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quectel_gps.c
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quectel_gps.c
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#include "quectel_gps.h"
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <string.h>
#include <ctype.h>
#include <stdlib.h>
#include "quectel_define.h"
#include <ti/sysbios/BIOS.h>
#include <ti/sysbios/knl/Task.h>
#include <ti/sysbios/knl/Clock.h>
#define NEMA_DATA_RX_BUFFER_SIZE 255
#define NMEA_WRITE_READ_DATA_SIZE 255
static UART2_Handle uart2;
static PIN_Handle pinHandle;
static quectel_gps_data_t quectel_gps_data;
static quectel_gps_callback quectel_callback;
static uint8_t rxSize = 0;
static char rxBuffer[NMEA_WRITE_READ_DATA_SIZE] = { 0x00 };
static uint8_t nmeaDataRxSize = 0;
static char nemaDataRxBuffer[NEMA_DATA_RX_BUFFER_SIZE] = { 0x00 };
void set_quectel_gps_callback(quectel_gps_callback callback)
{
quectel_callback = callback;
}
void set_quectel_gps_gpio_instance(PIN_Handle pinHandleInstance)
{
pinHandle = pinHandleInstance;
PIN_setOutputValue(pinHandle, GPIO_GPS_EN, 0);
}
void set_quectel_gps_uart_instance(UART2_Handle uart)
{
uart2 = uart;
}
static void wait_100_ms()
{
Task_sleep(100 * 1000 / Clock_tickPeriod);
}
static void wait_100_ms_timer(uint16_t wait)
{
for (uint16_t i = 0; i < wait; i++)
{
wait_100_ms();
}
}
static uint8_t quectel_uart_data_send(char *data, uint16_t size, uint16_t wait)
{
quectel_gps_data.ack = 0x00;
UART2_write(uart2, data, size, NULL);
for (uint16_t i = 0; i < wait; i++)
{
if (quectel_gps_data.ack)
{
return 0x01;
}
wait_100_ms();
}
return 0x00;
}
uint8_t set_quectel_gps_power_on(uint16_t wait)
{
quectel_gps_data.gps_start_state = 0x00;
PIN_setOutputValue(pinHandle, GPIO_GPS_EN, 1);
for (uint16_t i = 0; i < wait; i++)
{
if (quectel_gps_data.gps_start_state)
{
return 0x01;
}
wait_100_ms();
}
return 0x00;
}
void set_quectel_gps_power_off()
{
quectel_gps_data.gps_start_state = 0x00;
PIN_setOutputValue(pinHandle, GPIO_GPS_EN, 0);
wait_100_ms_timer(10);
}
uint8_t set_quectel_gps_sbas_disable(uint16_t wait)
{
return quectel_uart_data_send(PMTK_SBAS_DISABLE, sizeof(PMTK_SBAS_DISABLE),
wait);
}
uint8_t set_quectel_gps_nmea_off_gga_only(uint16_t wait)
{
return quectel_uart_data_send(PMTK_NEMA_OUTPUT_DISABLE_GGA_ONLY,
sizeof(PMTK_NEMA_OUTPUT_DISABLE_GGA_ONLY),
wait);
}
static uint8_t nmea_crc_update(char *data, uint16_t size)
{
uint8_t crc = 0;
char convert_crc[4];
for (uint16_t i = 1; i < size - 3; i++)
{
crc ^= data[i];
}
sprintf(convert_crc, "%02X", crc);
if (strncmp(convert_crc, data + (size - 2), 2) == 0)
{
return 0x01;
}
return 0x00;
}
void quectel_gps_nmea_input(char data)
{
rxBuffer[rxSize++] = data;
if (rxSize > 2)
{
if ((rxBuffer[rxSize - 1] == '\n') && (rxBuffer[rxSize - 2] == '\r'))
{
if (nmea_crc_update(rxBuffer, rxSize - 2))
{
if (strncmp("$GPGGA", (char*) rxBuffer, 5) == 0)
{
uint8_t step = 0;
nmeaDataRxSize = 0;
memset(nemaDataRxBuffer, 0x00, sizeof(nemaDataRxBuffer));
for (uint16_t i = 0; i < rxSize; i++)
{
if (rxBuffer[i] == ',')
{
if (step == 2)
{
float lat = atof(nemaDataRxBuffer);
quectel_gps_data.latitude = lat * 100000;
}
else if (step == 3)
{
if (nemaDataRxBuffer[0] == 'S')
{
quectel_gps_data.latitude *= -1;
}
}
else if (step == 4)
{
float lon = atof(nemaDataRxBuffer);
quectel_gps_data.longitude = lon * 100000;
}
else if (step == 5)
{
if (nemaDataRxBuffer[0] == 'W')
{
quectel_gps_data.longitude *= -1;
}
}
else if (step == 6)
{
quectel_gps_data.navigation_statue = atoi(
nemaDataRxBuffer);
}
else if (step == 7)
{
quectel_gps_data.satellites_number = atoi(
nemaDataRxBuffer);
}
else if (step == 8)
{
float HDOP = atof(nemaDataRxBuffer);
HDOP *= 10;
quectel_gps_data.HDOP = (uint8_t) HDOP;
}
else if (step == 9)
{
quectel_gps_data.height = atof(
nemaDataRxBuffer);
}
else if (step >= 10)
{
if (quectel_callback)
{
quectel_gps_data.gps_start_state = 0x01;
quectel_callback(quectel_gps_data);
}
break;
}
nmeaDataRxSize = 0;
memset(nemaDataRxBuffer, 0x00,
sizeof(nemaDataRxBuffer));
step++;
}
else
{
nemaDataRxBuffer[nmeaDataRxSize++] = rxBuffer[i];
if (nmeaDataRxSize >= sizeof(nemaDataRxBuffer))
{
nmeaDataRxSize = 0;
}
}
}
}
else if (strncmp("$PMTK001,314,3", (char*) rxBuffer, 14) == 0)
{
quectel_gps_data.ack = 0x01;
if (quectel_callback)
{
quectel_callback(quectel_gps_data);
}
}
}
rxSize = 0;
}
}
if (rxSize >= sizeof(rxBuffer))
{
rxSize = 0;
}
}