FeatherHAB/wsprhab Changeset - a127e9133034

Changeset - a127e9133034

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Ethan Zonca - 9 years ago 2016-09-10 13:10:36
ez@ethanzonca.com

Attempt to get new GPS lib working

7 files changed with 176 insertions and 138 deletions:

.cproject

112

106

.settings/language.settings.xml

openocd.cfg

src/gps.c

src/main.c

src/system.c

src/wspr.c

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.cproject

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.settings/language.settings.xml

➞

Show inline comments

 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <project>
-	<configuration id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.578838654" name="Default">
+	<configuration id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1766192373" name="Default">
 		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
-			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="1346482592953272334" id="ilg.gnuarmeclipse.managedbuild.cross.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings Cross ARM" parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="1355837167222073652" id="ilg.gnuarmeclipse.managedbuild.cross.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings Cross ARM" parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
 		</extension>
 	</configuration>
 </project>

openocd.cfg

➞

Show inline comments

 source [find interface/stlink-v2.cfg]
 transport select hla_swd
-set WORKAREASIZE 0x1000
+set WORKAREASIZE 0x400
 source [find target/stm32f0x.cfg]

src/gps.c

➞

Show inline comments

@@ @@ -19,114 +19,139 @@ typedef struct _gps_data @@
     int32_t latitude;
     int32_t longitude;
     int32_t altitude;
     uint8_t hour;
     uint8_t minute;
     uint8_t second;
 } gps_data_t;
 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();
 //    // 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);
 //
 //    // Enable power saving
 //    uint8_t enable_powersave[10] = {0xB5, 0x62, 0x06, 0x11, 0x02, 0x00, 0x08, 0x01, 0x22, 0x92};
 //    gps_sendubx(enable_powersave, 10);
 //
 //
 //    // 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));
     // 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);
     // 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);
     // 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);
    // 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);
    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};
     //_gps_send_msg(request, 8);
     uint8_t flushed = uart_gethandle()->Instance->RDR;
     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] = _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 |
         (int32_t)buf[12] << 16 | (int32_t)buf[13] << 24;
     // 4 bytes of latitude (1e-7)
     position.latitude = (int32_t)buf[14] | (int32_t)buf[15] << 8 |
         (int32_t)buf[16] << 16 | (int32_t)buf[17] << 24;
     // 4 bytes of altitude above MSL (mm)
     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,
 x22, 0x67};
     uint8_t request[8] = {0xB5, 0x62, 0x01, 0x21, 0x00, 0x00, 0x22, 0x67};
     uint8_t flushed = uart_gethandle()->Instance->RDR;
     HAL_UART_Transmit(uart_gethandle(), request, 8, 100);
+    volatile HAL_StatusTypeDef res = HAL_UART_Transmit(uart_gethandle(), request, 8, 100);
     // Get the message back from the GPS
     uint8_t buf[28];
-    HAL_UART_Receive(uart_gethandle(), buf, 28, 100);
+    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);
     *hour = buf[22];
     *minute = buf[23];
     *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 flushed = uart_gethandle()->Instance->RDR;
@@ @@ -159,50 +184,52 @@ void gps_check_lock(uint8_t* lock, uint8 @@
  * navigaion mode.
  */
 uint8_t gps_check_nav(void)
+{
     uint8_t request[8] = {0xB5, 0x62, 0x06, 0x24, 0x00, 0x00,
 x2A, 0x84};
     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[44];
     HAL_UART_Receive(uart_gethandle(), buf, 44, 100);
 //    // Verify sync and header bytes
 //    if( buf[0] != 0xB5 || buf[1] != 0x62 )
 //        led_set(LED_RED, 1);
 //    if( buf[2] != 0x06 || buf[3] != 0x24 )
 //        led_set(LED_RED, 1);
     // Check 40 bytes of message checksum
 //    if( !_gps_verify_checksum(&buf[2], 40) ) led_set(LED_RED, 1);
     // Clock in and verify the ACK/NACK
     uint8_t ack[10];
     for(uint8_t i = 0; i < 10; i++)
         ack[i] = _gps_get_byte();
 //    for(uint8_t i = 0; i < 10; i++)
 //        ack[i] = _gps_get_byte();
     HAL_UART_Receive(uart_gethandle(), ack, 10, 100);
     // If we got a NACK, then return 0xFF
     if( ack[3] == 0x00 ) return 0xFF;
     // Return the navigation mode and let the caller analyse it
     return buf[8];
+}
 /**
  * Verify the checksum for the given data and length.
  */
 static uint8_t _gps_verify_checksum(uint8_t* data, uint8_t len)
+{
     uint8_t a, b;
     gps_ubx_checksum(data, len, &a, &b);
     if( a != *(data + len) || b != *(data + len + 1))
         return 0;
     else
         return 1;
+}
 // Calculate a UBX checksum using 8-bit Fletcher (RFC1145)
 static void gps_ubx_checksum(uint8_t* data, uint8_t len, uint8_t* cka, uint8_t* ckb)

src/main.c

➞

Show inline comments

 //
 // WSPRHAB: Minimal high-altitude balloon tracker with WSPR telemetry
 //
 #include "stm32f0xx_hal.h"
 #include "adc.h"
 #include "system.h"
 #include "i2c.h"
 #include "uart.h"
 #include "gpio.h"
 #include "wspr.h"
 #include "gps.h"
 int main(void)
+{
     HAL_Init();
     sysclk_init();
     gpio_init();
     adc_init();
     i2c_init();
     gps_init();
     //jtencode_init();
     HAL_Delay(300);
     //gps_poweroff();
     // Disable ICs
     HAL_GPIO_WritePin(OSC_NOTEN, 1);
     HAL_GPIO_WritePin(TCXO_EN, 0);
     uint32_t led_timer = HAL_GetTick();
@@ @@ -44,57 +45,59 @@ int main(void) @@
     gps_poweron();
     HAL_Delay(500);
     gps_update_position();
     while (1)
+    {
         // TODO: Trigger this when RTC thinks its time to go
         if(HAL_GetTick() - last_wspr > 500)
+        {
             switch(gps_getstate())
+            {
                 case GPS_STATE_ACQUIRING:
                     blink_rate = 250;
                     break;
                 case GPS_STATE_FRESHFIX:
                     blink_rate = 50;
                     break;
                 case GPS_STATE_STALEFIX:
                 case GPS_STATE_NOFIX:
                     gps_acquirefix();
                     blink_rate = 500;
                     break;
+            }
             uint8_t hour, minute, second;
             gps_update_time(&hour, &minute, &second);
             // EMZ TODO: this needs to trigger off of RTC minute, not GPS minute
             volatile uint8_t minute = get_timestamp()[3] - 0x30;
             // If last minute was odd and this minute is even (transition)
             if(lastMinute%2 == 1 && minute%2 == 0)
+            {
                 // Wait until the first second of the minute
                 HAL_Delay(1000);
                 wspr_transmit();
+            }
 //            if(lastMinute%2 == 1 && minute%2 == 0)
 //            {
 //                // Wait until the first second of the minute
 //                HAL_Delay(1000);
 //                wspr_transmit();
 //            }
             lastMinute = minute;
             last_wspr = HAL_GetTick();
+        }
         if(HAL_GetTick() - led_timer > blink_rate)
+        {
-    //        HAL_GPIO_TogglePin(LED_BLUE);
             HAL_GPIO_TogglePin(LED_BLUE);
             led_timer = HAL_GetTick();
+        }
         if(HAL_GetTick() - last_gps > 10)
+        {
             gps_process();
             //gps_process();
         	gps_update_position();
             last_gps = HAL_GetTick();
+        }
         //enter_sleep();
+    }
+}

src/system.c

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Show inline comments

 //
 // System: basic low-level system configuration
 //
 #include "stm32f0xx_hal.h"
 #include "system.h"
 #include "wspr.h"
 void enter_sleep(void)
+{
     //HAL_SuspendTick();
     wspr_sleep();
     HAL_PWR_EnterSLEEPMode(PWR_MAINREGULATOR_ON, PWR_SLEEPENTRY_WFI);
     wspr_wakeup();
     //HAL_ResumeTick();
+}
 void enter_deepsleep(void)
+{
     // Request to enter STOP mode with regulator in low power mode
     HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
     // After wake-up from STOP reconfigure the PLL
     sysclk_init();
+}
 // Initialize system clocks
 void sysclk_init(void)
+{

src/wspr.c

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Show inline comments

 #include "stm32f0xx_hal.h"
 #include "si5351.h"
 #include "jtencode.h"
 #include "gpio.h"
 #include "wspr.h"
 #include "i2c.h"
 #include "config.h"
 #define WSPR_DEFAULT_FREQ 10140100UL
 #define WSPR_TONE_SPACING 146 // ~1.46 Hz
 #define WSPR_CTC 10672 // CTC value for WSPR
 // Test stuff
 char call[7] = "KD8TDF";
 char loc[5] = "EN72";
 uint8_t dbm = 10;
 uint8_t tx_buffer[255];
 // Frequencies and channel info
 uint32_t freq = WSPR_DEFAULT_FREQ;
 uint8_t symbol_count = WSPR_SYMBOL_COUNT;
 uint16_t ctc = WSPR_CTC;
 uint16_t tone_spacing = WSPR_TONE_SPACING;
 volatile uint8_t proceed = 0;
 TIM_HandleTypeDef htim1;

0 comments (0 inline, 0 general)