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ttwrplus: updated GPS driver

This commit is contained in:
Silvano Seva 2025-08-15 19:22:36 +02:00
parent 7684c11328
commit 44d0774b39
6 changed files with 179 additions and 151 deletions
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150
platform/drivers/GPS/GPS_ttwrplus.c
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@ -1,150 +0,0 @@
/***************************************************************************
* Copyright (C) 2023 - 2025 by Federico Amedeo Izzo IU2NUO, *
* Niccolò Izzo IU2KIN *
* Frederik Saraci IU2NRO *
* Silvano Seva IU2KWO *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 3 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License for more details. *
* *
* You should have received a copy of the GNU General Public License *
* along with this program; if not, see <http://www.gnu.org/licenses/> *
***************************************************************************/
#include <zephyr/drivers/uart.h>
#include <zephyr/kernel.h>
#include <interfaces/delays.h>
#include <peripherals/gps.h>
#include <hwconfig.h>
#include <string.h>
#include <pmu.h>
#if DT_NODE_HAS_STATUS(DT_ALIAS(gps), okay)
#define UART_GPS_DEV_NODE DT_ALIAS(gps)
#else
#error "Please select the correct gps UART device"
#endif
#define NMEA_MSG_SIZE 82
K_MSGQ_DEFINE(gps_uart_msgq, NMEA_MSG_SIZE, 10, 4);
static const struct device *const gps_dev = DEVICE_DT_GET(UART_GPS_DEV_NODE);
// receive buffer used in UART ISR callback
static char rx_buf[NMEA_MSG_SIZE];
static uint16_t rx_buf_pos;
static void gps_serialCb(const struct device *dev, void *user_data)
{
uint8_t c;
if (uart_irq_update(gps_dev) == false)
return;
if (uart_irq_rx_ready(gps_dev) == false)
return;
// read until FIFO empty
while (uart_fifo_read(gps_dev, &c, 1) == 1)
{
if (c == '$' && rx_buf_pos > 0)
{
// terminate string
rx_buf[rx_buf_pos] = '\0';
// if queue is full, message is silently dropped
k_msgq_put(&gps_uart_msgq, &rx_buf, K_NO_WAIT);
// reset the buffer (it was copied to the msgq)
rx_buf_pos = 0;
rx_buf[rx_buf_pos++] = '$';
}
else if (rx_buf_pos < (sizeof(rx_buf) - 1))
{
rx_buf[rx_buf_pos++] = c;
}
}
}
void gps_init(const uint16_t baud)
{
int ret = 0;
// Check if GPS UART is ready
if (device_is_ready(gps_dev) == false)
{
printk("UART device not found!\n");
return;
}
ret = uart_irq_callback_user_data_set(gps_dev, gps_serialCb, NULL);
if (ret < 0)
{
if (ret == -ENOTSUP)
{
printk("Interrupt-driven UART support not enabled\n");
}
else if (ret == -ENOSYS)
{
printk("UART device does not support interrupt-driven API\n");
}
else
{
printk("Error setting UART callback: %d\n", ret);
}
return;
}
uart_irq_rx_enable(gps_dev);
}
void gps_terminate()
{
gps_disable();
}
void gps_enable()
{
pmu_setGPSPower(true);
}
void gps_disable()
{
pmu_setGPSPower(false);
}
bool gps_detect(uint16_t timeout)
{
return true;
}
int gps_getNmeaSentence(char *buf, const size_t maxLength)
{
k_msgq_get(&gps_uart_msgq, buf, K_FOREVER);
return 0;
}
bool gps_nmeaSentenceReady()
{
return k_msgq_num_used_get(&gps_uart_msgq) != 0;
}
void gps_waitForNmeaSentence()
{
while (k_msgq_num_used_get(&gps_uart_msgq) != 0)
{
sleepFor(0, 100);
}
}

89
platform/drivers/GPS/gps_zephyr.c Normal file
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@ -0,0 +1,89 @@
/***************************************************************************
* Copyright (C) 2023 - 2025 by Federico Amedeo Izzo IU2NUO, *
* Niccolò Izzo IU2KIN *
* Frederik Saraci IU2NRO *
* Silvano Seva IU2KWO *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 3 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License for more details. *
* *
* You should have received a copy of the GNU General Public License *
* along with this program; if not, see <http://www.gnu.org/licenses/> *
***************************************************************************/
#include <zephyr/drivers/uart.h>
#include <zephyr/kernel.h>
#include <hwconfig.h>
#include <nmea_rbuf.h>
#if !DT_NODE_HAS_STATUS(DT_ALIAS(gps), okay)
#error "Please select the correct gps UART device"
#endif
static const struct device *const gpsDev = DEVICE_DT_GET(DT_ALIAS(gps));
static struct nmeaRbuf ringBuf;
static void uartRxCallback(const struct device *dev, void *user_data)
{
uint8_t c;
if(uart_irq_update(dev) == false)
return;
if(uart_irq_rx_ready(dev) == false)
return;
// read until FIFO empty
while(uart_fifo_read(dev, &c, 1) == 1)
nmeaRbuf_putChar(&ringBuf, c);
}
void gpsZephyr_init()
{
int ret = 0;
// Check if GPS UART is ready
if(device_is_ready(gpsDev) == false) {
printk("UART device not found!\n");
return;
}
ret = uart_irq_callback_user_data_set(gpsDev, uartRxCallback, NULL);
if(ret < 0) {
switch(ret) {
case -ENOTSUP:
printk("Interrupt-driven UART support not enabled\n");
break;
case -ENOSYS:
printk("UART device does not support interrupt-driven API\n");
break;
default:
printk("Error setting UART callback: %d\n", ret);
break;
}
}
nmeaRbuf_reset(&ringBuf);
uart_irq_rx_enable(gpsDev);
}
void gpsZephyr_terminate()
{
uart_irq_rx_disable(gpsDev);
}
int gpsZephyr_getNmeaSentence(void *priv, char *buf, const size_t maxLength)
{
(void) priv;
return nmeaRbuf_getSentence(&ringBuf, buf, maxLength);
}

59
platform/drivers/GPS/gps_zephyr.h Normal file
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@ -0,0 +1,59 @@
/***************************************************************************
* Copyright (C) 2021 - 2025 by Federico Amedeo Izzo IU2NUO, *
* Niccolò Izzo IU2KIN *
* Frederik Saraci IU2NRO *
* Silvano Seva IU2KWO *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 3 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License for more details. *
* *
* You should have received a copy of the GNU General Public License *
* along with this program; if not, see <http://www.gnu.org/licenses/> *
***************************************************************************/
#ifndef GPS_ZEPHYR_H
#define GPS_ZEPHYR_H
#include <stdint.h>
#include <stddef.h>
#ifdef __cplusplus
extern "C" {
#endif
/**
* Initialise the GPS driver.
* This function does not turn on the GPS module.
*/
void gpsZephyr_init();
/**
* Terminate the GPS driver.
*/
void gpsZephyr_terminate();
/**
* Retrieve a NMEA sentence from the GPS.
* If the sentence is longer than the maximum size of the destination buffer,
* the characters not written in the destination are lost.
*
* @param priv: unused parameter, for function signature compatibility.
* @param buf: pointer to NMEA sentence destination buffer.
* @param maxLen: maximum acceptable size for the destination buffer.
* @return the length of the extracted sentence or -1 if the sentence is longer
* than the maximum allowed size. If the ring buffer is empty, zero is returned.
*/
int gpsZephyr_getNmeaSentence(void *priv, char *buf, const size_t maxLength);
#ifdef __cplusplus
}
#endif
#endif /* GPS_STM32_H */

3
platform/targets/ttwrplus/CMakeLists.txt
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@ -17,7 +17,8 @@ target_sources(app
${OPENRTX_ROOT}/platform/drivers/baseband/radio_ttwrplus.cpp ${OPENRTX_ROOT}/platform/drivers/baseband/radio_ttwrplus.cpp
${OPENRTX_ROOT}/platform/drivers/baseband/AT1846S_SA8x8.cpp ${OPENRTX_ROOT}/platform/drivers/baseband/AT1846S_SA8x8.cpp
${OPENRTX_ROOT}/platform/drivers/baseband/SA8x8.c ${OPENRTX_ROOT}/platform/drivers/baseband/SA8x8.c
${OPENRTX_ROOT}/platform/drivers/GPS/GPS_ttwrplus.c ${OPENRTX_ROOT}/platform/drivers/GPS/gps_zephyr.c
${OPENRTX_ROOT}/platform/drivers/GPS/nmea_rbuf.c
${OPENRTX_ROOT}/platform/drivers/audio/audio_ttwrplus.c ${OPENRTX_ROOT}/platform/drivers/audio/audio_ttwrplus.c
${OPENRTX_ROOT}/platform/drivers/NVM/flash_zephyr.c ${OPENRTX_ROOT}/platform/drivers/NVM/flash_zephyr.c
${OPENRTX_ROOT}/platform/drivers/NVM/nvmem_ttwrplus.c ${OPENRTX_ROOT}/platform/drivers/NVM/nvmem_ttwrplus.c

2
platform/targets/ttwrplus/hwconfig.h
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@ -29,7 +29,9 @@
#define CONFIG_SCREEN_WIDTH DT_PROP(DISPLAY, width) #define CONFIG_SCREEN_WIDTH DT_PROP(DISPLAY, width)
#define CONFIG_SCREEN_HEIGHT DT_PROP(DISPLAY, height) #define CONFIG_SCREEN_HEIGHT DT_PROP(DISPLAY, height)
#define CONFIG_PIX_FMT_BW #define CONFIG_PIX_FMT_BW
#define CONFIG_GPS #define CONFIG_GPS
#define CONFIG_NMEA_RBUF_SIZE 128
#define CONFIG_BAT_LIPO #define CONFIG_BAT_LIPO
#define CONFIG_BAT_NCELLS 1 #define CONFIG_BAT_NCELLS 1

27
platform/targets/ttwrplus/platform.c
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@ -19,7 +19,9 @@
#include <interfaces/platform.h> #include <interfaces/platform.h>
#include <interfaces/delays.h> #include <interfaces/delays.h>
#include <gps_zephyr.h>
#include <hwconfig.h> #include <hwconfig.h>
#include <gps.h>
#include <zephyr/drivers/gpio.h> #include <zephyr/drivers/gpio.h>
#include <zephyr/drivers/sensor.h> #include <zephyr/drivers/sensor.h>
@ -52,6 +54,24 @@ static hwInfo_t hwInfo =
// RGB led color data // RGB led color data
static struct led_rgb led_color = {0}; static struct led_rgb led_color = {0};
static void gpsEnable(void *priv)
{
(void) priv;
pmu_setGPSPower(true);
}
static void gpsDisable(void *priv)
{
(void) priv;
pmu_setGPSPower(false);
}
static const struct gpsDevice gps =
{
.enable = gpsEnable,
.disable = gpsDisable,
.getSentence = gpsZephyr_getNmeaSentence
};
void platform_init() void platform_init()
{ {
@ -107,6 +127,7 @@ void platform_init()
void platform_terminate() void platform_terminate()
{ {
gpsZephyr_terminate();
pmu_terminate(); pmu_terminate();
} }
@ -219,3 +240,9 @@ const hwInfo_t *platform_getHwInfo()
return &hwInfo; return &hwInfo;
} }
const struct gpsDevice *platform_initGps()
{
gpsZephyr_init();
return &gps;
}