Horus internal GPS: settable baudrate, misc fixes, new cmake options, cosmetics, cli

radio/src/cli.cpp

@@ -708,6 +708,20 @@ int cliShowJitter(const char ** argv)
 }
 #endif
 
+#if defined(INTERNAL_GPS)
+int cliGps(const char ** argv)
+{
+  int baudrate = 0;
+  if (toInt(argv, 1, &baudrate) > 0 && baudrate > 0) {
+    gpsInit(baudrate);
+    serialPrint("GPS baudrate set to %d", baudrate);
+  }
+  else {
+    serialPrint("%s: Invalid arguments", argv[0]);
+  }
+  return 0;
+}
+#endif
 
 const CliCommand cliCommands[] = {
   { "beep", cliBeep, "[<frequency>] [<duration>]" },
@@ -731,6 +745,9 @@ const CliCommand cliCommands[] = {
   { "repeat", cliRepeat, "<interval> <command>" },
 #if defined(JITTER_MEASURE)
   { "jitter", cliShowJitter, "" },
+#endif
+#if defined(INTERNAL_GPS)
+  { "gps", cliGps, "<baudrate>" },
 #endif
   { NULL, NULL, NULL }  /* sentinel */
 };

radio/src/gps.cpp

@@ -1,5 +1,26 @@
 /*
- * This file is part of Cleanflight.
+ * Copyright (C) OpenTX
+ *
+ * Based on code named
+ *   th9x - http://code.google.com/p/th9x
+ *   er9x - http://code.google.com/p/er9x
+ *   gruvin9x - http://code.google.com/p/gruvin9x
+ *
+ * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ */
+
+/*
+ * This file is based on code from Cleanflight project
+ * https://github.com/cleanflight/cleanflight
  *
  * Cleanflight is free software: you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
@@ -134,11 +155,11 @@ bool gpsNewFrameNMEA(char c)
     case '*':
       string[offset] = 0;
       if (param == 0) {
-        // Frame identification
+        // Frame identification (accept all GPS talkers (GP: GPS, GL:Glonass, GN:combination, etc...))
         gps_frame = NO_FRAME;
-        if (string[0] == 'G' && string[1] == 'P' && string[2] == 'G' && string[3] == 'G' && string[4] == 'A')
+        if (string[0] == 'G' && string[2] == 'G' && string[3] == 'G' && string[4] == 'A')
           gps_frame = FRAME_GGA;
-        if (string[0] == 'G' && string[1] == 'P' && string[2] == 'R' && string[3] == 'M' && string[4] == 'C')
+        if (string[0] == 'G' && string[2] == 'R' && string[3] == 'M' && string[4] == 'C')
           gps_frame = FRAME_RMC;
       }
 
@@ -207,12 +228,14 @@ bool gpsNewFrameNMEA(char c)
           switch (gps_frame) {
             case FRAME_GGA:
               frameOK = 1;
+              gpsData.fix = gps_Msg.fix;
+              gpsData.numSat = gps_Msg.numSat;
               if (gps_Msg.fix) {
-                gpsData.fix = 1;
+                __disable_irq();    // do the atomic update of lat/lon
                 gpsData.latitude = gps_Msg.latitude;
                 gpsData.longitude = gps_Msg.longitude;
-                gpsData.numSat = gps_Msg.numSat;
                 gpsData.altitude = gps_Msg.altitude;
+                __enable_irq();
               }
               break;
             case FRAME_RMC:
@@ -252,6 +275,7 @@ void gpsWakeup()
 {
   uint8_t byte;
   while (gpsGetByte(&byte)) {
+    TRACE_PING("%c", (char)byte);
     gpsNewData(byte);
   }
 }

radio/src/gui/common/arm/widgets.cpp

@@ -136,6 +136,10 @@ void drawSourceCustomValue(coord_t x, coord_t y, source_t source, int32_t value,
     if (gpsData.fix) {
       drawGPSPosition(x, y, gpsData.longitude, gpsData.latitude, flags);
     }
+    else {
+      lcdDrawText(x, y, "sats: ", flags);
+      lcdDrawNumber(lcdNextPos, y, gpsData.numSat, flags);
+    }
   }
 #endif
   else if (source < MIXSRC_FIRST_CH) {

radio/src/targets/horus/CMakeLists.txt

@@ -1,4 +1,6 @@
 set(PCBREV "13" CACHE STRING "PCB Revision")
+set(INTERNAL_GPS_BAUDRATE "9600" CACHE STRING "Baud rate for internal GPS")
+option(INTERNAL_GPS_INSTALLED "Internal GPS installed in beta hardware version" NO)
 option(DISK_CACHE "Enable SD card disk cache" YES)
 
 set(CPU_TYPE STM32F4)
@@ -16,6 +18,7 @@ set(RAMBACKUP YES)
 
 add_definitions(-DPCBHORUS -DPCBREV=${PCBREV} -DSTM32F429_439xx -DSDRAM -DCOLORLCD -DPPM_PIN_UART -DPPM_PIN_TIMER)
 add_definitions(-DEEPROM_VARIANT=0 -DAUDIO -DVOICE -DRTCLOCK)
+add_definitions(-DGPS_USART_BAUDRATE=${INTERNAL_GPS_BAUDRATE})
 
 include_directories(${RADIO_SRC_DIRECTORY}/fonts/480x272 gui/${GUI_DIR} gui/${GUI_DIR}/layouts)
 
@@ -49,6 +52,9 @@ if(DISK_CACHE)
   set(SRC ${SRC} disk_cache.cpp)
   add_definitions(-DDISK_CACHE)
 endif()
+if(INTERNAL_GPS_INSTALLED)
+  add_definitions(-DINTERNAL_GPS_INSTALLED)
+endif()
 set(SERIAL2_DRIVER serial2_driver.cpp)
 set(TARGET_SRC
   ${TARGET_SRC}

radio/src/targets/horus/board.cpp

@@ -177,7 +177,7 @@ void boardInit()
 
   //  bt_open();
 
-  gpsInit();
+  gpsInit(GPS_USART_BAUDRATE);
 
 #if defined(DEBUG)
   DBGMCU_APB1PeriphConfig(DBGMCU_IWDG_STOP|DBGMCU_TIM1_STOP|DBGMCU_TIM2_STOP|DBGMCU_TIM3_STOP|DBGMCU_TIM4_STOP|DBGMCU_TIM5_STOP|DBGMCU_TIM6_STOP|DBGMCU_TIM7_STOP|DBGMCU_TIM8_STOP|DBGMCU_TIM9_STOP|DBGMCU_TIM10_STOP|DBGMCU_TIM11_STOP|DBGMCU_TIM12_STOP|DBGMCU_TIM13_STOP|DBGMCU_TIM14_STOP, ENABLE);

radio/src/targets/horus/board.h

@@ -389,12 +389,12 @@ void hapticOff(void);
 void hapticOn(uint32_t pwmPercent);
 
 // GPS driver
-#if PCBREV >= 13
+#if PCBREV >= 13 || defined(INTERNAL_GPS_INSTALLED)
 #define INTERNAL_GPS                   1
 #else
 #define INTERNAL_GPS                   0
 #endif
-void gpsInit(void);
+void gpsInit(uint32_t baudrate);
 uint8_t gpsGetByte(uint8_t * byte);
 
 // Second serial port driver

radio/src/targets/horus/gps_driver.cpp

@@ -20,9 +20,13 @@
 
 #include "opentx.h"
 
+#if GPS_USART_BAUDRATE > 9600
+  Fifo<uint8_t, 256> gpsRxFifo;
+#else
   Fifo<uint8_t, 64> gpsRxFifo;
+#endif
 
-void gpsInit()
+void gpsInit(uint32_t baudrate)
 {
   GPIO_InitTypeDef GPIO_InitStructure;
   USART_InitTypeDef USART_InitStructure;
@@ -39,7 +43,7 @@ void gpsInit()
   GPIO_Init(GPS_UART_GPIO, &GPIO_InitStructure);
 
   // UART config
-  USART_InitStructure.USART_BaudRate = GPS_USART_BAUDRATE;
+  USART_InitStructure.USART_BaudRate = baudrate;
   USART_InitStructure.USART_Parity = USART_Parity_No;
   USART_InitStructure.USART_StopBits = USART_StopBits_1;
   USART_InitStructure.USART_WordLength = USART_WordLength_8b;

radio/src/targets/horus/hal.h

@@ -439,6 +439,5 @@
 #define GPS_RX_GPIO_PIN                 GPIO_Pin_1 // PA.01
 #define GPS_TX_GPIO_PinSource           GPIO_PinSource0
 #define GPS_RX_GPIO_PinSource           GPIO_PinSource1
-#define GPS_USART_BAUDRATE              9600
 
 #endif // _HAL_H_