kopia lustrzana https://github.com/OpenRTX/OpenRTX
242 wiersze
5.9 KiB
C++
242 wiersze
5.9 KiB
C++
/***************************************************************************
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* Copyright (C) 2021 by Federico Amedeo Izzo IU2NUO, *
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* Niccolò Izzo IU2KIN *
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* Frederik Saraci IU2NRO *
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* Silvano Seva IU2KWO *
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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 as published by *
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* the Free Software Foundation; either version 3 of the License, or *
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* (at your option) any later version. *
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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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* You should have received a copy of the GNU General Public License *
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* along with this program; if not, see <http://www.gnu.org/licenses/> *
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***************************************************************************/
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#include <interfaces/delays.h>
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#include <interfaces/gpio.h>
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#include <interfaces/gps.h>
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#include <hwconfig.h>
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#include <string.h>
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#include <miosix.h>
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#include <kernel/scheduler/scheduler.h>
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int8_t detectStatus = -1;
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size_t bufPos = 0;
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size_t maxPos = 0;
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char *dataBuf;
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bool receiving = false;
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uint8_t status = 0;
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using namespace miosix;
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Thread *gpsWaiting = 0;
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#ifdef PLATFORM_MD3x0
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#define PORT USART3
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#else
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#define PORT USART1
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#endif
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void __attribute__((used)) GpsUsartImpl()
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{
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if(PORT->SR & USART_SR_RXNE)
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{
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char value = PORT->DR;
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if((receiving == false) && (value == '$') && (bufPos == 0))
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{
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receiving = true;
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}
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if(receiving)
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{
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if(bufPos == maxPos)
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{
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receiving = false;
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}
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char prevChar = dataBuf[bufPos - 1];
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dataBuf[bufPos] = value;
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bufPos += 1;
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if((prevChar == '\r') && (value == '\n'))
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{
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receiving = false;
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bufPos -= 1;
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}
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}
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if((receiving == false) && (bufPos != 0))
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{
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status = (bufPos < maxPos) ? 0x01 : 0x02;
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if(gpsWaiting)
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{
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gpsWaiting->IRQwakeup();
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if(gpsWaiting->IRQgetPriority()>
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Thread::IRQgetCurrentThread()->IRQgetPriority())
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Scheduler::IRQfindNextThread();
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gpsWaiting = 0;
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}
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}
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}
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PORT->SR = 0;
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}
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#ifdef PLATFORM_MD3x0
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void __attribute__((naked)) USART3_IRQHandler()
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#else
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void __attribute__((naked)) USART1_IRQHandler()
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#endif
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{
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saveContext();
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#if defined(PLATFORM_MD3x0) && defined(MD3x0_ENABLE_DBG)
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asm volatile("bl _Z13usart3irqImplv");
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#else
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asm volatile("bl _Z12GpsUsartImplv");
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#endif
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restoreContext();
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}
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void gps_init(const uint16_t baud)
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{
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gpio_setMode(GPS_EN, OUTPUT);
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gpio_setMode(GPS_DATA, ALTERNATE);
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gpio_setAlternateFunction(GPS_DATA, 7);
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#ifdef PLATFORM_MD3x0
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const unsigned int quot = 2*42000000/baud; /* APB1 clock is 42MHz */
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RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
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#else
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const unsigned int quot = 2*84000000/baud; /* APB2 clock is 84MHz */
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RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
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#endif
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__DSB();
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PORT->BRR = quot/2 + (quot & 1);
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PORT->CR3 |= USART_CR3_ONEBIT;
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PORT->CR1 = USART_CR1_RE
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| USART_CR1_RXNEIE;
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#ifdef PLATFORM_MD3x0
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NVIC_ClearPendingIRQ(USART3_IRQn);
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NVIC_SetPriority(USART3_IRQn, 14);
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#else
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NVIC_ClearPendingIRQ(USART1_IRQn);
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NVIC_SetPriority(USART1_IRQn, 14);
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#endif
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}
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void gps_terminate()
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{
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gps_disable();
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#ifdef PLATFORM_MD3x0
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RCC->APB1ENR &= ~RCC_APB1ENR_USART3EN;
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#else
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RCC->APB2ENR &= ~RCC_APB2ENR_USART1EN;
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#endif
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}
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void gps_enable()
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{
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gpio_setPin(GPS_EN);
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PORT->CR1 |= USART_CR1_UE;
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}
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void gps_disable()
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{
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gpio_clearPin(GPS_EN);
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PORT->CR1 &= ~USART_CR1_UE;
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#ifdef PLATFORM_MD3x0
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NVIC_DisableIRQ(USART3_IRQn);
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#else
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NVIC_DisableIRQ(USART1_IRQn);
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#endif
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}
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bool gps_detect(uint16_t timeout)
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{
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if(detectStatus == -1)
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{
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gpio_setMode(GPS_DATA, INPUT_PULL_DOWN);
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gpio_setMode(GPS_EN, OUTPUT);
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gpio_setPin(GPS_EN);
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while((gpio_readPin(GPS_DATA) == 0) && (timeout > 0))
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{
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delayMs(1);
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timeout--;
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}
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gpio_clearPin(GPS_EN);
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gpio_setMode(GPS_EN, INPUT);
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if(timeout > 0)
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{
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detectStatus = 1;
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}
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else
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{
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detectStatus = 0;
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}
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}
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return (detectStatus == 1) ? true : false;
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}
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int gps_getNmeaSentence(char *buf, const size_t maxLength)
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{
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if(detectStatus != 1) return -1;
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memset(buf, 0x00, maxLength);
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bufPos = 0;
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maxPos = maxLength;
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dataBuf = buf;
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#ifdef PLATFORM_MD3x0
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NVIC_EnableIRQ(USART3_IRQn);
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#else
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NVIC_EnableIRQ(USART1_IRQn);
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#endif
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/*
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* Put the calling thread in waiting status until a complete sentence is ready.
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*/
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{
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FastInterruptDisableLock dLock;
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gpsWaiting = Thread::IRQgetCurrentThread();
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do
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{
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Thread::IRQwait();
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{
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FastInterruptEnableLock eLock(dLock);
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Thread::yield();
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}
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} while(gpsWaiting);
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}
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#ifdef PLATFORM_MD3x0
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NVIC_DisableIRQ(USART3_IRQn);
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#else
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NVIC_DisableIRQ(USART1_IRQn);
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#endif
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if(status & 0x01)
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{
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return bufPos;
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}
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return -1;
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}
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