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ubx_gnss: gps2 support, 10hz rate and error handling #76

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merged 2 commits into from
Jul 21, 2023
Merged

ubx_gnss: gps2 support, 10hz rate and error handling #76

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b216760
ubx_gnss: gps2 support, 10hz rate and error handling
PetervdPerk-NXP Jul 20, 2023
9a8487f
vmurt7: enable qdec and change prescaler for rohm esc
PetervdPerk-NXP Jul 21, 2023
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2 changes: 1 addition & 1 deletion app/mrbuggy3/boards/mimxrt1170_fmurt7.conf
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Original file line number Diff line number Diff line change
Expand Up @@ -54,7 +54,7 @@ CONFIG_SENSOR=y
CONFIG_SENSE_INA226=y
CONFIG_SENSE_UBX_GNSS=y

CONFIG_HEAP_MEM_POOL_SIZE=8192
CONFIG_HEAP_MEM_POOL_SIZE=16384

# Debugging
CONFIG_DEBUG_THREAD_INFO=y
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49 changes: 43 additions & 6 deletions app/mrbuggy3/boards/mimxrt1170_fmurt7.overlay
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Original file line number Diff line number Diff line change
Expand Up @@ -9,10 +9,10 @@
pwms = <&flexpwm1_pwm0 0 PWM_HZ(50) PWM_POLARITY_NORMAL>;
};
aux1: aux1 {
pwms = <&flexpwm1_pwm1 0 PWM_HZ(50) PWM_POLARITY_NORMAL>;
pwms = <&flexpwm1_pwm1 0 PWM_HZ(18000) PWM_POLARITY_NORMAL>;
};
aux2: aux2 {
pwms = <&flexpwm1_pwm2 0 PWM_HZ(50) PWM_POLARITY_NORMAL>;
pwms = <&flexpwm1_pwm2 0 PWM_HZ(18000) PWM_POLARITY_NORMAL>;
};
aux3: aux3 {
pwms = <&flexpwm2_pwm0 0 PWM_HZ(50) PWM_POLARITY_NORMAL>;
Expand All @@ -39,7 +39,7 @@
can0 = &flexcan1;
can1 = &flexcan2;
can2 = &flexcan3;
telem1 = &lpuart4;
telem1 = &lpuart8; /* Use telem2 as telem1 */
};
};

Expand All @@ -48,11 +48,11 @@
};

&flexpwm1_pwm1 {
nxp,prescaler = <64>;
nxp,prescaler = <32>;
};

&flexpwm1_pwm2 {
nxp,prescaler = <64>;
nxp,prescaler = <32>;
};

&flexpwm2_pwm0 {
Expand Down Expand Up @@ -111,8 +111,45 @@
};
};

/* GNSS */
/* GNSS 1 */
uart0: &lpuart3 {
status = "okay";
current-speed = <38400>;
};
/* GNSS 2 */
uart1: &lpuart5 {
status = "okay";
current-speed = <38400>;
};

/* QDEC conflicts with the CTS/RTS from LPUART4/TELEM1 */
lpuart4: &lpuart4 {
status = "disabled";
};

&pinctrl {

pinmux_qdec1: pinmux_qdec1 {
group0 {
pinmux = <&iomuxc_gpio_disp_b1_07_xbar1_xbar_in33>,
<&iomuxc_gpio_disp_b1_05_xbar1_xbar_in31>;
drive-strength = "normal";
slew-rate = "slow";
};
};
};

&qdec1 {
status = "okay";
pinctrl-0 = <&pinmux_qdec1>;
pinctrl-names = "default";
counts-per-revolution = <600>;
filter-count = <0>;
xbar = < &xbar1 >;
};

&xbar1 {
status = "okay";
xbar-maps = < (33|0x100) (109|0x100) >, /* kXBARA1_InputIomuxXbarIn33 <-> kXBARA1_OutputDec1Phasea */
< (31|0x100) (108|0x100) >; /* kXBARA1_InputIomuxXbarIn31 <-> kXBARA1_OutputDec1Phaseb */
};
98 changes: 66 additions & 32 deletions drivers/sense/ubx_gnss/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -24,17 +24,33 @@ LOG_MODULE_REGISTER(ubx_gnss, CONFIG_UBX_GNSS_LOG_LEVEL);
#define MY_STACK_SIZE 8192
#define MY_PRIORITY 6

void publish_gnss_data_zbus(uLocation_t* location)
static int32_t gMeasurementPeriodMs = 100;
static bool running = false;
static bool isAlive = false;

void publish_gnss_data_zbus(uDeviceHandle_t devHandle,
int32_t errorCode,
const uLocation_t* pLocation)
{
synapse_msgs_NavSatFix nav_sat_fix;
isAlive = true;

if (errorCode == 0) {
synapse_msgs_NavSatFix nav_sat_fix;

nav_sat_fix.latitude = location->longitudeX1e7 / 1e6;
nav_sat_fix.longitude = location->longitudeX1e7 / 1e6;
nav_sat_fix.altitude = location->altitudeMillimetres / 1e3;
nav_sat_fix.latitude = pLocation->latitudeX1e7 / 1e7;
nav_sat_fix.longitude = pLocation->longitudeX1e7 / 1e7;
nav_sat_fix.altitude = pLocation->altitudeMillimetres / 1e3;

// TODO Covariance
// TODO Covariance

zbus_chan_pub(&chan_out_nav_sat_fix, &nav_sat_fix, K_NO_WAIT);
zbus_chan_pub(&chan_out_nav_sat_fix, &nav_sat_fix, K_NO_WAIT);
printf("lat %f long %f\n", nav_sat_fix.latitude, nav_sat_fix.longitude);
} else if (errorCode == U_ERROR_COMMON_TIMEOUT) {
// LOG_ERR("Tiemout error");
} else {
LOG_ERR("GNSS error %i", errorCode);
running = false;
}
}

void sense_ubx_gnss_entry_point()
Expand All @@ -44,40 +60,58 @@ void sense_ubx_gnss_entry_point()
// Remove the line below if you want the log printouts from ubxlib
uPortLogOff();
// Initiate ubxlib
uPortInit();
uDeviceInit();
// And the U-blox GNSS module
uDeviceHandle_t deviceHandle;
uDeviceGetDefaults(U_DEVICE_TYPE_GNSS, &gDeviceCfg);

gDeviceCfg.transportCfg.cfgUart.uart = 0;
gDeviceCfg.transportCfg.cfgUart.baudRate = 38400;
gDeviceCfg.deviceCfg.cfgGnss.moduleType = U_GNSS_MODULE_TYPE_M8;
while (true) {
uPortInit();
uDeviceInit();

errorCode = uDeviceOpen(&gDeviceCfg, &deviceHandle);
LOG_DBG("Opened the GNSS device %i\n", errorCode);
if (errorCode == 0) {
// Bring up the GNSS
errorCode = uNetworkInterfaceUp(deviceHandle, U_NETWORK_TYPE_GNSS, &gNetworkCfg);
uDeviceGetDefaults(U_DEVICE_TYPE_GNSS, &gDeviceCfg);

gDeviceCfg.transportCfg.cfgUart.uart = 0;
gDeviceCfg.transportCfg.cfgUart.baudRate = 38400;
gDeviceCfg.deviceCfg.cfgGnss.moduleType = U_GNSS_MODULE_TYPE_M8;

errorCode = uDeviceOpen(&gDeviceCfg, &deviceHandle);
LOG_DBG("Opened the GNSS device %i\n", errorCode);
if (errorCode == 0) {
while (true) {
uLocation_t location;
errorCode = uLocationGet(deviceHandle, U_LOCATION_TYPE_GNSS,
NULL, NULL, &location, NULL);
if (errorCode == 0) {
publish_gnss_data_zbus(&location);
} else if (errorCode == U_ERROR_COMMON_TIMEOUT) {
LOG_ERR("Location Timeout\n");
} else {
LOG_ERR("Failed to get position: %d\n", errorCode);
// Bring up the GNSS
if (uNetworkInterfaceUp(deviceHandle, U_NETWORK_TYPE_GNSS, &gNetworkCfg) == 0) {
LOG_DBG("Starting continuous location.\n");
uLocationGetContinuousStart(deviceHandle,
gMeasurementPeriodMs,
U_LOCATION_TYPE_GNSS,
NULL, NULL, publish_gnss_data_zbus);

running = true;

while (running) {
uPortTaskBlock(1000);
/* If cb didnt set isAlive to true hw is malfunctioning reset */
if (!isAlive) {
break;
}
/* Challange cb to set alive to ture */
isAlive = false;
}

uLocationGetStop(deviceHandle);

LOG_DBG("Taking down GNSS...\n");
uNetworkInterfaceDown(deviceHandle, U_NETWORK_TYPE_GNSS);
uDeviceClose(deviceHandle, false);
} else {
LOG_ERR("Unable to bring up GNSS!\n");
}

} else {
LOG_ERR("Failed to bring up the GNSS: %d", errorCode);
LOG_ERR("Failed to initiate the module: %d", errorCode);
uPortTaskBlock(1000);
}
uDeviceClose(deviceHandle, true);
} else {
LOG_ERR("Failed to initiate the module: %d", errorCode);

uDeviceDeinit();
uPortDeinit();
}
}

Expand Down