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Horus internal GPS: settable baudrate, misc fixes, new cmake options, cosmetics, cli
This commit is contained in:
Damjan Adamic
parent
f0c2f10e27
commit
1ef91597ca
8 changed files with 75 additions and 21 deletions
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@ -708,6 +708,20 @@ int cliShowJitter(const char ** argv)
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}
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#endif
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#if defined(INTERNAL_GPS)
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int cliGps(const char ** argv)
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{
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int baudrate = 0;
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if (toInt(argv, 1, &baudrate) > 0 && baudrate > 0) {
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gpsInit(baudrate);
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serialPrint("GPS baudrate set to %d", baudrate);
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}
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else {
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serialPrint("%s: Invalid arguments", argv[0]);
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}
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return 0;
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}
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#endif
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const CliCommand cliCommands[] = {
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{ "beep", cliBeep, "[<frequency>] [<duration>]" },
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@ -731,6 +745,9 @@ const CliCommand cliCommands[] = {
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{ "repeat", cliRepeat, "<interval> <command>" },
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#if defined(JITTER_MEASURE)
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{ "jitter", cliShowJitter, "" },
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#endif
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#if defined(INTERNAL_GPS)
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{ "gps", cliGps, "<baudrate>" },
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#endif
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{ NULL, NULL, NULL } /* sentinel */
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};
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@ -1,5 +1,26 @@
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/*
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* This file is part of Cleanflight.
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* Copyright (C) OpenTX
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*
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* Based on code named
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* th9x - http://code.google.com/p/th9x
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* er9x - http://code.google.com/p/er9x
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* gruvin9x - http://code.google.com/p/gruvin9x
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*
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* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*/
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/*
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* This file is based on code from Cleanflight project
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* https://github.com/cleanflight/cleanflight
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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@ -134,11 +155,11 @@ bool gpsNewFrameNMEA(char c)
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case '*':
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string[offset] = 0;
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if (param == 0) {
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// Frame identification
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// Frame identification (accept all GPS talkers (GP: GPS, GL:Glonass, GN:combination, etc...))
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gps_frame = NO_FRAME;
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if (string[0] == 'G' && string[1] == 'P' && string[2] == 'G' && string[3] == 'G' && string[4] == 'A')
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if (string[0] == 'G' && string[2] == 'G' && string[3] == 'G' && string[4] == 'A')
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gps_frame = FRAME_GGA;
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if (string[0] == 'G' && string[1] == 'P' && string[2] == 'R' && string[3] == 'M' && string[4] == 'C')
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if (string[0] == 'G' && string[2] == 'R' && string[3] == 'M' && string[4] == 'C')
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gps_frame = FRAME_RMC;
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}
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@ -207,12 +228,14 @@ bool gpsNewFrameNMEA(char c)
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switch (gps_frame) {
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case FRAME_GGA:
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frameOK = 1;
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gpsData.fix = gps_Msg.fix;
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gpsData.numSat = gps_Msg.numSat;
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if (gps_Msg.fix) {
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gpsData.fix = 1;
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__disable_irq(); // do the atomic update of lat/lon
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gpsData.latitude = gps_Msg.latitude;
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gpsData.longitude = gps_Msg.longitude;
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gpsData.numSat = gps_Msg.numSat;
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gpsData.altitude = gps_Msg.altitude;
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__enable_irq();
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}
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break;
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case FRAME_RMC:
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@ -252,6 +275,7 @@ void gpsWakeup()
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{
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uint8_t byte;
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while (gpsGetByte(&byte)) {
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TRACE_PING("%c", (char)byte);
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gpsNewData(byte);
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}
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}
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@ -136,6 +136,10 @@ void drawSourceCustomValue(coord_t x, coord_t y, source_t source, int32_t value,
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if (gpsData.fix) {
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drawGPSPosition(x, y, gpsData.longitude, gpsData.latitude, flags);
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}
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else {
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lcdDrawText(x, y, "sats: ", flags);
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lcdDrawNumber(lcdNextPos, y, gpsData.numSat, flags);
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}
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}
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#endif
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else if (source < MIXSRC_FIRST_CH) {
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@ -1,4 +1,6 @@
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set(PCBREV "13" CACHE STRING "PCB Revision")
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set(INTERNAL_GPS_BAUDRATE "9600" CACHE STRING "Baud rate for internal GPS")
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option(INTERNAL_GPS_INSTALLED "Internal GPS installed in beta hardware version" NO)
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option(DISK_CACHE "Enable SD card disk cache" YES)
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set(CPU_TYPE STM32F4)
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@ -16,6 +18,7 @@ set(RAMBACKUP YES)
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add_definitions(-DPCBHORUS -DPCBREV=${PCBREV} -DSTM32F429_439xx -DSDRAM -DCOLORLCD -DPPM_PIN_UART -DPPM_PIN_TIMER)
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add_definitions(-DEEPROM_VARIANT=0 -DAUDIO -DVOICE -DRTCLOCK)
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add_definitions(-DGPS_USART_BAUDRATE=${INTERNAL_GPS_BAUDRATE})
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include_directories(${RADIO_SRC_DIRECTORY}/fonts/480x272 gui/${GUI_DIR} gui/${GUI_DIR}/layouts)
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@ -49,6 +52,9 @@ if(DISK_CACHE)
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set(SRC ${SRC} disk_cache.cpp)
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add_definitions(-DDISK_CACHE)
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endif()
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if(INTERNAL_GPS_INSTALLED)
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add_definitions(-DINTERNAL_GPS_INSTALLED)
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endif()
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set(SERIAL2_DRIVER serial2_driver.cpp)
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set(TARGET_SRC
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${TARGET_SRC}
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@ -177,7 +177,7 @@ void boardInit()
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// bt_open();
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gpsInit();
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gpsInit(GPS_USART_BAUDRATE);
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#if defined(DEBUG)
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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);
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@ -389,12 +389,12 @@ void hapticOff(void);
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void hapticOn(uint32_t pwmPercent);
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// GPS driver
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#if PCBREV >= 13
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#if PCBREV >= 13 || defined(INTERNAL_GPS_INSTALLED)
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#define INTERNAL_GPS 1
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#else
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#define INTERNAL_GPS 0
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#endif
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void gpsInit(void);
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void gpsInit(uint32_t baudrate);
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uint8_t gpsGetByte(uint8_t * byte);
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// Second serial port driver
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@ -20,9 +20,13 @@
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#include "opentx.h"
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#if GPS_USART_BAUDRATE > 9600
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Fifo<uint8_t, 256> gpsRxFifo;
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#else
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Fifo<uint8_t, 64> gpsRxFifo;
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#endif
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void gpsInit()
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void gpsInit(uint32_t baudrate)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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USART_InitTypeDef USART_InitStructure;
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@ -39,7 +43,7 @@ void gpsInit()
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GPIO_Init(GPS_UART_GPIO, &GPIO_InitStructure);
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// UART config
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USART_InitStructure.USART_BaudRate = GPS_USART_BAUDRATE;
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USART_InitStructure.USART_BaudRate = baudrate;
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USART_InitStructure.USART_Parity = USART_Parity_No;
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USART_InitStructure.USART_StopBits = USART_StopBits_1;
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USART_InitStructure.USART_WordLength = USART_WordLength_8b;
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@ -439,6 +439,5 @@
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#define GPS_RX_GPIO_PIN GPIO_Pin_1 // PA.01
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#define GPS_TX_GPIO_PinSource GPIO_PinSource0
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#define GPS_RX_GPIO_PinSource GPIO_PinSource1
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#define GPS_USART_BAUDRATE 9600
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#endif // _HAL_H_
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