 338 | serialLoc.attach(NULL); |
zhjcpi | 12:5fb829ce6b82 | 339 | if (protoState == PROTO_STATE_DET_OSP) { |
zhjcpi | 12:5fb829ce6b82 | 340 | protoState = PROTO_STATE_DET_NMEA; |
zhjcpi | 12:5fb829ce6b82 | 341 | baudRate = BAUDRATE_NMEA; |
zhjcpi | 0:aba381fc8158 | 342 | CSR_LOG_INFO("Checking OSP protocol failed, now check NMEA protocol...\r\n"); |
zhjcpi | 0:aba381fc8158 | 343 | _CsrLocUartInit(); |
zhjcpi | 12:5fb829ce6b82 | 344 | } else { |
zhjcpi | 12:5fb829ce6b82 | 345 | protoState = PROTO_STATE_DET_INVALID; |
zhjcpi | 0:aba381fc8158 | 346 | CSR_LOG_INFO("Checking switched OSP protocol failed.\r\n"); |
zhjcpi | 12:5fb829ce6b82 | 347 | eventHandler(CSR_LOC_EVENT_START_RESULT, 1); |
zhjcpi | 0:aba381fc8158 | 348 | } |
zhjcpi | 0:aba381fc8158 | 349 | } |
zhjcpi | 0:aba381fc8158 | 350 | } |
zhjcpi | 0:aba381fc8158 | 351 | |
zhjcpi | 12:5fb829ce6b82 | 352 | void CSRLocation::_CsrLocDetProtoNmeaTimeout(void) |
zhjcpi | 0:aba381fc8158 | 353 | { |
zhjcpi | 3:71690f7bb480 | 354 | CSR_LOG_INFO("Checking NMEA protocol failed\r\n"); |
zhjcpi | 3:71690f7bb480 | 355 | |
zhjcpi | 12:5fb829ce6b82 | 356 | if (proto == PROTO_NMEA) { |
zhjcpi | 3:71690f7bb480 | 357 | /* Failed to detect NMEA and try to detect OSP */ |
zhjcpi | 12:5fb829ce6b82 | 358 | serialLoc.attach(NULL); |
zhjcpi | 12:5fb829ce6b82 | 359 | if (protoState == PROTO_STATE_DET_NMEA) { |
zhjcpi | 12:5fb829ce6b82 | 360 | protoState = PROTO_STATE_DET_OSP; |
zhjcpi | 12:5fb829ce6b82 | 361 | baudRate = BAUDRATE_OSP; |
zhjcpi | 3:71690f7bb480 | 362 | CSR_LOG_INFO("Checking NMEA protocol failed, now check OSP protocol...\r\n"); |
zhjcpi | 3:71690f7bb480 | 363 | _CsrLocUartInit(); |
zhjcpi | 12:5fb829ce6b82 | 364 | } else { |
zhjcpi | 12:5fb829ce6b82 | 365 | protoState = PROTO_STATE_DET_INVALID; |
zhjcpi | 12:5fb829ce6b82 | 366 | CSR_LOG_INFO("Checking switched NMEA protocol failed.\r\n"); |
zhjcpi | 12:5fb829ce6b82 | 367 | // eventHandler(CSR_LOC_EVENT_START_RESULT, 1); |
zhjcpi | 3:71690f7bb480 | 368 | } |
zhjcpi | 12:5fb829ce6b82 | 369 | } else { |
zhjcpi | 12:5fb829ce6b82 | 370 | /* Failed to detect NEMA */ |
zhjcpi | 12:5fb829ce6b82 | 371 | serialLoc.attach(NULL); |
zhjcpi | 12:5fb829ce6b82 | 372 | protoState = PROTO_STATE_DET_INVALID; |
zhjcpi | 12:5fb829ce6b82 | 373 | baudRate = BAUDRATE_OSP; |
zhjcpi | 12:5fb829ce6b82 | 374 | CSR_LOG_INFO("Checking NMEA failed.\r\n"); |
zhjcpi | 12:5fb829ce6b82 | 375 | eventHandler(CSR_LOC_EVENT_START_RESULT, 1); |
zhjcpi | 3:71690f7bb480 | 376 | } |
zhjcpi | 12:5fb829ce6b82 | 377 | } |
zhjcpi | 12:5fb829ce6b82 | 378 | |
zhjcpi | 12:5fb829ce6b82 | 379 | void CSRLocation::_CsrLocProcessRawNmeaStream(uint8_t data) |
zhjcpi | 12:5fb829ce6b82 | 380 | { |
zhjcpi | 12:5fb829ce6b82 | 381 | switch (protoDetState) { |
zhjcpi | 12:5fb829ce6b82 | 382 | case STATE_START1: |
zhjcpi | 12:5fb829ce6b82 | 383 | if (NMEA_MSG_HEAD0 == data) { |
zhjcpi | 12:5fb829ce6b82 | 384 | protoDetState = STATE_START2; |
zhjcpi | 12:5fb829ce6b82 | 385 | } |
zhjcpi | 12:5fb829ce6b82 | 386 | break; |
zhjcpi | 12:5fb829ce6b82 | 387 | |
zhjcpi | 12:5fb829ce6b82 | 388 | case STATE_START2: |
zhjcpi | 12:5fb829ce6b82 | 389 | if (NMEA_MSG_HEAD1 == data) { |
zhjcpi | 12:5fb829ce6b82 | 390 | protoDetState = STATE_END1; |
zhjcpi | 12:5fb829ce6b82 | 391 | decodeIndex = 0; |
zhjcpi | 12:5fb829ce6b82 | 392 | serialPkt[decodeIndex++] = data; |
zhjcpi | 12:5fb829ce6b82 | 393 | } else if (NMEA_MSG_HEAD0 == data) { |
zhjcpi | 12:5fb829ce6b82 | 394 | protoDetState = STATE_START2; |
zhjcpi | 12:5fb829ce6b82 | 395 | } else { |
zhjcpi | 12:5fb829ce6b82 | 396 | protoDetState = STATE_START1; |
zhjcpi | 12:5fb829ce6b82 | 397 | } |
zhjcpi | 12:5fb829ce6b82 | 398 | break; |
zhjcpi | 12:5fb829ce6b82 | 399 | |
zhjcpi | 12:5fb829ce6b82 | 400 | case STATE_END1: |
zhjcpi | 12:5fb829ce6b82 | 401 | if (NMEA_MSG_TAIL0 == data) { |
zhjcpi | 12:5fb829ce6b82 | 402 | pTimeoutChk->detach(); |
zhjcpi | 12:5fb829ce6b82 | 403 | bTimeoutFlag = false; |
zhjcpi | 12:5fb829ce6b82 | 404 | if (proto == PROTO_NMEA) { |
zhjcpi | 12:5fb829ce6b82 | 405 | protoDetState = STATE_START1; |
zhjcpi | 12:5fb829ce6b82 | 406 | if ((protoState == PROTO_STATE_DET_NMEA) || (protoState == PROTO_STATE_DET_NMEA_FROM_OSP)) { |
zhjcpi | 12:5fb829ce6b82 | 407 | CSR_LOG_INFO("Checking NMEA protocol OK.\r\n"); |
zhjcpi | 12:5fb829ce6b82 | 408 | protoState = PROTO_STATE_DET_OK; |
zhjcpi | 12:5fb829ce6b82 | 409 | eventHandler(CSR_LOC_EVENT_START_RESULT, 0); |
zhjcpi | 12:5fb829ce6b82 | 410 | } |
zhjcpi | 12:5fb829ce6b82 | 411 | |
zhjcpi | 12:5fb829ce6b82 | 412 | serialPkt[decodeIndex++] = '\0'; |
zhjcpi | 12:5fb829ce6b82 | 413 | _CsrLocProcessRawNmeaPkt(); |
zhjcpi | 12:5fb829ce6b82 | 414 | } else { |
zhjcpi | 12:5fb829ce6b82 | 415 | serialLoc.attach(NULL); |
zhjcpi | 12:5fb829ce6b82 | 416 | |
zhjcpi | 12:5fb829ce6b82 | 417 | CSR_LOG_INFO("Checking NMEA protocol OK, switching to OSP...\r\n"); |
zhjcpi | 12:5fb829ce6b82 | 418 | _CsrLocSendData(SEND_DATA_TYPE_NMEA_SWITCH2OSP_REQ); |
zhjcpi | 12:5fb829ce6b82 | 419 | wait_ms(100); |
zhjcpi | 12:5fb829ce6b82 | 420 | protoState = PROTO_STATE_DET_OSP_FROM_NMEA; |
zhjcpi | 12:5fb829ce6b82 | 421 | baudRate = BAUDRATE_OSP; |
zhjcpi | 12:5fb829ce6b82 | 422 | CSR_LOG_INFO("Checking switched OSP protocol...\r\n"); |
zhjcpi | 12:5fb829ce6b82 | 423 | _CsrLocUartInit(); |
zhjcpi | 12:5fb829ce6b82 | 424 | } |
zhjcpi | 12:5fb829ce6b82 | 425 | } else if (NMEA_MSG_HEAD0 == data) { |
zhjcpi | 12:5fb829ce6b82 | 426 | protoDetState = STATE_START2; |
zhjcpi | 12:5fb829ce6b82 | 427 | } else { |
zhjcpi | 12:5fb829ce6b82 | 428 | if (decodeIndex < (MAX_SERIAL_PKT_LEN - 2)) { |
zhjcpi | 12:5fb829ce6b82 | 429 | serialPkt[decodeIndex++] = data; |
zhjcpi | 12:5fb829ce6b82 | 430 | } else { |
zhjcpi | 12:5fb829ce6b82 | 431 | protoDetState = STATE_START1; |
zhjcpi | 12:5fb829ce6b82 | 432 | } |
zhjcpi | 12:5fb829ce6b82 | 433 | } |
zhjcpi | 12:5fb829ce6b82 | 434 | break; |
zhjcpi | 12:5fb829ce6b82 | 435 | |
zhjcpi | 12:5fb829ce6b82 | 436 | default: |
zhjcpi | 12:5fb829ce6b82 | 437 | break; |
zhjcpi | 0:aba381fc8158 | 438 | } |
zhjcpi | 3:71690f7bb480 | 439 | } |
zhjcpi | 0:aba381fc8158 | 440 | |
zhjcpi | 12:5fb829ce6b82 | 441 | void CSRLocation::_CsrLocProcessRawOspStream(uint8_t data) |
zhjcpi | 3:71690f7bb480 | 442 | { |
zhjcpi | 12:5fb829ce6b82 | 443 | switch (protoDetState) { |
zhjcpi | 12:5fb829ce6b82 | 444 | case STATE_START1: |
zhjcpi | 12:5fb829ce6b82 | 445 | if (OSP_MSG_HEAD0 == data) { |
zhjcpi | 12:5fb829ce6b82 | 446 | protoDetState = STATE_START2; |
zhjcpi | 12:5fb829ce6b82 | 447 | } |
zhjcpi | 12:5fb829ce6b82 | 448 | break; |
zhjcpi | 12:5fb829ce6b82 | 449 | |
zhjcpi | 12:5fb829ce6b82 | 450 | case STATE_START2: |
zhjcpi | 12:5fb829ce6b82 | 451 | if (OSP_MSG_HEAD1 == data) { |
zhjcpi | 12:5fb829ce6b82 | 452 | protoDetState = STATE_SIZE1; |
zhjcpi | 12:5fb829ce6b82 | 453 | } else if (OSP_MSG_HEAD0 == data) { |
zhjcpi | 12:5fb829ce6b82 | 454 | protoDetState = STATE_START2; |
zhjcpi | 12:5fb829ce6b82 | 455 | } else { |
zhjcpi | 12:5fb829ce6b82 | 456 | protoDetState = STATE_START1; |
zhjcpi | 12:5fb829ce6b82 | 457 | } |
zhjcpi | 12:5fb829ce6b82 | 458 | break; |
zhjcpi | 12:5fb829ce6b82 | 459 | |
zhjcpi | 12:5fb829ce6b82 | 460 | case STATE_SIZE1: |
zhjcpi | 12:5fb829ce6b82 | 461 | msgSize = data; |
zhjcpi | 12:5fb829ce6b82 | 462 | msgSize <<= 8; /* high uint8_t */ |
zhjcpi | 12:5fb829ce6b82 | 463 | protoDetState = STATE_SIZE2; |
zhjcpi | 12:5fb829ce6b82 | 464 | break; |
zhjcpi | 12:5fb829ce6b82 | 465 | |
zhjcpi | 12:5fb829ce6b82 | 466 | case STATE_SIZE2: |
zhjcpi | 12:5fb829ce6b82 | 467 | msgSize += data; |
zhjcpi | 12:5fb829ce6b82 | 468 | if ((MAX_SERIAL_PKT_LEN < msgSize) || (0 == msgSize)) { |
zhjcpi | 12:5fb829ce6b82 | 469 | if (OSP_MSG_HEAD0 == data) { |
zhjcpi | 12:5fb829ce6b82 | 470 | protoDetState = STATE_START2; |
zhjcpi | 12:5fb829ce6b82 | 471 | } else { |
zhjcpi | 12:5fb829ce6b82 | 472 | protoDetState = STATE_START1; |
zhjcpi | 12:5fb829ce6b82 | 473 | } |
zhjcpi | 12:5fb829ce6b82 | 474 | } else { |
zhjcpi | 12:5fb829ce6b82 | 475 | computedCheckSum = 0; |
zhjcpi | 12:5fb829ce6b82 | 476 | decodeIndex = 0; |
zhjcpi | 12:5fb829ce6b82 | 477 | protoDetState = STATE_PAYLOAD; |
zhjcpi | 12:5fb829ce6b82 | 478 | } |
zhjcpi | 12:5fb829ce6b82 | 479 | break; |
zhjcpi | 12:5fb829ce6b82 | 480 | |
zhjcpi | 12:5fb829ce6b82 | 481 | case STATE_PAYLOAD: |
zhjcpi | 12:5fb829ce6b82 | 482 | /* check for a catastrophic error case */ |
zhjcpi | 12:5fb829ce6b82 | 483 | if (MAX_SERIAL_PKT_LEN <= decodeIndex) { |
zhjcpi | 12:5fb829ce6b82 | 484 | /* This is really bad. And should never happen since we |
zhjcpi | 12:5fb829ce6b82 | 485 | * gurantee that msgSize is always less than RECEIVE_PACKET_SIZE |
zhjcpi | 12:5fb829ce6b82 | 486 | * Change the state back to STATE_START1 and start over */ |
zhjcpi | 12:5fb829ce6b82 | 487 | if (OSP_MSG_HEAD0 == data) { |
zhjcpi | 12:5fb829ce6b82 | 488 | protoDetState = STATE_START2; |
zhjcpi | 12:5fb829ce6b82 | 489 | } else { |
zhjcpi | 12:5fb829ce6b82 | 490 | protoDetState = STATE_START1; |
zhjcpi | 12:5fb829ce6b82 | 491 | } |
zhjcpi | 12:5fb829ce6b82 | 492 | break; |
zhjcpi | 12:5fb829ce6b82 | 493 | } |
zhjcpi | 12:5fb829ce6b82 | 494 | /* Store the byte */ |
zhjcpi | 12:5fb829ce6b82 | 495 | serialPkt[decodeIndex++] = data; |
zhjcpi | 12:5fb829ce6b82 | 496 | computedCheckSum += data; |
zhjcpi | 12:5fb829ce6b82 | 497 | |
zhjcpi | 12:5fb829ce6b82 | 498 | /* Check to see if we've read the full payload */ |
zhjcpi | 12:5fb829ce6b82 | 499 | if (0 == (--msgSize)) { |
zhjcpi | 12:5fb829ce6b82 | 500 | computedCheckSum &= 0x7FFF; |
zhjcpi | 12:5fb829ce6b82 | 501 | protoDetState = STATE_CHECKSUM1; |
zhjcpi | 12:5fb829ce6b82 | 502 | } |
zhjcpi | 12:5fb829ce6b82 | 503 | break; |
zhjcpi | 0:aba381fc8158 | 504 | |
zhjcpi | 12:5fb829ce6b82 | 505 | case STATE_CHECKSUM1: |
zhjcpi | 12:5fb829ce6b82 | 506 | checksum = data; |
zhjcpi | 12:5fb829ce6b82 | 507 | checksum <<= 8; |
zhjcpi | 12:5fb829ce6b82 | 508 | protoDetState = STATE_CHECKSUM2; |
zhjcpi | 12:5fb829ce6b82 | 509 | break; |
zhjcpi | 12:5fb829ce6b82 | 510 | |
zhjcpi | 12:5fb829ce6b82 | 511 | case STATE_CHECKSUM2: |
zhjcpi | 12:5fb829ce6b82 | 512 | checksum += data; |
zhjcpi | 12:5fb829ce6b82 | 513 | if (computedCheckSum != checksum) { |
zhjcpi | 12:5fb829ce6b82 | 514 | if (OSP_MSG_HEAD0 == data) { |
zhjcpi | 12:5fb829ce6b82 | 515 | protoDetState = STATE_START2; |
zhjcpi | 12:5fb829ce6b82 | 516 | } else { |
zhjcpi | 12:5fb829ce6b82 | 517 | protoDetState = STATE_START1; |
zhjcpi | 3:71690f7bb480 | 518 | } |
zhjcpi | 12:5fb829ce6b82 | 519 | } else { |
zhjcpi | 12:5fb829ce6b82 | 520 | protoDetState = STATE_END1; |
zhjcpi | 12:5fb829ce6b82 | 521 | } |
zhjcpi | 12:5fb829ce6b82 | 522 | break; |
zhjcpi | 12:5fb829ce6b82 | 523 | |
zhjcpi | 12:5fb829ce6b82 | 524 | case STATE_END1: |
zhjcpi | 12:5fb829ce6b82 | 525 | if (OSP_MSG_TAIL0 == data) { |
zhjcpi | 12:5fb829ce6b82 | 526 | protoDetState = STATE_END2; |
zhjcpi | 12:5fb829ce6b82 | 527 | } else { |
zhjcpi | 12:5fb829ce6b82 | 528 | if (OSP_MSG_HEAD0 == data) { |
zhjcpi | 12:5fb829ce6b82 | 529 | protoDetState = STATE_START2; |
zhjcpi | 12:5fb829ce6b82 | 530 | } else { |
zhjcpi | 12:5fb829ce6b82 | 531 | protoDetState = STATE_START1; |
zhjcpi | 12:5fb829ce6b82 | 532 | } |
zhjcpi | 12:5fb829ce6b82 | 533 | } |
zhjcpi | 12:5fb829ce6b82 | 534 | break; |
zhjcpi | 0:aba381fc8158 | 535 | |
zhjcpi | 12:5fb829ce6b82 | 536 | case STATE_END2: |
zhjcpi | 12:5fb829ce6b82 | 537 | if (OSP_MSG_TAIL1 == data) { |
zhjcpi | 12:5fb829ce6b82 | 538 | pTimeoutChk->detach(); |
zhjcpi | 12:5fb829ce6b82 | 539 | bTimeoutFlag = false; |
zhjcpi | 12:5fb829ce6b82 | 540 | protoDetState = STATE_START1; |
zhjcpi | 12:5fb829ce6b82 | 541 | |
zhjcpi | 12:5fb829ce6b82 | 542 | if (proto == PROTO_NMEA) { |
zhjcpi | 12:5fb829ce6b82 | 543 | serialLoc.attach(NULL); |
zhjcpi | 12:5fb829ce6b82 | 544 | |
zhjcpi | 12:5fb829ce6b82 | 545 | CSR_LOG_INFO("Checking OSP protocol OK, switching to NMEA...\r\n"); |
zhjcpi | 12:5fb829ce6b82 | 546 | _CsrLocSendData(SEND_DATA_TYPE_OSP_SWITCH2NMEA_REQ); |
zhjcpi | 12:5fb829ce6b82 | 547 | wait_ms(100); |
zhjcpi | 12:5fb829ce6b82 | 548 | protoState = PROTO_STATE_DET_NMEA_FROM_OSP; |
zhjcpi | 12:5fb829ce6b82 | 549 | baudRate = BAUDRATE_NMEA; |
zhjcpi | 12:5fb829ce6b82 | 550 | CSR_LOG_INFO("Checking switched NMEA protocol...\r\n"); |
zhjcpi | 12:5fb829ce6b82 | 551 | _CsrLocUartInit(); |
zhjcpi | 12:5fb829ce6b82 | 552 | } else { |
zhjcpi | 12:5fb829ce6b82 | 553 | if ((protoState == PROTO_STATE_DET_OSP) || (protoState == PROTO_STATE_DET_OSP_FROM_NMEA)) { |
zhjcpi | 12:5fb829ce6b82 | 554 | CSR_LOG_INFO("Checking OSP protocol OK.\r\n"); |
zhjcpi | 12:5fb829ce6b82 | 555 | protoState = PROTO_STATE_DET_OK; |
zhjcpi | 12:5fb829ce6b82 | 556 | eventHandler(CSR_LOC_EVENT_START_RESULT, 0); |
zhjcpi | 12:5fb829ce6b82 | 557 | } |
zhjcpi | 12:5fb829ce6b82 | 558 | |
zhjcpi | 12:5fb829ce6b82 | 559 | _CsrLocProcessRawOspPkt(); |
zhjcpi | 12:5fb829ce6b82 | 560 | } |
zhjcpi | 12:5fb829ce6b82 | 561 | } else { |
zhjcpi | 12:5fb829ce6b82 | 562 | if (OSP_MSG_HEAD0 == data) { |
zhjcpi | 12:5fb829ce6b82 | 563 | protoDetState = STATE_START2; |
zhjcpi | 12:5fb829ce6b82 | 564 | } else { |
zhjcpi | 12:5fb829ce6b82 | 565 | protoDetState = STATE_START1; |
zhjcpi | 12:5fb829ce6b82 | 566 | } |
zhjcpi | 3:71690f7bb480 | 567 | } |
zhjcpi | 12:5fb829ce6b82 | 568 | break; |
zhjcpi | 12:5fb829ce6b82 | 569 | } /* switch. */ |
zhjcpi | 0:aba381fc8158 | 570 | } |
zhjcpi | 0:aba381fc8158 | 571 | |
zhjcpi | 12:5fb829ce6b82 | 572 | void CSRLocation::_CsrLocProcessRawNmeaPkt(void) |
zhjcpi | 0:aba381fc8158 | 573 | { |
zhjcpi | 12:5fb829ce6b82 | 574 | /* report NMEA */ |
zhjcpi | 12:5fb829ce6b82 | 575 | outputHandler(LOC_OUTPUT_NMEA, serialPkt, strlen((char *)serialPkt)); |
zhjcpi | 0:aba381fc8158 | 576 | |
zhjcpi | 12:5fb829ce6b82 | 577 | #if 0 |
zhjcpi | 3:71690f7bb480 | 578 | tLocPosResp pos; |
zhjcpi | 3:71690f7bb480 | 579 | const char *pNmeaGga = "GPGGA"; |
zhjcpi | 3:71690f7bb480 | 580 | float deg, min; |
zhjcpi | 12:5fb829ce6b82 | 581 | char ns, ew; |
zhjcpi | 12:5fb829ce6b82 | 582 | int svUsed; |
zhjcpi | 12:5fb829ce6b82 | 583 | float horDop; |
zhjcpi | 3:71690f7bb480 | 584 | int valid; |
zhjcpi | 3:71690f7bb480 | 585 | int i, cnt; |
zhjcpi | 3:71690f7bb480 | 586 | |
zhjcpi | 12:5fb829ce6b82 | 587 | if (strncmp((char *)serialPkt, pNmeaGga, strlen(pNmeaGga)) == 0) { |
zhjcpi | 3:71690f7bb480 | 588 | cnt = 0; |
zhjcpi | 12:5fb829ce6b82 | 589 | for (i = 0; i < (int)strlen((char *)serialPkt); i++) { |
zhjcpi | 12:5fb829ce6b82 | 590 | if (serialPkt[i] == ',') { |
zhjcpi | 3:71690f7bb480 | 591 | cnt++; |
zhjcpi | 12:5fb829ce6b82 | 592 | if (cnt == 6) { |
zhjcpi | 3:71690f7bb480 | 593 | break; |
zhjcpi | 3:71690f7bb480 | 594 | } |
zhjcpi | 3:71690f7bb480 | 595 | } |
zhjcpi | 3:71690f7bb480 | 596 | } |
zhjcpi | 12:5fb829ce6b82 | 597 | if (cnt != 6) { |
zhjcpi | 3:71690f7bb480 | 598 | return; |
zhjcpi | 3:71690f7bb480 | 599 | } |
zhjcpi | 3:71690f7bb480 | 600 | i++; |
zhjcpi | 12:5fb829ce6b82 | 601 | sscanf((char *)(&serialPkt[i]), "%d,", &valid); |
zhjcpi | 12:5fb829ce6b82 | 602 | if (valid == 0) { |
zhjcpi | 3:71690f7bb480 | 603 | return; |
zhjcpi | 3:71690f7bb480 | 604 | } |
rgrover1 | 13:1d2f2dccc4ee | 605 | |
zhjcpi | 3:71690f7bb480 | 606 | /* Parse GPGGA and output position information */ |
zhjcpi | 3:71690f7bb480 | 607 | memset(&pos, 0, sizeof(tLocPosResp)); |
zhjcpi | 12:5fb829ce6b82 | 608 | if (sscanf((char *)serialPkt, "GPGGA,%f,%lf,%c,%lf,%c,%d,%d,%f,%lf", &pos.u.utcTime, &pos.lat, &ns, &pos.lon, &ew, &valid, &svUsed, &horDop, |
zhjcpi | 12:5fb829ce6b82 | 609 | &pos.alt) >= 1) { |
zhjcpi | 12:5fb829ce6b82 | 610 | if (ns == 'S') { |
zhjcpi | 12:5fb829ce6b82 | 611 | pos.lat *= -1.0; |
zhjcpi | 12:5fb829ce6b82 | 612 | } |
zhjcpi | 12:5fb829ce6b82 | 613 | if (ew == 'W') { |
zhjcpi | 12:5fb829ce6b82 | 614 | pos.lon *= -1.0; |
zhjcpi | 12:5fb829ce6b82 | 615 | } |
zhjcpi | 12:5fb829ce6b82 | 616 | deg = (float)(static_cast<int>(pos.lat * 0.01f)); |
zhjcpi | 12:5fb829ce6b82 | 617 | min = pos.lat - (deg * 100.0f); |
zhjcpi | 12:5fb829ce6b82 | 618 | pos.lat = deg + min / 60.0f; |
zhjcpi | 12:5fb829ce6b82 | 619 | deg = (float)(static_cast<int>(pos.lon * 0.01f)); |
zhjcpi | 12:5fb829ce6b82 | 620 | min = pos.lon - (deg * 100.0f); |
zhjcpi | 12:5fb829ce6b82 | 621 | pos.lon = deg + min / 60.0f; |
zhjcpi | 3:71690f7bb480 | 622 | |
zhjcpi | 12:5fb829ce6b82 | 623 | outputHandler(LOC_OUTPUT_LOCATION, &pos, sizeof(tLocPosResp)); |
zhjcpi | 3:71690f7bb480 | 624 | } |
zhjcpi | 3:71690f7bb480 | 625 | } |
zhjcpi | 12:5fb829ce6b82 | 626 | #endif |
zhjcpi | 3:71690f7bb480 | 627 | } |
zhjcpi | 3:71690f7bb480 | 628 | |
zhjcpi | 12:5fb829ce6b82 | 629 | void CSRLocation::_CsrLocProcessRawOspPkt(void) |
zhjcpi | 0:aba381fc8158 | 630 | { |
zhjcpi | 12:5fb829ce6b82 | 631 | tOspMsg *pOspMsg; |
zhjcpi | 12:5fb829ce6b82 | 632 | uint32_t msgSize; |
zhjcpi | 12:5fb829ce6b82 | 633 | CsrResult result; |
zhjcpi | 12:5fb829ce6b82 | 634 | |
zhjcpi | 12:5fb829ce6b82 | 635 | static uint8_t buffer[256]; |
zhjcpi | 12:5fb829ce6b82 | 636 | static unsigned maxMessageSize = 0; |
zhjcpi | 12:5fb829ce6b82 | 637 | |
zhjcpi | 0:aba381fc8158 | 638 | msgSize = _CsrLocCalcMsgSize(); |
zhjcpi | 12:5fb829ce6b82 | 639 | if (msgSize > 0) { |
zhjcpi | 0:aba381fc8158 | 640 | msgSize += sizeof(tOspMsg); |
zhjcpi | 12:5fb829ce6b82 | 641 | if (msgSize > maxMessageSize) { |
zhjcpi | 12:5fb829ce6b82 | 642 | maxMessageSize = msgSize; |
zhjcpi | 12:5fb829ce6b82 | 643 | CSR_LOG_INFO("max message size %u\r\n", maxMessageSize); |
zhjcpi | 0:aba381fc8158 | 644 | } |
zhjcpi | 12:5fb829ce6b82 | 645 | pOspMsg = (tOspMsg *)buffer; |
zhjcpi | 12:5fb829ce6b82 | 646 | memset(pOspMsg, 0, msgSize); |
zhjcpi | 12:5fb829ce6b82 | 647 | } else { |
zhjcpi | 0:aba381fc8158 | 648 | /* discard the unprocessed message */ |
zhjcpi | 0:aba381fc8158 | 649 | return; |
zhjcpi | 0:aba381fc8158 | 650 | } |
zhjcpi | 0:aba381fc8158 | 651 | |
zhjcpi | 12:5fb829ce6b82 | 652 | result = _CsrLocDecodeOspPkt(serialPkt, decodeIndex, &pOspMsg->msgId, pOspMsg->payload, &pOspMsg->length); |
zhjcpi | 12:5fb829ce6b82 | 653 | if (CSR_RESULT_SUCCESS == result) { |
zhjcpi | 12:5fb829ce6b82 | 654 | _CsrLocProcessOspPkt(pOspMsg); |
zhjcpi | 0:aba381fc8158 | 655 | } |
zhjcpi | 0:aba381fc8158 | 656 | } |
zhjcpi | 0:aba381fc8158 | 657 | |
zhjcpi | 12:5fb829ce6b82 | 658 | uint32_t CSRLocation::_CsrLocCalcMsgSize(void) |
zhjcpi | 0:aba381fc8158 | 659 | { |
zhjcpi | 12:5fb829ce6b82 | 660 | uint8_t *ptr = serialPkt; |
zhjcpi | 12:5fb829ce6b82 | 661 | uint32_t msgSize = 0; |
zhjcpi | 12:5fb829ce6b82 | 662 | uint32_t msgId; |
zhjcpi | 12:5fb829ce6b82 | 663 | uint8_t mid, sid = 0; |
zhjcpi | 0:aba381fc8158 | 664 | |
zhjcpi | 0:aba381fc8158 | 665 | mid = BINARY_IMPORT_UINT8(ptr); |
zhjcpi | 12:5fb829ce6b82 | 666 | msgId = OSP_MAKE_MSG_ID(mid, sid); |
zhjcpi | 0:aba381fc8158 | 667 | |
zhjcpi | 12:5fb829ce6b82 | 668 | if ((OSP_MSG_PWR_MODE_RSP == msgId) || (OSP_MSG_MULTI_CONSTELLATION == msgId)) { |
zhjcpi | 12:5fb829ce6b82 | 669 | /* add the sub-id to the message id */ |
zhjcpi | 0:aba381fc8158 | 670 | sid = BINARY_IMPORT_UINT8(ptr); |
zhjcpi | 12:5fb829ce6b82 | 671 | msgId = OSP_MAKE_MSG_ID(mid, sid); |
zhjcpi | 0:aba381fc8158 | 672 | } |
zhjcpi | 0:aba381fc8158 | 673 | |
zhjcpi | 12:5fb829ce6b82 | 674 | switch (msgId) { |
zhjcpi | 12:5fb829ce6b82 | 675 | case OSP_MSG_OK_TO_SEND: |
zhjcpi | 12:5fb829ce6b82 | 676 | case OSP_MSG_PWR_MODE_FPM_RSP: |
zhjcpi | 12:5fb829ce6b82 | 677 | case OSP_MSG_PWR_MODE_LPM_RSP: |
zhjcpi | 12:5fb829ce6b82 | 678 | case OSP_MSG_HW_CONFIG_REQ: |
zhjcpi | 12:5fb829ce6b82 | 679 | msgSize = sizeof(uint8_t); |
zhjcpi | 12:5fb829ce6b82 | 680 | break; |
zhjcpi | 12:5fb829ce6b82 | 681 | case OSP_MSG_SW_VERSION: |
zhjcpi | 12:5fb829ce6b82 | 682 | msgSize = MAX_VERSION_LENGTH; |
zhjcpi | 12:5fb829ce6b82 | 683 | break; |
zhjcpi | 12:5fb829ce6b82 | 684 | case OSP_MSG_GEODETIC_NAVIGATION: |
zhjcpi | 12:5fb829ce6b82 | 685 | msgSize = sizeof(tLocPosResp); |
zhjcpi | 12:5fb829ce6b82 | 686 | break; |
zhjcpi | 12:5fb829ce6b82 | 687 | case OSP_MSG_GNSS_SAT_DATA: |
zhjcpi | 12:5fb829ce6b82 | 688 | msgSize = sizeof(uint8_t); |
zhjcpi | 12:5fb829ce6b82 | 689 | break; |
zhjcpi | 12:5fb829ce6b82 | 690 | case OSP_MSG_GNSS_NAV_DATA: |
zhjcpi | 12:5fb829ce6b82 | 691 | msgSize = sizeof(uint8_t); |
zhjcpi | 12:5fb829ce6b82 | 692 | break; |
zhjcpi | 0:aba381fc8158 | 693 | |
zhjcpi | 12:5fb829ce6b82 | 694 | default: |
zhjcpi | 12:5fb829ce6b82 | 695 | msgSize = 0; |
zhjcpi | 12:5fb829ce6b82 | 696 | break; |
zhjcpi | 12:5fb829ce6b82 | 697 | } |
zhjcpi | 0:aba381fc8158 | 698 | |
zhjcpi | 0:aba381fc8158 | 699 | return msgSize; |
zhjcpi | 0:aba381fc8158 | 700 | } |
zhjcpi | 0:aba381fc8158 | 701 | |
zhjcpi | 12:5fb829ce6b82 | 702 | CsrResult CSRLocation::_CsrLocDecodeOspPkt(uint8_t *pPayload, uint32_t payloadLen, uint32_t *pMsgId, void *pMsgData, uint32_t *pMsgLen) |
zhjcpi | 0:aba381fc8158 | 703 | { |
zhjcpi | 0:aba381fc8158 | 704 | CsrResult tRet = CSR_RESULT_SUCCESS; |
zhjcpi | 12:5fb829ce6b82 | 705 | uint8_t *ptr = pPayload; |
zhjcpi | 12:5fb829ce6b82 | 706 | uint32_t i; |
zhjcpi | 12:5fb829ce6b82 | 707 | uint8_t mid, sid = 0; |
zhjcpi | 0:aba381fc8158 | 708 | |
zhjcpi | 12:5fb829ce6b82 | 709 | mid = BINARY_IMPORT_UINT8(ptr); |
zhjcpi | 12:5fb829ce6b82 | 710 | *pMsgId = OSP_MAKE_MSG_ID(mid, sid); |
zhjcpi | 12:5fb829ce6b82 | 711 | *pMsgLen = 0; |
zhjcpi | 0:aba381fc8158 | 712 | |
zhjcpi | 0:aba381fc8158 | 713 | /* add the sub-id to the message id */ |
zhjcpi | 12:5fb829ce6b82 | 714 | if ((OSP_MSG_PWR_MODE_RSP == *pMsgId) || (OSP_MSG_MULTI_CONSTELLATION == *pMsgId)) { |
zhjcpi | 0:aba381fc8158 | 715 | sid = BINARY_IMPORT_UINT8(ptr); |
zhjcpi | 12:5fb829ce6b82 | 716 | *pMsgId = OSP_MAKE_MSG_ID(mid, sid); |
zhjcpi | 0:aba381fc8158 | 717 | } |
zhjcpi | 0:aba381fc8158 | 718 | |
zhjcpi | 12:5fb829ce6b82 | 719 | switch (*pMsgId) { |
zhjcpi | 12:5fb829ce6b82 | 720 | case OSP_MSG_SW_VERSION: /* 0x06 */ |
zhjcpi | 12:5fb829ce6b82 | 721 | *pMsgLen = BINARY_IMPORT_UINT8(ptr); |
zhjcpi | 12:5fb829ce6b82 | 722 | ptr++; |
zhjcpi | 12:5fb829ce6b82 | 723 | if (*pMsgLen >= MAX_VERSION_LENGTH) { |
zhjcpi | 12:5fb829ce6b82 | 724 | tRet = CSR_RESULT_FAILURE; |
zhjcpi | 12:5fb829ce6b82 | 725 | } else { |
zhjcpi | 12:5fb829ce6b82 | 726 | memcpy(pMsgData, ptr, *pMsgLen); |
zhjcpi | 12:5fb829ce6b82 | 727 | } |
zhjcpi | 12:5fb829ce6b82 | 728 | break; |
zhjcpi | 12:5fb829ce6b82 | 729 | |
zhjcpi | 12:5fb829ce6b82 | 730 | case OSP_MSG_OK_TO_SEND: /* 0x12 */ |
zhjcpi | 12:5fb829ce6b82 | 731 | *((uint8_t *)pMsgData) = BINARY_IMPORT_UINT8(ptr); |
zhjcpi | 12:5fb829ce6b82 | 732 | *pMsgLen = sizeof(uint8_t); |
zhjcpi | 12:5fb829ce6b82 | 733 | break; |
zhjcpi | 0:aba381fc8158 | 734 | |
zhjcpi | 12:5fb829ce6b82 | 735 | case OSP_MSG_GEODETIC_NAVIGATION: /* 0x29 */ |
zhjcpi | 12:5fb829ce6b82 | 736 | { |
zhjcpi | 12:5fb829ce6b82 | 737 | tLocPosResp *pPos = (tLocPosResp *) pMsgData; |
zhjcpi | 12:5fb829ce6b82 | 738 | uint16_t valid; |
zhjcpi | 12:5fb829ce6b82 | 739 | |
zhjcpi | 12:5fb829ce6b82 | 740 | valid = BINARY_IMPORT_UINT16(ptr); |
zhjcpi | 12:5fb829ce6b82 | 741 | if (valid != 0) { |
zhjcpi | 12:5fb829ce6b82 | 742 | tRet = CSR_RESULT_FAILURE; |
zhjcpi | 12:5fb829ce6b82 | 743 | } else { |
zhjcpi | 12:5fb829ce6b82 | 744 | *pMsgLen = sizeof(*pPos); |
zhjcpi | 0:aba381fc8158 | 745 | |
zhjcpi | 12:5fb829ce6b82 | 746 | ptr += 2; |
zhjcpi | 12:5fb829ce6b82 | 747 | pPos->u.gpsTime.gps_week = BINARY_IMPORT_UINT16(ptr); |
zhjcpi | 12:5fb829ce6b82 | 748 | pPos->u.gpsTime.tow = BINARY_IMPORT_UINT32(ptr); |
zhjcpi | 12:5fb829ce6b82 | 749 | ptr += 12; |
zhjcpi | 12:5fb829ce6b82 | 750 | pPos->lat = (double)BINARY_IMPORT_SINT32(ptr); |
zhjcpi | 12:5fb829ce6b82 | 751 | pPos->lat *= 1e-7; |
zhjcpi | 12:5fb829ce6b82 | 752 | pPos->lon = (double)BINARY_IMPORT_SINT32(ptr); |
zhjcpi | 12:5fb829ce6b82 | 753 | pPos->lon *= 1e-7; |
zhjcpi | 12:5fb829ce6b82 | 754 | ptr += 4; |
zhjcpi | 12:5fb829ce6b82 | 755 | pPos->alt = (double)BINARY_IMPORT_SINT32(ptr); |
zhjcpi | 12:5fb829ce6b82 | 756 | pPos->alt *= 1e-2; |
zhjcpi | 12:5fb829ce6b82 | 757 | } |
zhjcpi | 12:5fb829ce6b82 | 758 | break; |
zhjcpi | 0:aba381fc8158 | 759 | } |
zhjcpi | 12:5fb829ce6b82 | 760 | |
zhjcpi | 12:5fb829ce6b82 | 761 | case OSP_MSG_GNSS_NAV_DATA: /* 0x43, 0x01 */ |
zhjcpi | 0:aba381fc8158 | 762 | { |
zhjcpi | 12:5fb829ce6b82 | 763 | tLocSvStatus *pSvStatus = &svStatus; |
zhjcpi | 12:5fb829ce6b82 | 764 | |
zhjcpi | 12:5fb829ce6b82 | 765 | *pMsgLen = sizeof(*pSvStatus); |
zhjcpi | 0:aba381fc8158 | 766 | |
zhjcpi | 12:5fb829ce6b82 | 767 | ptr += 100; |
zhjcpi | 12:5fb829ce6b82 | 768 | pSvStatus->svUsedInFixMask = BINARY_IMPORT_UINT32(ptr); |
zhjcpi | 12:5fb829ce6b82 | 769 | pSvStatus->sbasSvUsedInFixMask = BINARY_IMPORT_UINT32(ptr); |
zhjcpi | 12:5fb829ce6b82 | 770 | pSvStatus->gloSvUsedInFixMask = BINARY_IMPORT_UINT32(ptr); |
zhjcpi | 12:5fb829ce6b82 | 771 | pSvStatus->qzssSvUsedInFixMask = BINARY_IMPORT_UINT32(ptr); |
zhjcpi | 12:5fb829ce6b82 | 772 | break; |
zhjcpi | 0:aba381fc8158 | 773 | } |
zhjcpi | 0:aba381fc8158 | 774 | |
zhjcpi | 12:5fb829ce6b82 | 775 | case OSP_MSG_GNSS_SAT_DATA: /* 0x43, 0x10 */ |
zhjcpi | 0:aba381fc8158 | 776 | { |
zhjcpi | 12:5fb829ce6b82 | 777 | tLocSvStatus *pSvStatus = &svStatus; |
zhjcpi | 12:5fb829ce6b82 | 778 | uint16_t week; |
zhjcpi | 12:5fb829ce6b82 | 779 | uint32_t tow; |
zhjcpi | 12:5fb829ce6b82 | 780 | uint32_t towSubMs; |
zhjcpi | 12:5fb829ce6b82 | 781 | uint8_t info; |
zhjcpi | 12:5fb829ce6b82 | 782 | int32_t nMsg = 0; |
zhjcpi | 12:5fb829ce6b82 | 783 | uint16_t satInfo; |
zhjcpi | 12:5fb829ce6b82 | 784 | uint16_t az; |
zhjcpi | 12:5fb829ce6b82 | 785 | uint16_t el; |
zhjcpi | 12:5fb829ce6b82 | 786 | uint16_t cno; |
zhjcpi | 12:5fb829ce6b82 | 787 | uint8_t gnssType; |
zhjcpi | 12:5fb829ce6b82 | 788 | uint16_t index = 0; |
zhjcpi | 12:5fb829ce6b82 | 789 | |
zhjcpi | 12:5fb829ce6b82 | 790 | *pMsgLen = sizeof(*pSvStatus); |
zhjcpi | 12:5fb829ce6b82 | 791 | |
zhjcpi | 12:5fb829ce6b82 | 792 | week = BINARY_IMPORT_UINT16(ptr); |
zhjcpi | 12:5fb829ce6b82 | 793 | tow = BINARY_IMPORT_UINT32(ptr); |
zhjcpi | 12:5fb829ce6b82 | 794 | towSubMs = BINARY_IMPORT_UINT32(ptr); |
zhjcpi | 12:5fb829ce6b82 | 795 | ptr += 4; |
zhjcpi | 12:5fb829ce6b82 | 796 | info = BINARY_IMPORT_UINT8(ptr); |
zhjcpi | 12:5fb829ce6b82 | 797 | |
zhjcpi | 12:5fb829ce6b82 | 798 | nMsg = info & 0x0F; |
zhjcpi | 12:5fb829ce6b82 | 799 | if (nMsg == 1) { |
zhjcpi | 12:5fb829ce6b82 | 800 | memset(pSvStatus, 0, sizeof(tLocSvStatus)); |
zhjcpi | 12:5fb829ce6b82 | 801 | pSvStatus->gps_week = week; |
zhjcpi | 12:5fb829ce6b82 | 802 | pSvStatus->tow = tow; |
zhjcpi | 12:5fb829ce6b82 | 803 | pSvStatus->tow_sub_ms = towSubMs; |
zhjcpi | 0:aba381fc8158 | 804 | } |
zhjcpi | 12:5fb829ce6b82 | 805 | |
zhjcpi | 12:5fb829ce6b82 | 806 | ptr++; |
zhjcpi | 12:5fb829ce6b82 | 807 | for (i = 0; i < GNSS_SAT_DATA_NUM_OF_SATS; i++) { |
zhjcpi | 12:5fb829ce6b82 | 808 | satInfo = BINARY_IMPORT_UINT16(ptr); |
zhjcpi | 12:5fb829ce6b82 | 809 | az = BINARY_IMPORT_UINT16(ptr); |
zhjcpi | 12:5fb829ce6b82 | 810 | el = BINARY_IMPORT_UINT16(ptr); |
zhjcpi | 12:5fb829ce6b82 | 811 | cno = BINARY_IMPORT_UINT16(ptr); |
zhjcpi | 12:5fb829ce6b82 | 812 | ptr += 4; |
zhjcpi | 12:5fb829ce6b82 | 813 | |
zhjcpi | 12:5fb829ce6b82 | 814 | gnssType = (uint8_t)((satInfo >> 13) & 0x0003); |
zhjcpi | 12:5fb829ce6b82 | 815 | if ((0 == gnssType) || (1 == gnssType)) { // GPS, SBAS, QZSS |
zhjcpi | 12:5fb829ce6b82 | 816 | index = pSvStatus->numOfSVs; |
zhjcpi | 12:5fb829ce6b82 | 817 | if ((index < LOC_MAX_GNSS_SVS) && (cno >0)) { |
zhjcpi | 12:5fb829ce6b82 | 818 | pSvStatus->svList[index].prn = (uint8_t)(satInfo & 0xFF); |
zhjcpi | 12:5fb829ce6b82 | 819 | pSvStatus->svList[index].cno = (float)(cno / 10.0); // Scale: 10 |
zhjcpi | 12:5fb829ce6b82 | 820 | pSvStatus->svList[index].elevation = (float)(el / 10.0); // Scale: 10 |
zhjcpi | 12:5fb829ce6b82 | 821 | pSvStatus->svList[index].azimuth = (float)(az / 10.0); // Scale: 10 |
zhjcpi | 12:5fb829ce6b82 | 822 | pSvStatus->numOfSVs++; |
zhjcpi | 12:5fb829ce6b82 | 823 | pSvStatus->ephemerisMask |= 0x1 << (pSvStatus->svList[index].prn - 1); // prn range: 1-32 |
zhjcpi | 12:5fb829ce6b82 | 824 | } |
zhjcpi | 12:5fb829ce6b82 | 825 | } else if (2 == gnssType) { // GLONASS |
zhjcpi | 12:5fb829ce6b82 | 826 | index = pSvStatus->numOfGloSVs; |
zhjcpi | 12:5fb829ce6b82 | 827 | if ((index < CODEC_GLO_MAX_CHANNELS) && (cno>0)) { |
zhjcpi | 12:5fb829ce6b82 | 828 | int16_t freqChan = (satInfo & 0X1F00) >> 8; |
zhjcpi | 12:5fb829ce6b82 | 829 | int16_t slotNum = (satInfo & 0X00FF); |
zhjcpi | 12:5fb829ce6b82 | 830 | if (slotNum > 0) { |
zhjcpi | 12:5fb829ce6b82 | 831 | if (freqChan & 0X0010) { |
zhjcpi | 12:5fb829ce6b82 | 832 | freqChan |= 0xFFE0; |
zhjcpi | 12:5fb829ce6b82 | 833 | } |
zhjcpi | 12:5fb829ce6b82 | 834 | pSvStatus->gloSvList[index].prn = (uint8_t)(freqChan + LOC_GLO_FREQ_OFFSET); |
zhjcpi | 12:5fb829ce6b82 | 835 | pSvStatus->gloSvList[index].sno = (uint8_t)slotNum; |
zhjcpi | 12:5fb829ce6b82 | 836 | pSvStatus->gloSvList[index].cno = (float)(cno / 10.0); // Scale: 10 |
zhjcpi | 12:5fb829ce6b82 | 837 | pSvStatus->gloSvList[index].elevation = (float)(el / 10.0); // Scale: 10 |
zhjcpi | 12:5fb829ce6b82 | 838 | pSvStatus->gloSvList[index].azimuth = (float)(az / 10.0); // Scale: 10 |
zhjcpi | 12:5fb829ce6b82 | 839 | pSvStatus->numOfGloSVs++; |
zhjcpi | 12:5fb829ce6b82 | 840 | pSvStatus->gloEphemerisMask |= 0x1 << (pSvStatus->gloSvList[index].prn - LOC_GLO_FREQ_ID_START); |
zhjcpi | 0:aba381fc8158 | 841 | } |
zhjcpi | 0:aba381fc8158 | 842 | } |
zhjcpi | 0:aba381fc8158 | 843 | } |
zhjcpi | 0:aba381fc8158 | 844 | } |
zhjcpi | 12:5fb829ce6b82 | 845 | |
zhjcpi | 12:5fb829ce6b82 | 846 | break; |
zhjcpi | 0:aba381fc8158 | 847 | } |
zhjcpi | 0:aba381fc8158 | 848 | |
zhjcpi | 12:5fb829ce6b82 | 849 | case OSP_MSG_HW_CONFIG_REQ: /* 0x47 */ |
zhjcpi | 12:5fb829ce6b82 | 850 | break; |
zhjcpi | 0:aba381fc8158 | 851 | |
zhjcpi | 12:5fb829ce6b82 | 852 | case OSP_MSG_PWR_MODE_FPM_RSP: /* 0x5A, 0x00 */ |
zhjcpi | 12:5fb829ce6b82 | 853 | break; |
zhjcpi | 0:aba381fc8158 | 854 | |
zhjcpi | 12:5fb829ce6b82 | 855 | case OSP_MSG_PWR_MODE_LPM_RSP: /* 0x5A, 0x06 */ |
zhjcpi | 12:5fb829ce6b82 | 856 | *((uint8_t *)pMsgData) = *ptr; |
zhjcpi | 12:5fb829ce6b82 | 857 | *pMsgLen = sizeof(uint8_t); |
zhjcpi | 12:5fb829ce6b82 | 858 | break; |
zhjcpi | 0:aba381fc8158 | 859 | |
zhjcpi | 12:5fb829ce6b82 | 860 | default: |
zhjcpi | 12:5fb829ce6b82 | 861 | tRet = CSR_RESULT_FAILURE; |
zhjcpi | 12:5fb829ce6b82 | 862 | break; |
zhjcpi | 0:aba381fc8158 | 863 | } |
zhjcpi | 0:aba381fc8158 | 864 | |
zhjcpi | 0:aba381fc8158 | 865 | /* check if length does not match */ |
zhjcpi | 12:5fb829ce6b82 | 866 | if (tRet == CSR_RESULT_FAILURE) { |
zhjcpi | 0:aba381fc8158 | 867 | *pMsgId = *pMsgLen = 0; |
zhjcpi | 0:aba381fc8158 | 868 | } |
zhjcpi | 0:aba381fc8158 | 869 | |
zhjcpi | 12:5fb829ce6b82 | 870 | return tRet; |
zhjcpi | 0:aba381fc8158 | 871 | } /* CsrUlocCodecSsbDecode() */ |
zhjcpi | 0:aba381fc8158 | 872 | |
zhjcpi | 12:5fb829ce6b82 | 873 | void CSRLocation::_CsrLocProcessOspPkt(tOspMsg *pOspMsg) |
zhjcpi | 0:aba381fc8158 | 874 | { |
zhjcpi | 12:5fb829ce6b82 | 875 | switch (pOspMsg->msgId) { |
zhjcpi | 12:5fb829ce6b82 | 876 | case OSP_MSG_GEODETIC_NAVIGATION: |
zhjcpi | 12:5fb829ce6b82 | 877 | outputHandler(LOC_OUTPUT_LOCATION, pOspMsg->payload, sizeof(tLocPosResp)); |
zhjcpi | 12:5fb829ce6b82 | 878 | break; |
zhjcpi | 12:5fb829ce6b82 | 879 | case OSP_MSG_GNSS_SAT_DATA: |
zhjcpi | 12:5fb829ce6b82 | 880 | break; |
zhjcpi | 12:5fb829ce6b82 | 881 | case OSP_MSG_GNSS_NAV_DATA: |
zhjcpi | 12:5fb829ce6b82 | 882 | outputHandler(LOC_OUTPUT_SV_STATUS, &svStatus, sizeof(tLocSvStatus)); |
zhjcpi | 12:5fb829ce6b82 | 883 | break; |
zhjcpi | 12:5fb829ce6b82 | 884 | case OSP_MSG_OK_TO_SEND: |
zhjcpi | 12:5fb829ce6b82 | 885 | engStatus = (*(pOspMsg->payload)) ? ENGINE_STATUS_OK2SEND : ENGINE_STATUS_NOTOK2SEND; |
zhjcpi | 12:5fb829ce6b82 | 886 | CSR_LOG_INFO("Ok to send %u\r\n", engStatus); |
zhjcpi | 12:5fb829ce6b82 | 887 | break; |
zhjcpi | 12:5fb829ce6b82 | 888 | case OSP_MSG_SW_VERSION: |
zhjcpi | 12:5fb829ce6b82 | 889 | bVerRsp = true; |
zhjcpi | 12:5fb829ce6b82 | 890 | CSR_LOG_INFO("Ver: %s\r\n", pOspMsg->payload); |
zhjcpi | 12:5fb829ce6b82 | 891 | break; |
zhjcpi | 12:5fb829ce6b82 | 892 | case OSP_MSG_HW_CONFIG_REQ: |
zhjcpi | 12:5fb829ce6b82 | 893 | CSR_LOG_INFO("hw config req.\r\n"); |
zhjcpi | 12:5fb829ce6b82 | 894 | if (!bVerRsp) { |
zhjcpi | 12:5fb829ce6b82 | 895 | _CsrLocSendData(SEND_DATA_TYPE_OSP_VER_REQ); |
zhjcpi | 1:bbaf9b8d646a | 896 | } |
zhjcpi | 12:5fb829ce6b82 | 897 | |
zhjcpi | 12:5fb829ce6b82 | 898 | if (!bPwrModeRsp) { |
zhjcpi | 12:5fb829ce6b82 | 899 | if (pwrMode == PWR_PTF) { |
zhjcpi | 12:5fb829ce6b82 | 900 | CSR_LOG_INFO("Send PTF command.\r\n"); |
zhjcpi | 12:5fb829ce6b82 | 901 | _CsrLocSendData(SEND_DATA_TYPE_OSP_LPM_REQ); |
zhjcpi | 12:5fb829ce6b82 | 902 | } else { |
zhjcpi | 12:5fb829ce6b82 | 903 | CSR_LOG_INFO("Send FPM command.\r\n"); |
zhjcpi | 12:5fb829ce6b82 | 904 | _CsrLocSendData(SEND_DATA_TYPE_OSP_FPM_REQ); |
zhjcpi | 12:5fb829ce6b82 | 905 | } |
zhjcpi | 1:bbaf9b8d646a | 906 | } |
zhjcpi | 12:5fb829ce6b82 | 907 | break; |
zhjcpi | 12:5fb829ce6b82 | 908 | case OSP_MSG_PWR_MODE_LPM_RSP: |
zhjcpi | 12:5fb829ce6b82 | 909 | bPwrModeRsp = true; |
zhjcpi | 12:5fb829ce6b82 | 910 | CSR_LOG_INFO("lpm response.\r\n"); |
zhjcpi | 12:5fb829ce6b82 | 911 | break; |
zhjcpi | 12:5fb829ce6b82 | 912 | case OSP_MSG_PWR_MODE_FPM_RSP: |
zhjcpi | 12:5fb829ce6b82 | 913 | bPwrModeRsp = true; |
zhjcpi | 12:5fb829ce6b82 | 914 | CSR_LOG_INFO("fpm response.\r\n"); |
zhjcpi | 12:5fb829ce6b82 | 915 | break; |
zhjcpi | 12:5fb829ce6b82 | 916 | default: |
zhjcpi | 12:5fb829ce6b82 | 917 | CSR_LOG_INFO("Unknown OSP message 0x%lx.\r\n", pOspMsg->msgId); |
zhjcpi | 12:5fb829ce6b82 | 918 | break; |
zhjcpi | 0:aba381fc8158 | 919 | } |
zhjcpi | 0:aba381fc8158 | 920 | } |
zhjcpi | 0:aba381fc8158 | 921 | |
zhjcpi | 12:5fb829ce6b82 | 922 | void CSRLocation::_CsrLocTimeout(void) |
zhjcpi | 0:aba381fc8158 | 923 | { |
zhjcpi | 12:5fb829ce6b82 | 924 | bTimeoutFlag = true; |
zhjcpi | 0:aba381fc8158 | 925 | } |
zhjcpi | 0:aba381fc8158 | 926 | |
zhjcpi | 12:5fb829ce6b82 | 927 | void CSRLocation::_CsrLocRxHandler(void) |
zhjcpi | 0:aba381fc8158 | 928 | { |
zhjcpi | 12:5fb829ce6b82 | 929 | serialBuf[in++] = serialLoc.getc(); |
zhjcpi | 12:5fb829ce6b82 | 930 | in &= (MAX_SERIAL_BUF_LEN - 1); |
zhjcpi | 12:5fb829ce6b82 | 931 | if (in == out) { |
zhjcpi | 12:5fb829ce6b82 | 932 | CSR_LOG_INFO("rx overwritten %lu %lu.\r\n", in, out); |
zhjcpi | 0:aba381fc8158 | 933 | } |
zhjcpi | 0:aba381fc8158 | 934 | } |
zhjcpi | 0:aba381fc8158 | 935 | |
zhjcpi | 12:5fb829ce6b82 | 936 | void CSRLocation::_CsrLocSendData(eSendDataType type) |
zhjcpi | 0:aba381fc8158 | 937 | { |
zhjcpi | 12:5fb829ce6b82 | 938 | uint32_t i, size; |
zhjcpi | 2:d4fe184925f2 | 939 | const uint8_t *pData; |
zhjcpi | 0:aba381fc8158 | 940 | |
zhjcpi | 12:5fb829ce6b82 | 941 | switch (type) { |
zhjcpi | 12:5fb829ce6b82 | 942 | case SEND_DATA_TYPE_OSP_STOP_REQ: |
zhjcpi | 12:5fb829ce6b82 | 943 | pData = sOspStopReq; |
zhjcpi | 12:5fb829ce6b82 | 944 | size = sizeof(sOspStopReq); |
zhjcpi | 12:5fb829ce6b82 | 945 | break; |
zhjcpi | 12:5fb829ce6b82 | 946 | case SEND_DATA_TYPE_OSP_VER_REQ: |
zhjcpi | 12:5fb829ce6b82 | 947 | pData = sOspVerReq; |
zhjcpi | 12:5fb829ce6b82 | 948 | size = sizeof(sOspVerReq); |
zhjcpi | 12:5fb829ce6b82 | 949 | break; |
zhjcpi | 12:5fb829ce6b82 | 950 | case SEND_DATA_TYPE_OSP_LPM_REQ: |
zhjcpi | 12:5fb829ce6b82 | 951 | pData = sOspLpmReq; |
zhjcpi | 12:5fb829ce6b82 | 952 | size = sizeof(sOspLpmReq); |
zhjcpi | 12:5fb829ce6b82 | 953 | break; |
zhjcpi | 12:5fb829ce6b82 | 954 | case SEND_DATA_TYPE_OSP_FPM_REQ: |
zhjcpi | 12:5fb829ce6b82 | 955 | pData = sOspFpmReq; |
zhjcpi | 12:5fb829ce6b82 | 956 | size = sizeof(sOspFpmReq); |
zhjcpi | 12:5fb829ce6b82 | 957 | break; |
zhjcpi | 12:5fb829ce6b82 | 958 | case SEND_DATA_TYPE_OSP_SWITCH2NMEA_REQ: |
zhjcpi | 12:5fb829ce6b82 | 959 | pData = sOspSwitch2NmeaReq; |
zhjcpi | 12:5fb829ce6b82 | 960 | size = sizeof(sOspSwitch2NmeaReq); |
zhjcpi | 12:5fb829ce6b82 | 961 | break; |
zhjcpi | 12:5fb829ce6b82 | 962 | case SEND_DATA_TYPE_NMEA_SWITCH2OSP_REQ: |
zhjcpi | 12:5fb829ce6b82 | 963 | pData = (const uint8_t *)sNmeaSwitch2OspReq; |
zhjcpi | 12:5fb829ce6b82 | 964 | size = strlen(sNmeaSwitch2OspReq); |
zhjcpi | 12:5fb829ce6b82 | 965 | break; |
zhjcpi | 12:5fb829ce6b82 | 966 | case SEND_DATA_TYPE_NMEA_STOP_REQ: |
zhjcpi | 12:5fb829ce6b82 | 967 | pData = (const uint8_t *)sNmeaStopReq; |
zhjcpi | 12:5fb829ce6b82 | 968 | size = strlen(sNmeaStopReq); |
zhjcpi | 12:5fb829ce6b82 | 969 | break; |
zhjcpi | 12:5fb829ce6b82 | 970 | |
zhjcpi | 12:5fb829ce6b82 | 971 | default: |
zhjcpi | 12:5fb829ce6b82 | 972 | pData = NULL; |
zhjcpi | 0:aba381fc8158 | 973 | } |
zhjcpi | 0:aba381fc8158 | 974 | |
zhjcpi | 12:5fb829ce6b82 | 975 | if (pData != NULL) { |
zhjcpi | 12:5fb829ce6b82 | 976 | for (i = 0; i < size; i++) { |
zhjcpi | 12:5fb829ce6b82 | 977 | serialLoc.putc(pData[i]); |
zhjcpi | 0:aba381fc8158 | 978 | } |
zhjcpi | 0:aba381fc8158 | 979 | } |
zhjcpi | 0:aba381fc8158 | 980 | } |
zhjcpi | 0:aba381fc8158 | 981 | |
zhjcpi | 12:5fb829ce6b82 | 982 | void CSRLocation::_CsrLocHwOnoff(void) |
zhjcpi | 0:aba381fc8158 | 983 | { |
zhjcpi | 12:5fb829ce6b82 | 984 | pinOnoff.write(1); |
zhjcpi | 12:5fb829ce6b82 | 985 | wait_ms(100); |
zhjcpi | 12:5fb829ce6b82 | 986 | pinOnoff.write(0); |
zhjcpi | 12:5fb829ce6b82 | 987 | CSR_LOG_INFO("Onoff pulse given.\r\n"); |
zhjcpi | 12:5fb829ce6b82 | 988 | } |
zhjcpi | 12:5fb829ce6b82 | 989 | |
zhjcpi | 12:5fb829ce6b82 | 990 | void CSRLocation::_CsrLocHwReset(void) |
zhjcpi | 12:5fb829ce6b82 | 991 | { |
zhjcpi | 12:5fb829ce6b82 | 992 | pinReset.write(0); |
zhjcpi | 12:5fb829ce6b82 | 993 | wait_ms(100); |
zhjcpi | 12:5fb829ce6b82 | 994 | pinReset.write(1); |
zhjcpi | 12:5fb829ce6b82 | 995 | CSR_LOG_INFO("Reset pulse given.\r\n"); |
zhjcpi | 0:aba381fc8158 | 996 | } |
zhjcpi | 0:aba381fc8158 | 997 | |
zhjcpi | 12:5fb829ce6b82 | 998 | bool CSRLocation::_CsrLocIsWakeup(void) |
zhjcpi | 0:aba381fc8158 | 999 | { |
zhjcpi | 12:5fb829ce6b82 | 1000 | CSR_LOG_INFO("Is wakeup %d.\r\n", wakeup.read()); |
zhjcpi | 12:5fb829ce6b82 | 1001 | return wakeup.read() != 0 ? true : false; |
zhjcpi | 0:aba381fc8158 | 1002 | } |
zhjcpi | 8:fa29f8455134 | 1003 | |
zhjcpi | 12:5fb829ce6b82 | 1004 | bool CSRLocation::setPowerMode(GPSProvider::PowerMode_t _pwrMode) |
zhjcpi | 8:fa29f8455134 | 1005 | { |
zhjcpi | 12:5fb829ce6b82 | 1006 | switch (_pwrMode) { |
zhjcpi | 12:5fb829ce6b82 | 1007 | case GPSProvider::POWER_FULL: |
zhjcpi | 12:5fb829ce6b82 | 1008 | pwrMode = PWR_FULL; |
zhjcpi | 12:5fb829ce6b82 | 1009 | break; |
zhjcpi | 12:5fb829ce6b82 | 1010 | case GPSProvider::POWER_LOW: |
zhjcpi | 12:5fb829ce6b82 | 1011 | default: |
zhjcpi | 12:5fb829ce6b82 | 1012 | pwrMode = PWR_PTF; /* push to fix */ |
zhjcpi | 12:5fb829ce6b82 | 1013 | break; |
zhjcpi | 12:5fb829ce6b82 | 1014 | } |
zhjcpi | 12:5fb829ce6b82 | 1015 | |
zhjcpi | 12:5fb829ce6b82 | 1016 | return (true); |
zhjcpi | 8:fa29f8455134 | 1017 | } |