kopia lustrzana https://github.com/OpenRTX/OpenRTX
151 wiersze
4.0 KiB
C
151 wiersze
4.0 KiB
C
/***************************************************************************
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* Copyright (C) 2023 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 <zephyr/drivers/uart.h>
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#include <zephyr/kernel.h>
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#include <interfaces/delays.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 <pmu.h>
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#if DT_NODE_HAS_STATUS(DT_ALIAS(gps), okay)
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#define UART_GPS_DEV_NODE DT_ALIAS(gps)
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#else
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#error "Please select the correct gps UART device"
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#endif
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#define NMEA_MSG_SIZE 82
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K_MSGQ_DEFINE(gps_uart_msgq, NMEA_MSG_SIZE, 10, 4);
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static const struct device *const gps_dev = DEVICE_DT_GET(UART_GPS_DEV_NODE);
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// receive buffer used in UART ISR callback
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static char rx_buf[NMEA_MSG_SIZE];
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static uint16_t rx_buf_pos;
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static void gps_serialCb(const struct device *dev, void *user_data)
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{
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uint8_t c;
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if (uart_irq_update(gps_dev) == false)
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return;
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if (uart_irq_rx_ready(gps_dev) == false)
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return;
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// read until FIFO empty
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while (uart_fifo_read(gps_dev, &c, 1) == 1)
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{
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if (c == '$' && rx_buf_pos > 0)
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{
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// terminate string
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rx_buf[rx_buf_pos] = '\0';
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// if queue is full, message is silently dropped
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k_msgq_put(&gps_uart_msgq, &rx_buf, K_NO_WAIT);
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// reset the buffer (it was copied to the msgq)
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rx_buf_pos = 0;
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rx_buf[rx_buf_pos++] = '$';
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}
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else if (rx_buf_pos < (sizeof(rx_buf) - 1))
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{
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rx_buf[rx_buf_pos++] = c;
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}
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}
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}
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void gps_init(const uint16_t baud)
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{
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int ret = 0;
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// Check if GPS UART is ready
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if (device_is_ready(gps_dev) == false)
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{
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printk("UART device not found!\n");
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return;
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}
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ret = uart_irq_callback_user_data_set(gps_dev, gps_serialCb, NULL);
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if (ret < 0)
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{
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if (ret == -ENOTSUP)
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{
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printk("Interrupt-driven UART support not enabled\n");
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}
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else if (ret == -ENOSYS)
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{
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printk("UART device does not support interrupt-driven API\n");
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}
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else
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{
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printk("Error setting UART callback: %d\n", ret);
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}
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return;
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}
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uart_irq_rx_enable(gps_dev);
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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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}
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void gps_enable()
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{
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pmu_setGPSPower(true);
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}
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void gps_disable()
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{
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pmu_setGPSPower(false);
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}
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bool gps_detect(uint16_t timeout)
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{
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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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k_msgq_get(&gps_uart_msgq, buf, K_FOREVER);
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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 k_msgq_num_used_get(&gps_uart_msgq) != 0;
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}
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void gps_waitForNmeaSentence()
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{
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while (k_msgq_num_used_get(&gps_uart_msgq) != 0)
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{
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sleepFor(0, 100);
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}
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}
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