FeatherHAB/wsprhab Changeset - dd3b59fcb7a7

Changeset - dd3b59fcb7a7

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Ethan Zonca - 10 years ago 2016-04-06 23:10:46
ez@ethanzonca.com

Added code to handle GPS fix acquisition. Hot reaq time is around 3-4s. WSPR currently disabled.

5 files changed with 141 insertions and 39 deletions:

inc/gps.h

inc/usart.h

src/gps.c

src/main.c

src/usart.c

0 comments (0 inline, 0 general)

inc/gps.h

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@@ @@ -26,28 +26,23 @@ @@
 #ifndef GPS_H_
 #define GPS_H_
 #include <stdint.h>
 // Hardware config
 /*#define GPS_USART USART1
 #define GPS_IRQ NVIC_USART1_IRQ
 #define GPS_TX_PORT GPIOB
 #define GPS_TX_PIN GPIO6
 #define GPS_TX_AF GPIO_AF0
 // Duration before GPS fix is declared stale
 #define GPS_STALEFIX_MS 60000
 #define GPS_RX_PORT GPIOB
 #define GPS_RX_PIN GPIO7
 #define GPS_RX_AF GPIO_AF0
 enum gps_state
+{
     GPS_STATE_ACQUIRING = 0,
     GPS_STATE_FRESHFIX,
     GPS_STATE_STALEFIX,
     GPS_STATE_NOFIX
 };
 #define GPS_ONOFF_PORT GPIOA
 #define GPS_ONOFF_PIN GPIO1
 #define GPS_ONOFF GPS_ONOFF_PORT, GPS_ONOFF_PIN
 */
 // Messages (REMOVEME?)
 #define GGA_MESSAGE
 #define RMC_MESSAGE
 #define UKN_MESSAGE
 void gps_poweron(void);
@@ @@ -60,13 +55,17 @@ char* get_latitudeTrimmed(void); @@
 char* get_latitudeLSBs(void);
 char* get_timestamp(void);
 char* get_gpsaltitude(void);
 char* get_speedKnots(void);
 char* get_course(void);
 char* get_hdop(void);
 uint16_t get_hdop_int_tenths(void);
 char* get_sv(void);
 char* get_dayofmonth(void);
 uint8_t gps_hasfix(void);
 void gps_process(void);
 uint8_t gps_getstate(void);
 void gps_acquirefix(void);
 void parse_gps_transmission(void);
 void XORbyteWithChecksum(uint8_t byte);
 #endif /* GPS_H_ */

inc/usart.h

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 #ifndef __usart_H
 #define __usart_H
 #include "stm32f0xx_hal.h"
 void uart_init(void);
 void uart_deinit(void);
 UART_HandleTypeDef* uart_gethandle(void);
 DMA_HandleTypeDef* uart_get_txdma_handle(void);
 DMA_HandleTypeDef* uart_get_rxdma_handle(void);
 #endif

src/gps.c

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 // TODO: Transition to using https://github.com/cuspaceflight/joey-m/blob/master/firmware/gps.c requesting UBX data
 #include "stm32f0xx_hal.h"
 #include "config.h"
 #include "gpio.h"
 #include "usart.h"
 #include "gps.h"
 // Circular buffer for incoming data
 uint8_t nmeaBuffer[NMEABUFFER_SIZE];
@@ @@ -22,19 +23,25 @@ uint32_t numBytes = 0; @@
 char tramsmissionType[7];
 void gps_poweron(void)
+{
     // NOTE: pchannel
     //gpio_clear(GPS_ONOFF);
     HAL_GPIO_WritePin(GPS_NOTEN, 0);
     uart_init();
     // Begin DMA reception
     HAL_UART_Receive_DMA(uart_gethandle(), nmeaBuffer, NMEABUFFER_SIZE);
+}
 void gps_poweroff(void)
+{
     // NOTE: pchannel
     //gpio_set(GPS_ONOFF);
     uart_deinit();
     HAL_GPIO_WritePin(GPS_NOTEN, 1);
+}
 char timestamp[12];	//hhmmss.ss
 char* get_timestamp()
+{
 	return timestamp;
@@ @@ -83,12 +90,24 @@ char* get_sv() @@
 char hdop[6];		//xx.x
 char* get_hdop()
+{
 	return hdop;
+}
 uint16_t get_hdop_int_tenths(void)
+{
     // If only one digit before decimal
     if(hdop[1] == '.')
+    {
         return (hdop[0]-0x30)*10 + (hdop[2]-0x30);
+    }
     // Return normal hdop
     return (hdop[0]-0x30)*100 + (hdop[1]-0x30)*10 + (hdop[2]-0x30);
+}
 char altitude[10];	//xxxxxx.x
 char* get_gpsaltitude()
+{
 	return altitude;
+}
@@ @@ -167,29 +186,24 @@ enum decodeState { @@
 //	nmeaBufferDataPosition = (nmeaBufferDataPosition + 1) % NMEABUFFER_SIZE;
 //}
 void gps_init()
+{
     // Initialize serial port
     uart_init();
+   // done in poweron uart_init();
     // Begin DMA reception
     HAL_UART_Receive_DMA(uart_gethandle(), nmeaBuffer, NMEABUFFER_SIZE);
     timestamp[0] = 0x00;
     latitude[0] = 0x00;
     longitude[0] = 0x00;
     numSatellites[0] = 0x00;
     hdop[0] = 0x00;
     knots[0] = 0x00;
     course[0] = 0x00;
     dayofmonth[0] = 0x00;
     gps_poweron();
     HAL_Delay(100); // Make sure GPS is awake and alive
 //    // 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
@@ @@ -225,14 +239,75 @@ static void setParserState(uint8_t state @@
 	// Every time we change state, we have parsed a byte
 	nmeaBufferParsePosition = (nmeaBufferParsePosition + 1) % NMEABUFFER_SIZE;
+}
 static uint8_t gps_acquiring = 0;
 static uint32_t gps_lastfix_time = 0;
 //// MKa GPS transmission parser START
 void gps_process(void)
+{
     // If we're trying to acquire a GPS fix
     if(gps_acquiring)
+    {
         // Process incoming bytes
         parse_gps_transmission();
         // If fix acquired
         uint16_t hdop_int = get_hdop_int_tenths();
         if(hdop_int < 50 && hdop_int > 0)
+        {
             // Set RTC to GPS time
             // Record time of fix (TODO: don't use ticks if sleeping... use RTC time)
             gps_lastfix_time = HAL_GetTick();
             // Turn off GPS module
             gps_poweroff();
             // Invalidate HDOP
             hdop[0] = '9';
             // Go to idle state
             gps_acquiring = 0;
+        }
         else
+        {
             // if too much time has elapsed, set an error flag and go idle
             //gps_acquiring = 0;
+        }
+    }
+}
 void gps_acquirefix(void)
+{
     gps_poweron();
     // Wait for fix
     gps_acquiring = 1;
+}
 uint8_t gps_getstate(void)
+{
     if(gps_acquiring)
         return GPS_STATE_ACQUIRING;
     else if(gps_lastfix_time == 0)
         return GPS_STATE_NOFIX;
     else if(HAL_GetTick() - gps_lastfix_time < GPS_STALEFIX_MS)
         return GPS_STATE_FRESHFIX;
     else
         return GPS_STATE_STALEFIX;
+}
 // MKa GPS transmission parser START
 void parse_gps_transmission(void)
+{
     uint16_t nmeaBufferDataPosition = NMEABUFFER_SIZE - uart_get_rxdma_handle()->Instance->CNDTR;
 	char byte;

src/main.c

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@@ @@ -82,12 +82,14 @@ void encode_wspr(void) @@
     HAL_GPIO_WritePin(OSC_NOTEN, 1);
     HAL_GPIO_WritePin(TCXO_EN, 0);
+}
 TIM_HandleTypeDef htim1;
 int main(void)
+{
     HAL_Init();
@@ @@ -98,14 +100,13 @@ int main(void) @@
     gps_init();
     //jtencode_init();
     HAL_Delay(300);
     // Turn GPS on
     HAL_GPIO_WritePin(GPS_NOTEN, 0);
     //gps_poweroff();
     // Disable ICs
     HAL_GPIO_WritePin(OSC_NOTEN, 1);
     HAL_GPIO_WritePin(TCXO_EN, 0);
     HAL_GPIO_TogglePin(LED_BLUE);
@@ @@ -137,43 +138,56 @@ int main(void) @@
     HAL_GPIO_TogglePin(LED_BLUE);
     HAL_Delay(100);
     uint8_t lastMinute = 0;
     uint16_t blink_rate = 250;
     while (1)
+    {
         // TODO: Trigger this when RTC thinks its time to go
         if(HAL_GetTick() - last_wspr > 500)
+        {
             if(get_hdop()[0] == '9' && get_hdop()[1] == '9')
                 blink_rate = 250;
             else
                 blink_rate = 100;
             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)
             switch(gps_getstate())
+            {
                 // Wait until the first second of the minute
                 HAL_Delay(1000);
                 encode_wspr();
                 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;
+            }
             lastMinute = minute;
             // 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);
 //                encode_wspr();
 //            }
 //            lastMinute = minute;
             last_wspr = HAL_GetTick();
+        }
         if(HAL_GetTick() - led_timer > blink_rate)
+        {
             HAL_GPIO_TogglePin(LED_BLUE);
             led_timer = HAL_GetTick();
+        }
         if(HAL_GetTick() - last_gps > 10)
+        {
-            parse_gps_transmission();
+            gps_process();
             last_gps = HAL_GetTick();
+        }
         //enter_sleep();
+    }
+}

src/usart.c

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@@ @@ -4,12 +4,13 @@ @@
 #include "config.h"
 #include "gpio.h"
 UART_HandleTypeDef huart1;
 DMA_HandleTypeDef hdma_usart1_rx;
 DMA_HandleTypeDef hdma_usart1_tx;
 uint8_t uart_initted = 0;
 void uart_init(void)
+{
     __GPIOB_CLK_ENABLE();
     __HAL_RCC_USART1_CLK_ENABLE();
@@ @@ -70,12 +71,24 @@ void uart_init(void) @@
 //    HAL_NVIC_EnableIRQ(DMA1_Channel2_3_IRQn);
     HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
     //HAL_NVIC_EnableIRQ(USART1_IRQn);
     HAL_NVIC_DisableIRQ(USART1_IRQn);
     uart_initted = 1;
+}
 void uart_deinit(void)
+{
     if(uart_initted == 1)
+    {
         HAL_DMA_DeInit(&hdma_usart1_rx);
         HAL_DMA_DeInit(&hdma_usart1_tx);
         HAL_UART_DeInit(&huart1);
         uart_initted = 0;
+    }
+}
 UART_HandleTypeDef* uart_gethandle(void)
+{
     return &huart1;
+}

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