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/*
* 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 "i2c.h"
#include "ubx.h"
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)
{
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)
{
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,
gps_tim_tm2
};
#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) {
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);
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()
{
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",
4*configMINIMAL_STACK_SIZE,
(void*) NULL,
tskIDLE_PRIORITY + 2UL,
NULL);
}
// Return 1 of the GPS is receiving time
int gps_locked()
{
return gps_fix_3d;
}
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