rusefi/firmware/hw_layer/neo6m.cpp

/**
 * @file	neo6m.cpp
 * @brief	Ublox 6M hardware UART driver
 *
 * http://www.u-blox.com/en/gps-modules/pvt-modules/previous-generations/neo-6-family.html
 *
 * Technically any UART GPS should work with this driver since NMEA protocol is pretty common anyway
 *
 * @date Dec 28, 2013
 * @author Andrey Belomutskiy, (c) 2012-2020
 * Kot_dnz 2014
 */

#include <string.h>
// todo: MISRA does not like time.h
#include <time.h>
#include "global.h"

#if EFI_UART_GPS

#include "console_io.h"
#include "eficonsole.h"
#include "pin_repository.h"
#include "nmea.h"
#include "neo6m.h"
#include "rtc_helper.h"
#include "engine.h"

static SerialConfig GPSserialConfig = { GPS_SERIAL_SPEED, 0, USART_CR2_STOP1_BITS | USART_CR2_LINEN, 0 };
static THD_WORKING_AREA(gpsThreadStack, UTILITY_THREAD_STACK_SIZE);

// this field holds our current state
static loc_t GPSdata;

static int gpsMesagesCount = 0;
static int uartErrors = 0;

// todo: some data structure for coordinates location
// todo:
float getCurrentSpeed(void) {
	return GPSdata.speed;
}

EXTERN_ENGINE;

static void printGpsInfo(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
	efiPrintf("GPS RX %s", hwPortname(CONFIG(gps_rx_pin)));
	efiPrintf("GPS TX %s", hwPortname(CONFIG(gps_tx_pin)));

	efiPrintf("m=%d,e=%d: vehicle speed = %.2f", gpsMesagesCount, uartErrors, getCurrentSpeed());

	float sec = currentTimeMillis() / 1000.0;
	efiPrintf("communication speed: %.2f", gpsMesagesCount / sec);

	print("GPS latitude = %.2f\r\n", GPSdata.latitude);
	print("GPS longitude = %.2f\r\n", GPSdata.longitude);
}

static struct tm curTm;

static void onGpsMessage(char *buffer) {

	gps_location(&GPSdata, buffer);
	date_get_tm(&curTm);

	if (GPSdata.quality == 4 && GPSdata.GPStm.tm_year > 0 && GPSdata.GPStm.tm_sec != curTm.tm_sec) {
		// quality =4 (valis GxRMC), year > 0, and difference more then second
		date_set_tm(&GPSdata.GPStm);					// set GPS time
		//}
	}
	gpsMesagesCount++;
}

// we do not want this on stack, right?
static char gps_str[GPS_MAX_STRING];

static THD_FUNCTION(GpsThreadEntryPoint, arg) {
	(void) arg;
	chRegSetThreadName("GPS thread");

	int count = 0;

	while (true) {
		msg_t charbuf = streamGet(GPS_SERIAL_DEVICE);
		if (charbuf == 10 || count == GPS_MAX_STRING) {					// if 0xD,0xA or limit
			if (count >= 1)
				gps_str[--count] = '\0';					// delete 0xD

//			scheduleMsg(&logger, "got GPS [%s]", gps_str);

			// 'gps_str' string completed
			onGpsMessage(gps_str);
			memset(&gps_str, '\0', GPS_MAX_STRING);			// clear buffer
			count = 0;
		} else {
			gps_str[count++] = charbuf;
		}
	}
}

static bool isGpsEnabled() {
	return (isBrainPinValid(CONFIG(gps_rx_pin)) &&
			isBrainPinValid(CONFIG(gps_tx_pin)));
}

void initGps(void) {
	if (!isGpsEnabled())
		return;


	sdStart(GPS_SERIAL_DEVICE, &GPSserialConfig);
//  GPS we have USART1: PB7 -> USART1_RX and PB6 -> USART1_TX
	efiSetPadMode("GPS tx", CONFIG(gps_tx_pin), PAL_MODE_ALTERNATE(7));
	efiSetPadMode("GPS rx", CONFIG(gps_rx_pin), PAL_MODE_ALTERNATE(7));

// todo: add a thread which would save location. If the GPS 5Hz - we should save the location each 200 ms
	chThdCreateStatic(gpsThreadStack, sizeof(gpsThreadStack), LOWPRIO, (tfunc_t)(void*) GpsThreadEntryPoint, NULL);

	addConsoleAction("gpsinfo", &printGpsInfo);
}

#endif /* EFI_UART_GPS */