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Diffstat (limited to 'src/fsm/gps.c')
| -rw-r--r-- | src/fsm/gps.c | 138 |
1 files changed, 0 insertions, 138 deletions
diff --git a/src/fsm/gps.c b/src/fsm/gps.c deleted file mode 100644 index ea3e597..0000000 --- a/src/fsm/gps.c +++ /dev/null @@ -1,138 +0,0 @@ -/* - * 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 "stm32f4xx_conf.h" -#include "stm32f4xx.h" -#include "FreeRTOS.h" -#include "FreeRTOSConfig.h" -#include "task.h" -#include "semphr.h" -#include "common.h" -#include "gps.h" -#include "usart.h" -#include "minmea.h" - - -TickType_t gps_timeutc_last_updated = 0; -static struct tm gps_timeutc; -static int gps_timeutc_valid; - -const TickType_t gps_data_validity_timeout = 10000ul / portTICK_PERIOD_MS; - -static void gps_task(void *pvParameters); - -SemaphoreHandle_t timeutc_semaphore; - -// Get current time from GPS -int gps_utctime(struct tm *timeutc) -{ - int valid = 0; - - xSemaphoreTake(timeutc_semaphore, portMAX_DELAY); - if (xTaskGetTickCount() - gps_timeutc_last_updated < gps_data_validity_timeout) { - timeutc->tm_year = gps_timeutc.tm_year; - timeutc->tm_mon = gps_timeutc.tm_mon; - timeutc->tm_mday = gps_timeutc.tm_mday; - timeutc->tm_hour = gps_timeutc.tm_hour; - timeutc->tm_min = gps_timeutc.tm_min; - timeutc->tm_sec = gps_timeutc.tm_sec; - valid = gps_timeutc_valid; - } - xSemaphoreGive(timeutc_semaphore); - - return valid; -} - -#define RXBUF_LEN MAX_NMEA_SENTENCE_LEN -static char rxbuf[RXBUF_LEN]; - -static void gps_task(void *pvParameters) -{ - // Periodically reinit the GPS - while (1) { - taskYIELD(); - - int success = usart_get_nmea_sentence(rxbuf); - - if (success) { - const int strict = 1; - switch (minmea_sentence_id(rxbuf, strict)) { - case MINMEA_SENTENCE_RMC: - { - struct minmea_sentence_rmc frame; - if (minmea_parse_rmc(&frame, rxbuf)) { - xSemaphoreTake(timeutc_semaphore, portMAX_DELAY); - gps_timeutc.tm_year = 2000 + frame.date.year; - gps_timeutc.tm_mon = frame.date.month; - gps_timeutc.tm_mday = frame.date.day; - gps_timeutc.tm_hour = frame.time.hours; - gps_timeutc.tm_min = frame.time.minutes; - gps_timeutc.tm_sec = frame.time.seconds; - gps_timeutc_valid = frame.valid; - gps_timeutc_last_updated = xTaskGetTickCount(); - xSemaphoreGive(timeutc_semaphore); - } - } break; - default: - break; - } - } - } -} - -void gps_init() -{ - gps_timeutc_valid = 0; - - usart_gps_init(); - - timeutc_semaphore = xSemaphoreCreateBinary(); - - if( timeutc_semaphore == NULL ) { - trigger_fault(FAULT_SOURCE_GPS); - } - else { - xSemaphoreGive(timeutc_semaphore); - } - - 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() -{ - if (xTaskGetTickCount() - gps_timeutc_last_updated < gps_data_validity_timeout) { - return gps_timeutc_valid; - } - else { - return 0; - } -} - |