WIP add super basic gps handler

commons.hpp

@@ -99,6 +99,18 @@ struct buffer {
     return true;
   }
 
+  template<typename Func_t>
+  bool execute(const Func_t& executor)
+  {
+    const auto lk = commons::lock<commons::mutex>::get(m);
+    if(!lk)
+    {
+      return false;
+    }
+
+    executor(buf);
+  }
+
   bool print() const
   {
     const auto lk = commons::lock<commons::mutex>::get(m);
@@ -120,3 +132,62 @@ private:
   mutable commons::mutex m;
 };
 
+class gps_data
+{
+public:
+  void extract_gps_data(auto& buf)
+  {
+    buf.execute([this](auto& value) { this->copy_to_own_buf(value); });
+  }
+
+  void copy_to_own_buf(std::span<uint8_t> other)
+  {
+    auto view = std::string_view{reinterpret_cast<const char*>(other.data()), other.size()};
+
+    const auto it_begin = view.find("$GPGGA");
+
+    if(it_begin == view.npos)
+    {
+      return;
+    }
+
+    view.remove_prefix(it_begin);
+    const auto it_end = view.find("\r\n", it_begin);
+
+    if(it_end == view.npos)
+    {
+      return;
+    }
+
+    view.remove_suffix(view.size() - it_end);
+
+    if(view.size() > max_size)
+    {
+      return;
+    }
+
+    std::copy(view.begin(), view.end(), current_line.begin());
+    current_size = std::distance(view.begin(), view.end());
+    valid = true;
+  }
+
+  bool is_valid() const
+  {
+    return valid;
+  }
+
+  void print() const
+  {
+    log::info("Current GPS Data:");
+    uart_interface::write(
+        {reinterpret_cast<const char *>(current_line.data()), current_size});
+    log::linebreak();
+  }
+
+private:
+  static constexpr uint8_t max_size = 82; //defined by GPS NMEA 0183 protocol
+  size_t current_size = 0;
+  std::array<uint8_t, max_size> current_line;
+  bool valid = false;
+};
+

logging.hpp

@@ -59,6 +59,11 @@ class log {
     return logger_impl.init();
   }
 
+  static void linebreak() {
+    const auto val = std::string_view{"\r\n"};
+    return logger->log(val);
+  }
+
   template <typename... Args>
   static void error(Args&&... args) {
     if (!log_impl_begin(LogLevel::ERROR)) {

main.cpp

@@ -72,9 +72,13 @@ class cmd_holder {
 };
 
 static bool updated_main_buf = false;
-static buffer<uint8_t, 512> main_buffer;
+static bool print_main_buf = false;
+static buffer<uint8_t, 512> main_buffer{};
+static gps_data gps;
 
 void print_buf(void) { main_buffer.print(); }
+void print_gps(void) { gps.print(); }
+void print_buf_toggle(void) { print_main_buf = !print_main_buf; }
 
 class cmd_handler {
  public:
@@ -135,12 +139,15 @@ class cmd_handler {
   void print_help_() const { commands.print_help(); }
 
  private:
-  static constexpr cmd_holder<6> commands{
+  static constexpr cmd_holder<8> commands{
       std::make_tuple("ver", "Prints current version.", &print_version),
       std::make_tuple("error", "Set LogLevel to Error.", &loglevel_error),
       std::make_tuple("info", "Set LogLevel to Info.", &loglevel_info),
       std::make_tuple("debug", "Set LogLevel to Debug.", &loglevel_debug),
-      std::make_tuple("buf", "Prints gps uart buffer", &print_buf),
+      std::make_tuple("gps", "Prints captured gps data", &print_gps),
+      std::make_tuple("buf", "Prints uart2 buffer", &print_buf),
+      std::make_tuple("buft", "toggles continous printing of uart2 buffer",
+                      &print_buf_toggle),
       std::make_tuple("help", "Prints available commands", &print_help)};
 
   array_t symbols;
@@ -178,7 +185,6 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) {
 
   if (value == '\r') {
     cmd_handler::get().queue_execution();
-    HAL_GPIO_TogglePin(LED_PORT, LED2_PIN);
     return;
   }
 
@@ -195,7 +201,6 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size) {
 
   HAL_GPIO_WritePin(LED_PORT, LED1_PIN, GPIO_PIN_SET);
   if (main_buffer.copy_from(gps_interface::new_rx_buf, Size)) {
-    log::debug("Copied to main buff");
     updated_main_buf = true;
   }
   HAL_GPIO_WritePin(LED_PORT, LED1_PIN, GPIO_PIN_RESET);
@@ -282,6 +287,11 @@ int main(void) {
   if (!MX_SPI1_Init()) {
     // toggle status led or something
   }
+  HAL_GPIO_WritePin(LoRa_CS_GPIO_Port, LoRa_CS_Pin, GPIO_PIN_SET);
+  HAL_GPIO_WritePin(LoRa_RESET_GPIO_Port, LoRa_RESET_Pin, GPIO_PIN_SET);
+  HAL_Delay(10);
+
+  log::debug("SPI1 Initialized.");
 
   if (!gps_interface::init()) {
     log::error("UART2 Initialization failed, needed for GPS");
@@ -289,11 +299,6 @@ int main(void) {
     log::debug("Uart2 Initialized");
   }
 
-  HAL_GPIO_WritePin(LoRa_CS_GPIO_Port, LoRa_CS_Pin, GPIO_PIN_SET);
-  HAL_GPIO_WritePin(LoRa_RESET_GPIO_Port, LoRa_RESET_Pin, GPIO_PIN_SET);
-  HAL_Delay(1000);
-
-  log::debug("SPI1 Initialized.");
   log::debug("Initialization done.");
 
   char OP_Mode = 0x01;
@@ -308,6 +313,8 @@ int main(void) {
 
   // RF95_Init();
 
+  HAL_GPIO_WritePin(LED_PORT, LED2_PIN, GPIO_PIN_RESET);
+
   while (1) {
     cmd_handler::get().run();
 
@@ -317,12 +324,20 @@ int main(void) {
     // RF95_receive(LoRa_buff);
     // HAL_Delay(100);
     // HAL_GPIO_WritePin(LED_PORT, LED1_PIN, GPIO_PIN_SET);
-    HAL_Delay(100);
+    // HAL_Delay(100);
 
-    // if (updated_main_buf) {
-    //   log::debug("Printing main buf");
-    //   updated_main_buf = !main_buffer.print();
-    // }
+    if (gps.is_valid()) {
+      HAL_GPIO_WritePin(LED_PORT, LED2_PIN, GPIO_PIN_SET);
+    }
+
+    if (updated_main_buf) {
+      updated_main_buf = false;
+      gps.extract_gps_data(main_buffer);
+
+      if (print_main_buf) {
+        updated_main_buf = !main_buffer.print();
+      }
+    }
 
     // std::string_view msg{reinterpret_cast<char *>(LoRa_buff)};
     // log::info("Received Message");

uart_handler.cpp

@@ -9,4 +9,4 @@ std::array<uint8_t, 1> uart_interface::new_rx_buf{};
 template <>
 uint8_t gps_interface::rx_buff = 0;
 template <>
-std::array<uint8_t, 64> gps_interface::new_rx_buf{};
+std::array<uint8_t, 256> gps_interface::new_rx_buf{};

uart_handler.hpp

@@ -239,4 +239,4 @@ using uart_interface = uart_handler<UARTTX_PIN, UARTRX_PIN, UART_PORT,
                                     USART1_BASE, UartMode::Interrupt>;
 
 using gps_interface = uart_handler<UART2TX_PIN, UART2RX_PIN, UART2_PORT,
-                                   USART2_BASE, UartMode::DMA, 64>;
+                                   USART2_BASE, UartMode::DMA, 256>;