Drobne zmiany gps i kosmetyka rtty

main.c

@@ -71,7 +71,7 @@ void TIM2_IRQHandler(void) {
   if (tx_on /*&& ++cun_rtty == 17*/) {
     send_rtty_status = send_rtty((char *) rtty_buf);
     if (send_rtty_status == rttyEnd) {
-      GPIO_ResetBits(GPIOB, RED);
+      GPIO_SetBits(GPIOB, RED);
       if (*(++rtty_buf) == 0) {
         tx_on = 0;
         tx_on_delay = tx_delay / (1000/RTTY_SPEED);//2500;
@@ -104,8 +104,6 @@ void TIM2_IRQHandler(void) {
   }
 }
 
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wmissing-noreturn"
 int main(void) {
 #ifdef DEBUG
   debug();
@@ -151,6 +149,8 @@ int main(void) {
   //Button = ADCVal[1];
   radio_enable_tx();
 
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wmissing-noreturn"
   while (1) {
     if (tx_on == 0 && tx_enable) {
       start_bits = RTTY_PRE_START_BITS;
@@ -169,7 +169,7 @@ int main(void) {
       uint8_t lon_d = (uint8_t) abs(gpsData.lon_raw / 10000000);
       uint32_t lon_fl = (uint32_t) abs(abs(gpsData.lon_raw) - lon_d * 10000000) / 100;
 
-      sprintf(buf_rtty, "$$$$$$$%s,%d,%02u%02u%02u,%s%d.%05ld,%s%d.%05ld,%ld,%d,%d,%d,%d,%d,%02x", callsign, send_cun,
+      sprintf(buf_rtty, "$$$$%s,%d,%02u%02u%02u,%s%d.%05ld,%s%d.%05ld,%ld,%d,%d,%d,%d,%d,%02x", callsign, send_cun,
               gpsData.hours, gpsData.minutes, gpsData.seconds,
               gpsData.lat_raw < 0 ? "-" : "", lat_d, lat_fl,
               gpsData.lon_raw < 0 ? "-" : "", lon_d, lon_fl,
@@ -177,7 +177,7 @@ int main(void) {
               gpsData.ok_packets, gpsData.bad_packets,
               flaga);
       CRC_rtty = 0xffff;                                              //napiecie      flaga
-      CRC_rtty = gps_CRC16_checksum(buf_rtty + 7);
+      CRC_rtty = gps_CRC16_checksum(buf_rtty + 4);
       sprintf(buf_rtty, "%s*%04X\n", buf_rtty, CRC_rtty & 0xffff);
       rtty_buf = buf_rtty;
       radio_enable_tx();
@@ -189,9 +189,8 @@ int main(void) {
       __WFI();
     }
   }
-}
-
 #pragma clang diagnostic pop
+}
 
 #ifdef  DEBUG
 void assert_failed(uint8_t* file, uint32_t line)

radio.c

@@ -16,7 +16,7 @@ uint8_t _spi_sendrecv(const uint16_t data_word) {
   return (uint8_t) SPI_I2S_ReceiveData(SPI2);
 }
 
-uint8_t radio_rw_register(const uint8_t register_addr, uint8_t value, uint8_t write){
+inline uint8_t radio_rw_register(const uint8_t register_addr, uint8_t value, uint8_t write){
   return _spi_sendrecv(((write ? register_addr | WR : register_addr) << 8) | value);
 }
 

ublox.c

@@ -69,15 +69,15 @@ void ublox_get_last_data(GPSEntry * gpsEntry){
 
 void ublox_init(){
   uBloxPacket msgcfgrst = {.header = {0xb5, 0x62, .messageClass=0x06, .messageId=0x04, .payloadSize=sizeof(uBloxCFGRSTPayload)},
-      .data.cfgrst = { .navBbrMask=0xffff, .resetMode=0, .reserved1 = 0}
+      .data.cfgrst = { .navBbrMask=0xffff, .resetMode=1, .reserved1 = 0}
   };
   send_ublox_packet(&msgcfgrst);
   _delay_ms(800);
 
-  uBloxPacket msfcgprt = {.header = {0xb5, 0x62, .messageClass=0x06, .messageId=0x00, .payloadSize=sizeof(uBloxCFGPRTPayload)},
+  uBloxPacket msgcgprt = {.header = {0xb5, 0x62, .messageClass=0x06, .messageId=0x00, .payloadSize=sizeof(uBloxCFGPRTPayload)},
       .data.cfgprt = {.portID=1, .reserved1=0, .txReady=0, .mode=0b00100011000000, .baudRate=38400,
           .inProtoMask=1, .outProtoMask=1, .flags=0, .reserved2={0,0}}};
-  send_ublox_packet(&msfcgprt);
+  send_ublox_packet(&msgcgprt);
   init_usart_gps(38400, 1);
 
   _delay_ms(10);
@@ -86,6 +86,10 @@ void ublox_init(){
     .data.cfgmsg = {.msgClass=0x01, .msgID=0x02, .rate=1}};
   send_ublox_packet(&msgcfgmsg);
   _delay_ms(10);
+  uBloxPacket msgcfgrxm = {.header = {0xb5, 0x62, .messageClass=0x06, .messageId=0x11, .payloadSize=sizeof(uBloxCFGRXMPayload)},
+    .data.cfgrxm = {.reserved1=8, .lpMode=4}};
+  send_ublox_packet(&msgcfgrxm);
+  _delay_ms(10);
 
   msgcfgmsg.data.cfgmsg.msgID = 0x6;
   send_ublox_packet(&msgcfgmsg);
@@ -96,9 +100,8 @@ void ublox_init(){
   _delay_ms(10);
 
   uBloxPacket msgcfgnav5 = {.header = {0xb5, 0x62, .messageClass=0x06, .messageId=0x24, .payloadSize=sizeof(uBloxCFGNAV5Payload)},
-    .data.cfgnav5={.mask=0b00000001111111111, .dynModel=8, .fixMode=3, .fixedAlt=0, .fixedAltVar=10000, .minElev=2, .drLimit=0, .pDop=0xfa, .tDop=0xfa,
+    .data.cfgnav5={.mask=0b00000001111111111, .dynModel=8, .fixMode=3, .fixedAlt=0, .fixedAltVar=10000, .minElev=15, .drLimit=0, .pDop=60, .tDop=60,
-                   .pAcc=100, .tAcc=300, .staticHoldThresh=0, .dgnssTimeout=0, .cnoThreshNumSVs=0, .cnoThresh=0, .reserved1={0,0}, .staticHoldMaxDist=0,
+                   .pAcc=100, .tAcc=300, .staticHoldThresh=0, .dgpsTimeOut=2, .reserved2=0, .reserved3=0, .reserved4=0}};
-                   .utcStandard=0, .reserved2={0,0,0,0,0}}};
   send_ublox_packet(&msgcfgnav5);
   _delay_ms(10);
 }
@@ -161,24 +164,9 @@ void ublox_handle_packet(uBloxPacket *pkt) {
       currentGPSData.fix = pkt->data.navsol.gpsFix;
       currentGPSData.sats_raw = pkt->data.navsol.numSV;
     } else if (pkt->header.messageClass == 0x01 && pkt->header.messageId == 0x21){
-      if (pkt->data.navtimeutc.valid & 1){
+      currentGPSData.hours = pkt->data.navtimeutc.hour;
-        currentGPSData.hours = pkt->data.navtimeutc.hour;
+      currentGPSData.minutes = pkt->data.navtimeutc.min;
-        currentGPSData.minutes = pkt->data.navtimeutc.min;
+      currentGPSData.seconds = pkt->data.navtimeutc.sec;
-        currentGPSData.seconds = pkt->data.navtimeutc.sec;
-      } else {
-        currentGPSData.seconds += 1;
-        if (currentGPSData.seconds > 60){
-          currentGPSData.seconds = 0;
-          currentGPSData.minutes += 1;
-          if (currentGPSData.minutes > 60){
-            currentGPSData.minutes = 0;
-            currentGPSData.hours += 1;
-            if (currentGPSData.hours > 23){
-              currentGPSData.hours = 0;
-            }
-          }
-        }
-      }
     } else if (pkt->header.messageClass == 0x05 && pkt->header.messageId == 0x01){
       currentGPSData.fix += 1;
     } else if (pkt->header.messageClass == 0x05 && pkt->header.messageId == 0x00){

ublox.h

@@ -157,27 +157,29 @@ typedef struct {
 } uBloxCFGRSTPayload;
 
 typedef struct {
-  uint16_t mask;		//Parameters Bitmask. Only the masked parameters will be applied. [- -]
+  uint16_t mask;		//Parameters Bitmask. Only the masked parameters will be applied. (see graphic below) [- -]
-  uint8_t dynModel;		//Dynamic platform model: 0: portable 2: stationary 3: pedestrian 4: automotive 5: sea 6: airborne with <1g acceleration 7: airborne with <2g acceleration 8: airborne with <4g acceleration 9: wrist worn watch (not supported in protocol versions less than 18) [- -]
+  uint8_t dynModel;		//Dynamic Platform model: - 0 􀀀 Portable - 2 􀀀 Stationary - 3 􀀀 Pedestrian - 4 􀀀 Automotive - 5 􀀀 Sea - 6 􀀀 Airborne with <1g Acceleration - 7 􀀀 Airborne with <2g Acceleration - 8 􀀀 Airborne with <4g Acceleration [- -]
-  uint8_t fixMode;		//Position Fixing Mode: 1: 2D only 2: 3D only 3: auto 2D/3D [- -]
+  uint8_t fixMode;		//Position Fixing Mode. - 1: 2D only - 2: 3D only - 3: Auto 2D/3D [- -]
   int32_t fixedAlt;		//Fixed altitude (mean sea level) for 2D fix mode. [0.01 m]
   uint32_t fixedAltVar;		//Fixed altitude variance for 2D mode. [0.0001 m^2]
   int8_t minElev;		//Minimum Elevation for a GNSS satellite to be used in NAV [- deg]
-  uint8_t drLimit;		//Reserved [- s]
+  uint8_t drLimit;		//Maximum time to perform dead reckoning (linear extrapolation) in case of GPS signal loss [- s]
   uint16_t pDop;		//Position DOP Mask to use [0.1 -]
   uint16_t tDop;		//Time DOP Mask to use [0.1 -]
   uint16_t pAcc;		//Position Accuracy Mask [- m]
   uint16_t tAcc;		//Time Accuracy Mask [- m]
   uint8_t staticHoldThresh;		//Static hold threshold [- cm/s]
-  uint8_t dgnssTimeout;		//DGNSS timeout [- s]
+  uint8_t dgpsTimeOut;		//DGPS timeout, firmware 7 and newer only [- s]
-  uint8_t cnoThreshNumSVs;		//Number of satellites required to have C/N0 above cnoThresh for a fix to be attempted [- -]
+  uint32_t reserved2;		//Always set to zero [- -]
-  uint8_t cnoThresh;		//C/N0 threshold for deciding whether to attempt a fix [- dBHz]
+  uint32_t reserved3;		//Always set to zero [- -]
-  uint8_t reserved1[2];		//Reserved [- -]
+  uint32_t reserved4;		//Always set to zero [- -]
-  uint16_t staticHoldMaxDist;		//Static hold distance threshold (before quitting static hold) [- m]
-  uint8_t utcStandard;		//UTC standard to be used: 0: Automatic; receiver selects based on GNSS configuration (see GNSS time bases). 3: UTC as operated by the U.S. Naval Observatory (USNO); derived from GPS time 6: UTC as operated by the former Soviet Union; derived from GLONASS time 7: UTC as operated by the National Time Service Center, China; derived from BeiDou time (not supported in protocol versions less than 16). [- -]
-  uint8_t reserved2[5];		//Reserved [- -]
 } uBloxCFGNAV5Payload;
 
+typedef struct {
+  uint8_t reserved1;		//Always set to 8 [- -]
+  uint8_t lpMode;		//Low Power Mode 0: Max. performance mode 1: Power Save Mode (>= FW 6.00 only) 2-3: reserved 4: Eco mode 5-255: reserved [- -]
+} uBloxCFGRXMPayload;
+
 typedef union {
   uBloxNAVPVTPayload navpvt;
   uBloxCFGPRTPayload cfgprt;
@@ -188,6 +190,7 @@ typedef union {
   uBloxNAVTIMEUTCPayload navtimeutc;
   uBloxACKACKayload ackack;
   uBloxCFGRSTPayload cfgrst;
+  uBloxCFGRXMPayload cfgrxm;
 } ubloxPacketData;
 
 typedef struct __attribute__((packed)){