CS7000: using new STM32 GPS driver
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Silvano Seva
parent
72845e4c1f
commit
29ebf95966
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@ -504,7 +504,8 @@ cs7000_src = ['platform/drivers/NVM/nvmem_CS7000.c',
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'platform/drivers/GPIO/gpio_shiftReg.c',
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'platform/drivers/SPI/spi_custom.c',
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'platform/drivers/SPI/spi_bitbang.c',
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'platform/drivers/GPS/GPS_CS7000.cpp',
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'platform/drivers/GPS/gps_stm32.cpp',
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'platform/drivers/GPS/nmea_rbuf.c',
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'platform/targets/CS7000/hwconfig.c',
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'platform/targets/CS7000/platform.c']
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@ -1,175 +0,0 @@
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/***************************************************************************
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* Copyright (C) 2024 - 2025 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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@ -20,10 +20,12 @@
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#include <spi_custom.h>
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#include <adc_stm32.h>
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#include <spi_stm32.h>
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#include <gps_stm32.h>
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#include <SKY72310.h>
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#include <hwconfig.h>
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#include <pthread.h>
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#include <AK2365A.h>
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#include <gps.h>
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static const struct spiConfig spiFlashCfg =
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{
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@ -113,3 +115,10 @@ const struct sky73210 pll =
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.cs = { PLL_CS },
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.refClk = 16800000
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};
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const struct gpsDevice gps =
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{
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.enable = gpsStm32_enable,
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.disable = gpsStm32_disable,
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.getSentence = gpsStm32_getNmeaSentence
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};
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@ -50,6 +50,7 @@ extern const struct spiDevice c6000_spi;
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extern const struct gpioDev extGpio;
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extern const struct ak2365a detector;
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extern const struct sky73210 pll;
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extern const struct gpsDevice gps;
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/* Screen dimensions */
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#define CONFIG_SCREEN_WIDTH 160
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@ -70,6 +71,8 @@ extern const struct sky73210 pll;
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/* Device has a GPS chip */
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#define CONFIG_GPS
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#define CONFIG_GPS_STM32_USART6
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#define CONFIG_NMEA_RBUF_SIZE 128
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#ifdef __cplusplus
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}
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@ -22,9 +22,11 @@
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#include <gpio_shiftReg.h>
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#include <spi_bitbang.h>
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#include <adc_stm32.h>
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#include <gps_stm32.h>
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#include <Cx000_dac.h>
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#include <hwconfig.h>
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#include <string.h>
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#include <gps.h>
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static const hwInfo_t hwInfo =
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{
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@ -65,6 +67,7 @@ void platform_init()
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void platform_terminate()
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{
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adcStm32_terminate(&adc1);
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gpsStm32_terminate();
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#ifndef RUNNING_TESTSUITE
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gpioDev_clear(MAIN_PWR_SW);
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@ -201,3 +204,11 @@ const hwInfo_t *platform_getHwInfo()
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{
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return &hwInfo;
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}
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const struct gpsDevice *platform_initGps()
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{
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gpio_setMode(GPS_RXD, ALTERNATE | ALTERNATE_FUNC(8));
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gpsStm32_init(9600);
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return &gps;
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}
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