gps_uart.cpp

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/**
 * @file    gps_uart.cpp
 * @brief   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
 */
 
#include "pch.h"
 
#if EFI_UART_GPS
#include <string.h>
 
#include "rusefi_types.h"
#include "console_io.h"
#include "eficonsole.h"
#include "nmea.h"
#include "gps_uart.h"
#include "rtc_helper.h"
 
static SerialConfig GPSserialConfig = { GPS_SERIAL_SPEED, 0, USART_CR2_STOP1_BITS | USART_CR2_LINEN, 0 };
static THD_WORKING_AREA(gpsThreadStack, UTILITY_THREAD_STACK_SIZE);
 
// this field holds our current state
static loc_t GPSdata;
static efidatetime_t lastDateTime;
 
static int gpsMessageCount = 0;
static int uartErrors = 0;
 
// TODO: some data structure for coordinates location
 
float getCurrentSpeed(void) {
    // TODO: ???
    return GPSdata.speed;
}
 
static void printGpsInfo() {
    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);
}
 
static void onGpsMessage(const char * const buffer) {
    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++;
}
 
// we do not want this on stack, right?
static char gps_str[GPS_MAX_STRING];
 
static THD_FUNCTION(GpsThreadEntryPoint, arg) {
    (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;
        }
    }
}
 
static bool isGpsEnabled() {
    return (isBrainPinValid(engineConfiguration->gps_rx_pin) &&
            isBrainPinValid(engineConfiguration->gps_tx_pin));
}
 
void initGps(void) {
    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);
}
 
#endif // EFI_UART_GPS