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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/Ublox.cpp
+92 -91
View File
@@ -1,20 +1,21 @@
#include "Tactility/hal/gps/Ublox.h"
#include "Tactility/hal/gps/UbloxMessages.h"
#include "Tactility/hal/uart/Uart.h"
#include <cstring>
#define TAG "ublox"
namespace tt::hal::gps::ublox {
bool initUblox6(uart_port_t port);
bool initUblox789(uart_port_t port, GpsModel model);
bool initUblox10(uart_port_t port);
bool initUblox6(uart::Uart& uart);
bool initUblox789(uart::Uart& uart, GpsModel model);
bool initUblox10(uart::Uart& uart);
#define SEND_UBX_PACKET(PORT, BUFFER, TYPE, ID, DATA, ERRMSG, TIMEOUT) \
#define SEND_UBX_PACKET(UART, BUFFER, TYPE, ID, DATA, ERRMSG, TIMEOUT) \
do { \
auto msglen = makePacket(TYPE, ID, DATA, sizeof(DATA), BUFFER); \
uart::writeBytes(PORT, BUFFER, sizeof(BUFFER)); \
if (getAck(PORT, TYPE, ID, TIMEOUT) != GpsResponse::Ok) { \
UART.writeBytes(BUFFER, sizeof(BUFFER)); \
if (getAck(UART, TYPE, ID, TIMEOUT) != GpsResponse::Ok) { \
TT_LOG_I(TAG, "Sending packet failed: %s", #ERRMSG); \
} \
} while (0)
@@ -52,7 +53,7 @@ uint8_t makePacket(uint8_t classId, uint8_t messageId, const uint8_t* payload, u
return (payloadSize + 8U);
}
GpsResponse getAck(uart_port_t port, uint8_t class_id, uint8_t msg_id, uint32_t waitMillis) {
GpsResponse getAck(uart::Uart& uart, uint8_t class_id, uint8_t msg_id, uint32_t waitMillis) {
uint8_t b;
uint8_t ack = 0;
const uint8_t ackP[2] = {class_id, msg_id};
@@ -82,8 +83,8 @@ GpsResponse getAck(uart_port_t port, uint8_t class_id, uint8_t msg_id, uint32_t
#endif
return GpsResponse::Ok; // ACK received
}
if (uart::available(port)) {
uart::readByte(port, &b);
if (uart.available()) {
uart.readByte(&b);
if (b == frame_errors[sCounter]) {
sCounter++;
if (sCounter == 26) {
@@ -120,15 +121,15 @@ GpsResponse getAck(uart_port_t port, uint8_t class_id, uint8_t msg_id, uint32_t
return GpsResponse::None; // No response received within timeout
}
static int getAck(uart_port_t port, uint8_t* buffer, uint16_t size, uint8_t requestedClass, uint8_t requestedId, TickType_t timeout) {
static int getAck(uart::Uart& uart, uint8_t* buffer, uint16_t size, uint8_t requestedClass, uint8_t requestedId, TickType_t timeout) {
uint16_t ubxFrameCounter = 0;
uint32_t startTime = kernel::getTicks();
uint16_t needRead = 0;
while (kernel::getTicks() - startTime < timeout) {
while (uart::available(port)) {
while (uart.available()) {
uint8_t c;
uart::readByte(port, &c);
uart.readByte(&c);
switch (ubxFrameCounter) {
case 0:
@@ -170,7 +171,7 @@ static int getAck(uart_port_t port, uint8_t* buffer, uint16_t size, uint8_t requ
ubxFrameCounter = 0;
break;
}
auto read_bytes = uart::readBytes(port, buffer, needRead, 250 / portTICK_PERIOD_MS);
auto read_bytes = uart.readBytes(buffer, needRead, 250 / portTICK_PERIOD_MS);
if (read_bytes != needRead) {
ubxFrameCounter = 0;
} else {
@@ -201,20 +202,20 @@ static struct uBloxGnssModelInfo {
uint8_t protocol_version;
} ublox_info;
GpsModel probe(uart_port_t port) {
GpsModel probe(uart::Uart& uart) {
TT_LOG_I(TAG, "Probing for U-blox");
uint8_t cfg_rate[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x00, 0x00};
checksum(cfg_rate, sizeof(cfg_rate));
uart::flushInput(port);
uart::writeBytes(port, cfg_rate, sizeof(cfg_rate));
uart.flushInput();
uart.writeBytes(cfg_rate, sizeof(cfg_rate));
// Check that the returned response class and message ID are correct
GpsResponse response = getAck(port, 0x06, 0x08, 750);
GpsResponse response = getAck(uart, 0x06, 0x08, 750);
if (response == GpsResponse::None) {
TT_LOG_W(TAG, "No GNSS Module (baudrate %lu)", uart::getBaudRate(port));
TT_LOG_W(TAG, "No GNSS Module (baudrate %lu)", uart.getBaudRate());
return GpsModel::Unknown;
} else if (response == GpsResponse::FrameErrors) {
TT_LOG_W(TAG, "UBlox Frame Errors (baudrate %lu)", uart::getBaudRate(port));
TT_LOG_W(TAG, "UBlox Frame Errors (baudrate %lu)", uart.getBaudRate());
}
uint8_t buffer[256];
@@ -227,10 +228,10 @@ GpsModel probe(uart_port_t port) {
};
// Get Ublox gnss module hardware and software info
checksum(_message_MONVER, sizeof(_message_MONVER));
uart::flushInput(port);
uart::writeBytes(port, _message_MONVER, sizeof(_message_MONVER));
uart.flushInput();
uart.writeBytes(_message_MONVER, sizeof(_message_MONVER));
uint16_t ack_response_len = getAck(port, buffer, sizeof(buffer), 0x0A, 0x04, 1200);
uint16_t ack_response_len = getAck(uart, buffer, sizeof(buffer), 0x0A, 0x04, 1200);
if (ack_response_len) {
uint16_t position = 0;
for (char& i: ublox_info.swVersion) {
@@ -300,67 +301,67 @@ GpsModel probe(uart_port_t port) {
return GpsModel::Unknown;
}
bool init(uart_port_t port, GpsModel model) {
bool init(uart::Uart& uart, GpsModel model) {
TT_LOG_I(TAG, "U-blox init");
switch (model) {
case GpsModel::UBLOX6:
return initUblox6(port);
return initUblox6(uart);
case GpsModel::UBLOX7:
case GpsModel::UBLOX8:
case GpsModel::UBLOX9:
return initUblox789(port, model);
return initUblox789(uart, model);
case GpsModel::UBLOX10:
return initUblox10(port);
return initUblox10(uart);
default:
TT_LOG_E(TAG, "Unknown or unsupported U-blox model");
return false;
}
}
bool initUblox10(uart_port_t port) {
bool initUblox10(uart::Uart& uart) {
uint8_t buffer[256];
kernel::delayMillis(1000);
uart::flushInput(port);
SEND_UBX_PACKET(port, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_NMEA_RAM, "disable NMEA messages in M10 RAM", 300);
uart.flushInput();
SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_NMEA_RAM, "disable NMEA messages in M10 RAM", 300);
kernel::delayMillis(750);
uart::flushInput(port);
SEND_UBX_PACKET(port, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_NMEA_BBR, "disable NMEA messages in M10 BBR", 300);
uart.flushInput();
SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_NMEA_BBR, "disable NMEA messages in M10 BBR", 300);
kernel::delayMillis(750);
uart::flushInput(port);
SEND_UBX_PACKET(port, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_TXT_INFO_RAM, "disable Info messages for M10 GPS RAM", 300);
uart.flushInput();
SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_TXT_INFO_RAM, "disable Info messages for M10 GPS RAM", 300);
kernel::delayMillis(750);
uart::flushInput(port);
SEND_UBX_PACKET(port, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_TXT_INFO_BBR, "disable Info messages for M10 GPS BBR", 300);
uart.flushInput();
SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_TXT_INFO_BBR, "disable Info messages for M10 GPS BBR", 300);
kernel::delayMillis(750);
SEND_UBX_PACKET(port, buffer, 0x06, 0x8A, _message_VALSET_PM_RAM, "enable powersave for M10 GPS RAM", 300);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_PM_RAM, "enable powersave for M10 GPS RAM", 300);
kernel::delayMillis(750);
SEND_UBX_PACKET(port, buffer, 0x06, 0x8A, _message_VALSET_PM_BBR, "enable powersave for M10 GPS BBR", 300);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_PM_BBR, "enable powersave for M10 GPS BBR", 300);
kernel::delayMillis(750);
SEND_UBX_PACKET(port, buffer, 0x06, 0x8A, _message_VALSET_ITFM_RAM, "enable jam detection M10 GPS RAM", 300);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_ITFM_RAM, "enable jam detection M10 GPS RAM", 300);
kernel::delayMillis(750);
SEND_UBX_PACKET(port, buffer, 0x06, 0x8A, _message_VALSET_ITFM_BBR, "enable jam detection M10 GPS BBR", 300);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_ITFM_BBR, "enable jam detection M10 GPS BBR", 300);
kernel::delayMillis(750);
// Here is where the init commands should go to do further M10 initialization.
SEND_UBX_PACKET(port, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_SBAS_RAM, "disable SBAS M10 GPS RAM", 300);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_SBAS_RAM, "disable SBAS M10 GPS RAM", 300);
kernel::delayMillis(750); // will cause a receiver restart so wait a bit
SEND_UBX_PACKET(port, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_SBAS_BBR, "disable SBAS M10 GPS BBR", 300);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_SBAS_BBR, "disable SBAS M10 GPS BBR", 300);
kernel::delayMillis(750); // will cause a receiver restart so wait a bit
// Done with initialization
// Enable wanted NMEA messages in BBR layer so they will survive a periodic sleep
SEND_UBX_PACKET(port, buffer, 0x06, 0x8A, _message_VALSET_ENABLE_NMEA_BBR, "enable messages for M10 GPS BBR", 300);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_ENABLE_NMEA_BBR, "enable messages for M10 GPS BBR", 300);
kernel::delayMillis(750);
// Enable wanted NMEA messages in RAM layer
SEND_UBX_PACKET(port, buffer, 0x06, 0x8A, _message_VALSET_ENABLE_NMEA_RAM, "enable messages for M10 GPS RAM", 500);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_ENABLE_NMEA_RAM, "enable messages for M10 GPS RAM", 500);
kernel::delayMillis(750);
// As the M10 has no flash, the best we can do to preserve the config is to set it in RAM and BBR.
// BBR will survive a restart, and power off for a while, but modules with small backup
// batteries or super caps will not retain the config for a long power off time.
auto packet_size = makePacket(0x06, 0x09, _message_SAVE_10, sizeof(_message_SAVE_10), buffer);
uart::writeBytes(port, buffer, packet_size);
if (getAck(port, 0x06, 0x09, 2000) != GpsResponse::Ok) {
uart.writeBytes(buffer, packet_size);
if (getAck(uart, 0x06, 0x09, 2000) != GpsResponse::Ok) {
TT_LOG_W(TAG, "Unable to save GNSS module config");
} else {
TT_LOG_I(TAG, "GNSS module configuration saved!");
@@ -368,18 +369,18 @@ bool initUblox10(uart_port_t port) {
return true;
}
bool initUblox789(uart_port_t port, GpsModel model) {
bool initUblox789(uart::Uart& uart, GpsModel model) {
uint8_t buffer[256];
if (model == GpsModel::UBLOX7) {
TT_LOG_D(TAG, "Set GPS+SBAS");
auto msglen = makePacket(0x06, 0x3e, _message_GNSS_7, sizeof(_message_GNSS_7), buffer);
uart::writeBytes(port, buffer, msglen);
uart.writeBytes(buffer, msglen);
} else { // 8,9
auto msglen = makePacket(0x06, 0x3e, _message_GNSS_8, sizeof(_message_GNSS_8), buffer);
uart::writeBytes(port, buffer, msglen);
uart.writeBytes(buffer, msglen);
}
if (getAck(port, 0x06, 0x3e, 800) == GpsResponse::NotAck) {
if (getAck(uart, 0x06, 0x3e, 800) == GpsResponse::NotAck) {
// It's not critical if the module doesn't acknowledge this configuration.
TT_LOG_D(TAG, "reconfigure GNSS - defaults maintained. Is this module GPS-only?");
} else {
@@ -393,48 +394,48 @@ bool initUblox789(uart_port_t port, GpsModel model) {
kernel::delayMillis(1000);
}
uart::flushInput(port);
uart.flushInput();
SEND_UBX_PACKET(port, buffer, 0x06, 0x02, _message_DISABLE_TXT_INFO, "disable text info messages", 500);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x02, _message_DISABLE_TXT_INFO, "disable text info messages", 500);
if (model == GpsModel::UBLOX8) { // 8
uart::flushInput(port);
SEND_UBX_PACKET(port, buffer, 0x06, 0x39, _message_JAM_8, "enable interference resistance", 500);
uart.flushInput();
SEND_UBX_PACKET(uart, buffer, 0x06, 0x39, _message_JAM_8, "enable interference resistance", 500);
uart::flushInput(port);
SEND_UBX_PACKET(port, buffer, 0x06, 0x23, _message_NAVX5_8, "configure NAVX5_8 settings", 500);
uart.flushInput();
SEND_UBX_PACKET(uart, buffer, 0x06, 0x23, _message_NAVX5_8, "configure NAVX5_8 settings", 500);
} else { // 6,7,9
SEND_UBX_PACKET(port, buffer, 0x06, 0x39, _message_JAM_6_7, "enable interference resistance", 500);
SEND_UBX_PACKET(port, buffer, 0x06, 0x23, _message_NAVX5, "configure NAVX5 settings", 500);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x39, _message_JAM_6_7, "enable interference resistance", 500);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x23, _message_NAVX5, "configure NAVX5 settings", 500);
}
// Turn off unwanted NMEA messages, set update rate
SEND_UBX_PACKET(port, buffer, 0x06, 0x08, _message_1HZ, "set GPS update rate", 500);
SEND_UBX_PACKET(port, buffer, 0x06, 0x01, _message_GLL, "disable NMEA GLL", 500);
SEND_UBX_PACKET(port, buffer, 0x06, 0x01, _message_GSA, "enable NMEA GSA", 500);
SEND_UBX_PACKET(port, buffer, 0x06, 0x01, _message_GSV, "disable NMEA GSV", 500);
SEND_UBX_PACKET(port, buffer, 0x06, 0x01, _message_VTG, "disable NMEA VTG", 500);
SEND_UBX_PACKET(port, buffer, 0x06, 0x01, _message_RMC, "enable NMEA RMC", 500);
SEND_UBX_PACKET(port, buffer, 0x06, 0x01, _message_GGA, "enable NMEA GGA", 500);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x08, _message_1HZ, "set GPS update rate", 500);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_GLL, "disable NMEA GLL", 500);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_GSA, "enable NMEA GSA", 500);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_GSV, "disable NMEA GSV", 500);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_VTG, "disable NMEA VTG", 500);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_RMC, "enable NMEA RMC", 500);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_GGA, "enable NMEA GGA", 500);
if (ublox_info.protocol_version >= 18) {
uart::flushInput(port);
SEND_UBX_PACKET(port, buffer, 0x06, 0x86, _message_PMS, "enable powersave for GPS", 500);
SEND_UBX_PACKET(port, buffer, 0x06, 0x3B, _message_CFG_PM2, "enable powersave details for GPS", 500);
uart.flushInput();
SEND_UBX_PACKET(uart, buffer, 0x06, 0x86, _message_PMS, "enable powersave for GPS", 500);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x3B, _message_CFG_PM2, "enable powersave details for GPS", 500);
// For M8 we want to enable NMEA version 4.10 so we can see the additional satellites.
if (model == GpsModel::UBLOX8) {
uart::flushInput(port);
SEND_UBX_PACKET(port, buffer, 0x06, 0x17, _message_NMEA, "enable NMEA 4.10", 500);
uart.flushInput();
SEND_UBX_PACKET(uart, buffer, 0x06, 0x17, _message_NMEA, "enable NMEA 4.10", 500);
}
} else {
SEND_UBX_PACKET(port, buffer, 0x06, 0x11, _message_CFG_RXM_PSM, "enable powersave mode for GPS", 500);
SEND_UBX_PACKET(port, buffer, 0x06, 0x3B, _message_CFG_PM2, "enable powersave details for GPS", 500);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x11, _message_CFG_RXM_PSM, "enable powersave mode for GPS", 500);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x3B, _message_CFG_PM2, "enable powersave details for GPS", 500);
}
auto packet_size = makePacket(0x06, 0x09, _message_SAVE, sizeof(_message_SAVE), buffer);
uart::writeBytes(port, buffer, packet_size);
if (getAck(port, 0x06, 0x09, 2000) != GpsResponse::Ok) {
uart.writeBytes(buffer, packet_size);
if (getAck(uart, 0x06, 0x09, 2000) != GpsResponse::Ok) {
TT_LOG_W(TAG, "Unable to save GNSS module config");
} else {
TT_LOG_I(TAG, "GNSS module configuration saved!");
@@ -442,33 +443,33 @@ bool initUblox789(uart_port_t port, GpsModel model) {
return true;
}
bool initUblox6(uart_port_t port) {
bool initUblox6(uart::Uart& uart) {
uint8_t buffer[256];
uart::flushInput(port);
uart.flushInput();
SEND_UBX_PACKET(port, buffer, 0x06, 0x02, _message_DISABLE_TXT_INFO, "disable text info messages", 500);
SEND_UBX_PACKET(port, buffer, 0x06, 0x39, _message_JAM_6_7, "enable interference resistance", 500);
SEND_UBX_PACKET(port, buffer, 0x06, 0x23, _message_NAVX5, "configure NAVX5 settings", 500);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x02, _message_DISABLE_TXT_INFO, "disable text info messages", 500);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x39, _message_JAM_6_7, "enable interference resistance", 500);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x23, _message_NAVX5, "configure NAVX5 settings", 500);
// Turn off unwanted NMEA messages, set update rate
SEND_UBX_PACKET(port, buffer, 0x06, 0x08, _message_1HZ, "set GPS update rate", 500);
SEND_UBX_PACKET(port, buffer, 0x06, 0x01, _message_GLL, "disable NMEA GLL", 500);
SEND_UBX_PACKET(port, buffer, 0x06, 0x01, _message_GSA, "enable NMEA GSA", 500);
SEND_UBX_PACKET(port, buffer, 0x06, 0x01, _message_GSV, "disable NMEA GSV", 500);
SEND_UBX_PACKET(port, buffer, 0x06, 0x01, _message_VTG, "disable NMEA VTG", 500);
SEND_UBX_PACKET(port, buffer, 0x06, 0x01, _message_RMC, "enable NMEA RMC", 500);
SEND_UBX_PACKET(port, buffer, 0x06, 0x01, _message_GGA, "enable NMEA GGA", 500);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x08, _message_1HZ, "set GPS update rate", 500);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_GLL, "disable NMEA GLL", 500);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_GSA, "enable NMEA GSA", 500);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_GSV, "disable NMEA GSV", 500);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_VTG, "disable NMEA VTG", 500);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_RMC, "enable NMEA RMC", 500);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_GGA, "enable NMEA GGA", 500);
uart::flushInput(port);
uart.flushInput();
SEND_UBX_PACKET(port, buffer, 0x06, 0x11, _message_CFG_RXM_ECO, "enable powersave ECO mode for Neo-6", 500);
SEND_UBX_PACKET(port, buffer, 0x06, 0x3B, _message_CFG_PM2, "enable powersave details for GPS", 500);
SEND_UBX_PACKET(port, buffer, 0x06, 0x01, _message_AID, "disable UBX-AID", 500);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x11, _message_CFG_RXM_ECO, "enable powersave ECO mode for Neo-6", 500);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x3B, _message_CFG_PM2, "enable powersave details for GPS", 500);
SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_AID, "disable UBX-AID", 500);
auto packet_size = makePacket(0x06, 0x09, _message_SAVE, sizeof(_message_SAVE), buffer);
uart::writeBytes(port, buffer, packet_size);
if (getAck(port, 0x06, 0x09, 2000) != GpsResponse::Ok) {
uart.writeBytes(buffer, packet_size);
if (getAck(uart, 0x06, 0x09, 2000) != GpsResponse::Ok) {
TT_LOG_W(TAG, "Unable to save GNSS module config");
} else {
TT_LOG_I(TAG, "GNSS module config saved!");