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MD-9600: using new STM32 GPS driver

This commit is contained in:
Silvano Seva 2025-08-15 19:44:45 +02:00
parent 6cdec19cb7
commit f8dcefb76b
5 changed files with 56 additions and 244 deletions
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3
meson.build
View File

@ -426,7 +426,8 @@ mduv3x0_def += openrtx_def + stm32f405_def
##
md9600_src = ['platform/targets/MD-9600/platform.c',
'platform/targets/MD-9600/hwconfig.c',
'platform/drivers/GPS/GPS_MDx.cpp',
'platform/drivers/GPS/gps_stm32.cpp',
'platform/drivers/GPS/nmea_rbuf.c',
'platform/drivers/display/ST7567_MD9600.c',
'platform/drivers/keyboard/keyboard_MD9600.c',
'platform/drivers/backlight/backlight_MDx.c',

243
platform/drivers/GPS/GPS_MDx.cpp
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@ -1,243 +0,0 @@
/***************************************************************************
* 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/> *
***************************************************************************/
#include <interfaces/delays.h>
#include <peripherals/gpio.h>
#include <peripherals/gps.h>
#include <hwconfig.h>
#include <string.h>
#include <miosix.h>
#include <kernel/scheduler/scheduler.h>
static int8_t detectStatus = -1;
static size_t bufPos = 0;
static size_t maxPos = 0;
static char *dataBuf;
static bool receiving = false;
using namespace miosix;
static Thread *gpsWaiting = 0;
#ifdef PLATFORM_MD3x0
#define PORT USART3
#else
#define PORT USART1
#endif
void __attribute__((used)) GpsUsartImpl()
{
if(PORT->SR & USART_SR_RXNE)
{
char value = PORT->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))
{
// NMEA sentence received, turn off serial port
PORT->CR1 &= ~USART_CR1_UE;
if(gpsWaiting)
{
gpsWaiting->IRQwakeup();
if(gpsWaiting->IRQgetPriority()>
Thread::IRQgetCurrentThread()->IRQgetPriority())
Scheduler::IRQfindNextThread();
gpsWaiting = 0;
}
}
}
PORT->SR = 0;
}
#ifdef PLATFORM_MD3x0
void __attribute__((naked)) USART3_IRQHandler()
#else
void __attribute__((naked)) USART1_IRQHandler()
#endif
{
saveContext();
#if defined(PLATFORM_MD3x0) && defined(MD3x0_ENABLE_DBG)
asm volatile("bl _Z13usart3irqImplv");
#else
asm volatile("bl _Z12GpsUsartImplv");
#endif
restoreContext();
}
void gps_init(const uint16_t baud)
{
gpio_setMode(GPS_EN, OUTPUT);
gpio_setMode(GPS_DATA, ALTERNATE | ALTERNATE_FUNC(7));
#ifdef PLATFORM_MD3x0
const unsigned int quot = 2*42000000/baud; /* APB1 clock is 42MHz */
RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
#else
const unsigned int quot = 2*84000000/baud; /* APB2 clock is 84MHz */
RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
#endif
__DSB();
PORT->BRR = quot/2 + (quot & 1);
PORT->CR3 |= USART_CR3_ONEBIT;
PORT->CR1 = USART_CR1_RE
| USART_CR1_RXNEIE;
#ifdef PLATFORM_MD3x0
NVIC_SetPriority(USART3_IRQn, 14);
#else
NVIC_SetPriority(USART1_IRQn, 14);
#endif
}
void gps_terminate()
{
gps_disable();
#ifdef PLATFORM_MD3x0
RCC->APB1ENR &= ~RCC_APB1ENR_USART3EN;
#else
RCC->APB2ENR &= ~RCC_APB2ENR_USART1EN;
#endif
}
void gps_enable()
{
gpio_setPin(GPS_EN);
// Enable IRQ
#ifdef PLATFORM_MD3x0
NVIC_ClearPendingIRQ(USART3_IRQn);
NVIC_EnableIRQ(USART3_IRQn);
#else
NVIC_ClearPendingIRQ(USART1_IRQn);
NVIC_EnableIRQ(USART1_IRQn);
#endif
}
void gps_disable()
{
gpio_clearPin(GPS_EN);
PORT->CR1 &= ~USART_CR1_UE;
#ifdef PLATFORM_MD3x0
NVIC_DisableIRQ(USART3_IRQn);
#else
NVIC_DisableIRQ(USART1_IRQn);
#endif
receiving = false;
bufPos = 0;
}
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 = maxLength;
dataBuf = buf;
// Enable serial port
PORT->CR1 |= USART_CR1_UE;
return 0;
}
bool gps_nmeaSentenceReady()
{
return (receiving == false) && (bufPos > 0);
}
void gps_waitForNmeaSentence()
{
/*
* Put the calling thread in waiting status until a complete sentence is ready.
*/
{
FastInterruptDisableLock dLock;
gpsWaiting = Thread::IRQgetCurrentThread();
do
{
Thread::IRQwait();
{
FastInterruptEnableLock eLock(dLock);
Thread::yield();
}
}
while(gpsWaiting);
}
}

23
platform/targets/MD-9600/hwconfig.c
View File

@ -18,13 +18,36 @@
* along with this program; if not, see <http://www.gnu.org/licenses/> *
***************************************************************************/
#include <peripherals/gpio.h>
#include <hwconfig.h>
#include <spi_stm32.h>
#include <adc_stm32.h>
#include <gps_stm32.h>
#include <pthread.h>
#include <gps.h>
static void gpsEnable(void *priv)
{
gpio_setPin(GPS_EN);
gpsStm32_enable(priv);
}
static void gpsDisable(void *priv)
{
gpio_clearPin(GPS_EN);
gpsStm32_disable(priv);
}
static pthread_mutex_t spi2Mutex;
static pthread_mutex_t adcMutex;
SPI_STM32_DEVICE_DEFINE(spi2, SPI2, &spi2Mutex)
ADC_STM32_DEVICE_DEFINE(adc1, ADC1, &adcMutex, ADC_COUNTS_TO_UV(3300000, 12))
const struct gpsDevice gps =
{
.priv = NULL,
.enable = gpsEnable,
.disable = gpsDisable,
.getSentence = gpsStm32_getNmeaSentence
};

3
platform/targets/MD-9600/hwconfig.h
View File

@ -40,6 +40,7 @@ enum adcChannel
ADC_HTEMP_CH = 15
};
extern const struct gpsDevice gps;
extern const struct spiDevice spi2;
extern const struct Adc adc1;
@ -48,6 +49,8 @@ extern const struct Adc adc1;
/* Device supports an optional GPS chip */
#define CONFIG_GPS
#define CONFIG_GPS_STM32_USART1
#define CONFIG_NMEA_RBUF_SIZE 128
/* Screen dimensions */
#define CONFIG_SCREEN_WIDTH 128

28
platform/targets/MD-9600/platform.c
View File

@ -31,7 +31,9 @@
#include <peripherals/rtc.h>
#include <interfaces/audio.h>
#include <spi_stm32.h>
#include <gps_stm32.h>
#include <chSelector.h>
#include <gps.h>
/* TODO: Hardcoded hwInfo until we implement reading from flash */
static const hwInfo_t hwInfo =
@ -85,6 +87,7 @@ void platform_terminate()
{
/* Shut down all the modules */
adcStm32_terminate(&adc1);
gpsStm32_terminate();
toneGen_terminate();
chSelector_terminate();
audio_terminate();
@ -229,6 +232,31 @@ const hwInfo_t *platform_getHwInfo()
return &hwInfo;
}
const struct gpsDevice *platform_initGps()
{
const struct gpsDevice *dev = NULL;
// Turn on the GPS and check if there is voltage on the RXD pin
gpio_setMode(GPS_DATA, INPUT_PULL_DOWN);
gpio_setMode(GPS_EN, OUTPUT);
gpio_setPin(GPS_EN);
for(size_t i = 0; i < 50; i++) {
if(gpio_readPin(GPS_DATA) != 0) {
dev = &gps;
gpsStm32_init(9600);
break;
}
sleepFor(0, 1);
}
gpio_clearPin(GPS_EN);
gpio_setMode(GPS_DATA, ALTERNATE | ALTERNATE_FUNC(7));
return dev;
}
/*
* NOTE: implementation of this API function is provided in
* platform/drivers/chSelector/chSelector_MD9600.c