FeatherHAB/wsprhab Changeset - 50cc79d449a4

Changeset - 50cc79d449a4

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Ethan Zonca - 9 years ago 2016-10-08 23:40:53
ez@ethanzonca.com

GPS comms with ubx interface now functional!

4 files changed with 126 insertions and 54 deletions:

inc/gpio.h

src/gpio.c

src/gps.c

104

src/main.c

0 comments (0 inline, 0 general)

inc/gpio.h

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Show inline comments

 #ifndef __gpio_H
 #define __gpio_H
 #include "stm32f0xx_hal.h"
 enum _blinkrate
+{
     BLINK_FAST = 50,
     BLINK_MED = 250,
     BLINK_SLOW = 500
+}
+};
 #define OSC_EN_Pin GPIO_PIN_1
 #define OSC_EN_GPIO_Port GPIOF
 #define OSC_NOTEN OSC_EN_GPIO_Port , OSC_EN_Pin
 #define GPS_NEN_Pin GPIO_PIN_0
 #define GPS_NEN_GPIO_Port GPIOF
 #define GPS_NOTEN GPS_NEN_GPIO_Port , GPS_NEN_Pin
 #define VBATT_SENSE_Pin GPIO_PIN_6
 #define VBATT_SENSE_GPIO_Port GPIOA

src/gpio.c

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Show inline comments

@@ @@ -8,33 +8,34 @@ void gpio_init(void) @@
   /* GPIO Ports Clock Enable */
   __GPIOF_CLK_ENABLE();
   __GPIOA_CLK_ENABLE();
   __GPIOB_CLK_ENABLE();
   // Oscillator enable pin
   GPIO_InitStruct.Pin = OSC_EN_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
   HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
   HAL_GPIO_WritePin(GPIOF, OSC_EN_Pin, 0); // disable
   // GPS enable pin
   GPIO_InitStruct.Pin = GPS_NEN_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
   HAL_GPIO_Init(GPS_NEN_GPIO_Port, &GPIO_InitStruct);
+  HAL_GPIO_WritePin(GPS_NEN_GPIO_Port, GPS_NEN_Pin, 1); // disable
   /*Configure GPIO pins : PA0 PA2 PA3 PA4
                            PA5 PA7 PA15 */
   GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_4
                           |GPIO_PIN_5|GPIO_PIN_7|GPIO_PIN_15;
   GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 //  /*Configure GPIO pin : PA1 */
 //  GPIO_InitStruct.Pin = GPIO_PIN_1;
 //  GPIO_InitStruct.Mode = GPIO_MODE_EVT_RISING;
@@ @@ -51,24 +52,25 @@ void gpio_init(void) @@
   /*Configure GPIO pins : PB1 PB3 PB4 PB5 */
   GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5;
   GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
   /*Configure GPIO pin : PtPin */
   GPIO_InitStruct.Pin = TCXO_EN_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
   HAL_GPIO_Init(TCXO_EN_GPIO_Port, &GPIO_InitStruct);
   HAL_GPIO_WritePin(TCXO_EN_GPIO_Port, TCXO_EN_Pin, 0); // disable
+}
 void led_blink(uint8_t n)
+{
     for(int i = 0; i < n; i++)
+    {
         HAL_GPIO_WritePin(LED_BLUE, 1);
         HAL_Delay(100);
         HAL_GPIO_WritePin(LED_BLUE, 0);
         HAL_Delay(100);
+    }

src/gps.c

➞

Show inline comments

@@ @@ -30,79 +30,129 @@ gps_data_t position; @@
 // Private methods
 static void gps_ubx_checksum(uint8_t* data, uint8_t len, uint8_t* cka, uint8_t* ckb);
 static uint8_t _gps_verify_checksum(uint8_t* data, uint8_t len);
 void gps_init()
+{
     // Initialize serial port
    // done in poweron uart_init();
 	gps_poweron();
 	HAL_Delay(500);
     // Disable GLONASS mode
     uint8_t disable_glonass[20] = {0xB5, 0x62, 0x06, 0x3E, 0x0C, 0x00, 0x00, 0x00, 0x20, 0x01, 0x06, 0x08, 0x0E, 0x00, 0x00, 0x00, 0x01, 0x01, 0x8F, 0xB2};
     //gps_sendubx(disable_glonass, 20);
     HAL_UART_Transmit(uart_gethandle(), disable_glonass, 20, 100);
 //	// uart1 ubx only
 //
 //	uint8_t setUBXuart1 = {0xB5, 0x62, 0x06, 0x00, 0x14, 0x00, 0x01, 0x00, 0x00, 0x00, 0xD0, 0x08, 0x00, 0x00, 0x80, 0x25,
 //	0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x9A, 0x79};
 //	HAL_UART_Transmit(uart_gethandle(), setUBXuart1, sizeof(setUBXuart1)/sizeof(uint8_t), 100);
 //	HAL_Delay(100);
 //
 //
 //	// uart0 ubx only
 //	uint8_t setUBXuart0 = {0xB5, 0x62, 0x06, 0x00, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0x08, 0x00, 0x00, 0x80, 0x25,
 //	0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x99, 0x65};
 //	HAL_UART_Transmit(uart_gethandle(), setUBXuart0, sizeof(setUBXuart0)/sizeof(uint8_t), 100);
 //	HAL_Delay(100);
 //
 //
 //	// uart1 ubx only
 //
 //	uint8_t setUBXuart2 = {0xB5, 0x62, 0x06, 0x00, 0x14, 0x00, 0x02, 0x00, 0x00, 0x00, 0xD0, 0x08, 0x00, 0x00, 0x80, 0x25,
 //	0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x9B, 0x8D};
 //	HAL_UART_Transmit(uart_gethandle(), setUBXuart2, sizeof(setUBXuart2)/sizeof(uint8_t), 100);
 //	HAL_Delay(100);
     // Enable power saving
     uint8_t enable_powersave[10] = {0xB5, 0x62, 0x06, 0x11, 0x02, 0x00, 0x08, 0x01, 0x22, 0x92};
     //gps_sendubx(enable_powersave, 10);
     HAL_UART_Transmit(uart_gethandle(), enable_powersave, 10, 100);
 	// Disable messages
 	uint8_t setGGA[] = {0XB5, 0X62, 0X06, 0X01, 0X08, 0X00, 0XF0, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0XFF, 0X23};
 	HAL_UART_Transmit(uart_gethandle(), setGGA, sizeof(setGGA)/sizeof(uint8_t), 100);
 	HAL_Delay(100);
 	uint8_t ackbuffer[10];
 	for(uint8_t i=0; i<10; i++)
 		ackbuffer[i] = 0xaa;
 	HAL_UART_Receive(uart_gethandle(), ackbuffer, 10, 100);
 	uint8_t setZDA[] = {0XB5, 0X62, 0X06, 0X01, 0X08, 0X00, 0XF0, 0X08, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X07, 0X5B};
 	HAL_UART_Transmit(uart_gethandle(), setZDA, sizeof(setZDA)/sizeof(uint8_t), 100);
 	HAL_Delay(100);
 	uint8_t setGLL[] = {0XB5, 0X62, 0X06, 0X01, 0X08, 0X00, 0XF0, 0X01, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X2A};
 	HAL_UART_Transmit(uart_gethandle(), setGLL, sizeof(setGLL)/sizeof(uint8_t), 100);
 	HAL_Delay(100);
     // Set dynamic model 6 (<1g airborne platform)
     uint8_t airborne_model[] = { 0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x06, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0xDC };
     //gps_sendubx(airborne_model, sizeof(airborne_model)/sizeof(uint8_t));
     HAL_UART_Transmit(uart_gethandle(), airborne_model, sizeof(airborne_model)/sizeof(uint8_t), 100);
 	uint8_t setGSA[] = {0XB5, 0X62, 0X06, 0X01, 0X08, 0X00, 0XF0, 0X02, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X01, 0X31};
 	HAL_UART_Transmit(uart_gethandle(), setGSA, sizeof(setGSA)/sizeof(uint8_t), 100);
 	HAL_Delay(100);
 	uint8_t setGSV[] = {0XB5, 0X62, 0X06, 0X01, 0X08, 0X00, 0XF0, 0X03, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X02, 0X38};
 	HAL_UART_Transmit(uart_gethandle(), setGSV, sizeof(setGSV)/sizeof(uint8_t), 100);
 	HAL_Delay(100);
 	uint8_t setRMC[] = {0XB5, 0X62, 0X06, 0X01, 0X08, 0X00, 0XF0, 0X04, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X03, 0X3F};
 	HAL_UART_Transmit(uart_gethandle(), setRMC, sizeof(setRMC)/sizeof(uint8_t), 100);
 	HAL_Delay(100);
 	uint8_t setVTG[] = {0XB5, 0X62, 0X06, 0X01, 0X08, 0X00, 0XF0, 0X05, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X04, 0X46};
 	HAL_UART_Transmit(uart_gethandle(), setVTG, sizeof(setRMC)/sizeof(uint8_t), 100);
 	HAL_Delay(100);
    // Disable messages
    uint8_t setGLL[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x2B};
    HAL_UART_Transmit(uart_gethandle(), setGLL, sizeof(setGLL)/sizeof(uint8_t), 100);
    HAL_Delay(1);
    uint8_t setGSA[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x32};
    HAL_UART_Transmit(uart_gethandle(), setGSA, sizeof(setGSA)/sizeof(uint8_t), 100);
    HAL_Delay(1);
 //    // Disable GLONASS mode
 //    uint8_t disable_glonass[20] = {0xB5, 0x62, 0x06, 0x3E, 0x0C, 0x00, 0x00, 0x00, 0x20, 0x01, 0x06, 0x08, 0x0E, 0x00, 0x00, 0x00, 0x01, 0x01, 0x8F, 0xB2};
 //
 //    //gps_sendubx(disable_glonass, 20);
 //    volatile HAL_StatusTypeDef res = HAL_UART_Transmit(uart_gethandle(), disable_glonass, 20, 100);
 //
 //    // Enable power saving
 //    uint8_t enable_powersave[10] = {0xB5, 0x62, 0x06, 0x11, 0x02, 0x00, 0x08, 0x01, 0x22, 0x92};
 //    //gps_sendubx(enable_powersave, 10);
 //    res = HAL_UART_Transmit(uart_gethandle(), enable_powersave, 10, 100);
 //
 //
 //    // Set dynamic model 6 (<1g airborne platform)
 //    uint8_t airborne_model[] = { 0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x06, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0xDC };
 //    //gps_sendubx(airborne_model, sizeof(airborne_model)/sizeof(uint8_t));
 //    res = HAL_UART_Transmit(uart_gethandle(), airborne_model, sizeof(airborne_model)/sizeof(uint8_t), 100);
    uint8_t setGSV[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x03, 0x39};
    HAL_UART_Transmit(uart_gethandle(), setGSV, sizeof(setGSV)/sizeof(uint8_t), 100);
    HAL_Delay(1);
    uint8_t setRMC[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x04, 0x40};
    HAL_UART_Transmit(uart_gethandle(), setRMC, sizeof(setRMC)/sizeof(uint8_t), 100);
    HAL_Delay(1);
    uint8_t setVTG[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x46};
    HAL_UART_Transmit(uart_gethandle(), setVTG, sizeof(setRMC)/sizeof(uint8_t), 100);
    HAL_Delay(1);
+}
 void gps_update_position()
+{
     // Request a NAV-POSLLH message from the GPS
     uint8_t request[8] = {0xB5, 0x62, 0x01, 0x02, 0x00, 0x00, 0x03,
 x0A};
     uint8_t request[8] = {0xB5, 0x62, 0x01, 0x02, 0x00, 0x00, 0x03, 0x0A};
     volatile uint8_t check_a = 0;
     volatile uint8_t check_b = 0;
     for(uint8_t i = 2; i<6; i++)
+    {
     	check_a += request[i];
     	check_b += check_a;
+    }
     //_gps_send_msg(request, 8);
     uint8_t flushed = uart_gethandle()->Instance->RDR;
     HAL_UART_Transmit(uart_gethandle(), request, 8, 100);
+    volatile HAL_StatusTypeDef txres = HAL_UART_Transmit(uart_gethandle(), request, 8, 100);
     uint8_t buf[36];
     HAL_UART_Receive(uart_gethandle(), buf, 36, 100);
     for(uint8_t i =0; i<36; i++)
     	buf[i] = 0xaa;
     volatile HAL_StatusTypeDef result = HAL_UART_Receive(uart_gethandle(), buf, 36, 1000);
     //for(uint8_t i = 0; i < 36; i++)
     //    buf[i] = _gps_get_byte();
 //    // Verify the sync and header bits
 //    if( buf[0] != 0xB5 || buf[1] != 0x62 )
 //        led_set(LED_RED, 1);
 //    if( buf[2] != 0x01 || buf[3] != 0x02 )
 //        led_set(LED_RED, 1);
     // 4 bytes of longitude (1e-7)
     position.longitude = (int32_t)buf[10] | (int32_t)buf[11] << 8 |
@@ @@ -116,24 +166,34 @@ void gps_update_position() @@
     position.altitude = (int32_t)buf[22] | (int32_t)buf[23] << 8 |
         (int32_t)buf[24] << 16 | (int32_t)buf[25] << 24;
     if( !_gps_verify_checksum(&buf[2], 32) )
         led_blink(2);
+}
 void gps_update_time(uint8_t* hour, uint8_t* minute, uint8_t* second)
+{
     // Send a NAV-TIMEUTC message to the receiver
     uint8_t request[8] = {0xB5, 0x62, 0x01, 0x21, 0x00, 0x00, 0x22, 0x67};
     volatile uint8_t check_a = 0;
     volatile uint8_t check_b = 0;
     for(uint8_t i = 2; i<6; i++)
+    {
     	check_a += request[i];
     	check_b += check_a;
+    }
     uint8_t flushed = uart_gethandle()->Instance->RDR;
     volatile HAL_StatusTypeDef res = HAL_UART_Transmit(uart_gethandle(), request, 8, 100);
     // Get the message back from the GPS
     uint8_t buf[28];
     res = HAL_UART_Receive(uart_gethandle(), buf, 28, 500);
 //    // Verify the sync and header bits
 //    if( buf[0] != 0xB5 || buf[1] != 0x62 )
 //        led_set(LED_RED, 1);
 //    if( buf[2] != 0x01 || buf[3] != 0x21 )
 //        led_set(LED_RED, 1);
@@ @@ -143,41 +203,46 @@ void gps_update_time(uint8_t* hour, uint @@
     *second = buf[24];
 //    if( !_gps_verify_checksum(&buf[2], 24) ) led_set(LED_RED, 1);
+}
 /**
  * Check the navigation status to determine the quality of the
  * fix currently held by the receiver with a NAV-STATUS message.
  */
 void gps_check_lock(uint8_t* lock, uint8_t* sats)
+{
     // Construct the request to the GPS
     uint8_t request[8] = {0xB5, 0x62, 0x01, 0x06, 0x00, 0x00,
 x07, 0x16};
     uint8_t request[8] = {0xB5, 0x62, 0x01, 0x06, 0x00, 0x00, 0x07, 0x16};
     uint8_t flushed = uart_gethandle()->Instance->RDR;
     HAL_UART_Transmit(uart_gethandle(), request, 8, 100);
     // Get the message back from the GPS
     uint8_t buf[60];
     HAL_UART_Receive(uart_gethandle(), buf, 60, 100);
     for(uint8_t i=0; i<60; i++)
     	buf[i] = 0xaa;
     volatile HAL_StatusTypeDef res = HAL_UART_Receive(uart_gethandle(), buf, 60, 3000);
     // Verify the sync and header bits
 //    if( buf[0] != 0xB5 || buf[1] != 0x62 )
 //        led_set(LED_RED, 1);
 //    if( buf[2] != 0x01 || buf[3] != 0x06 )
 //        led_set(LED_RED, 1);
     // Check 60 bytes minus SYNC and CHECKSUM (4 bytes)
 //    if( !_gps_verify_checksum(&buf[2], 56) ) led_set(LED_RED, 1);
     if( !_gps_verify_checksum(&buf[2], 56) )
         led_blink(2);
     // Return the value if GPSfixOK is set in 'flags'
     if( buf[17] & 0x01 )
         *lock = buf[16];
     else
         *lock = 0;
     *sats = buf[53];
+}
 /**
  * Verify that the uBlox 6 GPS receiver is set to the <1g airborne

src/main.c

➞

Show inline comments

@@ @@ -13,25 +13,25 @@ @@
 // We have access to the 1PPS pin of the gps... could have trim routine for internal oscillator based on this when we have a fix
 // Probabl wake up 1 minute early -- 0.45min possible +/- on wakeup time with 15min sync intervals
 enum _state
+{
     SYSTEM_POWERUP_SYNC = 0, // on powerup, get a GPS fix and set the RTC
     SYSTEM_IDLE, // awaiting RTC interrupt for wakeup TODO wake up before scheduled time to get fix?
     SYSTEM_GPSACQ, // RTC interrupted
     SYSTEM_WSPRTX, // Wait for timeslot and actually transmit the message
+}
+};
 int main(void)
+{
     HAL_Init();
     sysclk_init();
     gpio_init();
     adc_init();
     i2c_init();
     gps_init();
     wspr_init();
@@ @@ -45,70 +45,75 @@ int main(void) @@
     while (1)
+    {
         switch(state)
+        {
             // Idling: sleep and wait for RTC timeslot trigger
             case SYSTEM_IDLE:
+            {
                 blink_rate = BLINK_SLOW;
                 // Wait for RTC wakeup interrupt
                 wfi();
+                //wfi();
                 //enter_sleep();
                 // Somehow go to another state when we get an interrupt
                 state = SYSTEM_GPSACQ;
             } break;
             // Attempt to acquire GPS fix
             case SYSTEM_GPSACQ:
+            {
                 blink_rate = BLINK_FAST;
                 // TODO: probably don't power on all the time, just on state transition
                 gps_poweron();
                 HAL_Delay(500);
                 gps_update_position();
 //                gps_poweron();
 //                HAL_Delay(100);
                 HAL_Delay(1000);
 //                gps_update_position();
                 uint8_t fix_ok = 0;
                 uint8_t numsats = 0;
                 gps_check_lock(&fix_ok, &numsats);
                 if(fix_ok)
+                {
                     // Disable GPS module
                     gps_poweroff();
                     // TODO: Set RTC from GPS time
                     // TODO: Set RTC for countdown to next transmission timeslot!
                     // TODO: Set wspr countdown timer for this transmission!
                     state = SYSTEM_WSPRTX;
+                }
                 else if(fix_timeout)
+                {
                     // Flash error code and go to idle probably? or just try forever?
+                }
 //                else if(fix_timeout)
  //               {
   //                  // Flash error code and go to idle probably? or just try forever?
    //             }
             } break;
             // Wait for wspr timeslot and start transmitting
             case SYSTEM_WSPRTX:
+            {
                 // Wait for wspr countdown timer to expire and go to tx
                 if(timeout_expired)
+                {
                     wspr_transmit();
+                }
 //                if(timeout_expired)
 //                {
 //                    wspr_transmit();
 //                }
                 // Schedule next wakeup (maybe 2mins prior ot timeslot if no osc trim)
                 // Next wakeup should enter SYSTEM_GPSACQ state...
                 state = SYSTEM_IDLE;
             } break;
+        }
         if(HAL_GetTick() - led_timer > blink_rate)

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