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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 "usart.h"
#include "minmea.h"
TickType_t gps_timeutc_last_updated = 0;
static struct gps_time_s gps_timeutc;
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
void gps_utctime(struct gps_time_s *timeutc)
{
xSemaphoreTake(timeutc_semaphore, portMAX_DELAY);
if (xTaskGetTickCount() - gps_timeutc_last_updated < gps_data_validity_timeout) {
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;
}
else {
timeutc->valid = 0;
}
xSemaphoreGive(timeutc_semaphore);
}
#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_last_updated = xTaskGetTickCount();
gps_timeutc.year = frame.date.year;
gps_timeutc.month = frame.date.month;
gps_timeutc.day = frame.date.day;
gps_timeutc.hour = frame.time.hours;
gps_timeutc.min = frame.time.minutes;
gps_timeutc.sec = frame.time.seconds;
gps_timeutc.valid = frame.valid;
xSemaphoreGive(timeutc_semaphore);
}
} break;
default:
break;
}
}
}
}
void gps_init()
{
gps_timeutc.valid = 0;
usart_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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