# HG changeset patch
# User heinrichsweikamp
# Date 1725633982 -7200
# Node ID cf3967fe69248c542c88bd3133dfbaad0d0b774f
# Parent  07af9efd7c1344dbcf66ff7817c4e1dc764360fb
GNSS work in progress

diff -r 07af9efd7c13 -r cf3967fe6924 Small_CPU/Inc/uart.h
--- a/Small_CPU/Inc/uart.h	Tue Sep 03 20:46:42 2024 +0200
+++ b/Small_CPU/Inc/uart.h	Fri Sep 06 16:46:22 2024 +0200
@@ -28,9 +28,17 @@
 #define BUFFER_NODATA			(7u)		/* The read function needs a byte which indicated that no data for processing is available.*/
 											/* This byte shall never appear in a normal data steam */
 
+
+UART_HandleTypeDef huart1, huart6;
+
 void MX_USART1_UART_Init(void);
 void MX_USART1_UART_DeInit(void);
 void MX_USART1_DMA_Init(void);
+
+void MX_USART6_UART_Init(void);
+void MX_USART6_DMA_Init(void);
+void GNSS_IO_init(void);
+
 uint8_t UART_ButtonAdjust(uint8_t *array);
 void UART_StartDMA_Receiption(void);
 #ifdef ENABLE_CO2_SUPPORT
diff -r 07af9efd7c13 -r cf3967fe6924 Small_CPU/Src/baseCPU2.c
--- a/Small_CPU/Src/baseCPU2.c	Tue Sep 03 20:46:42 2024 +0200
+++ b/Small_CPU/Src/baseCPU2.c	Fri Sep 06 16:46:22 2024 +0200
@@ -143,6 +143,8 @@
 #include "tm_stm32f4_otp.h"
 #include "externalInterface.h"
 #include "uart.h"
+#include "GNSS.h"
+
 
 // From Common/Inc:
 #include "calc_crush.h"
@@ -150,9 +152,9 @@
 #include "FirmwareData.h"
 
 // From Common/Drivers/
-#include "stm32f4xx_hal.h"
 #include <stdio.h>
 
+
 uint8_t coldstart __attribute__((section (".noinit")));
 
 uint8_t hasExternalClock(void) {
@@ -415,7 +417,7 @@
 				GPIO_LED_GREEN_OFF();
 
 				GPIO_LED_RED_ON();
-				GPIO_VIBRATION_ON();
+				//GPIO_VIBRATION_ON();
 				HAL_Delay(100);
 				GPIO_LED_RED_OFF();
 				GPIO_VIBRATION_OFF();
@@ -427,6 +429,21 @@
 			MX_SPI1_Init();
 			SPI_Start_single_TxRx_with_Master(); /* be prepared for the first data exchange */
 			Scheduler_Request_sync_with_SPI(SPI_SYNC_METHOD_HARD);
+
+			// GNSS tests
+			GNSS_IO_init();
+			MX_USART6_UART_Init();
+			GNSS_Init(&GNSS_Handle, &huart6);
+			HAL_Delay(1000);
+			GNSS_LoadConfig(&GNSS_Handle);
+			HAL_Delay(10);
+			GNSS_GetUniqID(&GNSS_Handle);
+			GNSS_ParseBuffer(&GNSS_Handle);
+			HAL_Delay(10);
+			GNSS_GetPVTData(&GNSS_Handle);
+			GNSS_ParseBuffer(&GNSS_Handle);
+
+
 			global.mode = MODE_SURFACE;
 			break;
 
diff -r 07af9efd7c13 -r cf3967fe6924 Small_CPU/Src/uart.c
--- a/Small_CPU/Src/uart.c	Tue Sep 03 20:46:42 2024 +0200
+++ b/Small_CPU/Src/uart.c	Fri Sep 06 16:46:22 2024 +0200
@@ -27,6 +27,7 @@
 #include "data_exchange.h"
 #include <string.h>	/* memset */
 
+
 /* Private variables ---------------------------------------------------------*/
 
 
@@ -34,17 +35,22 @@
 #define CHUNK_SIZE				(25u)		/* the DMA will handle chunk size transfers */
 #define CHUNKS_PER_BUFFER		(5u)
 
-UART_HandleTypeDef huart1;
+
 
-DMA_HandleTypeDef  hdma_usart1_rx;
+DMA_HandleTypeDef  hdma_usart1_rx, hdma_usart6_rx, hdma_usart6_tx;
 
 uint8_t rxBuffer[CHUNK_SIZE * CHUNKS_PER_BUFFER];		/* The complete buffer has a X * chunk size to allow fariations in buffer read time */
+uint8_t rxBufferUart6[CHUNK_SIZE * CHUNKS_PER_BUFFER];		/* The complete buffer has a X * chunk size to allow fariations in buffer read time */
+uint8_t txBufferUart6[CHUNK_SIZE * CHUNKS_PER_BUFFER];		/* The complete buffer has a X * chunk size to allow fariations in buffer read time */
+
 static uint8_t rxWriteIndex;							/* Index of the data item which is analysed */
 static uint8_t rxReadIndex;								/* Index at which new data is stared */
 static uint8_t lastCmdIndex;							/* Index of last command which has not been completly received */
 static uint8_t dmaActive;								/* Indicator if DMA reception needs to be started */
 
 
+
+
 /* Exported functions --------------------------------------------------------*/
 
 
@@ -72,6 +78,8 @@
   dmaActive = 0;
 }
 
+
+
 void MX_USART1_UART_DeInit(void)
 {
 	HAL_DMA_Abort(&hdma_usart1_rx);
@@ -105,6 +113,108 @@
   HAL_NVIC_EnableIRQ(DMA2_Stream5_IRQn);
 }
 
+void GNSS_IO_init() {
+
+	GPIO_InitTypeDef GPIO_InitStruct = { 0 };
+	/* Peripheral clock enable */
+	__HAL_RCC_USART6_CLK_ENABLE();
+
+	__HAL_RCC_GPIOA_CLK_ENABLE();
+	/**USART6 GPIO Configuration
+	 PA11     ------> USART6_TX
+	 PA12     ------> USART6_RX
+	 */
+	GPIO_InitStruct.Pin = GPIO_PIN_11 | GPIO_PIN_12;
+	GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+	GPIO_InitStruct.Pull = GPIO_NOPULL;
+	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+	GPIO_InitStruct.Alternate = GPIO_AF8_USART6;
+	HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+	/* USART6 DMA Init */
+	/* USART6_RX Init */
+	hdma_usart6_rx.Instance = DMA2_Stream2;
+	hdma_usart6_rx.Init.Channel = DMA_CHANNEL_5;
+	hdma_usart6_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
+	hdma_usart6_rx.Init.PeriphInc = DMA_PINC_DISABLE;
+	hdma_usart6_rx.Init.MemInc = DMA_MINC_ENABLE;
+	hdma_usart6_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+	hdma_usart6_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+	hdma_usart6_rx.Init.Mode = DMA_NORMAL;
+	hdma_usart6_rx.Init.Priority = DMA_PRIORITY_LOW;
+	hdma_usart6_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+	HAL_DMA_Init(&hdma_usart6_rx);
+
+	__HAL_LINKDMA(&huart6, hdmarx, hdma_usart6_rx);
+
+	/* USART6_TX Init */
+	hdma_usart6_tx.Instance = DMA2_Stream6;
+	hdma_usart6_tx.Init.Channel = DMA_CHANNEL_5;
+	hdma_usart6_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
+	hdma_usart6_tx.Init.PeriphInc = DMA_PINC_DISABLE;
+	hdma_usart6_tx.Init.MemInc = DMA_MINC_ENABLE;
+	hdma_usart6_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+	hdma_usart6_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+	hdma_usart6_tx.Init.Mode = DMA_NORMAL;
+	hdma_usart6_tx.Init.Priority = DMA_PRIORITY_LOW;
+	hdma_usart6_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+	HAL_DMA_Init(&hdma_usart6_tx);
+
+	__HAL_LINKDMA(&huart6, hdmatx, hdma_usart6_tx);
+
+	/* USART6 interrupt Init */
+	HAL_NVIC_SetPriority(USART6_IRQn, 0, 0);
+	HAL_NVIC_EnableIRQ(USART6_IRQn);
+	/* USER CODE BEGIN USART6_MspInit 1 */
+
+	/* USER CODE END USART6_MspInit 1 */
+
+	MX_USART6_DMA_Init();
+
+}
+
+void MX_USART6_DMA_Init() {
+	  /* DMA controller clock enable */
+	  __HAL_RCC_DMA2_CLK_ENABLE();
+
+	  /* DMA interrupt init */
+	  /* DMA2_Stream2_IRQn interrupt configuration */
+	  HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 0, 0);
+	  HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
+	  /* DMA2_Stream6_IRQn interrupt configuration */
+	  HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 0, 0);
+	  HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn);
+}
+
+/**
+  * @brief USART6 Initialization Function
+  * @param None
+  * @retval None
+  */
+void MX_USART6_UART_Init(void)
+{
+  /* USER CODE BEGIN USART6_Init 0 */
+
+  /* USER CODE END USART6_Init 0 */
+
+  /* USER CODE BEGIN USART6_Init 1 */
+
+  /* USER CODE END USART6_Init 1 */
+  huart6.Instance = USART6;
+  huart6.Init.BaudRate = 9600;
+  huart6.Init.WordLength = UART_WORDLENGTH_8B;
+  huart6.Init.StopBits = UART_STOPBITS_1;
+  huart6.Init.Parity = UART_PARITY_NONE;
+  huart6.Init.Mode = UART_MODE_TX_RX;
+  huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart6.Init.OverSampling = UART_OVERSAMPLING_16;
+  HAL_UART_Init(&huart6);
+
+  /* USER CODE BEGIN USART6_Init 2 */
+
+  /* USER CODE END USART6_Init 2 */
+}
+
 void  UART_MUX_SelectAddress(uint8_t muxAddress)
 {
 	uint8_t indexstr[4];