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Added GPS Lock Check #69

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Merged
APBashara merged 2 commits into from
May 25, 2025
Merged

Added GPS Lock Check #69

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872fe9e
Added GPS Lock Check
APBashara May 22, 2025
29d0376
Fixed enum value
APBashara May 24, 2025
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48 changes: 25 additions & 23 deletions Core/Inc/gps.h
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Original file line number Diff line number Diff line change
Expand Up @@ -10,30 +10,31 @@
#include "i2c.h"

/* Macros -------------------------------------------------------------------*/
#define M9N_ADDR 0x42
#define M9N_MSB_REG 0xFD
#define M9N_LSB_REG 0xFE
#define M9N_DATA_REG 0xFF

#define UBX_PREABLE1 0xB5
#define UBX_PREABLE2 0x62

#define UBX_ACK_CLASS 0x05
#define UBX_ACK_ID 0x01

#define UBX_CLASS_Pos 0x02
#define UBX_ID_Pos 0x03
#define UBX_LEN_Pos 0x04
#define UBX_PAYLOAD_Pos 0x06

#define UBX_PVT_CLASS 0x01
#define UBX_PVT_ID 0x07
#define UBX_PVT_LEN 0x92
#define M9N_ADDR (0x42)
#define M9N_MSB_REG (0xFD)
#define M9N_LSB_REG (0xFE)
#define M9N_DATA_REG (0xFF)

#define UBX_PREABLE1 (0xB5)
#define UBX_PREABLE2 (0x62)

#define UBX_ACK_CLASS (0x05)
#define UBX_ACK_ID (0x01)

#define UBX_CLASS_Pos (0x02)
#define UBX_ID_Pos (0x03)
#define UBX_LEN_Pos (0x04)
#define UBX_PAYLOAD_Pos (0x06)

#define UBX_PVT_CLASS (0x01)
#define UBX_PVT_ID (0x07)
#define UBX_PVT_LEN (0x92)
#define UBX_PVT_FIX_Pos (0x14 + UBX_PAYLOAD_Pos)
#define UBX_PVT_LON_Pos (0x18 + UBX_PAYLOAD_Pos)
#define UBX_PVT_LAT_Pos (0x1C + UBX_PAYLOAD_Pos)
#define UBX_PVT_SPD_Pos (0x3C + UBX_PAYLOAD_Pos)

#define RETRY_COUNT 25
#define RETRY_COUNT (25)

/* Structs and Enums --------------------------------------------------------*/
typedef struct {
Expand All @@ -53,8 +54,9 @@ typedef struct {
} UBX_Parser;

typedef enum {
GPS_OK = 0,
GPS_ERROR = 1
GPS_OK,
GPS_ERROR,
GPS_NO_FIX,
} GPS_Status;

typedef struct {
Expand All @@ -74,7 +76,7 @@ typedef struct {
GPS_Status GPS_Init();

/**
* @brief Get GPS Position Data
* @brief Checks for GPS lock and gets the current position and speed
*
* @param data [GPS_Data*] Pointer to GPS Data Struct
* @return GPS_Status
Expand Down
36 changes: 22 additions & 14 deletions Core/Src/gps.c
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Original file line number Diff line number Diff line change
Expand Up @@ -110,6 +110,7 @@ GPS_Status GPS_Init() {
GPS_Status Get_Position(GPS_Data* data) {
volatile uint16_t len = 0;
uint8_t count = 0;
GPS_Status ret_val = GPS_ERROR;
uint8_t poll_nav_pvt[] = {
UBX_PREABLE1, UBX_PREABLE2, // Sync Chars
0x01, 0x07, // Class (NAV), ID (PVT)
Expand All @@ -130,21 +131,28 @@ GPS_Status Get_Position(GPS_Data* data) {

I2C_Read(I2C1, M9N_ADDR, M9N_DATA_REG, buffer, len);

// Data is sent in signed little-endian 32-bit integer, two's complement
data->latitude = buffer[UBX_PVT_LAT_Pos + 3] << 24 |
buffer[UBX_PVT_LAT_Pos + 2] << 16 |
buffer[UBX_PVT_LAT_Pos + 1] << 8 |
buffer[UBX_PVT_LAT_Pos];
data->longitude = buffer[UBX_PVT_LON_Pos + 3] << 24 |
buffer[UBX_PVT_LON_Pos + 2] << 16 |
buffer[UBX_PVT_LON_Pos + 1] << 8 |
buffer[UBX_PVT_LON_Pos];
data->speed = buffer[UBX_PVT_SPD_Pos + 3] << 24 |
buffer[UBX_PVT_SPD_Pos + 2] << 16 |
buffer[UBX_PVT_SPD_Pos + 1] << 8 |
buffer[UBX_PVT_SPD_Pos];
if (buffer[UBX_PVT_FIX_Pos] != 0x00) {
// Data is sent in signed little-endian 32-bit integer, two's complement
data->latitude = buffer[UBX_PVT_LAT_Pos + 3] << 24 |
buffer[UBX_PVT_LAT_Pos + 2] << 16 |
buffer[UBX_PVT_LAT_Pos + 1] << 8 |
buffer[UBX_PVT_LAT_Pos];
data->longitude = buffer[UBX_PVT_LON_Pos + 3] << 24 |
buffer[UBX_PVT_LON_Pos + 2] << 16 |
buffer[UBX_PVT_LON_Pos + 1] << 8 |
buffer[UBX_PVT_LON_Pos];
data->speed = buffer[UBX_PVT_SPD_Pos + 3] << 24 |
buffer[UBX_PVT_SPD_Pos + 2] << 16 |
buffer[UBX_PVT_SPD_Pos + 1] << 8 |
buffer[UBX_PVT_SPD_Pos];
ret_val = GPS_OK;
}
else {
ret_val = GPS_NO_FIX;
}


return GPS_OK;
return ret_val;
}

GPS_Status I2C_Send_UBX_CFG(I2C_TypeDef* I2C, uint8_t dev, uint8_t* msg, size_t msg_len) {
Expand Down