Fix GNSS support (#58)

* ublox example is working

* worked a bit on printf stuff

* modified API to include accuracies

* Add time struct for organization

* Add support for gps

* updated GPS interface

* Rework GNSS interface

* Replace GPS with GNSS

* Add gitignore for astyle .orig files

* run astyle

* resolved GCC 8 errors, and moved GPS example to UART1

* Add init check for ublox driver

* Update GPS example to deal with slow initialization

* Remove magic values

* Add ability to search for GNSS asynchronously

* Get GNSS example compiling

* asynchronous gnss initialization, including if the device is connected after startup

* GNSS reconnects after disconnect

* Code cleanup

* Revert files that shouldn't have changed

* Fix missing include in backup_sram

* Change GPS references to GNSS

* Remove debug statements

* remove unneeded wait

* clean up gnss example

* Improve struct initialization

* remove custom time conversion code

Co-authored-by: James Jackson <[email protected]>

.gitignore

@@ -13,3 +13,4 @@
 *.autosave
 *.swp
 *.map
+*.orig

examples/gps/Makefile → examples/gnss/Makefile

@@ -26,7 +26,7 @@
 # (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 # SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
-TARGET = gps
+TARGET = gnss
 
 BOARD ?= REVO
 
@@ -165,7 +165,7 @@ TARGET_BIN=$(BIN_DIR)/$(TARGET).bin
 ifeq ($(DEBUG), GDB)
 $(info ************  BUILDING DEBUG SYMBOLS ************)
 DEBUG_FLAGS = -ggdb3
-OPTIMIZE = -O0
+OPTIMIZE = -Og
 else
 $(info ************  BUILDING RELEASE ************)
 DEBUG_FLAGS = -g0
@@ -182,7 +182,7 @@ endif
 #  -Wredundant-decls -Wshadow -Wstrict-overflow=5 -Wswitch-default -Wundef -Wunused -Wvariadic-macros \
 #  -Wctor-dtor-privacy -Wnoexcept -Wold-style-cast -Woverloaded-virtual -Wsign-promo -Wstrict-null-sentinel
 FILE_SIZE_FLAGS += -ffunction-sections -fdata-sections -fno-exceptions
-CXX_FILE_SIZE_FLAGS = $(C_FILE_SIZE_FLAGS) -fno-rtti
+CXX_FILE_SIZE_FLAGS = $(FILE_SIZE_FLAGS) -fno-rtti
 
 MCFLAGS=-mcpu=cortex-m4 -mthumb -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 DEFS=-DSTM32F40_41xxx -D__CORTEX_M4 -D__FPU_PRESENT -DWORDS_STACK_SIZE=200 -DUSE_STDPERIPH_DRIVER -DTARGET_$(BOARD) -DHSE_VALUE=8000000

examples/gps/main.cpp → examples/gnss/main.cpp

@@ -29,18 +29,22 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
+#include "led.h"
+#include "printf.h"
 #include "revo_f4.h"
-#include "serial.h"
 #include "system.h"
 #include "uart.h"
 #include "ublox.h"
 #include "vcp.h"
 
-Serial* serPtr = NULL;
+#define printf ::nanoprintf::tfp_printf
 
-void rx_callback(uint8_t byte)
+Serial *serPtr = NULL;
+
+static void _putc(void *p, char c)
 {
-  serPtr->put_byte(byte);
+  (void)p; // avoid compiler warning about unused variable
+  serPtr->put_byte(c);
 }
 
 int main()
@@ -52,22 +56,31 @@ int main()
   serPtr = &vcp;
 
   UART uart;
-  uart.init(&uart_config[UART3], 115200);
+  uart.init(&uart_config[UART1], 115200);
+
+  nanoprintf::init_printf(NULL, _putc);
+
+  UBLOX gnss;
+  gnss.init(&uart);
+
+  while (!gnss.present())
+  {
+    printf("GNSS not initialized");
+    delay(200);
+    gnss.check_connection_status();
+  }
 
-  vcp.register_rx_callback(rx_callback);
+  LED led1;
+  led1.init(LED1_GPIO, LED1_PIN);
 
-  UBLOX gps;
-  gps.init(&uart);
+  delay(5000); // Wait for the UBX to boot up
 
-  double lla[3];
-  float vel[3];
-  uint8_t fix_type;
-  uint32_t t_ms;
   while (1)
   {
-    if (gps.new_data())
-    {
-      gps.read(lla, vel, &fix_type, &t_ms);
-    }
+    UBLOX::NAV_PVT_t raw = gnss.read_raw();
+    printf("fix: %s\tt: %d\tlla: %d, %d, %d\tvel: %d, %d, %d\n", fix_names[raw.fixType].c_str(), raw.iTOW, raw.lat,
+           raw.lon, raw.height, raw.velN, raw.velE, raw.velD);
+    led1.toggle();
+    delay(1000);
   }
 }

include/revo_f4.h

@@ -62,12 +62,15 @@
 #define UART2 1
 #define UART3 2
 const uart_hardware_struct_t uart_config[NUM_UART] = {
-    {USART1, GPIOA, GPIO_Pin_10, GPIO_Pin_9, GPIO_PinSource10, GPIO_PinSource9, GPIO_AF_USART1, USART1_IRQn,
-     DMA2_Stream5_IRQn, DMA2_Stream7_IRQn, DMA2_Stream5, DMA2_Stream7, DMA_Channel_4, DMA_IT_TCIF5, DMA_IT_TCIF7},
-    {USART2, GPIOA, GPIO_Pin_10, GPIO_Pin_9, GPIO_PinSource10, GPIO_PinSource9, GPIO_AF_USART2, USART2_IRQn,
-     DMA1_Stream5_IRQn, DMA1_Stream6_IRQn, DMA1_Stream5, DMA1_Stream6, DMA_Channel_5, DMA_IT_TCIF5, DMA_IT_TCIF6},
-    {USART3, GPIOB, GPIO_Pin_11, GPIO_Pin_10, GPIO_PinSource11, GPIO_PinSource10, GPIO_AF_USART3, USART3_IRQn,
-     DMA1_Stream1_IRQn, DMA1_Stream3_IRQn, DMA1_Stream1, DMA1_Stream3, DMA_Channel_4, DMA_IT_TCIF1, DMA_IT_TCIF3},
+    {USART1, GPIOA, GPIO_Pin_10, GPIO_Pin_9, GPIO_PinSource10, GPIO_PinSource9,
+   GPIO_AF_USART1, USART1_IRQn, DMA2_Stream5_IRQn, DMA2_Stream7_IRQn, DMA2_Stream5, //main port?
+   DMA2_Stream7, DMA_Channel_4, DMA_IT_TCIF5, DMA_IT_TCIF7},
+  {USART2, GPIOA, GPIO_Pin_10, GPIO_Pin_9, GPIO_PinSource10, GPIO_PinSource9,
+   GPIO_AF_USART2, USART2_IRQn, DMA1_Stream5_IRQn, DMA1_Stream6_IRQn, DMA1_Stream5, //Flex-IO port?
+   DMA1_Stream6, DMA_Channel_5, DMA_IT_TCIF5, DMA_IT_TCIF6},
+  {USART3, GPIOB, GPIO_Pin_11, GPIO_Pin_10, GPIO_PinSource11, GPIO_PinSource10,
+   GPIO_AF_USART3, USART3_IRQn, DMA1_Stream1_IRQn, DMA1_Stream3_IRQn, DMA1_Stream1, //Flexi port?
+   DMA1_Stream3, DMA_Channel_4, DMA_IT_TCIF1, DMA_IT_TCIF3},
 };
 
 #define SBUS_UART 0