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https://github.com/opentx/opentx.git
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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
This commit is contained in:
Bertrand Songis
GitHub
commit
f97eda2b4f
11 changed files with 152 additions and 31 deletions
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@ -708,6 +708,28 @@ 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 (argv[1][0] == '$') {
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// send command to GPS
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gpsSendFrame(argv[1]);
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}
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else if (!strcmp(argv[1], "trace")) {
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gpsTraceEnabled = !gpsTraceEnabled;
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}
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else 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 +753,9 @@ 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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@ -47,14 +68,14 @@ uint32_t GPS_coord_to_degrees(const char * coordinateString)
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uint8_t degrees = 0, minutes = 0;
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uint16_t fractionalMinutes = 0;
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uint8_t digitIndex;
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// scan for decimal point or end of field
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for (fieldSeparator = coordinateString; isdigit((unsigned char) *fieldSeparator); fieldSeparator++) {
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if (fieldSeparator >= coordinateString + 15)
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return 0; // stop potential fail
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}
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remainingString = coordinateString;
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// convert degrees
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while ((fieldSeparator - remainingString) > 2) {
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if (degrees)
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@ -118,12 +139,12 @@ typedef struct gpsDataNmea_s
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bool gpsNewFrameNMEA(char c)
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{
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static gpsDataNmea_t gps_Msg;
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uint8_t frameOK = 0;
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static uint8_t param = 0, offset = 0, parity = 0;
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static char string[15];
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static uint8_t checksum_param, gps_frame = NO_FRAME;
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switch (c) {
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case '$':
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param = 0;
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@ -134,14 +155,14 @@ 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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switch (gps_frame) {
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case FRAME_GGA: //************* GPGGA FRAME parsing
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switch (param) {
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@ -189,7 +210,7 @@ bool gpsNewFrameNMEA(char c)
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break;
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}
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param++;
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offset = 0;
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if (c == '*')
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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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@ -255,3 +278,27 @@ void gpsWakeup()
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gpsNewData(byte);
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}
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}
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#if defined(DEBUG)
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char hex(uint8_t b) {
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return b > 9 ? b + 'A' - 10 : b + '0';
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}
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void gpsSendFrame(const char * frame)
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{
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// send given frame, add checksum and CRLF
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uint8_t parity = 0;
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while (*frame) {
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if (*frame != '$') parity ^= *frame;
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gpsSendByte(*frame);
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++frame;
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}
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gpsSendByte('*');
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gpsSendByte(hex(parity >> 4));
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gpsSendByte(hex(parity & 0x0F));
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gpsSendByte('\r');
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gpsSendByte('\n');
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TRACE("parity %02x", parity);
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}
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#endif // #if defined(DEBUG)
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@ -40,4 +40,8 @@ struct gpsdata_t
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extern gpsdata_t gpsData;
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void gpsWakeup();
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#if defined(DEBUG)
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void gpsSendFrame(const char * frame);
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#endif
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#endif // _GPS_H_
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@ -75,10 +75,15 @@ void ValueWidget::refresh()
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yValue = y+18;
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xLabel = x+NUMBERS_PADDING;
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yLabel = y+2;
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if (field == MIXSRC_TX_GPS)
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#if defined(INTERNAL_GPS)
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if (field == MIXSRC_TX_GPS) {
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attrValue = LEFT | MIDSIZE;
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else
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}
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else
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#endif
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{
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attrValue = LEFT | DBLSIZE;
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}
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}
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if (field >= MIXSRC_FIRST_TIMER && field <= MIXSRC_LAST_TIMER) {
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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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@ -467,7 +467,7 @@ void perMain()
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bluetoothWakeup();
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#endif
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#if INTERNAL_GPS > 0
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#if defined(INTERNAL_GPS)
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gpsWakeup();
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#endif
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}
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@ -1,5 +1,14 @@
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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(DISK_CACHE "Enable SD card disk cache" YES)
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if(${PCBREV} GREATER 10)
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option(INTERNAL_GPS "Internal GPS installed" YES)
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else()
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option(INTERNAL_GPS "Internal GPS installed" NO)
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if(NOT INTERNAL_GPS)
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message("Internal GPS is optional, use INTERNAL_GPS=YES option to enable it")
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endif()
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endif()
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set(CPU_TYPE STM32F4)
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set(HSE_VALUE 12000000)
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@ -16,6 +25,7 @@ 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/${GUI_DIR}/layouts)
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@ -44,11 +54,15 @@ set(GUI_SRC
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${LAYOUTS_SRC}
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${WIDGETS_SRC}
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)
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set(SRC ${SRC} gps.cpp)
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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)
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set(SRC ${SRC} gps.cpp)
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add_definitions(-DINTERNAL_GPS)
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message("Internal GPS enabled")
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endif()
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set(SERIAL2_DRIVER serial2_driver.cpp)
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set(TARGET_SRC
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${TARGET_SRC}
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@ -162,7 +162,7 @@ void boardInit()
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lcdInit();
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backlightInit();
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// TODO ? backlightEnable(100);
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audioInit();
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init2MhzTimer();
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init1msTimer();
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@ -171,8 +171,8 @@ 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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#endif
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@ -399,13 +399,12 @@ 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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#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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#if defined(DEBUG)
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extern uint8_t gpsTraceEnabled;
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void gpsSendByte(uint8_t byte);
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#endif
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// Second serial port driver
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#define SERIAL2
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@ -20,9 +20,13 @@
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#include "opentx.h"
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Fifo<uint8_t, 64> gpsRxFifo;
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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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@ -56,9 +60,23 @@ void gpsInit()
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NVIC_Init(&NVIC_InitStructure);
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}
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#if defined(DEBUG)
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uint8_t gpsTraceEnabled = false;
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Fifo<uint8_t, 64> gpsTxFifo;
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void gpsSendByte(uint8_t byte)
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{
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while (gpsTxFifo.isFull());
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gpsTxFifo.push(byte);
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USART_ITConfig(GPS_USART, USART_IT_TXE, ENABLE);
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}
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#endif // #if defined(DEBUG)
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extern "C" void GPS_USART_IRQHandler(void)
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{
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#if 0
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#if defined(DEBUG)
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// Send
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if (USART_GetITStatus(GPS_USART, USART_IT_TXE) != RESET) {
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uint8_t txchar;
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@ -85,5 +103,11 @@ extern "C" void GPS_USART_IRQHandler(void)
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uint8_t gpsGetByte(uint8_t * byte)
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{
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return gpsRxFifo.pop(*byte);
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uint8_t result = gpsRxFifo.pop(*byte);
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#if defined(DEBUG)
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if (gpsTraceEnabled) {
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serialPutc(*byte);
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}
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#endif
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return result;
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}
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@ -443,6 +443,5 @@
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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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