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UART refactored (#236)

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`Uart` is now an abstract class with a `UartEsp` and a `UartPosix` implementation.
This commit is contained in:
Ken Van Hoeylandt
2025-02-26 17:13:37 +01:00
committed by GitHub
parent de46401d85
commit b85ef7a2e7
22 changed files with 867 additions and 592 deletions
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TactilityHeadless/Source/hal/gps/GpsInit.cpp
+55 -55
View File
@@ -8,12 +8,12 @@
namespace tt::hal::gps {
bool initMtk(uart_port_t port);
bool initMtkL76b(uart_port_t port);
bool initMtkPa1616s(uart_port_t port);
bool initAtgm336h(uart_port_t port);
bool initUc6580(uart_port_t port);
bool initAg33xx(uart_port_t port);
bool initMtk(uart::Uart& uart);
bool initMtkL76b(uart::Uart& uart);
bool initMtkPa1616s(uart::Uart& uart);
bool initAtgm336h(uart::Uart& uart);
bool initUc6580(uart::Uart& uart);
bool initAg33xx(uart::Uart& uart);
// region CAS
@@ -70,7 +70,7 @@ static uint8_t makeCASPacket(uint8_t* buffer, uint8_t class_id, uint8_t msg_id,
return (payload_size + 10);
}
GpsResponse getACKCas(uart_port_t port, uint8_t class_id, uint8_t msg_id, uint32_t waitMillis)
GpsResponse getACKCas(uart::Uart& uart, uint8_t class_id, uint8_t msg_id, uint32_t waitMillis)
{
uint32_t startTime = kernel::getMillis();
uint8_t buffer[CAS_ACK_NACK_MSG_SIZE] = {0};
@@ -84,8 +84,8 @@ GpsResponse getACKCas(uart_port_t port, uint8_t class_id, uint8_t msg_id, uint32
// ACK-ACK | 0xBA | 0xCE | 0x04 | 0x00 | 0x05 | 0x01 | 0xXX | 0xXX | 0x00 | 0x00 | 0xXX | 0xXX | 0xXX | 0xXX |
while (kernel::getTicks() - startTime < waitMillis) {
if (uart::available(port)) {
uart::readByte(port, &buffer[bufferPos++]);
if (uart.available()) {
uart.readByte(&buffer[bufferPos++]);
// keep looking at the first two bytes of buffer until
// we have found the CAS frame header (0xBA, 0xCE), if not
@@ -144,90 +144,90 @@ bool init(const std::vector<GpsDevice::Configuration>& configurations) {
return true;
}
bool init(uart_port_t port, GpsModel type) {
bool init(uart::Uart& uart, GpsModel type) {
switch (type) {
case GpsModel::Unknown:
tt_crash();
case GpsModel::AG3335:
case GpsModel::AG3352:
return initAg33xx(port);
return initAg33xx(uart);
case GpsModel::ATGM336H:
return initAtgm336h(port);
return initAtgm336h(uart);
case GpsModel::LS20031:
break;
return true;
case GpsModel::MTK:
return initMtk(port);
return initMtk(uart);
case GpsModel::MTK_L76B:
return initMtkL76b(port);
return initMtkL76b(uart);
case GpsModel::MTK_PA1616S:
return initMtkPa1616s(port);
return initMtkPa1616s(uart);
case GpsModel::UBLOX6:
case GpsModel::UBLOX7:
case GpsModel::UBLOX8:
case GpsModel::UBLOX9:
case GpsModel::UBLOX10:
return ublox::init(port, type);
return ublox::init(uart, type);
case GpsModel::UC6580:
return initUc6580(port);
return initUc6580(uart);
}
TT_LOG_I(TAG, "Init not implemented %d", static_cast<int>(type));
return false;
}
bool initAg33xx(uart_port_t port) {
uart::writeString(port, "$PAIR066,1,0,1,0,0,1*3B\r\n"); // Enable GPS+GALILEO+NAVIC
bool initAg33xx(uart::Uart& uart) {
uart.writeString("$PAIR066,1,0,1,0,0,1*3B\r\n"); // Enable GPS+GALILEO+NAVIC
// Configure NMEA (sentences will output once per fix)
uart::writeString(port, "$PAIR062,0,1*3F\r\n"); // GGA ON
uart::writeString(port, "$PAIR062,1,0*3F\r\n"); // GLL OFF
uart::writeString(port, "$PAIR062,2,0*3C\r\n"); // GSA OFF
uart::writeString(port, "$PAIR062,3,0*3D\r\n"); // GSV OFF
uart::writeString(port, "$PAIR062,4,1*3B\r\n"); // RMC ON
uart::writeString(port, "$PAIR062,5,0*3B\r\n"); // VTG OFF
uart::writeString(port, "$PAIR062,6,0*38\r\n"); // ZDA ON
uart.writeString("$PAIR062,0,1*3F\r\n"); // GGA ON
uart.writeString("$PAIR062,1,0*3F\r\n"); // GLL OFF
uart.writeString("$PAIR062,2,0*3C\r\n"); // GSA OFF
uart.writeString("$PAIR062,3,0*3D\r\n"); // GSV OFF
uart.writeString("$PAIR062,4,1*3B\r\n"); // RMC ON
uart.writeString("$PAIR062,5,0*3B\r\n"); // VTG OFF
uart.writeString("$PAIR062,6,0*38\r\n"); // ZDA ON
kernel::delayMillis(250);
uart::writeString(port, "$PAIR513*3D\r\n"); // save configuration
uart.writeString("$PAIR513*3D\r\n"); // save configuration
return true;
}
bool initUc6580(uart_port_t port) {
bool initUc6580(uart::Uart& uart) {
// The Unicore UC6580 can use a lot of sat systems, enable it to
// use GPS L1 & L5 + BDS B1I & B2a + GLONASS L1 + GALILEO E1 & E5a + SBAS + QZSS
// This will reset the receiver, so wait a bit afterwards
// The paranoid will wait for the OK*04 confirmation response after each command.
uart::writeString(port, "$CFGSYS,h35155\r\n");
uart.writeString("$CFGSYS,h35155\r\n");
kernel::delayMillis(750);
// Must be done after the CFGSYS command
// Turn off GSV messages, we don't really care about which and where the sats are, maybe someday.
uart::writeString(port, "$CFGMSG,0,3,0\r\n");
uart.writeString("$CFGMSG,0,3,0\r\n");
kernel::delayMillis(250);
// Turn off GSA messages, TinyGPS++ doesn't use this message.
uart::writeString(port, "$CFGMSG,0,2,0\r\n");
uart.writeString("$CFGMSG,0,2,0\r\n");
kernel::delayMillis(250);
// Turn off NOTICE __TXT messages, these may provide Unicore some info but we don't care.
uart::writeString(port, "$CFGMSG,6,0,0\r\n");
uart.writeString("$CFGMSG,6,0,0\r\n");
kernel::delayMillis(250);
uart::writeString(port, "$CFGMSG,6,1,0\r\n");
uart.writeString("$CFGMSG,6,1,0\r\n");
kernel::delayMillis(250);
return true;
}
bool initAtgm336h(uart_port_t port) {
bool initAtgm336h(uart::Uart& uart) {
uint8_t buffer[256];
// Set the intial configuration of the device - these _should_ work for most AT6558 devices
int msglen = makeCASPacket(buffer, 0x06, 0x07, sizeof(_message_CAS_CFG_NAVX_CONF), _message_CAS_CFG_NAVX_CONF);
uart::writeBytes(port, buffer, msglen);
if (getACKCas(port, 0x06, 0x07, 250) != GpsResponse::Ok) {
uart.writeBytes(buffer, msglen);
if (getACKCas(uart, 0x06, 0x07, 250) != GpsResponse::Ok) {
TT_LOG_W(TAG, "ATGM336H: Could not set Config");
}
// Set the update frequence to 1Hz
msglen = makeCASPacket(buffer, 0x06, 0x04, sizeof(_message_CAS_CFG_RATE_1HZ), _message_CAS_CFG_RATE_1HZ);
uart::writeBytes(port, buffer, msglen);
if (getACKCas(port, 0x06, 0x04, 250) != GpsResponse::Ok) {
uart.writeBytes(buffer, msglen);
if (getACKCas(uart, 0x06, 0x04, 250) != GpsResponse::Ok) {
TT_LOG_W(TAG, "ATGM336H: Could not set Update Frequency");
}
@@ -238,61 +238,61 @@ bool initAtgm336h(uart_port_t port) {
// Construct a CAS-CFG-MSG packet
uint8_t cas_cfg_msg_packet[] = {0x4e, fields[i], 0x01, 0x00};
msglen = makeCASPacket(buffer, 0x06, 0x01, sizeof(cas_cfg_msg_packet), cas_cfg_msg_packet);
uart::writeBytes(port, buffer, msglen);
if (getACKCas(port, 0x06, 0x01, 250) != GpsResponse::Ok) {
uart.writeBytes(buffer, msglen);
if (getACKCas(uart, 0x06, 0x01, 250) != GpsResponse::Ok) {
TT_LOG_W(TAG, "ATGM336H: Could not enable NMEA MSG: %d", fields[i]);
}
}
return true;
}
bool initMtkPa1616s(uart_port_t port) {
bool initMtkPa1616s(uart::Uart& uart) {
// PA1616S is used in some GPS breakout boards from Adafruit
// PA1616S does not have GLONASS capability. PA1616D does, but is not implemented here.
uart::writeString(port, "$PMTK353,1,0,0,0,0*2A\r\n");
uart.writeString("$PMTK353,1,0,0,0,0*2A\r\n");
// Above command will reset the GPS and takes longer before it will accept new commands
kernel::delayMillis(1000);
// Only ask for RMC and GGA (GNRMC and GNGGA)
uart::writeString(port, "$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n");
uart.writeString("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n");
kernel::delayMillis(250);
// Enable SBAS / WAAS
uart::writeString(port, "$PMTK301,2*2E\r\n");
uart.writeString("$PMTK301,2*2E\r\n");
kernel::delayMillis(250);
return true;
}
bool initMtkL76b(uart_port_t port) {
bool initMtkL76b(uart::Uart& uart) {
// Waveshare Pico-GPS hat uses the L76B with 9600 baud
// Initialize the L76B Chip, use GPS + GLONASS
// See note in L76_Series_GNSS_Protocol_Specification, chapter 3.29
uart::writeString(port, "$PMTK353,1,1,0,0,0*2B\r\n");
uart.writeString("$PMTK353,1,1,0,0,0*2B\r\n");
// Above command will reset the GPS and takes longer before it will accept new commands
kernel::delayMillis(1000);
// only ask for RMC and GGA (GNRMC and GNGGA)
// See note in L76_Series_GNSS_Protocol_Specification, chapter 2.1
uart::writeString(port, "$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n");
uart.writeString("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n");
kernel::delayMillis(250);
// Enable SBAS
uart::writeString(port, "$PMTK301,2*2E\r\n");
uart.writeString("$PMTK301,2*2E\r\n");
kernel::delayMillis(250);
// Enable PPS for 2D/3D fix only
uart::writeString(port, "$PMTK285,3,100*3F\r\n");
uart.writeString("$PMTK285,3,100*3F\r\n");
kernel::delayMillis(250);
// Switch to Fitness Mode, for running and walking purpose with low speed (<5 m/s)
uart::writeString(port, "$PMTK886,1*29\r\n");
uart.writeString("$PMTK886,1*29\r\n");
kernel::delayMillis(250);
return true;
}
bool initMtk(uart_port_t port) {
bool initMtk(uart::Uart& uart) {
// Initialize the L76K Chip, use GPS + GLONASS + BEIDOU
uart::writeString(port, "$PCAS04,7*1E\r\n");
uart.writeString("$PCAS04,7*1E\r\n");
kernel::delayMillis(250);
// only ask for RMC and GGA
uart::writeString(port, "$PCAS03,1,0,0,0,1,0,0,0,0,0,,,0,0*02\r\n");
uart.writeString("$PCAS03,1,0,0,0,1,0,0,0,0,0,,,0,0*02\r\n");
kernel::delayMillis(250);
// Switch to Vehicle Mode, since SoftRF enables Aviation < 2g
uart::writeString(port, "$PCAS11,3*1E\r\n");
uart.writeString("$PCAS11,3*1E\r\n");
kernel::delayMillis(250);
return true;
}