1 files changed, 93 insertions, 0 deletions
diff --git a/src/fsm/gps.c b/src/fsm/gps.c
new file mode 100644
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--- /dev/null
+++ b/src/fsm/gps.c
@@ -0,0 +1,93 @@
+/*
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2015 Matthias P. Braendli
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+*/
+
+#include "gps.h"
+#include "i2c.h"
+#include "string.h"
+#include "stm32f4xx_conf.h"
+#include "stm32f4xx.h"
+#include "FreeRTOS.h"
+#include "task.h"
+
+static ubx_nav_timeutc_t gps_timeutc;
+
+static void gps_task(void *pvParameters);
+
+// Callback functions for UBX parser
+static void gps_nav_sol(ubx_nav_sol_t *sol) {}
+static void gps_tim_tm2(ubx_tim_tm2_t *posllh) {}
+static void gps_nav_timeutc(ubx_nav_timeutc_t *timeutc)
+{
+    memcpy(&gps_timeutc, timeutc, sizeof(ubx_nav_timeutc_t));
+}
+
+const ubx_callbacks_t gps_ubx_cb = {
+    gps_nav_sol,
+    gps_nav_timeutc,
+    gps_tim_tm2
+};
+
+
+#define RXBUF_LEN 32
+static uint8_t rxbuf[RXBUF_LEN];
+
+static void gps_task(void *pvParameters)
+{
+    while (1) {
+        const uint8_t address = 0xFF;
+        int bytes_read = i2c_read(GPS_I2C_ADDR, address, rxbuf, RXBUF_LEN);
+
+        for (int i = 0; i < bytes_read; i++) {
+            ubx_parse(rxbuf[i]);
+        }
+    }
+}
+
+void gps_init()
+{
+    i2c_init();
+    ubx_register(&gps_ubx_cb);
+
+    xTaskCreate(
+            gps_task,
+            "TaskGPS",
+            4*configMINIMAL_STACK_SIZE,
+            (void*) NULL,
+            tskIDLE_PRIORITY + 2UL,
+            NULL);
+}
+
+// Return 1 of the GPS is receiving time
+int gps_locked()
+{
+    return 0;
+}
+
+// Get current time from GPS
+ubx_nav_timeutc_t* gps_utctime()
+{
+
+    return &gps_timeutc;
+}
+