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https://github.com/peter-tanner/neptunium-firmware.git
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104 lines
2.5 KiB
C
104 lines
2.5 KiB
C
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/*
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* neo_m8_gps.h
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*
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* Created on: Jul 17, 2018
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* Author: alexis
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*/
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#ifndef NEO_M8_GPS_H_
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#define NEO_M8_GPS_H_
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/* Standard libraries */
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#include <stdbool.h>
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#include <stdint.h>
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#include "stm32f3xx_hal.h"
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#include "neo_m8_ubx_structs.h"
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#include "ringbuffer_char.h"
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#include "neo_m8_conversion.h"
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#include "string.h"
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#include "neo_m8_messages.h"
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#include "neo_m8_ubx_checksum.h"
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#define GPS_UART_INSTANCE UART3
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#define GPS_UART_HANDLER huart3
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extern UART_HandleTypeDef GPS_UART_HANDLER;
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/* Header struct used to have readable value (especially length, needed for the CRC calculation) */
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typedef struct
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{
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uint8_t class;
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uint8_t id;
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uint16_t length; /* Payload length */
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} UBXHeader;
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typedef struct
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{
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UBXHeader header;
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char payload[172];
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} UBXMsg;
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typedef enum
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{
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UBX_NO_DATA,
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UBX_WAITING_MORE_DATA,
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UBX_INCORRECT_PACKET_RXD,
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UBX_NEW_DATA
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} UBX_OP_RESULT;
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void neoInit(void);
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/* Rx callback when a byte is rxd */
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void neoRxCallback(char c);
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/* Initialize the ring buffer */
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void neoInitRxBuf(void);
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/*Return number of elems inside the buffer */
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uint32_t neoNumElemBuf(void);
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/* Process the ring buffer to find a correct message */
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UBX_OP_RESULT neoRetrieveMsg(void);
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uint8_t neoGetMsgClass();
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uint8_t neoGetMsgId();
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uint16_t neoGetPayloadSize();
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/* Updates */
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void UBXUpdate_NAV_PVT(ubx_nav_pvt_msg_t *dest);
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void UBXUpdate_NAV_DOP(ubx_nav_dop_msg_t *dest);
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/* Private API */
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/* Returns true if Sync Bytes are found into the ring buffer, and dequeue'd*/
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bool neoFindSyncBytes();
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/* Read 4 bytes from the ring buffer */
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bool neoRetrieveHeaderBytes(char *buf);
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/* Peek bytes from the ring buffer to parse the Header informations into a readable struct */
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bool neoBuildHeader(UBXHeader *header);
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/* Dequeue N elements from the ring buffer used by the GPS */
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bool neoDequeueFromRing(uint32_t n);
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/* Copy a UBX Packet without the SYNC Bytes and the CRC into a raw buffer */
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bool neoCopyPacketFromRing(char *rbuffer, uint32_t n);
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/* Enumeration of the GPS Decode state machine */
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typedef enum
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{
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UBX_LOOKING_FOR_SYNC, /* Looking for Sync char 1 and Sync char 2 */
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UBX_BUILDING_MSG_INFOS, /* MSG Infos is Class, ID, and Length bytes (4) */
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UBX_BUILDING_MSG_PAYLOAD, /* Retrieving 'Length' bytes */
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UBX_BUILDING_CRC, /* Retrieving 2 bytes (CRC) */
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UBX_CHECKING_CRC, /* Checking CRC, switch to first state if CRC is wrong,
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* or to valid msg if it is right */
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UBX_VALID_MSG /* Valid message retrieved */
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} UBX_NEO_M8_DECODE_STATE;
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#endif /* NEO_M8_GPS_H_ */
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