gnss_core.c File Reference

#include "gnss_core.h"
#include <string.h>

Include dependency graph for gnss_core.c:

Go to the source code of this file.

Macros
#define	BAUD_COUNT   (sizeof(kBauds) / sizeof(kBauds[0]))

Functions
static void	open_at (gnss_core_t *c, uint32_t baud)
static void	detect (gnss_core_t *c, uint32_t now_us)
static void	send_config (gnss_core_t *c, uint32_t now_us)
static void	configure (gnss_core_t *c, uint32_t now_us)
static void	restart (gnss_core_t *c, uint32_t now_us)
void	gnss_core_init (gnss_core_t *c, uint32_t now_us)
void	gnss_core_set_pps (gnss_core_t *c, uint32_t edge_us)
static void	on_pvt (gnss_core_t *c, uint32_t now_us)
static void	on_frame (gnss_core_t *c, gnss_frame_kind_t kind, uint32_t now_us)
void	gnss_core_feed (gnss_core_t *c, const uint8_t *bytes, size_t n, uint32_t now_us)
void	gnss_core_poll (gnss_core_t *c, uint32_t now_us)
bool	gnss_core_request_status (gnss_core_t *c)
uint32_t	gnss_core_wait_us (const gnss_core_t *c, uint32_t now_us)

Variables
static const uint32_t	kBauds [] = {9600U, 38400U, GNSS_RUN_BAUD}

Macro Definition Documentation

BAUD_COUNT

#define BAUD_COUNT   (sizeof(kBauds) / sizeof(kBauds[0]))

Definition at line 6 of file gnss_core.c.

Referenced by gnss_core_poll().

Function Documentation

configure()

void configure ( gnss_core_t * c, uint32_t now_us )

static

Definition at line 34 of file gnss_core.c.

References gnss_core_t::baud, gnss_io_t::ctx, frame(), GNSS_CONFIG, GNSS_RUN_BAUD, gnss_core_t::io, open_at(), gnss_io_t::send, send_config(), gnss_core_t::state, gnss_core_t::tries, UBX_KEY_UART1_BAUDRATE, and ubx_valset().

Referenced by on_frame().

detect()

void detect ( gnss_core_t * c, uint32_t now_us )

static

Definition at line 14 of file gnss_core.c.

References gnss_core_t::candidate, gnss_core_t::deadline_us, GNSS_DETECT, GNSS_LISTEN_US, kBauds, open_at(), and gnss_core_t::state.

Referenced by gnss_core_init(), gnss_core_poll(), and restart().

gnss_core_feed()

void gnss_core_feed	(	gnss_core_t *	c,
		const uint8_t *	bytes,
		size_t	n,
		uint32_t	now_us )

Definition at line 139 of file gnss_core.c.

References gnss_frame_feed(), GNSS_FRAME_NONE, on_frame(), and gnss_core_t::parser.

Referenced by fly(), gnss_task(), and run().

gnss_core_init()

void gnss_core_init	(	gnss_core_t *	c,
		uint32_t	now_us )

Definition at line 53 of file gnss_core.c.

References gnss_core_t::candidate, detect(), GNSS_DETECT, gnss_core_t::pps_us, and gnss_core_t::state.

Referenced by gnss_task(), rig(), and world_init().

gnss_core_poll()

void gnss_core_poll	(	gnss_core_t *	c,
		uint32_t	now_us )

Definition at line 149 of file gnss_core.c.

References BAUD_COUNT, gnss_core_t::candidate, gnss_core_t::deadline_us, detect(), GNSS_CONFIG, GNSS_CONFIG_TRIES, GNSS_DETECT, GNSS_RUN, restart(), send_config(), gnss_core_t::state, and gnss_core_t::tries.

Referenced by fly(), gnss_task(), and run().

gnss_core_request_status()

bool gnss_core_request_status

(

gnss_core_t *

c

)

Definition at line 171 of file gnss_core.c.

References gnss_io_t::ctx, frame(), GNSS_RUN, gnss_core_t::io, gnss_io_t::send, gnss_core_t::state, UBX_CLASS_MON, UBX_CLASS_NAV, UBX_ID_MON_RF, UBX_ID_NAV_SAT, and ubx_poll().

Referenced by gnss_task().

gnss_core_set_pps()

void gnss_core_set_pps	(	gnss_core_t *	c,
		uint32_t	edge_us )

Definition at line 60 of file gnss_core.c.

References gnss_core_t::pps_us.

Referenced by fly(), gnss_task(), and test_pps_is_stamped().

gnss_core_wait_us()

uint32_t gnss_core_wait_us	(	const gnss_core_t *	c,
		uint32_t	now_us )

Definition at line 183 of file gnss_core.c.

References gnss_core_t::deadline_us.

Referenced by gnss_task().

on_frame()

void on_frame ( gnss_core_t * c, gnss_frame_kind_t kind, uint32_t now_us )

static

Definition at line 93 of file gnss_core.c.

References gnss_core_t::baud, gnss_core_t::configs, configure(), gnss_core_t::deadline_us, gnss_core_t::detected_baud, GNSS_CONFIG, GNSS_DETECT, GNSS_FRAME_UBX, GNSS_FRAME_UBX_CAPTURE, GNSS_RUN, GNSS_SILENCE_US, gnss_core_t::naks, on_pvt(), p, gnss_core_t::parser, restart(), gnss_core_t::rf, gnss_core_t::rf_reports, gnss_core_t::sat_reports, gnss_core_t::sats, gnss_core_t::state, UBX_CLASS_ACK, UBX_CLASS_CFG, UBX_CLASS_MON, UBX_CLASS_NAV, UBX_ID_ACK_ACK, UBX_ID_CFG_VALSET, UBX_ID_MON_RF, UBX_ID_NAV_PVT, UBX_ID_NAV_SAT, ubx_parse_mon_rf(), and ubx_sat_summary().

Referenced by gnss_core_feed().

on_pvt()

void on_pvt ( gnss_core_t * c, uint32_t now_us )

static

Definition at line 64 of file gnss_core.c.

References record_sink_t::ctx, gnss_core_t::deadline_us, gnss_core_t::fixes, GNSS_SILENCE_US, gnss_core_t::latest, gnss_core_t::parser, gnss_core_t::pps_us, pvt(), r, REC_GNSS, rec_gnss_t, record_sink_t::record, gnss_core_t::sink, gnss_frame_parser_t::ubx_len, ubx_parse_nav_pvt(), and gnss_frame_parser_t::ubx_payload.

Referenced by on_frame().

open_at()

void open_at ( gnss_core_t * c, uint32_t baud )

static

Definition at line 8 of file gnss_core.c.

References gnss_core_t::baud, gnss_io_t::ctx, gnss_frame_init(), gnss_core_t::io, gnss_core_t::parser, and gnss_io_t::set_baud.

Referenced by configure(), and detect().

restart()

void restart ( gnss_core_t * c, uint32_t now_us )

static

Definition at line 47 of file gnss_core.c.

References gnss_core_t::candidate, detect(), and gnss_core_t::resets.

Referenced by gnss_core_poll(), and on_frame().

send_config()

void send_config ( gnss_core_t * c, uint32_t now_us )

static

Definition at line 20 of file gnss_core.c.

References gnss_io_t::ctx, gnss_core_t::deadline_us, frame(), GNSS_ACK_US, GNSS_RATE_MS, gnss_core_t::io, gnss_io_t::send, UBX_DYNMODEL_AIR4, UBX_KEY_MSGOUT_NAV_PVT_UART1, UBX_KEY_NAVSPG_DYNMODEL, UBX_KEY_RATE_MEAS, UBX_KEY_UART1OUTPROT_NMEA, and ubx_valset().

Referenced by configure(), and gnss_core_poll().

Variable Documentation

kBauds

const uint32_t kBauds[] = {9600U, 38400U, GNSS_RUN_BAUD}

static

Definition at line 5 of file gnss_core.c.

Referenced by detect().