gps_uart.cpp File Reference

Detailed Description

GPS receiver hardware UART driver.

Tested and developed for NEO-6M http://www.u-blox.com/en/gps-modules/pvt-modules/previous-generations/neo-6-family.html Technically any UART GPS should work with this driver since NMEA protocol is pretty common anyway

Date

Dec 28, 2013

Author

Andrey Belomutskiy, (c) 2012-2020 Kot_dnz 2014

Definition in file gps_uart.cpp.

Functions
static	THD_WORKING_AREA (gpsThreadStack, UTILITY_THREAD_STACK_SIZE)
float	getCurrentSpeed (void)
static void	printGpsInfo ()
static void	onGpsMessage (const char *const buffer)
static	THD_FUNCTION (GpsThreadEntryPoint, arg)
static bool	isGpsEnabled ()
void	initGps (void)

Variables
static SerialConfig	GPSserialConfig = { GPS_SERIAL_SPEED, 0, USART_CR2_STOP1_BITS | USART_CR2_LINEN, 0 }
static loc_t	GPSdata
static efidatetime_t	lastDateTime
static int	gpsMessageCount = 0
static int	uartErrors = 0
static char	gps_str [GPS_MAX_STRING]

Function Documentation

getCurrentSpeed()

float getCurrentSpeed

(

void

)

Definition at line 38 of file gps_uart.cpp.

                            {
    // TODO: ???
    return GPSdata.speed;
}

Referenced by printGpsInfo().

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initGps()

void initGps

(

void

)

Definition at line 102 of file gps_uart.cpp.

                   {
    if (!isGpsEnabled())
        return;
 
 
    sdStart(GPS_SERIAL_DEVICE, &GPSserialConfig);
//  GPS we have USART1: PB7 -> USART1_RX and PB6 -> USART1_TX
    efiSetPadMode("GPS tx", engineConfiguration->gps_tx_pin, PAL_MODE_ALTERNATE(7));
    efiSetPadMode("GPS rx", engineConfiguration->gps_rx_pin, PAL_MODE_ALTERNATE(7));
 
// todo: add a thread which would save location. If the GPS 5Hz - we should save the location each 200 ms
    chThdCreateStatic(gpsThreadStack, sizeof(gpsThreadStack), LOWPRIO, (tfunc_t)(void*) GpsThreadEntryPoint, NULL);
 
    addConsoleAction("gpsinfo", &printGpsInfo);
}

Referenced by initHardware().

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isGpsEnabled()

static bool isGpsEnabled ( )

static

Definition at line 97 of file gps_uart.cpp.

                           {
    return (isBrainPinValid(engineConfiguration->gps_rx_pin) &&
            isBrainPinValid(engineConfiguration->gps_tx_pin));
}

Referenced by initGps().

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onGpsMessage()

static void onGpsMessage ( const char *const  buffer )

static

Definition at line 56 of file gps_uart.cpp.

                                                    {
    gps_location(&GPSdata, buffer);
 
    if (GPSdata.quality == 4 && GPSdata.time.year > 0) {
        getRtcDateTime(&lastDateTime);
        if (GPSdata.time.second != dateTime.second) {
            // quality =4 (valid GxRMC), year > 0, and difference more than second
            setRtcDateTime(GPSdata.time);
        }
    }
 
    gpsMessageCount++;
}

Referenced by THD_FUNCTION().

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printGpsInfo()

static void printGpsInfo ( )

static

Definition at line 43 of file gps_uart.cpp.

                           {
    efiPrintf("GPS RX %s", hwPortname(engineConfiguration->gps_rx_pin));
    efiPrintf("GPS TX %s", hwPortname(engineConfiguration->gps_tx_pin));
 
    efiPrintf("m=%d,e=%d: vehicle speed = %.2f", gpsMessageCount, uartErrors, getCurrentSpeed());
 
    float sec = getTimeNowMs() / 1000.0;
    efiPrintf("communication speed: %.2f", gpsMessageCount / sec);
 
    efiPrintf("GPS latitude = %.2f\r\n", GPSdata.latitude);
    efiPrintf("GPS longitude = %.2f\r\n", GPSdata.longitude);
}

Referenced by initGps().

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THD_FUNCTION()

static THD_FUNCTION ( GpsThreadEntryPoint  , arg    )

static

Definition at line 73 of file gps_uart.cpp.

                                              {
    (void) arg;
    chRegSetThreadName("GPS thread");
 
    int count = 0;
 
    while (true) {
        msg_t charbuf = streamGet(GPS_SERIAL_DEVICE);
        if (charbuf == 10 || count == GPS_MAX_STRING) {                 // if 0xD,0xA or limit
            if (count >= 1)
                gps_str[--count] = '\0';                    // delete 0xD
 
            // scheduleMsg(&logger, "got GPS [%s]", gps_str);
 
            // 'gps_str' string completed
            onGpsMessage(gps_str);
            memset(&gps_str, '\0', GPS_MAX_STRING);         // clear buffer
            count = 0;
        } else {
            gps_str[count++] = charbuf;
        }
    }
}

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THD_WORKING_AREA()

static THD_WORKING_AREA ( gpsThreadStack  , UTILITY_THREAD_STACK_SIZE    )

static

Variable Documentation

gps_str

char gps_str[GPS_MAX_STRING]

static

Definition at line 71 of file gps_uart.cpp.

Referenced by THD_FUNCTION().

GPSdata

loc_t GPSdata

static

Definition at line 30 of file gps_uart.cpp.

Referenced by getCurrentSpeed(), onGpsMessage(), and printGpsInfo().

gpsMessageCount

int gpsMessageCount = 0

static

Definition at line 33 of file gps_uart.cpp.

Referenced by onGpsMessage(), and printGpsInfo().

GPSserialConfig

SerialConfig GPSserialConfig = { GPS_SERIAL_SPEED, 0, USART_CR2_STOP1_BITS | USART_CR2_LINEN, 0 }

static

Definition at line 26 of file gps_uart.cpp.

{ GPS_SERIAL_SPEED, 0, USART_CR2_STOP1_BITS | USART_CR2_LINEN, 0 };

Referenced by initGps().

lastDateTime

efidatetime_t lastDateTime

static

Definition at line 31 of file gps_uart.cpp.

Referenced by onGpsMessage().

uartErrors

int uartErrors = 0

static

Definition at line 34 of file gps_uart.cpp.

Referenced by printGpsInfo().

Go to the source code of this file.