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/*
* The MIT License (MIT)
*
* Copyright (c) 2016 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 "FreeRTOS.h"
#include "FreeRTOSConfig.h"
#include "task.h"
#include "semphr.h"
#include "Core/common.h"
#include "GPS/gps.h"
#include "GPS/minmea.h"
#include "GPIO/usart.h"
TickType_t gps_timeutc_last_updated = 0;
static struct tm gps_timeutc;
static int gps_num_sv_used;
static int gps_timeutc_valid; // Validity flag for both gps_timeutc and gps_num_sv_used
const TickType_t gps_data_validity_timeout = GPS_MS_TIMEOUT / 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 *num_sv_used)
{
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;
*num_sv_used = gps_num_sv_used;
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 __attribute__ ((unused))*pvParameters) {
// The initialisation placed the GPS into reset
usart_gps_remove_reset();
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);
// tm_year is saved as Year - 1900 in struct tm
gps_timeutc.tm_year = 2000 + frame.date.year - 1900;
// struct tm months are zero-indexed
gps_timeutc.tm_mon = frame.date.month - 1;
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;
case MINMEA_SENTENCE_TXT:
{
struct minmea_sentence_txt frame;
if (minmea_parse_txt(&frame, rxbuf)) {
rxbuf[MINMEA_TXT_START_IX + frame.text_len] = '\0';
switch (frame.msgtype) {
case MINMEA_GPTXT_ERROR:
usart_debug_puts_header("GPS ERROR ", frame.text);
break;
case MINMEA_GPTXT_WARNING:
usart_debug_puts_header("GPS WARNING ", frame.text);
break;
default:
usart_debug_puts_header("GPS Message ", frame.text);
break;
}
}
} break;
case MINMEA_SENTENCE_GGA:
{
struct minmea_sentence_gga frame;
if (minmea_parse_gga(&frame, rxbuf)) {
xSemaphoreTake(timeutc_semaphore, portMAX_DELAY);
gps_num_sv_used = frame.satellites_tracked;
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;
}
}
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