569 lines
18 KiB
C
569 lines
18 KiB
C
/*------------------------------------------------------------
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// Copyright (c) 2022 SmartLogic.
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// ALL RIGHTS RESERVED
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// -----------------------------------------------------------------
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// Filename : stc_drv.c
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// Author : weihua.li
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// Created On : 2022-11-23
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// Last Modified :
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// -----------------------------------------------------------------
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// Description:
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//
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//
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// ----------------------------------------------------------------*/
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#ifndef __UBLOX_DRV_H__
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#define __UBLOX_DRV_H__
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#define GTM_OK 0
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#define GTM_ERROR -1
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#define GTM_YES 1
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#define GTM_NO 0
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#define GTM_NULL_PTR 0
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#define GTM_MOD_ADD(augend, addend, modulus) \
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(((augend) + (addend)) % (modulus))
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#define GTM_MOD_SUB(minuend, subtrahend, modulus) \
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(((minuend) >= (subtrahend)) ? ((minuend) - (subtrahend)) : ((minuend) + (modulus) - (subtrahend)))
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#define REVS16(x) x
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#define REVS32(x) x
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#define IRQF_DISABLED 0x00000020
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#if 0
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#define REVS16(x) (uint16_t) ((((x) & 0xFF00)>>8)|(((x) & 0x00FF)<<8))
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#define REVS32(x) (uint32_t) ((((x) & 0xFF000000)>>24)|(((x) & 0x00FF0000)>>8)|\
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(((x) & 0x0000FF00)<<8)|(((x) & 0x000000FF)<<24))
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#endif
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#define MIN(x,y) ((x)<(y)?(x):(y))
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#define MAX(x,y) ((x)>(y)?(x):(y))
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#define GPS_SECONDS(tow,wnum) (604800*(wnum) + (tow))
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#define MOD_2N(x,y) ((x) & (y-1))
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#define GPS_FIX_OK 0x03
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#define NAV_ALMANACH 0x04
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/*ublox sync header*/
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#define SYNC1_UBLOX 0xB5
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#define SYNC2_UBLOX 0x62
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#define UBLOX_SYNC_LEN 0x2
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#define INDEX_OF_PAYLOAD 0x6 //SYNC(2) + CLSID + MSGID + LENGTH(2)
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#define UBLOX_CHECK_SUM_LEN 0x2 //2 BYTES
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#define UBLOX_HEADER_SUM_LEN 0x8 //SYNC(2) + CLSID + MSGID + LENGTH(2) + CHECKSUM(2)
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#define UBLOX_MSG_TOTAL_LEN(payload_len) ((payload_len) + UBLOX_HEADER_SUM_LEN)
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#define POLL_LENGTH 0
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#define CFG_PRT_LEN 20
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#define PORT_NUMBER 1
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/*----GPS Time Solution----*/
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#define NAV_TIMEGPS 0x20
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#define TIME_VALID 0x03 /*Time of Week and Week Number valid*/
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#define LEAP_VALID 0x04 /*Valid UTC (Leap Seconds already known)*/
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/*--sat chn num--*/
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#define NUMCHN 20
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#define TOD_LINK_ALARM_VALUE 0x02
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#define ANT_OPEN_ALARM_VALUE 0x04
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#define ANT_SHORT_ALARM_VALUE 0x03
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#define GPS_ANT_SIGNAL_WEEK_ALARM_VALUE 0x05
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#define GPS_ANT_SIGNAL_STRONG_ALARM_VALUE 0x06
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/*8bit ,1 stop bit , no portiy*/
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#define PORT_MODE_8N1 (0x3<<6)|(0x4<<9)|(0x0<<12)
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#define PORT_BAUDRATE 9600
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#define PORT_PROTOCAL_IN 0x07 /*UBX+NMEA+RTCM2*/
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#define PORT_PROTOCAL_OUT 0x01 /*UBX*/
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#define CFG_ANT_LEN 4
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#define ANT_FLAGS 0x1F
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#define CABDLY_DELAY_CRC_BYTE1 0xa5
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#define CABDLY_DELAY_CRC_BYTE2 0x5a
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#define CABDLY_DELAY 12 //205 1m 4ns
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#define CABLE_DELAY_ADDR 0x643800
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#define CABLE_DELAY_SIZE 2048
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#define CFG_TP_LEN 20
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#define CFG_TP5_LEN 32
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#define TP_IDX0 0
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#define TP_IDX11 1
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#define TP_INTERVAL 1000000 //1s
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#define TP_POSITIVE 1
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#define TP_NEGATIVE -1
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#define TP_TIME_GPS 1
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#define TP_TIME_UTC 0
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#define TP_PLUSE_WIDTH 1000 //1ms
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#define CFG_NAV5_LEN 36
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#define NAV5_FIXMODE 2
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#define NAV5_PACC 100
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#define NAV5_TACC 100
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#define CFG_MSG_LEN 3
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/*--ublox max message length--*/
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#define UBLOX_MAX_MEG_LENGTH 280
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#define UBLOX_MIN_MEG_LENGTH 10
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#define UBLOX_CABDLY 205
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/*class id and msg id*/
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#define ACK 0x05
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#define ACK_ACK 0x01
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#define ACK_NACK 0x00
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#define NAV 0x01
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#define NAV_AOPSTATUS 0x60
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#define NAV_CLOCK 0x22
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#define NAV_DGPS 0x31
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#define NAV_DOP 0x04
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#define NAV_EKFSTATUS 0x40
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#define NAV_POSECEF 0x01
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#define NAV_POSLLH 0x02
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#define NAV_SBAS 0x32
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#define NAV_SOL 0x06
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#define NAV_STATUS 0x03
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#define NAV_SVINFO 0x30
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#define NAV_TIMEGPS 0x20
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#define NAV_TIMEUTC 0x21
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#define NAV_VELECEF 0x11
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#define NAV_VELNED 0x12
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#define CFG 0x06
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#define CFG_ANT 0x13
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#define CFG_CFG 0x09
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#define CFG_DAT 0x06
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#define CFG_EKF 0x12
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#define CFG_ESFGWT 0x29
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#define CFG_FXN 0xE
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#define CFG_INF 0x2
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#define CFG_ITFM 0x39
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#define CFG_MSG 0x1
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#define CFG_NAV5 0x24
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#define CFG_NAVX5 0x23
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#define CFG_NMEA 0x17
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#define CFG_NVS 0x22
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#define CFG_PM2 0x3B
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#define CFG_PM 0x32
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#define CFG_PRT 0x00
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#define CFG_RATE 0x8
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#define CFG_RINV 0x34
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#define CFG_RST 0x4
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#define CFG_RXM 0x11
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#define CFG_SBAS 0x16
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#define CFG_TMODE2 0x3D
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#define CFG_TMODE 0x1D
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#define CFG_TP5 0x31
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#define CFG_TP 0x7
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#define CFG_USB 0x1B
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#define CFG_RST_LEN 4
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#define RST_NAVBBR_COLD 0xFFFF
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#define RST_MODE_HW 0x00
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#define MON 0x0a
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#define MON_HW2 0xb
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#define MON_HW 0x9
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#define MON_IO 0x2
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#define MON_MSGPP 0x6
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#define MON_RXBUF 0x7
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#define MON_RXR 0x21
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#define MON_TXBUF 0x8
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#define MON_VER 0x4
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/*close name mes*/
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#define NMEA 0xf0
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#define RMC 0x04
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#define VTG 0x05
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#define GGA 0x00
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#define GSA 0x02
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#define GSV 0x03
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#define GLL 0x01
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#define ZDA 0x08
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#define GPS_TIME_JUMP_20MIN 1200 /* 60*20 */
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#define HOLD_OVER_TIME_UNIT 900 /* 15*60 */
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/*#define FPGA_BASE_ADDR 0x74000000*/
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#define PHASE_DIFF_COUNT_L_REG 0xe
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#define PHASE_DIFF_COUNT_H_REG 0xd
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#define PHASE_DIFF_FLAG_REG 0xf
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#define PP2S_SYNC_EN_REG 0xb
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#define PP2S_CTRL 0xc
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#define PHASE_FLAG 0xf /*1:<3A><>ǰ 0:<3A>ͺ<EFBFBD>*/
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#define SYNC_EN_FLAG 0x01
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#define PP2S_COUNTER_ADV 0x10 /*<2A><>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD>*/
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#define PP2S_COUNTER_DELAY 0x11 /*<2A>ͺ<EFBFBD><CDBA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>*/
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#define PP2S_ADV_PPS_MASK 0x8000
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#define PP2S_PPS_PHD_ABS 0x7FFF
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#define CPU_TIMER_MASK 15
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#define AD9548_M 6
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/* should be update when hardware changed */
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#define PH_ERR_NS 8 /*1000/122.88M ~= 8.138*/
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#define PH_SYNC 15 /*122.88/5 ~= 25*/
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#define PH_FSYNC 18 /*122.88/20.48*3 = 18*/
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#define PH_LIMIT_1 120
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#define PH_LIMIT_2 130
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#define HOLD_OVER_IN 90 /* 3*30 = 90 gpsʧ<73><CAA7><EFBFBD><EFBFBD>ÿ3s<33><73><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>pp1s<31>ź<EFBFBD>*/
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#define HOLD_OVER_1_HOUR 3600 /* 60*60 */
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#define HOLD_OVER_1_DAY 86400/* 3600*24 */
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#define UBX_SEM_NUM 13
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#define MY_IPCKEY 0x10005500
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#define TX_SEMA_NAME "tx_sema"
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typedef void (*FUNCPTR)(void *);
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#define UBLOX_TX_BUF_SIZE 256
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#define UBLOX_RX_BUF_SIZE 1024
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#define HALF_BUFSIZE 511
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#define RT_MASK 1023 //(RTBUFSIZE - 1)
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/*-----some get/set types protocols' sem-------*/
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typedef enum
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{
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CFG_PRT_SEM,
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CFG_MSG_SEM,
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CFG_TP_SEM,
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CFG_CFG_SEM,
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CFG_ANT_SEM,
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CFG_NAV5_SEM,
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CFG_RST_SEM,
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NAV_POSLLH_SEM,
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NAV_STATUS_SEM,
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NAV_GPSTIME_SEM,
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NAV_SVINFO_SEM,
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MON_HW_SEM,
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MON_VER_SEM
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}ubx_sem_e;
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/* arg for semctl system calls. */
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union semun {
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int val; /* value for SETVAL */
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struct semid_ds *buf; /* buffer for IPC_STAT & IPC_SET */
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unsigned short *array; /* array for GETALL & SETALL */
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struct seminfo *__buf; /* buffer for IPC_INFO */
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};
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typedef struct
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{
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uint16_t reg_addr;
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uint8_t reg_val;
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}reg_value_s;
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//typedef unsigned int time_t;/*32bit*/
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typedef void irqreturn_t;
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typedef irqreturn_t (*irq_handler_t)(int, void *);
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/*Start of repeated block (numCh times) in payload of NAV-SVINFO*/
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typedef struct
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{
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uint8_t chn; /*Channel number*/
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uint8_t svid; /*Satellite ID*/
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uint8_t flags; /*Bitmask,bit2,Orbit information is available for this SV (Ephemeris or Almanach)*/
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uint8_t quality; /**/
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uint8_t cno; /*Carrier to Noise Ratio (Signal Strength)*/
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int8_t elev; /*Elevation in integer degrees*/
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int16_t azim; /*Azimuth in integer degrees*/
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int32_t prres; /*Pseudo range residual in centimetres*/
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}__attribute__((packed)) chn_info_s;
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/*gps消息结构体*/
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typedef struct
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{
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uint8_t cls_id;
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uint8_t msg_id;
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uint16_t length;
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union
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{
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/*Class NAV 0X01--------------------------------- */
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/*Message NAV-POSLLH 0X02*/
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struct
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{
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uint32_t i_tow; /*gps millsecond time of week,ms*/
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int32_t lon; /* longitude,deg scaling: 1e-7*/
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int32_t lat; /*latitude,deg scaling: 1e-7*/
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int32_t height; /*Height above Ellipsoid,mm*/
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int32_t hmsl; /*Height above mean sea level,mm*/
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uint32_t hacc; /*Horizontal Accuracy Estimate,mm*/
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uint32_t vacc; /*Vertical Accuracy Estimate,mm*/
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}__attribute__((packed)) nav_pos;
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/*message NAV-STATUS 0x03*/
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struct
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{
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uint32_t i_tow;
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uint8_t gps_fix; /*GPSfix Type,0x00 no fix,others */
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uint8_t flags; /*bit0:gpsFixOk,bit1:1 if DGPS used,bit2:1 if Week Number valid,bit3:1 if Time of Week valid*/
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uint8_t diff_stat;
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uint8_t res;
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uint32_t ttff; /*Time to first fix (millisecond time tag)*/
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uint32_t msss; /*Milliseconds since Startup / Reset*/
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}__attribute__((packed)) nav_status;
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/*message NAV-TIMEGPS*/
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struct
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{
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uint32_t i_tow;
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int32_t f_low; /* Fractional Nanoseconds remainder of rounded ms above,*/
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int16_t week; /*GPS week (GPS time)*/
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int8_t leap; /*Leap Seconds (GPS-UTC)*/
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uint8_t valid; /*Validity Flags,bit0=1Valid Time of Week,bit1=1 Valid Week Number,bit2=1 Valid Leap Seconds,*/
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uint32_t vacc; /*Time Accuracy Estimate*/
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}__attribute__((packed)) nav_timegps;
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/*message NAV-SVINFO*/
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struct
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{
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uint32_t i_tow;
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uint8_t num_ch; /*Number of channels*/
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uint8_t global_flags;
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uint16_t res;
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chn_info_s chn_info;
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}__attribute__((packed)) nav_svinfo;
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/*--------------------------------------------------------*/
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/*----class ACK---------*/
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/*--message ACK-(NAK 0X00 or ACK 0X01)--*/
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struct
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{
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uint8_t clsid; /*Class ID of the Not-Acknowledged/Acknowledged Message*/
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uint8_t msgid; /*Message ID of the Not-Acknowledged/Acknowledged Message*/
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}__attribute__((packed)) ack_msg;
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/*--------------------------------------------------------*/
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/*----class CFG 0X06---------*/
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/*--message CFG-PRT 0X00 (Get/Set Port Configuration for UART)--*/
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struct
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{
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uint8_t portid; /*Port Identifier Number (= 1 or 2 for UART ports)*/
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uint8_t res0;
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uint16_t res1;
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uint32_t mode; /*A bit mask describing the UART mode, bit7-bit6=11(8bit),*/
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uint32_t baudrate; /*Baudrate in bits/second*/
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uint16_t inportmask; /*A mask describing which input protocols are active.bit0=UBX*/
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uint16_t outportmask; /*A mask describing which output protocols are active.*/
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uint16_t flags;
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uint16_t pad;
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}__attribute__((packed)) config_port;
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/*--message CFG-MSG 0X01 --*/
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struct
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{
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uint8_t cls;
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uint8_t msgid;
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uint8_t rate;
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}__attribute__((packed))config_msg;
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/*--Message CFG-RST 0X04--*/
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struct
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{
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uint16_t nav_bbr;
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uint8_t rst_mode;
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uint8_t res;
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}__attribute__((packed)) config_rst;
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#if 0
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/*--message CFG-TP 0X07(Get/Set TimePulse Parameters)--*/
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struct
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{
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uint32_t interval; /*Time interval for time pulse*/
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uint32_t length; /*Length of time pulse*/
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int8_t status; /*Time pulse config setting,>0 positive,=0 off,<0 negative*/
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uint8_t time_ref; /*Tlignment to reference time,0=UTC time,1=GPS time*/
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uint8_t flags; /*bit0=1 TP allowed to be asynchronized and available even when time is not valid*/
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uint8_t res;
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int16_t cab_dly; /*Antenna Cable Delay*/
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int16_t rf_grp_dly; /*Receiver RF Group Delay*/
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int32_t user_dly; /*User Time Function Delay (positive delay results in earlier pulse)*/
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}__attribute__((packed)) config_tp;
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#endif
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struct
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{
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uint8_t tp_idx;
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uint8_t version;
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uint8_t rsv[2]; /*reserved*/
|
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int16_t cab_dly; /*Antenna Cable Delay: ns*/
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int16_t rf_dly; /*RF group delay: ns*/
|
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uint32_t freq_period; /*pulse frequence or period: Hz_us*/
|
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uint32_t freq_period_locked; /*pulse frequence or period when locked to GNSS: Hz_us*/
|
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uint32_t pulse_len; /*pulse width or duty: us_%*/
|
||
uint32_t pulse_len_locked; /*pulse width or duty when locked to GNSS: us_%*/
|
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int32_t user_delay; /*user-configurable time pulse delay: ns*/
|
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uint32_t active:1;
|
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uint32_t lock_gnss_freq:1;
|
||
uint32_t lock_other_set:1;
|
||
uint32_t is_freq:1;
|
||
uint32_t is_length:1;
|
||
uint32_t align2tow:1;
|
||
uint32_t polarity:1;
|
||
uint32_t grid_utc_gnss:4;
|
||
uint32_t sync_mode:3;
|
||
uint32_t flag_rsv:18;
|
||
}__attribute__((packed)) config_tp5;
|
||
/*--message CFG-NAV5 Get/Set Navigation Engine Settings--*/
|
||
struct
|
||
{
|
||
uint16_t mask; /*Parameters Bitmask.*/
|
||
uint8_t dyn_model; /*Dynamic Platform model:*/
|
||
uint8_t fix_mode; /*Position Fixing Mode.*/
|
||
int32_t fixed_alt; /*Fixed altitude*/
|
||
uint32_t fixed_alt_var; /*Fixed altitude variance for 2D mode.*/
|
||
int8_t min_elev; /*Minimum Elevation for a GNSS satellite to be used in NAV*/
|
||
uint8_t drlimit; /*Maximum time to perform dead reckoning*/
|
||
uint16_t pdop; /*Position DOP Mask to use*/
|
||
uint16_t tdop; /*Time DOP Mask to use*/
|
||
uint16_t pacc; /* Position Accuracy Mask */
|
||
uint16_t tacc; /* Time Accuracy Mask */
|
||
uint8_t static_hold_thresh; /* Static hold threshold */
|
||
uint8_t dgps_time_out; /* DGPS timeout */
|
||
uint32_t res2; /* reserved, set to 0 */
|
||
uint32_t res3; /* reserved, set to 0 */
|
||
uint32_t res4; /* reserved, set to 0 */
|
||
}__attribute__((packed)) config_nav5;
|
||
/*--message CFG-CFG 0X09 (Clear, Save and Load configurations)--*/
|
||
struct
|
||
{
|
||
uint32_t clearmask;
|
||
uint32_t savemask;
|
||
uint32_t loadmask;
|
||
}__attribute__((packed)) config_cfg;
|
||
|
||
/*--message CFG-ANT 0X13 (Get/Set Antenna Control Settings)--*/
|
||
struct
|
||
{
|
||
uint16_t flags;
|
||
uint16_t pins;/*READ-ONLY,when get*/
|
||
}__attribute__((packed)) config_ant;
|
||
/*---------------------------------------------------------------*/
|
||
/*--class MON 0x0A--*/
|
||
/*--Message MON-HW0x09--*/
|
||
struct
|
||
{
|
||
uint32_t pinsel;
|
||
uint32_t pinbank;
|
||
uint32_t pindir;
|
||
uint32_t pinvar;
|
||
uint16_t noiseperms;
|
||
uint16_t agccnt;
|
||
uint8_t astatus;
|
||
uint8_t apower;
|
||
uint8_t flags;
|
||
uint8_t res1;
|
||
uint32_t usedmask;
|
||
uint8_t vp[25];
|
||
uint8_t res2[3];
|
||
uint32_t pinirq;
|
||
uint32_t pullh;
|
||
uint32_t pulll;
|
||
}__attribute__((packed)) monitor_hw;
|
||
struct
|
||
{
|
||
uint8_t sw_version[30];
|
||
uint8_t hw_version[10];
|
||
/*
|
||
uint8_t rom_version[30];
|
||
uint8_t extension[30];
|
||
*/
|
||
}__attribute__((packed)) monitor_ver;
|
||
/*--------------------------------------------------------*/
|
||
}__attribute__((packed))pay_load;
|
||
}__attribute__((packed)) ubx_msg_s;
|
||
|
||
typedef struct
|
||
{
|
||
int32_t latitude; /*degree 1e-7*/
|
||
int32_t longitude;/*degree 1e-7*/
|
||
int32_t altitude; /*millimeter*/
|
||
uint8_t gps_fix;
|
||
uint8_t fix_flag;
|
||
uint32_t time_of_week;
|
||
uint8_t valid_flag;
|
||
int8_t leap_sec;
|
||
uint16_t week_number;
|
||
uint8_t num_ch;
|
||
int16_t cab_dly; /*cable delay time,uint:ns*/
|
||
uint32_t pulse_width; /*Length of time pulse*/
|
||
int8_t pps_status; /*PPS: >0,postive; =0,no;<0, negative*/
|
||
uint8_t ant_state;
|
||
uint8_t sw_version[30];
|
||
uint8_t hw_version[10];
|
||
uint8_t sta_id[NUMCHN]; /*satellite ID*/
|
||
uint8_t cno[NUMCHN]; /*Carrier to Noise Ratio (Signal Strength)*/
|
||
uint8_t tracking_num;
|
||
uint8_t visable_num;
|
||
uint8_t sig_over_high;
|
||
uint8_t lock_state; /*1: gps lock 0: gps unlock*/
|
||
|
||
}drv_gps_msg_s;
|
||
|
||
/********************************************************************/
|
||
typedef struct
|
||
{
|
||
uint8_t recv_buf[UBLOX_RX_BUF_SIZE];
|
||
/*union
|
||
{
|
||
uint32_t whole;
|
||
struct
|
||
{
|
||
uint16_t recv_ptr; //接收指针
|
||
uint16_t deal_ptr; //处理指针
|
||
}
|
||
}*/
|
||
uint16_t recv_ptr; /*接收指针*/
|
||
uint16_t deal_ptr; /*处理指针*/
|
||
uint16_t recv_cnt; /*最新接收到的消息长度*/
|
||
uint16_t deal_cnt; /*未处理消息长度*/
|
||
int32_t send_sem;
|
||
ubx_msg_s *send_buf_ptr;
|
||
uint16_t send_cnt; /*待发送消息长度*/
|
||
uint16_t frame_flag; //帧头
|
||
}ublox_uart_s;
|
||
|
||
typedef struct
|
||
{
|
||
int32_t latitude; //纬度 单位：度/1e-7
|
||
int32_t longitude; //经度 单位：度/1e-7
|
||
int32_t altitude; //高度 单位：毫米
|
||
}location_info_s;
|
||
|
||
typedef struct
|
||
{
|
||
uint8_t lock_flag; /* GPS Fixed ok */
|
||
uint8_t leap_valid; /* leap second valid */
|
||
uint8_t view_sats; /* Satellites in view */
|
||
uint8_t track_sats; /* Satellites under tracking */
|
||
uint8_t survey_in; /*0 not in Survey-in mode*/
|
||
uint8_t alma_complete; /* 0 Calendar not complete */
|
||
uint8_t resv[2]; /* resv*/
|
||
float sig_level[12]; /* signal level of satellites */
|
||
}tracking_info_s;
|
||
|
||
void drv_gps_recv_task(void);
|
||
int32_t drv_uart_read(uint8_t *pdata, uint32_t len);
|
||
int32_t init_clock_module(void);
|
||
int32_t drv_tfu_receiver_init(void);
|
||
int32_t get_receiver_fix_status();
|
||
int32_t get_src_time(time_t* time_ptr);
|
||
int32_t drv_tfu_get_ublox_seconds(time_t* sec_ptr);
|
||
int32_t get_tfu_location_info(location_info_s *locat_ptr);
|
||
int32_t get_clock_tracking_state(tracking_info_s *trk_ptr);
|
||
int32_t reset_clock_module(void);
|
||
|
||
|
||
#ifdef __cplusplus
|
||
#if __cplusplus
|
||
}
|
||
#endif
|
||
#endif
|
||
|
||
#endif
|
||
/**********************************************************************/
|