diff --git a/meson.build b/meson.build
index 34c518c5..c2a74837 100644
--- a/meson.build
+++ b/meson.build
@@ -35,6 +35,7 @@ openrtx_inc = ['openrtx/include',
'openrtx/include/calibration',
'platform/drivers/ADC',
'platform/drivers/NVM',
+ 'platform/drivers/GPS',
'platform/drivers/tones',
'openrtx/include/fonts/adafruit',
'platform/drivers/tones',
@@ -199,6 +200,7 @@ md3x0_src = src + stm32f405_src + ['platform/drivers/display/HX8353_MDx.c',
'platform/drivers/baseband/SKY72310.c',
'platform/drivers/baseband/radio_MD3x0.c',
'platform/drivers/baseband/HR_C5000.c',
+ 'platform/drivers/GPS/GPS_MDx.c',
'platform/targets/MD-3x0/platform.c']
md3x0_inc = inc + stm32f405_inc + ['platform/targets/MD-3x0']
diff --git a/platform/drivers/GPS/GPS.h b/platform/drivers/GPS/GPS.h
new file mode 100644
index 00000000..3b7eba98
--- /dev/null
+++ b/platform/drivers/GPS/GPS.h
@@ -0,0 +1,69 @@
+/***************************************************************************
+ * Copyright (C) 2021 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 *
+ ***************************************************************************/
+
+#ifndef GPS_H
+#define GPS_H
+
+#include
+#include
+
+/**
+ * Low-level driver for interfacing with radio's on-board GPS module.
+ */
+
+/**
+ * Initialise the GPS driver.
+ * This function does not turn on the GPS module.
+ * @param baud: baud rate of GPS serial interface.
+ */
+void gps_init(const uint16_t baud);
+
+/**
+ * Shut down the GPS module and terminate the GPS driver.
+ */
+void gps_terminate();
+
+/**
+ * Turn on the GPS module.
+ */
+void gps_enable();
+
+/**
+ * Turn off GPS module.
+ */
+void gps_disable();
+
+/**
+ * Detect if a GPS module is present in the system, it can be called also
+ * when driver is not initialised.
+ * @param timeout: timeout for GPS detection, in milliseconds.
+ * @return true if a GPS module is present, false otherwise.
+ */
+bool gps_detect(uint16_t timeout);
+
+/**
+ * Read a NMEA sentence from the GPS module, blocking function.
+ * @param buf: buffer to which the NMEA sentence is written.
+ * @param maxLength: maximum writable length inside the buffer.
+ * @return number of characters written in the buffer or -1 on error.
+ */
+int gps_getNmeaSentence(char *buf, const size_t maxLength);
+
+#endif /* GPS_H */
diff --git a/platform/drivers/GPS/GPS_MDx.c b/platform/drivers/GPS/GPS_MDx.c
new file mode 100644
index 00000000..31d4d461
--- /dev/null
+++ b/platform/drivers/GPS/GPS_MDx.c
@@ -0,0 +1,173 @@
+/***************************************************************************
+ * Copyright (C) 2021 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 *
+ ***************************************************************************/
+
+#include
+#include
+#include
+#include
+#include
+#include "GPS.h"
+
+static int8_t detectStatus = -1;
+size_t bufPos = 0;
+size_t maxPos = 0;
+char *dataBuf;
+bool receiving = false;
+
+OS_FLAG_GRP sentenceReady;
+OS_ERR err;
+
+void __attribute__((used)) USART3_IRQHandler()
+{
+ if(USART3->SR & USART_SR_RXNE)
+ {
+ char value = USART3->DR;
+
+ if((receiving == false) && (value == '$') && (bufPos == 0))
+ {
+ receiving = true;
+ }
+
+ if(receiving)
+ {
+ if(bufPos == maxPos)
+ {
+ receiving = false;
+ }
+
+ char prevChar = dataBuf[bufPos - 1];
+ dataBuf[bufPos] = value;
+ bufPos += 1;
+
+ if((prevChar == '\r') && (value == '\n'))
+ {
+ receiving = false;
+ bufPos -= 1;
+ }
+ }
+
+ if((receiving == false) && (bufPos != 0))
+ {
+ uint8_t flag = (bufPos < maxPos) ? 0x01 : 0x02;
+ OSFlagPost(&sentenceReady, flag, OS_OPT_POST_FLAG_SET, &err);
+ }
+ }
+
+ USART3->SR = 0;
+}
+
+
+void gps_init(const uint16_t baud)
+{
+ gpio_setMode(GPS_EN, OUTPUT);
+ gpio_setMode(GPS_DATA, ALTERNATE);
+ gpio_setAlternateFunction(GPS_DATA, 7);
+
+ RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
+ __DSB();
+
+ const unsigned int quot = 2*42000000/baud;
+ USART3->BRR = quot/2 + (quot & 1);
+ USART3->CR3 |= USART_CR3_ONEBIT;
+ USART3->CR1 = USART_CR1_RE
+ | USART_CR1_RXNEIE;
+
+ NVIC_ClearPendingIRQ(USART3_IRQn);
+ NVIC_SetPriority(USART3_IRQn, 14);
+
+ OSFlagCreate(&sentenceReady, "", 0, &err);
+}
+
+void gps_terminate()
+{
+ OSFlagDel(&sentenceReady, OS_OPT_DEL_NO_PEND, &err);
+ gps_disable();
+ RCC->APB1ENR &= ~RCC_APB1ENR_USART3EN;
+}
+
+void gps_enable()
+{
+ gpio_setPin(GPS_EN);
+ USART3->CR1 |= USART_CR1_UE;
+}
+
+void gps_disable()
+{
+ gpio_clearPin(GPS_EN);
+ USART3->CR1 &= ~USART_CR1_UE;
+ NVIC_DisableIRQ(USART3_IRQn);
+}
+
+bool gps_detect(uint16_t timeout)
+{
+ if(detectStatus == -1)
+ {
+ gpio_setMode(GPS_DATA, INPUT_PULL_DOWN);
+ gpio_setMode(GPS_EN, OUTPUT);
+ gpio_setPin(GPS_EN);
+
+ while((gpio_readPin(GPS_DATA) == 0) && (timeout > 0))
+ {
+ delayMs(1);
+ timeout--;
+ }
+
+ gpio_clearPin(GPS_EN);
+ gpio_setMode(GPS_EN, INPUT);
+
+ if(timeout > 0)
+ {
+ detectStatus = 1;
+ }
+ else
+ {
+ detectStatus = 0;
+ }
+ }
+
+ return (detectStatus == 1) ? true : false;
+}
+
+int gps_getNmeaSentence(char *buf, const size_t maxLength)
+{
+ if(detectStatus != 1) return -1;
+
+ memset(buf, 0x00, maxLength);
+ bufPos = 0;
+ maxPos = 0;
+ dataBuf = buf;
+
+ NVIC_EnableIRQ(USART3_IRQn);
+
+ OS_FLAGS status = OSFlagPend(&sentenceReady, 0x03, 0,
+ OS_OPT_PEND_FLAG_SET_ANY |
+ OS_OPT_PEND_FLAG_CONSUME |
+ OS_OPT_PEND_BLOCKING, NULL, &err);
+
+ NVIC_DisableIRQ(USART3_IRQn);
+
+ if(status & 0x01)
+ {
+ return bufPos;
+ }
+
+ return -1;
+}
+
diff --git a/platform/targets/MD-3x0/hwconfig.h b/platform/targets/MD-3x0/hwconfig.h
index 0068f1d3..9ed6e234 100644
--- a/platform/targets/MD-3x0/hwconfig.h
+++ b/platform/targets/MD-3x0/hwconfig.h
@@ -138,4 +138,8 @@
#define FM_MUTE GPIOE,13
#define MIC_PWR GPIOA,14
+/* GPS, for the devices who have it */
+#define GPS_EN GPIOD,8
+#define GPS_DATA GPIOD,9
+
#endif
diff --git a/tests/platform/gps_test_MDx.c b/tests/platform/gps_test_MDx.c
index bd7edef6..991583d1 100644
--- a/tests/platform/gps_test_MDx.c
+++ b/tests/platform/gps_test_MDx.c
@@ -25,9 +25,7 @@
#include
#include
#include
-
-#define GPS_EN GPIOD,8
-#define GPS_DATA GPIOD,9
+#include
char line[MINMEA_MAX_LENGTH*10];
@@ -35,116 +33,104 @@ int main()
{
platform_init();
- gpio_setMode(GPS_EN, OUTPUT);
- gpio_setMode(GPS_DATA, INPUT_PULL_DOWN);
+ printf("Checking for GPS... ");
+ bool hasGps = gps_detect(5000);
+ printf(" %s.\r\n", hasGps ? "OK" : "TIMEOUT");
- gpio_setPin(GPS_EN);
+ gps_init(9600);
+ gps_enable();
- uint8_t elapsedTime = 0;
-
- printf("Waiting for GPS_DATA to rise");
- while((gpio_readPin(GPS_DATA) == 0) && (elapsedTime < 20))
- {
- printf(".");
- elapsedTime += 1;
- delayMs(500);
- }
-
- printf(" %s.\r\n", elapsedTime < 20 ? "OK" : "TIMEOUT");
-
- gpio_setMode(GPS_DATA, ALTERNATE);
- gpio_setAlternateFunction(GPS_DATA, 7);
-
- RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
- __DSB();
-
- const unsigned int quot = 2*42000000/9600;
- USART3->BRR = quot/2 + (quot & 1);
- USART3->CR3 |= USART_CR3_ONEBIT;
- USART3->CR1 = USART_CR1_UE
- | USART_CR1_RE;
-
- int i = 0;
while(1)
{
- while((USART3->SR & USART_SR_RXNE) == 0) ;
- line[i++] = USART3->DR;
- // If a NMEA sentence is complete
- if (line[i - 1] == '\n') {
- line[i] = '\0';
- printf("%s\n\r", line);
- switch (minmea_sentence_id(line, false)) {
- case MINMEA_SENTENCE_RMC:
- {
- struct minmea_sentence_rmc frame;
- if (minmea_parse_rmc(&frame, line)) {
- printf("$RMC: raw coordinates and speed: (%d/%d,%d/%d) %d/%d\n\r",
- frame.latitude.value, frame.latitude.scale,
- frame.longitude.value, frame.longitude.scale,
- frame.speed.value, frame.speed.scale);
- printf("$RMC fixed-point coordinates and speed scaled to three decimal places: (%d,%d) %d\n\r",
- minmea_rescale(&frame.latitude, 1000),
- minmea_rescale(&frame.longitude, 1000),
- minmea_rescale(&frame.speed, 1000));
- printf("$RMC floating point degree coordinates and speed: (%f,%f) %f\n\r",
- minmea_tocoord(&frame.latitude),
- minmea_tocoord(&frame.longitude),
- minmea_tofloat(&frame.speed));
- }
- } break;
-
- case MINMEA_SENTENCE_GGA:
- {
- struct minmea_sentence_gga frame;
- if (minmea_parse_gga(&frame, line)) {
- printf("$GGA: fix quality: %d\n\r", frame.fix_quality);
- }
- } break;
-
- case MINMEA_SENTENCE_GSV:
- {
- struct minmea_sentence_gsv frame;
- if (minmea_parse_gsv(&frame, line)) {
- printf("$GSV: message %d of %d\n\r", frame.msg_nr, frame.total_msgs);
- printf("$GSV: satellites in view: %d\n\r", frame.total_sats);
- for (int i = 0; i < 4; i++)
- printf("$GSV: sat nr %d, elevation: %d, azimuth: %d, snr: %d dbm\n\r",
- frame.sats[i].nr,
- frame.sats[i].elevation,
- frame.sats[i].azimuth,
- frame.sats[i].snr);
- }
- } break;
-
- case MINMEA_SENTENCE_VTG:
- {
-
- } break;
-
- // Ignore this message as we take data from RMC
- case MINMEA_SENTENCE_GLL:
- ;
- break;
-
- // These messages are never sent by the Jumpstar JS-M710 Module
- case MINMEA_SENTENCE_GSA: break;
- case MINMEA_SENTENCE_GST: break;
- case MINMEA_SENTENCE_ZDA: break;
-
- // Error handling
- case MINMEA_INVALID:
- {
- printf("Error: Invalid NMEA sentence!\n\r");
- } break;
-
- case MINMEA_UNKNOWN:
- {
- printf("Error: Unsupported NMEA sentence!\n\r");
- } break;
- }
- i = 0;
+ int len = gps_getNmeaSentence(line, MINMEA_MAX_LENGTH*10);
+ if(len != -1)
+ {
+ printf("Got sentence with length %d:\r\n", len);
+ printf("%s\r\n", line);
}
}
+// int i = 0;
+// while(1)
+// {
+// while((USART3->SR & USART_SR_RXNE) == 0) ;
+// line[i++] = USART3->DR;
+// // If a NMEA sentence is complete
+// if (line[i - 1] == '\n') {
+// line[i] = '\0';
+// printf("%s\n\r", line);
+// switch (minmea_sentence_id(line, false)) {
+// case MINMEA_SENTENCE_RMC:
+// {
+// struct minmea_sentence_rmc frame;
+// if (minmea_parse_rmc(&frame, line)) {
+// printf("$RMC: raw coordinates and speed: (%d/%d,%d/%d) %d/%d\n\r",
+// frame.latitude.value, frame.latitude.scale,
+// frame.longitude.value, frame.longitude.scale,
+// frame.speed.value, frame.speed.scale);
+// printf("$RMC fixed-point coordinates and speed scaled to three decimal places: (%d,%d) %d\n\r",
+// minmea_rescale(&frame.latitude, 1000),
+// minmea_rescale(&frame.longitude, 1000),
+// minmea_rescale(&frame.speed, 1000));
+// printf("$RMC floating point degree coordinates and speed: (%f,%f) %f\n\r",
+// minmea_tocoord(&frame.latitude),
+// minmea_tocoord(&frame.longitude),
+// minmea_tofloat(&frame.speed));
+// }
+// } break;
+//
+// case MINMEA_SENTENCE_GGA:
+// {
+// struct minmea_sentence_gga frame;
+// if (minmea_parse_gga(&frame, line)) {
+// printf("$GGA: fix quality: %d\n\r", frame.fix_quality);
+// }
+// } break;
+//
+// case MINMEA_SENTENCE_GSV:
+// {
+// struct minmea_sentence_gsv frame;
+// if (minmea_parse_gsv(&frame, line)) {
+// printf("$GSV: message %d of %d\n\r", frame.msg_nr, frame.total_msgs);
+// printf("$GSV: satellites in view: %d\n\r", frame.total_sats);
+// for (int i = 0; i < 4; i++)
+// printf("$GSV: sat nr %d, elevation: %d, azimuth: %d, snr: %d dbm\n\r",
+// frame.sats[i].nr,
+// frame.sats[i].elevation,
+// frame.sats[i].azimuth,
+// frame.sats[i].snr);
+// }
+// } break;
+//
+// case MINMEA_SENTENCE_VTG:
+// {
+//
+// } break;
+//
+// // Ignore this message as we take data from RMC
+// case MINMEA_SENTENCE_GLL:
+// ;
+// break;
+//
+// // These messages are never sent by the Jumpstar JS-M710 Module
+// case MINMEA_SENTENCE_GSA: break;
+// case MINMEA_SENTENCE_GST: break;
+// case MINMEA_SENTENCE_ZDA: break;
+//
+// // Error handling
+// case MINMEA_INVALID:
+// {
+// printf("Error: Invalid NMEA sentence!\n\r");
+// } break;
+//
+// case MINMEA_UNKNOWN:
+// {
+// printf("Error: Unsupported NMEA sentence!\n\r");
+// } break;
+// }
+// i = 0;
+// }
+// }
+
return 0;
}