128 lines
5.3 KiB
C
128 lines
5.3 KiB
C
/* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/** library for receiving NMEA-0183 GPS messages (code)
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* @file radio_gps.c
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* @author King Kévin <kingkevin@cuvoodoo.info>
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* @date 2017
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* @note peripherals used: USART @ref radio_gps_usart
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*/
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/* standard libraries */
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#include <stdint.h> // standard integer types
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#include <stdio.h> // standard I/O facilities
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#include <stdlib.h> // general utilities
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/* STM32 (including CM3) libraries */
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#include <libopencm3/stm32/rcc.h> // real-time control clock library
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#include <libopencm3/stm32/gpio.h> // general purpose input output library
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#include <libopencm3/stm32/usart.h> // universal synchronous asynchronous receiver transmitter library
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#include <libopencm3/cm3/nvic.h> // interrupt handler
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#include <libopencmsis/core_cm3.h> // Cortex M3 utilities
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#include "radio_gps.h" // GPS header and definitions
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#include "global.h" // common methods
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/** @defgroup radio_gps_usart USART peripheral used for communication with the GPS
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* @{
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*/
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#define RADIO_GPS_USART 3 /**< USART peripheral */
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/** @} */
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#define RADIO_GPS_BAUDRATE 9600 /**< USART baudrate for the GPS communication, in bits per second (with 8N1 8 bits, no parity bit, 1 stop bit settings) */
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static volatile char radio_gps_buffer[82] = {0}; /**< buffer for received data (82 chars is the maximum NMEA-0183 message length) */
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static volatile uint8_t radio_gps_buffer_i = 0; /**< current position of read received data */
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volatile bool radio_gps_received = false;
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volatile char radio_gps_message[82+1] = {0};
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void radio_gps_setup(void)
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{
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/* enable USART I/O peripheral */
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rcc_periph_clock_enable(USART_PORT_RCC(RADIO_GPS_USART)); // enable clock for USART port peripheral
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rcc_periph_clock_enable(USART_RCC(RADIO_GPS_USART)); // enable clock for USART peripheral
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rcc_periph_clock_enable(RCC_AFIO); // enable pin alternate function (USART)
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gpio_set_mode(USART_PORT(RADIO_GPS_USART), GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN, USART_PIN_RX(RADIO_GPS_USART)); // setup GPIO pin USART receive
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gpio_set(USART_PORT(RADIO_GPS_USART), USART_PIN_RX(RADIO_GPS_USART)); // pull up to avoid noise when not connected
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/* setup USART parameters */
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usart_set_baudrate(USART(RADIO_GPS_USART), RADIO_GPS_BAUDRATE);
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usart_set_databits(USART(RADIO_GPS_USART), 8);
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usart_set_stopbits(USART(RADIO_GPS_USART), USART_STOPBITS_1);
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usart_set_mode(USART(RADIO_GPS_USART), USART_MODE_RX); // we only need to receive messages
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usart_set_parity(USART(RADIO_GPS_USART), USART_PARITY_NONE);
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usart_set_flow_control(USART(RADIO_GPS_USART), USART_FLOWCONTROL_NONE);
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nvic_enable_irq(USART_IRQ(RADIO_GPS_USART)); // enable the USART interrupt
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usart_enable_rx_interrupt(USART(RADIO_GPS_USART)); // enable receive interrupt
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usart_enable(USART(RADIO_GPS_USART)); // enable USART
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/* reset buffer states */
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radio_gps_received = false;
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radio_gps_buffer_i = 0;
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}
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/** USART interrupt service routine called when data has been received */
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void USART_ISR(RADIO_GPS_USART)(void)
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{
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if (usart_get_flag(USART(RADIO_GPS_USART), USART_SR_RXNE)) { // data has been received
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char c = usart_recv(USART(RADIO_GPS_USART)); // put character in buffer (and clear flag)
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// only save data if there is space in the buffer
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if (radio_gps_buffer_i<LENGTH(radio_gps_buffer)) {
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radio_gps_buffer[radio_gps_buffer_i++] = c;
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}
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if ('\n'==c) { // end of message received
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// verify if the message is correctly formatted
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if (radio_gps_buffer_i<1 || '$'!=radio_gps_buffer[0]) {
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goto malformatted;
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} else if (radio_gps_buffer_i<2 || '\r'!=radio_gps_buffer[radio_gps_buffer_i-2]) {
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goto malformatted;
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} else { // verify checksum when available
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uint8_t checksum_calc = 0;
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uint8_t checksum_i = 0;
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bool checkum_present = false;
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for (checksum_i = 1; checksum_i < radio_gps_buffer_i-2; checksum_i++) {
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if ('*'==radio_gps_buffer[checksum_i]) {
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checkum_present = true;
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break;
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} else {
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checksum_calc ^= radio_gps_buffer[checksum_i];
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}
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}
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if (checkum_present) {
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if (checksum_i!=radio_gps_buffer_i-5) { // only 2 checksum character should be remaining
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goto malformatted;
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} else if (checksum_calc-(radio_gps_buffer[checksum_i+1]-'0')*0x10-(radio_gps_buffer[checksum_i+2]-'0')) { // checksum does not match
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goto malformatted;
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}
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}
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}
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// copy message to user
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for (uint8_t i = 0; i < radio_gps_buffer_i && i < LENGTH(radio_gps_message); i++) {
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radio_gps_message[i] = radio_gps_buffer[i];
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}
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// terminate string
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if (radio_gps_buffer_i<LENGTH(radio_gps_message)) {
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radio_gps_message[radio_gps_buffer_i] = '\0';
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} else {
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radio_gps_message[LENGTH(radio_gps_message)-1] = '\0';
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}
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radio_gps_received = true; // notify user a message is available
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malformatted:
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radio_gps_buffer_i = 0; // reset buffer
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}
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}
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}
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