kopia lustrzana https://github.com/OpenRTX/OpenRTX
176 wiersze
4.4 KiB
C++
176 wiersze
4.4 KiB
C++
/***************************************************************************
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* Copyright (C) 2024 by 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 <kernel/scheduler/scheduler.h>
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#include <interfaces/delays.h>
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#include <peripherals/gpio.h>
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#include <peripherals/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 <rcc.h>
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static size_t bufPos = 0;
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static size_t maxPos = 0;
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static char *dataBuf;
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static bool receiving = false;
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using namespace miosix;
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static Thread *gpsWaiting = 0;
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void __attribute__((used)) GpsUsartImpl()
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{
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if(USART6->SR & USART_SR_RXNE)
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{
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char value = USART6->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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// NMEA sentence received, turn off serial port
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USART6->CR1 &= ~USART_CR1_UE;
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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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USART6->SR = 0;
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}
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void __attribute__((naked)) USART6_IRQHandler()
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{
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saveContext();
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asm volatile("bl _Z12GpsUsartImplv");
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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_RXD, ALTERNATE | ALTERNATE_FUNC(8));
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RCC->APB2ENR |= RCC_APB2ENR_USART6EN;
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__DSB();
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uint32_t quot = rcc_getBusClock(PERIPH_BUS_APB2);
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quot = (2 * quot) / baud;
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USART6->BRR = (quot / 2) + (quot & 1);
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USART6->CR3 |= USART_CR3_ONEBIT;
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USART6->CR1 = USART_CR1_RE
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| USART_CR1_RXNEIE;
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NVIC_SetPriority(USART6_IRQn, 14);
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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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RCC->APB2ENR &= ~RCC_APB2ENR_USART6EN;
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}
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void gps_enable()
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{
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// Enable IRQ
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NVIC_ClearPendingIRQ(USART6_IRQn);
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NVIC_EnableIRQ(USART6_IRQn);
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}
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void gps_disable()
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{
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USART6->CR1 &= ~USART_CR1_UE;
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NVIC_DisableIRQ(USART6_IRQn);
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receiving = false;
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bufPos = 0;
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}
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bool gps_detect(uint16_t timeout)
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{
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(void) timeout;
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return true;
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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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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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// Enable serial port
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USART6->CR1 |= USART_CR1_UE;
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return 0;
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}
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bool gps_nmeaSentenceReady()
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{
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return (receiving == false) && (bufPos > 0);
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}
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void gps_waitForNmeaSentence()
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{
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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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}
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while(gpsWaiting);
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}
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}
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