diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/fsm/audio.c | 11 | ||||
| -rw-r--r-- | src/fsm/common.c | 12 | ||||
| -rw-r--r-- | src/fsm/common.h | 6 | ||||
| -rw-r--r-- | src/fsm/gps.c | 115 | ||||
| -rw-r--r-- | src/fsm/gps.h | 14 | ||||
| -rw-r--r-- | src/fsm/i2c.c | 189 | ||||
| -rw-r--r-- | src/fsm/i2c.h | 19 | ||||
| -rw-r--r-- | src/fsm/main.c | 107 | ||||
| -rw-r--r-- | src/fsm/ubx.h | 17 |
9 files changed, 396 insertions, 94 deletions
diff --git a/src/fsm/audio.c b/src/fsm/audio.c index 02123fd..e74e93a 100644 --- a/src/fsm/audio.c +++ b/src/fsm/audio.c @@ -28,14 +28,11 @@ void InitializeAudio(int plln, int pllr, int i2sdiv, int i2sodd) { DMARunning = false; // Turn on peripherals. - RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); - RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); - RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE); - RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); + // Assume GPIOA,B,C,D already on RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA1, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI3, ENABLE); - i2c_init(); + // Assume I2C is set up // Configure reset pin. GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;; @@ -229,9 +226,13 @@ void DMA1_Stream7_IRQHandler() { } } +// Warning: don't i2c_write call from IRQ handler ! static void WriteRegister(uint8_t address, uint8_t value) { const uint8_t device = 0x4a; const uint8_t data[2] = {address, value}; + i2c_transaction_start(); i2c_write(device, data, 2); + i2c_transaction_end(); } + diff --git a/src/fsm/common.c b/src/fsm/common.c index 6e00740..ca4c009 100644 --- a/src/fsm/common.c +++ b/src/fsm/common.c @@ -25,6 +25,7 @@ #include "common.h" #include "FreeRTOS.h" #include "timers.h" +#include <stm32f4xx.h> static uint64_t common_timestamp = 0; // milliseconds since startup static TimerHandle_t common_timer; @@ -71,4 +72,15 @@ int random_bool(void) return bit; } +// For the debugger +static int faultsource = 0; +void trigger_fault(int source) +{ + __disable_irq(); + + faultsource = source; + + while (1) {} +} + diff --git a/src/fsm/common.h b/src/fsm/common.h index 1bd3b96..53da672 100644 --- a/src/fsm/common.h +++ b/src/fsm/common.h @@ -40,5 +40,11 @@ uint64_t timestamp_now(void); // Return either 0 or 1, somewhat randomly int random_bool(void); +// Fault handling mechanism +#define FAULT_SOURCE_MAIN 1 +#define FAULT_SOURCE_GPS 2 +#define FAULT_SOURCE_I2C 3 +void trigger_fault(int source); + #endif // _COMMON_H_ diff --git a/src/fsm/gps.c b/src/fsm/gps.c index fdb93f2..fe3e98a 100644 --- a/src/fsm/gps.c +++ b/src/fsm/gps.c @@ -22,26 +22,60 @@ * SOFTWARE. */ -#include "gps.h" -#include "i2c.h" -#include "string.h" #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 "i2c.h" +#include "ubx.h" + -static ubx_nav_timeutc_t gps_timeutc; +static struct gps_time_s gps_timeutc; +static int gps_fix_3d; static void gps_task(void *pvParameters); // Callback functions for UBX parser -static void gps_nav_sol(ubx_nav_sol_t *sol) {} +static void gps_nav_sol(ubx_nav_sol_t *sol) +{ + gps_fix_3d = (sol->GPSfix == GPSFIX_3D) ? 1 : 0; +} + static void gps_tim_tm2(ubx_tim_tm2_t *posllh) {} + +SemaphoreHandle_t timeutc_semaphore; static void gps_nav_timeutc(ubx_nav_timeutc_t *timeutc) { - memcpy(&gps_timeutc, timeutc, sizeof(ubx_nav_timeutc_t)); + xSemaphoreTake(timeutc_semaphore, portMAX_DELAY); + gps_timeutc.year = timeutc->year; + gps_timeutc.month = timeutc->month; + gps_timeutc.day = timeutc->day; + gps_timeutc.hour = timeutc->hour; + gps_timeutc.min = timeutc->min; + gps_timeutc.sec = timeutc->sec; + gps_timeutc.valid = timeutc->valid; + xSemaphoreGive(timeutc_semaphore); } +// Get current time from GPS +void gps_utctime(struct gps_time_s *timeutc) +{ + xSemaphoreTake(timeutc_semaphore, portMAX_DELAY); + timeutc->year = gps_timeutc.year; + timeutc->month = gps_timeutc.month; + timeutc->day = gps_timeutc.day; + timeutc->hour = gps_timeutc.hour; + timeutc->min = gps_timeutc.min; + timeutc->sec = gps_timeutc.sec; + timeutc->valid = gps_timeutc.valid; + xSemaphoreGive(timeutc_semaphore); +} + + const ubx_callbacks_t gps_ubx_cb = { gps_nav_sol, gps_nav_timeutc, @@ -49,26 +83,74 @@ const ubx_callbacks_t gps_ubx_cb = { }; -#define RXBUF_LEN 32 +#define RXBUF_LEN 128 static uint8_t rxbuf[RXBUF_LEN]; +static uint8_t gps_init_messages[] = { + UBX_ENABLE_NAV_SOL, + UBX_ENABLE_NAV_TIMEUTC, + UBX_ENABLE_TIM_TM2 }; static void gps_task(void *pvParameters) { + const uint8_t address = 0xFD; + int must_init_gps = 1; + while (1) { - const uint8_t address = 0xFF; - int bytes_read = i2c_read(GPS_I2C_ADDR, address, rxbuf, RXBUF_LEN); + taskYIELD(); + + i2c_transaction_start(); + + if (must_init_gps) { + i2c_write(GPS_I2C_ADDR, + gps_init_messages, + sizeof(gps_init_messages)); + + must_init_gps = 0; + } + + int bytes_read = i2c_read_from(GPS_I2C_ADDR, address, rxbuf, 2); - for (int i = 0; i < bytes_read; i++) { - ubx_parse(rxbuf[i]); + if (bytes_read != 2) { + i2c_transaction_end(); + continue; + } + + uint16_t bytes_available = (rxbuf[0] << 8) | rxbuf[1]; + + if (bytes_available) { + if (bytes_available > RXBUF_LEN) { + bytes_available = RXBUF_LEN; + } + + bytes_read = i2c_read(GPS_I2C_ADDR, rxbuf, bytes_available); + i2c_transaction_end(); + + for (int i = 0; i < bytes_read; i++) { + ubx_parse(rxbuf[i]); + } + } + else { + i2c_transaction_end(); } } } void gps_init() { - i2c_init(); + gps_fix_3d = 0; + gps_timeutc.valid = 0; + ubx_register(&gps_ubx_cb); + timeutc_semaphore = xSemaphoreCreateBinary(); + + if( timeutc_semaphore == NULL ) { + trigger_fault(FAULT_SOURCE_GPS); + } + else { + xSemaphoreGive(timeutc_semaphore); + } + xTaskCreate( gps_task, "TaskGPS", @@ -81,13 +163,6 @@ void gps_init() // 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; + return gps_fix_3d; } diff --git a/src/fsm/gps.h b/src/fsm/gps.h index e54524b..82f8a77 100644 --- a/src/fsm/gps.h +++ b/src/fsm/gps.h @@ -22,6 +22,8 @@ * SOFTWARE. */ +#include <stdint.h> + #ifndef __GPS_H_ #define __GPS_H_ @@ -34,7 +36,15 @@ #define GPS_I2C_ADDR 0x42 // I2C address of GPS receiver -#include "ubx.h" +struct gps_time_s { + uint16_t year; // Year, range 1999..2099 (UTC) + uint8_t month; // Month, range 1..12 (UTC) + uint8_t day; // Day of Month, range 1..31 (UTC) + uint8_t hour; // Hour of Day, range 0..23 (UTC) + uint8_t min; // Minute of Hour, range 0..59 (UTC) + uint8_t sec; // Seconds of Minute, range 0..59 (UTC) + uint8_t valid; // validity flag +}; // Setup communication and GPS receiver void gps_init(); @@ -43,7 +53,7 @@ void gps_init(); int gps_locked(); // Get current time from GPS -ubx_nav_timeutc_t* gps_utctime(); +void gps_utctime(struct gps_time_s *timeutc); #endif // __GPS_H_ diff --git a/src/fsm/i2c.c b/src/fsm/i2c.c index da109fc..8215ec7 100644 --- a/src/fsm/i2c.c +++ b/src/fsm/i2c.c @@ -23,20 +23,56 @@ */ #include "i2c.h" +#include "common.h" #include "stm32f4xx_conf.h" #include "stm32f4xx_i2c.h" #include "stm32f4xx.h" +#include "FreeRTOS.h" +#include "FreeRTOSConfig.h" +#include "task.h" +#include "semphr.h" static int i2c_init_done = 0; +static int i2c_error = 0; static I2C_TypeDef* const I2Cx = I2C1; +static SemaphoreHandle_t i2c_semaphore; + +static void i2c_device_init(void) +{ + // configure I2C1 + I2C_InitTypeDef I2C_InitStruct; + I2C_InitStruct.I2C_ClockSpeed = 100000; //Hz + I2C_InitStruct.I2C_Mode = I2C_Mode_I2C; + I2C_InitStruct.I2C_DutyCycle = I2C_DutyCycle_2; // 50% duty cycle + I2C_InitStruct.I2C_OwnAddress1 = 0x00; // not relevant in master mode + + // disable acknowledge when reading (can be changed later on) + I2C_InitStruct.I2C_Ack = I2C_Ack_Disable; + + I2C_InitStruct.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit; + I2C_Init(I2C1, &I2C_InitStruct); + + // enable I2C1 + I2C_Cmd(I2C1, ENABLE); +} + void i2c_init() { if (i2c_init_done == 1) { return; } + i2c_semaphore = xSemaphoreCreateBinary(); + + if ( i2c_semaphore == NULL ) { + trigger_fault(FAULT_SOURCE_I2C); + } + else { + xSemaphoreGive(i2c_semaphore); + } + RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE); RCC_APB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); @@ -56,32 +92,17 @@ void i2c_init() RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C1, ENABLE); RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C1, DISABLE); - // configure I2C1 - I2C_InitTypeDef I2C_InitStruct; - I2C_InitStruct.I2C_ClockSpeed = 100000; //Hz - I2C_InitStruct.I2C_Mode = I2C_Mode_I2C; - I2C_InitStruct.I2C_DutyCycle = I2C_DutyCycle_2; // 50% duty cycle - I2C_InitStruct.I2C_OwnAddress1 = 0x00; // not relevant in master mode - - // disable acknowledge when reading (can be changed later on) - I2C_InitStruct.I2C_Ack = I2C_Ack_Disable; - - I2C_InitStruct.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit; - I2C_Init(I2C1, &I2C_InitStruct); - - // enable I2C1 - I2C_Cmd(I2C1, ENABLE); - + i2c_device_init(); i2c_init_done = 1; } -static void i2c_start(uint8_t device, uint8_t direction) +static int i2c_start(uint8_t device, uint8_t direction) { - while(I2C_GetFlagStatus(I2Cx, I2C_FLAG_BUSY)); I2C_GenerateSTART(I2Cx, ENABLE); + // wait for I2C1 EV5 --> Slave has acknowledged start condition - while(!I2C_CheckEvent(I2Cx, I2C_EVENT_MASTER_MODE_SELECT)); + while (!I2C_CheckEvent(I2Cx, I2C_EVENT_MASTER_MODE_SELECT)); // Send slave Address for write I2C_Send7bitAddress(I2Cx, device << 1, direction); @@ -91,47 +112,137 @@ static void i2c_start(uint8_t device, uint8_t direction) * Master receiver mode, depending on the transmission * direction */ - if(direction == I2C_Direction_Transmitter) { - while(!I2C_CheckEvent(I2Cx, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED)); + uint32_t event = 0; + if (direction == I2C_Direction_Transmitter) { + event = I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED; } - else if(direction == I2C_Direction_Receiver) { - while(!I2C_CheckEvent(I2Cx, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED)); + else if (direction == I2C_Direction_Receiver) { + event = I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED; } + else { + trigger_fault(FAULT_SOURCE_I2C); + } + + while (!I2C_CheckEvent(I2Cx, event)); + + return 1; } -static void i2c_send(uint8_t data) { +static int i2c_send(uint8_t data) +{ I2C_SendData(I2Cx, data); + // wait for I2C1 EV8_2 --> byte has been transmitted - while(!I2C_CheckEvent(I2Cx, I2C_EVENT_MASTER_BYTE_TRANSMITTED)); + while (!I2C_CheckEvent(I2Cx, I2C_EVENT_MASTER_BYTE_TRANSMITTED)); + + return 1; } -void i2c_write(uint8_t device, const uint8_t *txbuf, int len) { - i2c_start(device, I2C_Direction_Transmitter); - for (int i = 0; i < len; i++) { - i2c_send(txbuf[i]); +int i2c_write(uint8_t device, const uint8_t *txbuf, int len) +{ + if (i2c_init_done == 0) { + trigger_fault(FAULT_SOURCE_I2C); + } + + while (I2C_GetFlagStatus(I2Cx, I2C_FLAG_BUSY)); + + int success = 0; + + if (i2c_start(device, I2C_Direction_Transmitter)) { + for (int i = 0; i < len; i++) { + success = i2c_send(txbuf[i]); + if (!success) { + break; + } + } } I2C_GenerateSTOP(I2Cx, ENABLE); + while(!I2C_CheckEvent(I2Cx, I2C_EVENT_MASTER_BYTE_TRANSMITTED)); + + return success; } -int i2c_read(uint8_t device, uint8_t *rxbuf, int len) +static int i2c_read_nobuscheck(uint8_t device, uint8_t *rxbuf, int len) { + if (i2c_init_done == 0) { + trigger_fault(FAULT_SOURCE_I2C); + } + i2c_start(device, I2C_Direction_Receiver); for (int i = 0; i < len; i++) { - if (i < len-1) { - I2C_AcknowledgeConfig(I2Cx, ENABLE); - // wait until one byte has been received - while( !I2C_CheckEvent(I2Cx, I2C_EVENT_MASTER_BYTE_RECEIVED) ); - rxbuf[i] = I2C_ReceiveData(I2Cx); + if (i == len-1) { + I2C_AcknowledgeConfig(I2Cx, DISABLE); } else { - I2C_AcknowledgeConfig(I2Cx, DISABLE); + I2C_AcknowledgeConfig(I2Cx, ENABLE); + } + + // wait until one byte has been received + while( !I2C_CheckEvent(I2Cx, I2C_EVENT_MASTER_BYTE_RECEIVED) ); + + if (i == len-1) { I2C_GenerateSTOP(I2Cx, ENABLE); - // wait until one byte has been received - while( !I2C_CheckEvent(I2Cx, I2C_EVENT_MASTER_BYTE_RECEIVED) ); - rxbuf[i] = I2C_ReceiveData(I2Cx); } + + rxbuf[i] = I2C_ReceiveData(I2Cx); } return len; } +int i2c_read(uint8_t device, uint8_t *rxbuf, int len) +{ + while (I2C_GetFlagStatus(I2Cx, I2C_FLAG_BUSY)); + + return i2c_read_nobuscheck(device, rxbuf, len); +} + +int i2c_read_from(uint8_t device, uint8_t address, uint8_t *rxbuf, int len) +{ + if (i2c_init_done == 0) { + trigger_fault(FAULT_SOURCE_I2C); + } + + while (I2C_GetFlagStatus(I2Cx, I2C_FLAG_BUSY)); + + int success = i2c_start(device, I2C_Direction_Transmitter); + if (success) { + success = i2c_send(address); + } + // Don't do a STOP + + if (success) { + success = i2c_read_nobuscheck(device, rxbuf, len); + } + + return success; +} + + + +void i2c_transaction_start() +{ + if (i2c_init_done == 0) { + trigger_fault(FAULT_SOURCE_I2C); + } + xSemaphoreTake(i2c_semaphore, portMAX_DELAY); +} + +void i2c_transaction_end() +{ + if (i2c_init_done == 0) { + trigger_fault(FAULT_SOURCE_I2C); + } + + if ( i2c_error ) { + I2C_SoftwareResetCmd(I2Cx, ENABLE); + I2C_SoftwareResetCmd(I2Cx, DISABLE); + + i2c_device_init(); + + i2c_error = 0; + } + + xSemaphoreGive(i2c_semaphore); +} + diff --git a/src/fsm/i2c.h b/src/fsm/i2c.h index 2e2dbd3..109213b 100644 --- a/src/fsm/i2c.h +++ b/src/fsm/i2c.h @@ -30,11 +30,24 @@ /* Initialise I2C on the board for both the audio codec and the GPS receiver */ void i2c_init(); -/* Do an I2C write */ -void i2c_write(uint8_t device, const uint8_t *txbuf, int len); +/* Do an I2C write, return 1 on success, 0 on failure */ +int i2c_write(uint8_t device, const uint8_t *txbuf, int len); -/* Do an I2C write into rxbuf. Returns number of bytes received */ +/* Do an I2C read into rxbuf. + * Returns number of bytes received, or 0 in case of failure + */ int i2c_read(uint8_t device, uint8_t *rxbuf, int len); +/* Do an I2C write for the address, and then a read into rxbuf. + * Returns number of bytes received, or 0 in case of failure + */ +int i2c_read_from(uint8_t device, uint8_t address, uint8_t *rxbuf, int len); + +/* Start an I2C transaction, keeping exclusive access to I2C */ +void i2c_transaction_start(void); + +/* End an I2C transaction, unlocking the exclusive access to I2C */ +void i2c_transaction_end(void); + #endif // __I2C_H_ diff --git a/src/fsm/main.c b/src/fsm/main.c index 225b2f9..58e4140 100644 --- a/src/fsm/main.c +++ b/src/fsm/main.c @@ -36,6 +36,8 @@ #include "semphr.h" #include "cw.h" #include "pio.h" +#include "i2c.h" +#include "gps.h" #include "fsm.h" #include "common.h" @@ -48,7 +50,11 @@ void init(); // Tasks static void detect_button_press(void *pvParameters); static void exercise_fsm(void *pvParameters); -static void audio_task(void *pvParameters); +static void gps_monit_task(void *pvParameters); +static void launcher_task(void *pvParameters); + +// Audio callback function +static void audio_callback(void* context, int select_buffer); struct cw_msg_s { const char* msg; @@ -65,22 +71,48 @@ void vApplicationStackOverflowHook( TaskHandle_t xTask, int main(void) { init(); - cw_init(16000); + TaskHandle_t task_handle; + xTaskCreate( + launcher_task, + "TaskLauncher", + configMINIMAL_STACK_SIZE, + (void*) NULL, + tskIDLE_PRIORITY + 2UL, + &task_handle); - pio_init(); + if (!task_handle) { + trigger_fault(FAULT_SOURCE_MAIN); + } - common_init(); + /* Start the RTOS Scheduler */ + vTaskStartScheduler(); - InitializeAudio(Audio16000HzSettings); - SetAudioVolume(164); + /* HALT */ + while(1); +} + +// Launcher task is here to make sure the scheduler is +// already running when calling the init functions. +static void launcher_task(void *pvParameters) +{ + cw_init(16000); + pio_init(); + i2c_init(); + common_init(); + gps_init(); + TaskHandle_t task_handle; xTaskCreate( detect_button_press, "TaskButton", 4*configMINIMAL_STACK_SIZE, (void*) NULL, tskIDLE_PRIORITY + 2UL, - NULL); + &task_handle); + + if (!task_handle) { + trigger_fault(FAULT_SOURCE_MAIN); + } xTaskCreate( exercise_fsm, @@ -88,24 +120,40 @@ int main(void) { 4*configMINIMAL_STACK_SIZE, (void*) NULL, tskIDLE_PRIORITY + 2UL, - NULL); + &task_handle); + + if (!task_handle) { + trigger_fault(FAULT_SOURCE_MAIN); + } xTaskCreate( - audio_task, - "TaskAudio", + gps_monit_task, + "TaskGPSMonit", configMINIMAL_STACK_SIZE, (void*) NULL, tskIDLE_PRIORITY + 2UL, - NULL); + &task_handle); - /* Start the RTOS Scheduler */ - vTaskStartScheduler(); + if (!task_handle) { + trigger_fault(FAULT_SOURCE_MAIN); + } - /* HALT */ - while(1); + InitializeAudio(Audio16000HzSettings); + SetAudioVolume(164); + + PlayAudioWithCallback(audio_callback, NULL); + + + /* We are done now, suspend this task + * With FreeDOS' heap_1.c, we cannot delete it. + * See freertos.org -> More Advanced... -> Memory Management + * for more info. + */ + while (1) { + vTaskSuspend(NULL); + } } -// disabled static void detect_button_press(void *pvParameters) { GPIO_SetBits(GPIOD, GPIO_Pin_12); @@ -160,11 +208,24 @@ static void audio_callback(void* context, int select_buffer) ProvideAudioBufferWithoutBlocking(samples, samples_len); } -static void audio_task(void *pvParameters) + +static struct gps_time_s gps_time; +static void gps_monit_task(void *pvParameters) { - PlayAudioWithCallback(audio_callback, NULL); + GPIO_SetBits(GPIOD, GPIO_Pin_15); while (1) { + if (gps_locked()) { + + gps_utctime(&gps_time); + + if (gps_time.sec % 10 > 5) { + GPIO_SetBits(GPIOD, GPIO_Pin_15); + } + else { + GPIO_ResetBits(GPIOD, GPIO_Pin_15); + } + } taskYIELD(); } } @@ -185,12 +246,6 @@ static void exercise_fsm(void *pvParameters) fsm_input.start_tm = (tm_trigger == 1 && last_tm_trigger == 0) ? 1 : 0; last_tm_trigger = tm_trigger; - if (fsm_input.start_tm) { - GPIO_SetBits(GPIOD, GPIO_Pin_15); - } - else { - GPIO_ResetBits(GPIOD, GPIO_Pin_15); - } fsm_input.sq = fsm_input.carrier; // TODO clarify fsm_input.cw_done = !cw_busy(); @@ -234,6 +289,9 @@ void init() { //SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2)); // set CP10 and CP11 Full Access // GPIOD Periph clock enable + RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); + RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); + RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); // Configure PD12, PD13, PD14 and PD15 in output pushpull mode @@ -257,7 +315,6 @@ void init() { // Clock RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE); - RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); // IO GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5 | GPIO_Pin_6; diff --git a/src/fsm/ubx.h b/src/fsm/ubx.h index 2af5705..e80464e 100644 --- a/src/fsm/ubx.h +++ b/src/fsm/ubx.h @@ -80,6 +80,23 @@ typedef enum ubx_state_e UBXSTATE_CKB } ubx_state_t; +#define GPSFIX_3D 0x3 + +// UBX messages to enable these messages on the I2C port +#define UBX_ENABLE_NAV_SOL \ + 0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, \ + 0x01, 0x06, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, \ + 0x17, 0xDB + +#define UBX_ENABLE_NAV_TIMEUTC \ + 0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, \ + 0x01, 0x21, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, \ + 0x32, 0x98 + +#define UBX_ENABLE_TIM_TM2 \ + 0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, \ + 0x0D, 0x03, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, \ + 0x20, 0x26 typedef struct ubx_nav_sol_s { |