TX16S internal gps option (#7632)

companion/src/firmwares/opentx/opentxinterface.cpp

@@ -1357,8 +1357,10 @@ void registerOpenTxFirmwares()
   /* Radiomaster TX16S board */
   firmware = new OpenTxFirmware("opentx-tx16s", Firmware::tr("Radiomaster TX16s / TX16s Hall / TX16s Masterfire"), BOARD_RADIOMASTER_TX16S);
   addOpenTxFrskyOptions(firmware);
-  firmware->addOption("bluetooth", Firmware::tr("Support for bluetooth module"));
   addOpenTxRfOptions(firmware, FLEX);
+  static const Firmware::Option opt_bt("bluetooth", Firmware::tr("Support for bluetooth module"));
+  static const Firmware::Option opt_internal_gps("internalgps", Firmware::tr("Support internal GPS"));
+  firmware->addOptionsGroup({opt_bt, opt_internal_gps});
   registerOpenTxFirmware(firmware);
 
   /* 9XR-Pro */

radio/src/options.h

@@ -53,6 +53,9 @@ static const char * options[] = {
 #if defined(HORUS_STICKS)
   "horussticks",
 #endif
+#if defined(INTERNAL_GPS)
+  "internalgps",
+#endif
 #if defined(INTERNAL_MODULE_PPM)
   "internalppm",
 #endif

radio/src/targets/horus/CMakeLists.txt

@@ -61,13 +61,15 @@ if (PCB STREQUAL X10)
     add_definitions(-DRADIO_FAMILY_T16)
     option(INTERNAL_MODULE_MULTI "Support for MULTI internal module" ON)
     option(BLUETOOTH "Support for bluetooth module" OFF)
+    option(INTERNAL_GPS "Support for internal ublox GPS" OFF)
     set(HARDWARE_TOUCH YES)
     set(USB_CHARGER YES)
     set(DEFAULT_THEME "DARKBLUE")
     set(AUX_SERIAL ON)
-    if (NOT BLUETOOTH)
+    if (NOT BLUETOOTH AND NOT INTERNAL_GPS)
       set(AUX2_SERIAL ON)
     endif()
+    set(INTERNAL_GPS_BAUDRATE "9600" CACHE STRING "Baud rate for internal GPS")
   else()
     set(FLAVOUR x10)
     option(INTERNAL_MODULE_PXX1 "Support for PXX1 internal module" ON)
@@ -94,7 +96,6 @@ elseif (PCB STREQUAL X12S)
     ${TARGET_SRC}
     audio_spi_driver.cpp
     x12s_adc_driver.cpp
-    gps_driver.cpp
     )
   set(BITMAPS_TARGET x12s_bitmaps)
   set(FONTS_TARGET x12s_fonts)
@@ -199,6 +200,7 @@ endif()
 
 if(INTERNAL_GPS)
   set(SRC ${SRC} gps.cpp)
+  set(TARGET_SRC ${TARGET_SRC} gps_driver.cpp)
   add_definitions(-DINTERNAL_GPS)
   message("Horus: Internal GPS enabled")
 endif()

radio/src/targets/horus/board.cpp

@@ -150,6 +150,7 @@ void boardInit()
                          BT_RCC_APB2Periph |
                          AUX_SERIAL_RCC_APB2Periph |
                          AUX2_SERIAL_RCC_APB2Periph |
+                         GPS_RCC_APB2Periph |
                          BACKLIGHT_RCC_APB2Periph,
                          ENABLE);
 

radio/src/targets/horus/gps_driver.cpp

@@ -33,8 +33,8 @@ void gpsInit(uint32_t baudrate)
   NVIC_InitTypeDef NVIC_InitStructure;
 
   // RX and TX pins
-  GPIO_PinAFConfig(GPIOA, GPS_TX_GPIO_PinSource, GPS_GPIO_AF);
+  GPIO_PinAFConfig(GPS_UART_GPIO, GPS_TX_GPIO_PinSource, GPS_GPIO_AF);
-  GPIO_PinAFConfig(GPIOA, GPS_RX_GPIO_PinSource, GPS_GPIO_AF);
+  GPIO_PinAFConfig(GPS_UART_GPIO, GPS_RX_GPIO_PinSource, GPS_GPIO_AF);
   GPIO_InitStructure.GPIO_Pin = (GPS_TX_GPIO_PIN | GPS_RX_GPIO_PIN);
   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
   GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
@@ -58,6 +58,14 @@ void gpsInit(uint32_t baudrate)
   NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
   NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
   NVIC_Init(&NVIC_InitStructure);
+
+#if defined(GPS_PWR_GPIO)
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
+  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
+  GPIO_InitStructure.GPIO_Pin = GPS_PWR_GPIO_PIN;
+  GPIO_Init(GPS_PWR_GPIO, &GPIO_InitStructure);
+  GPIO_SetBits(GPS_PWR_GPIO, GPS_PWR_GPIO_PIN);
+#endif
 }
 
 #if defined(DEBUG)

radio/src/targets/horus/hal.h

@@ -418,7 +418,7 @@
   #define AUX_SERIAL_RCC_APB2Periph           0
 #endif
 
-#if defined(RADIO_TX16S) && !defined(BLUETOOTH)
+#if defined(AUX2_SERIAL)
   #define AUX2_SERIAL_RCC_AHB1Periph           (RCC_AHB1Periph_GPIOB | RCC_AHB1Periph_GPIOG | RCC_AHB1Periph_DMA2)
   #define AUX2_SERIAL_RCC_APB1Periph           0
   #define AUX2_SERIAL_RCC_APB2Periph           RCC_APB2Periph_USART6
@@ -435,6 +435,24 @@
   #define AUX2_SERIAL_DMA_Channel_RX           DMA_Channel_5
   #define AUX2_SERIAL_PWR_GPIO                 GPIOB
   #define AUX2_SERIAL_PWR_GPIO_PIN             GPIO_Pin_0  // PB.00
+#elif defined(RADIO_TX16S) && defined(INTERNAL_GPS)
+  #define GPS_RCC_AHB1Periph                   (RCC_AHB1Periph_GPIOB | RCC_AHB1Periph_GPIOG)
+  #define GPS_RCC_APB1Periph                   0
+  #define GPS_RCC_APB2Periph                   RCC_APB2Periph_USART6
+  #define GPS_USART                            USART6
+  #define GPS_GPIO_AF                          GPIO_AF_USART6
+  #define GPS_USART_IRQn                       USART6_IRQn
+  #define GPS_USART_IRQHandler                 USART6_IRQHandler
+  #define GPS_UART_GPIO                        GPIOG
+  #define GPS_TX_GPIO_PIN                      GPIO_Pin_14 // PG.14
+  #define GPS_RX_GPIO_PIN                      GPIO_Pin_9  // PG.09
+  #define GPS_TX_GPIO_PinSource                GPIO_PinSource14
+  #define GPS_RX_GPIO_PinSource                GPIO_PinSource9
+  #define GPS_PWR_GPIO                         GPIOB
+  #define GPS_PWR_GPIO_PIN                     GPIO_Pin_0  // PB.00
+  #define AUX2_SERIAL_RCC_AHB1Periph           0
+  #define AUX2_SERIAL_RCC_APB1Periph           0
+  #define AUX2_SERIAL_RCC_APB2Periph           0
 #else
   #define AUX2_SERIAL_RCC_AHB1Periph           0
   #define AUX2_SERIAL_RCC_APB1Periph           0
@@ -900,6 +918,7 @@
 #if defined(PCBX12S)
   #define GPS_RCC_AHB1Periph            RCC_AHB1Periph_GPIOA
   #define GPS_RCC_APB1Periph            RCC_APB1Periph_UART4
+  #define GPS_RCC_APB2Periph            0
   #define GPS_USART                     UART4
   #define GPS_GPIO_AF                   GPIO_AF_UART4
   #define GPS_USART_IRQn                UART4_IRQn
@@ -909,9 +928,10 @@
   #define GPS_RX_GPIO_PIN               GPIO_Pin_1 // PA.01
   #define GPS_TX_GPIO_PinSource         GPIO_PinSource0
   #define GPS_RX_GPIO_PinSource         GPIO_PinSource1
-#else
+#elif !defined(INTERNAL_GPS)
   #define GPS_RCC_AHB1Periph            0
   #define GPS_RCC_APB1Periph            0
+  #define GPS_RCC_APB2Periph            0
 #endif
 
 #endif // _HAL_H_

radio/util/fwoptions.py

@@ -234,4 +234,5 @@ options_radiomaster_tx16s = {
     "nooverridech": ("OVERRIDE_CHANNEL_FUNCTION", "NO", "YES"),
     "flexr9m": ("MODULE_PROTOCOL_FLEX", "YES", None),
     "bluetooth": ("BLUETOOTH", "YES", "NO"),
+    "internalgps": ("INTERNAL_GPS", "YES", "NO"),
 }