Horus internal GPS: settable baudrate, misc fixes, new cmake options,… (#3736)

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

* Horus internal GPS: cmake changes, more CLI options, ability to send commands to the module

* Compilation fixes

radio/src/cli.cpp

@@ -708,6 +708,28 @@ int cliShowJitter(const char ** argv)
 }
 #endif
 
+#if defined(INTERNAL_GPS)
+int cliGps(const char ** argv)
+{
+  int baudrate = 0;
+  if (argv[1][0] == '$') {
+    // send command to GPS
+    gpsSendFrame(argv[1]);
+  }
+  else if (!strcmp(argv[1], "trace")) {
+    gpsTraceEnabled = !gpsTraceEnabled;
+  }
+
+  else 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 +753,9 @@ 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
@@ -47,14 +68,14 @@ uint32_t GPS_coord_to_degrees(const char * coordinateString)
   uint8_t degrees = 0, minutes = 0;
   uint16_t fractionalMinutes = 0;
   uint8_t digitIndex;
-  
+
   // scan for decimal point or end of field
   for (fieldSeparator = coordinateString; isdigit((unsigned char) *fieldSeparator); fieldSeparator++) {
     if (fieldSeparator >= coordinateString + 15)
       return 0; // stop potential fail
   }
   remainingString = coordinateString;
-  
+
   // convert degrees
   while ((fieldSeparator - remainingString) > 2) {
     if (degrees)
@@ -118,12 +139,12 @@ typedef struct gpsDataNmea_s
 bool gpsNewFrameNMEA(char c)
 {
   static gpsDataNmea_t gps_Msg;
-  
+
   uint8_t frameOK = 0;
   static uint8_t param = 0, offset = 0, parity = 0;
   static char string[15];
   static uint8_t checksum_param, gps_frame = NO_FRAME;
-  
+
   switch (c) {
     case '$':
       param = 0;
@@ -134,14 +155,14 @@ 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;
       }
-      
+
       switch (gps_frame) {
         case FRAME_GGA:        //************* GPGGA FRAME parsing
           switch (param) {
@@ -189,7 +210,7 @@ bool gpsNewFrameNMEA(char c)
           break;
 
       }
-      
+
       param++;
       offset = 0;
       if (c == '*')
@@ -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:
@@ -255,3 +278,27 @@ void gpsWakeup()
     gpsNewData(byte);
   }
 }
+
+#if defined(DEBUG)
+char hex(uint8_t b) {
+  return b > 9 ? b + 'A' - 10 : b + '0';
+}
+
+void gpsSendFrame(const char * frame)
+{
+  // send given frame, add checksum and CRLF
+  uint8_t parity = 0;
+  while (*frame) {
+    if (*frame != '$') parity ^= *frame;
+    gpsSendByte(*frame);
+    ++frame;
+  }
+  gpsSendByte('*');
+  gpsSendByte(hex(parity >> 4));
+  gpsSendByte(hex(parity & 0x0F));
+  gpsSendByte('\r');
+  gpsSendByte('\n');
+  TRACE("parity %02x", parity);
+}
+
+#endif // #if defined(DEBUG)

radio/src/gps.h

@@ -40,4 +40,8 @@ struct gpsdata_t
 extern gpsdata_t gpsData;
 void gpsWakeup();
 
+#if defined(DEBUG)
+void gpsSendFrame(const char * frame);
+#endif
+
 #endif // _GPS_H_

radio/src/gui/480x272/widgets/value.cpp

@@ -75,10 +75,15 @@ void ValueWidget::refresh()
     yValue = y+18;
     xLabel = x+NUMBERS_PADDING;
     yLabel = y+2;
-    if (field == MIXSRC_TX_GPS)
+#if defined(INTERNAL_GPS)
+    if (field == MIXSRC_TX_GPS) {
       attrValue = LEFT | MIDSIZE;
-    else
+    }
+    else 
+#endif
+    {
       attrValue = LEFT | DBLSIZE;
+    }
   }
 
   if (field >= MIXSRC_FIRST_TIMER && field <= MIXSRC_LAST_TIMER) {

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/main_arm.cpp

@@ -467,7 +467,7 @@ void perMain()
   bluetoothWakeup();
 #endif
 
-#if INTERNAL_GPS > 0
+#if defined(INTERNAL_GPS)
   gpsWakeup();
 #endif
 }

radio/src/targets/horus/CMakeLists.txt

@@ -1,5 +1,14 @@
 set(PCBREV "13" CACHE STRING "PCB Revision")
+set(INTERNAL_GPS_BAUDRATE "9600" CACHE STRING "Baud rate for internal GPS")
 option(DISK_CACHE "Enable SD card disk cache" YES)
+if(${PCBREV} GREATER 10)
+  option(INTERNAL_GPS "Internal GPS installed" YES)
+else()
+  option(INTERNAL_GPS "Internal GPS installed" NO)
+  if(NOT INTERNAL_GPS)
+    message("Internal GPS is optional, use INTERNAL_GPS=YES option to enable it")
+  endif()
+endif()
 
 set(CPU_TYPE STM32F4)
 set(HSE_VALUE 12000000)
@@ -16,6 +25,7 @@ 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)
 
@@ -44,11 +54,15 @@ set(GUI_SRC
   ${LAYOUTS_SRC}
   ${WIDGETS_SRC}
   )
-set(SRC ${SRC} gps.cpp)
 if(DISK_CACHE)
   set(SRC ${SRC} disk_cache.cpp)
   add_definitions(-DDISK_CACHE)
 endif()
+if(INTERNAL_GPS)
+  set(SRC ${SRC} gps.cpp)
+  add_definitions(-DINTERNAL_GPS)
+  message("Internal GPS enabled")
+endif()
 set(SERIAL2_DRIVER serial2_driver.cpp)
 set(TARGET_SRC
   ${TARGET_SRC}

radio/src/targets/horus/board.cpp

@@ -162,7 +162,7 @@ void boardInit()
   lcdInit();
   backlightInit();
   // TODO ? backlightEnable(100);
-  
+
   audioInit();
   init2MhzTimer();
   init1msTimer();
@@ -171,8 +171,8 @@ 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);
 #endif

radio/src/targets/horus/board.h

@@ -399,13 +399,12 @@ void hapticOff(void);
 void hapticOn(uint32_t pwmPercent);
 
 // GPS driver
-#if PCBREV >= 13
+void gpsInit(uint32_t baudrate);
-#define INTERNAL_GPS                   1
-#else
-#define INTERNAL_GPS                   0
-#endif
-void gpsInit(void);
 uint8_t gpsGetByte(uint8_t * byte);
+#if defined(DEBUG)
+  extern uint8_t gpsTraceEnabled;
+  void gpsSendByte(uint8_t byte);
+#endif
 
 // Second serial port driver
 #define SERIAL2

radio/src/targets/horus/gps_driver.cpp

@@ -20,9 +20,13 @@
 
 #include "opentx.h"
 
-Fifo<uint8_t, 64> gpsRxFifo;
+#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;
@@ -56,9 +60,23 @@ void gpsInit()
   NVIC_Init(&NVIC_InitStructure);
 }
 
+#if defined(DEBUG)
+uint8_t gpsTraceEnabled = false;
+Fifo<uint8_t, 64> gpsTxFifo;
+
+void gpsSendByte(uint8_t byte)
+{
+  while (gpsTxFifo.isFull());
+  gpsTxFifo.push(byte);
+  USART_ITConfig(GPS_USART, USART_IT_TXE, ENABLE);
+}
+
+#endif // #if defined(DEBUG)
+
+
 extern "C" void GPS_USART_IRQHandler(void)
 {
-#if 0
+#if defined(DEBUG)
   // Send
   if (USART_GetITStatus(GPS_USART, USART_IT_TXE) != RESET) {
     uint8_t txchar;
@@ -85,5 +103,11 @@ extern "C" void GPS_USART_IRQHandler(void)
 
 uint8_t gpsGetByte(uint8_t * byte)
 {
-  return gpsRxFifo.pop(*byte);
+  uint8_t result = gpsRxFifo.pop(*byte);
+#if defined(DEBUG)
+  if (gpsTraceEnabled) {
+    serialPutc(*byte);
+  }
+#endif
+  return result;
 }

radio/src/targets/horus/hal.h

@@ -443,6 +443,5 @@
 #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_