GPS: Parsers and Unit Tests

firmware/Core/Inc/gps/gps.h

@@ -0,0 +1,9 @@
+#ifndef __INCLUDE_GUARD__GPS_H__
+#define __INCLUDE_GUARD__GPS_H__
+
+#include <stdint.h>
+
+uint32_t GPS_crc32_value(uint8_t i);
+uint32_t GPS_calculate_block_crc32( uint32_t ulCount, uint8_t *ucBuffer );
+
+#endif // __INCLUDE_GUARD__GPS_H__

firmware/Core/Inc/gps/gps_args_helpers.h

@@ -0,0 +1,8 @@
+#ifndef __INCLUDE_GUARD__GPS_ARGS_HELPERS_H__
+#define __INCLUDE_GUARD__GPS_ARGS_HELPERS_H__
+
+#include <stdint.h>
+
+uint8_t GPS_check_starts_with_log_prefix(const char *str);
+
+#endif // __INCLUDE_GUARD__GPS_ARGS_HELPERS_H__

firmware/Core/Inc/gps/gps_ascii_parsers.h

@@ -0,0 +1,10 @@
+#ifndef __INCLUDE_GUARD__GPS_ASCII_PARSERS_H__
+#define __INCLUDE_GUARD__GPS_ASCII_PARSERS_H__
+
+#include "gps/gps_types.h"
+
+uint8_t GPS_header_response_parser(const char* data_received, GPS_header_response_t *result);
+uint8_t GPS_bestxyza_data_parser(const char* data_received, GPS_bestxyza_response_t *result);
+uint8_t GPS_timea_data_parser(const char* data_received, GPS_timea_response_t *result);
+
+#endif // __INCLUDE_GUARD__GPS_ASCII_PARSERS_H__

firmware/Core/Inc/gps/gps_internal_drivers.h

@@ -0,0 +1,12 @@
+
+#ifndef INCLUDE_GUARD__GPS_INTERNAL_DRIVERS_H__
+#define INCLUDE_GUARD__GPS_INTERNAL_DRIVERS_H__
+
+#include <stdint.h>
+
+uint8_t GPS_send_cmd_get_response(const char *cmd_buf, uint8_t cmd_buf_len, uint8_t rx_buf[],
+                                  uint16_t rx_buf_len, const uint16_t rx_buf_max_size);
+
+uint8_t GPS_validate_log_response(const char *gps_response_buf);
+
+#endif /* INCLUDE_GUARD__GPS_INTERNAL_DRIVERS_H__ */

firmware/Core/Inc/gps/gps_types.h

@@ -0,0 +1,188 @@
+#ifndef INCLUDE_GUARD__GPS_TYPES_H
+#define INCLUDE_GUARD__GPS_TYPES_H
+
+#include <stdint.h>
+
+// ****************** SECTION: GPS_header_structs ******************
+
+/// @brief  This refers to the status that indicates how well a time is known
+/// All reported receiver times are subject to a qualifying time status
+/// Refer to page 51-53 of the OEM7 Commands and Logs Reference Manual
+typedef enum {
+    GPS_REF_TIME_UNKNOWN = 20,
+    GPS_REF_TIME_APPROXIMATE = 60,
+    GPS_REF_TIME_COARSEADJUSTING = 80,
+    GPS_REF_TIME_COARSE = 100,
+    GPS_REF_TIME_COARSESTEERING = 120,
+    GPS_REF_TIME_FREEWHEELING = 130,
+    GPS_REF_TIME_FINEADJUSTING = 140,
+    GPS_REF_TIME_FINE = 160,
+    GPS_REF_TIME_FINEBACKUPSTEERING = 170,
+    GPS_REF_TIME_FINESTEERING = 180,
+    GPS_REF_TIME_SATTIME = 200
+} GPS_reference_time_status_t;
+
+
+/// @brief This is the first part of the response that every command response from the GNSS receiver has.
+/// Refer to page 34-35 of the OEM7 Commands and Logs Reference Manual
+typedef struct {
+    /// @brief The ASCII name of the log or command e.g., "BESTXYZA" or "TIMEA"
+    char log_name[128];
+
+    /// @brief Indicates the quality of the GPS reference time
+    GPS_reference_time_status_t time_status;
+
+} GPS_header_response_t;
+
+// ****************** END SECTION: GPS_header_structs ******************
+
+
+// ****************** SECTION: GPS_data_structs ******************
+
+/// @brief  This refers to the solution status
+/// Refer to table 90 page 500-501 of the OEM7 Commands and Logs Reference Manual
+typedef enum {
+    GPS_SOL_STATUS_SOL_COMPUTED = 0,
+    GPS_SOL_STATUS_INSUFFICIENT_OBS = 1,
+    GPS_SOL_STATUS_NO_CONVERGENCE = 2,
+    GPS_SOL_STATUS_SINGULARITY = 3,
+    GPS_SOL_STATUS_COV_TRACE = 4,
+    GPS_SOL_STATUS_TEST_DIST = 5,
+    GPS_SOL_STATUS_COLD_START = 6,
+    GPS_SOL_STATUS_V_H_LIMIT = 7,
+    GPS_SOL_STATUS_VARIANCE = 8,
+    GPS_SOL_STATUS_RESIDUALS = 9,
+    GPS_SOL_STATUS_RESERVED_10_12 = 10,  // Since 10-12 are reserved
+    GPS_SOL_STATUS_INTEGRITY_WARNING = 13
+    // 14-17 are reserved
+} GPS_solution_status_enum_t;
+
+
+/// @brief  This refers to the position or velocity type
+/// Refer to table 91 page 501-503 of the OEM7 Commands and Logs Reference Manual
+typedef enum {
+    GPS_TYPE_NONE = 0,
+    GPS_TYPE_FIXEDPOS = 1,
+    GPS_TYPE_FIXEDHEIGHT = 2,
+    GPS_TYPE_RESERVED_3_7 = 3,  // Values from 3 to 7 are reserved
+    GPS_TYPE_DOPPLER_VELOCITY = 8,
+    GPS_TYPE_RESERVED_9_15 = 9, // Values from 9 to 15 are reserved
+    GPS_TYPE_SINGLE = 16,
+    GPS_TYPE_PSDIFF = 17,
+    GPS_TYPE_WAAS = 18,
+    GPS_TYPE_PROPAGATED = 19,
+    GPS_TYPE_RESERVED_20_31 = 20, // Values from 20 to 31 are reserved
+    GPS_TYPE_L1_FLOAT = 32,
+    GPS_TYPE_RESERVED_33 = 33,
+    GPS_TYPE_NARROW_FLOAT = 34,
+    GPS_TYPE_RESERVED_35_47 = 35, // Values from 35 to 47 are reserved
+    GPS_TYPE_L1_INT = 48,
+    GPS_TYPE_WIDE_INT = 49,
+    GPS_TYPE_NARROW_INT = 50,
+    GPS_TYPE_RTK_DIRECT_INS = 51,
+    GPS_TYPE_INS_SBAS = 52,
+    GPS_TYPE_INS_PSRSP = 53,
+    GPS_TYPE_INS_PSRDIFF = 54,
+    GPS_TYPE_INS_RTKFLOAT = 55,
+    GPS_TYPE_INS_RTKFIXED = 56,
+    GPS_TYPE_RESERVED_57_67 = 57, // Values from 57 to 67 are reserved
+    GPS_TYPE_PPP_CONVERGING = 68,
+    GPS_TYPE_PPP = 69,
+    GPS_TYPE_OPERATIONAL = 70,
+    GPS_TYPE_WARNING = 71,
+    GPS_TYPE_OUT_OF_BOUNDS = 72,
+    GPS_TYPE_INS_PPP_CONVERGING = 73,
+    GPS_TYPE_INS_PPP = 74,
+    GPS_TYPE_PPP_BASIC_CONVERGING = 77,
+    GPS_TYPE_PPP_BASIC = 78,
+    GPS_TYPE_INS_PPP_BASIC_CONVERGING = 79,
+    GPS_TYPE_INS_PPP_BASIC = 80
+} GPS_position_type_enum_t;
+
+
+/// @brief This is the struct for the BESTXYZA Command response.
+/// Refer to page 515-517 of the OEM7 Commands and Logs Reference Manual
+typedef struct {
+    /// @brief Position solution status
+    GPS_solution_status_enum_t position_solution_status;
+
+    /// @brief Position type.
+    GPS_position_type_enum_t position_type;
+
+    /// @brief Documentation says the point coordinates come as a double. 
+    /// We store as an int64 because the earth's radius(6.10^6 m) and we are storing the values as millimeters which fits within an int64.
+    /// Position coordinates in millimeters
+    int64_t position_x_mm;
+    int64_t position_y_mm;
+    int64_t position_z_mm;
+
+    /// @brief Documentation says the standard deviation of the position coordinates come as a float. 
+    /// The standard deviation of the position coordinates in millimeters
+    uint32_t position_x_std_mm;
+    uint32_t position_y_std_mm;
+    uint32_t position_z_std_mm;
+
+    /// @brief Differential age in seconds. Storing as a uint64 so as to capture the millisecond accuracy
+    uint64_t differential_age_ms;
+
+    /// @brief Solution age in seconds. Storing as a uint64 so as to capture the millisecond accuracy 
+    uint64_t solution_age_ms;
+
+    /// @brief 32 bit CRC (ASCII and Binary only). 
+    uint32_t crc;
+
+} GPS_bestxyza_response_t;
+
+
+/// @brief  This refers to the Clock Model Status
+/// Refer to table 105 page 526 of the OEM7 Commands and Logs Reference Manual
+typedef enum {
+    GPS_CLOCK_VALID = 0,
+    GPS_CLOCK_CONVERGING = 1,
+    GPS_CLOCK_ITERATING = 2,
+    GPS_CLOCK_INVALID = 3,
+} GPS_clock_model_status_enum_t;
+
+typedef enum {
+    GPS_UTC_INVALID = 0,
+    GPS_UTC_VALID = 1,
+    GPS_UTC_WARNING = 2
+} GPS_utc_status_enum_t;
+
+/// @brief This is the struct for the TIMEA Command response.
+/// Refer to page 941-943 of the OEM7 Commands and Logs Reference Manual
+typedef struct {
+    /// @brief Clock model status
+    GPS_clock_model_status_enum_t clock_status;
+
+    /// @brief /// The offset of GPS system time from UTC time
+    /// Documentation says the utc offset comes as a double. 
+    int64_t utc_offset;
+
+    /// @brief UTC status 
+    /// Refer to page 943 of the OEM7 Commands and Logs Reference Manual
+    GPS_utc_status_enum_t utc_status;
+
+    /// @brief 32 bit CRC (ASCII and Binary only). 
+    uint32_t crc;
+
+} GPS_timea_response_t;
+
+// ****************** END SECTION: GPS_data_structs ******************
+
+// ****************** SECTION: GPS helper functions ******************
+
+uint8_t GPS_reference_time_status_str_to_enum(const char *status_str, GPS_reference_time_status_t *status);
+const char* GPS_reference_time_status_enum_to_str(GPS_reference_time_status_t status);
+uint8_t GPS_solution_status_str_to_enum(const char *status_str, GPS_solution_status_enum_t *status);
+uint8_t GPS_position_type_str_to_enum(const char *type_str, GPS_position_type_enum_t *type);
+const char* GPS_position_type_enum_to_str(GPS_solution_status_enum_t status);
+const char* GPS_position_type_enum_to_string(GPS_position_type_enum_t type);
+uint8_t GPS_clock_model_status_str_to_enum(const char *status_str, GPS_clock_model_status_enum_t *status);
+uint8_t GPS_utc_status_str_to_enum(const char *status_str, GPS_utc_status_enum_t *status);
+const char* GPS_clock_model_status_enum_to_string(GPS_clock_model_status_enum_t status);
+const char* GPS_utc_status_enum_to_string(GPS_utc_status_enum_t status);
+
+// ****************** END SECTION: GPS_header_structs ******************
+
+#endif // INCLUDE_GUARD__GPS_TYPES_H

firmware/Core/Inc/rtos_tasks/gps_rtos_tasks.h

@@ -0,0 +1,9 @@
+
+#ifndef __INCLUDE_GUARD__GPS_RTOS_TASKS_H__
+#define __INCLUDE_GUARD__GPS_RTOS_TASKS_H__
+
+#include "main.h"
+
+void TASK_receive_gps_info(void *argument);
+
+#endif // __INCLUDE_GUARD__GPS_RTOS_TASKS_H__

firmware/Core/Inc/telecommands/gps_telecommand_defs.h

@@ -0,0 +1,14 @@
+#ifndef __INCLUDE_GUARD__GPS_TELECOMMAND_DEFS_H
+#define __INCLUDE_GUARD__GPS_TELECOMMAND_DEFS_H
+
+#include "telecommands/telecommand_types.h"
+
+#include <stdint.h>
+
+uint8_t TCMDEXEC_gps_set_enabled(const char *args_str, TCMD_TelecommandChannel_enum_t tcmd_channel,
+                                 char *response_output_buf, uint16_t response_output_buf_len);
+
+uint8_t TCMDEXEC_gps_send_log_cmd(const char *args_str, TCMD_TelecommandChannel_enum_t tcmd_channel,
+                                 char *response_output_buf, uint16_t response_output_buf_len);
+
+#endif // __INCLUDE_GUARD__GPS_TELECOMMAND_DEFS_H

firmware/Core/Inc/transforms/arrays.h

@@ -7,6 +7,7 @@ int16_t GEN_get_index_of_substring_in_array(const char *haystack_arr, int16_t ha
 
 void GEN_uint64_to_str(uint64_t value, char *buffer);
 void GEN_uint64_to_padded_str(uint64_t value, uint8_t padding_len, char *buffer);
+void GEN_int64_to_str(int64_t value, char *buffer);
 
 uint8_t GEN_hex_str_to_byte_array(const char *hex_str, uint8_t output_byte_array[],
     uint16_t output_byte_array_size, uint16_t *output_byte_array_len);

firmware/Core/Inc/uart_handler/uart_handler.h

@@ -21,7 +21,16 @@ extern volatile uint8_t UART_mpi_rx_last_byte; // Last received byte from the MP
 extern volatile uint32_t UART_mpi_rx_last_byte_write_time_ms; // Last write time in milliseconds for MPI response
 extern volatile uint16_t UART_mpi_rx_buffer_write_idx; // Write index for MPI response buffer
 
+extern const uint16_t UART_gps_buffer_len; // Length of the UART telecommand buffer
+extern volatile uint8_t UART_gps_buffer[];          // Buffer for UART telecommands
+extern volatile uint16_t UART_gps_buffer_write_idx; // Write index for UART telecommand buffer
+extern volatile uint32_t UART_gps_last_write_time_ms; // Last write time in milliseconds for UART telecommand
+extern volatile uint8_t UART_gps_buffer_last_rx_byte; // Last received byte for UART telecommand
+extern volatile uint8_t UART_gps_uart_interrupt_enabled; // Set to 1 when a command is sent, and we're awaiting a response
+
+
 void UART_init_uart_handlers(void);
+void GPS_set_uart_interrupt_state(uint8_t toggle_status);
 
 
 #endif // __INCLUDE_GUARD__UART_HANDLER_H__

firmware/Core/Inc/unit_tests/unit_test_gps.h

@@ -0,0 +1,14 @@
+#ifndef __INCLUDE_GUARD__UNIT_TEST_GPS_H__
+#define __INCLUDE_GUARD__UNIT_TEST_GPS_H__
+
+#include <stdint.h>
+
+uint8_t TEST_EXEC__GPS_reference_time_status_str_to_enum();
+uint8_t TEST_EXEC__GPS_solution_status_str_to_enum();
+uint8_t TEST_EXEC__GPS_position_type_str_to_enum();
+
+uint8_t TEST_EXEC__GPS_header_response_parser();
+uint8_t TEST_EXEC__GPS_bestxyza_data_parser();
+uint8_t TEST_EXEC__GPS_timea_data_parser();
+
+#endif // __INCLUDE_GUARD__UNIT_TEST_GPS_H__

firmware/Core/Src/gps/gps.c

@@ -0,0 +1,43 @@
+#include "gps/gps.h"
+#include <stdint.h>
+
+#define BUFFER_SIZE 256
+#define CRC32_POLYNOMIAL 0xEDB88320L
+
+// TODO: Utilize the CRC functions below from the documentation to perform error checking on GPS response
+// Refer to Page 56 of the OEM7 Commands and Logs Reference Manual
+
+/// @brief Calculate a CRC value to be used by CRC calculation functions.
+/// @param i
+/// - Arg 0: variable name
+/// @return 32 bit CRC Value
+uint32_t GPS_crc32_value(uint8_t i) {
+    int j;
+    uint32_t crc;
+    crc = i;
+
+    for ( j = 8 ; j > 0; j-- ) {
+        if ( crc & 1 )
+        crc = ( crc >> 1 ) ^ CRC32_POLYNOMIAL;
+        else
+        crc >>= 1;
+        }
+    return crc;
+}
+
+/// @brief Calculates the CRC-32 of a block of data all at once
+/// @param ulCount - Number of bytes in the data block
+/// @param ucBuffer - Data block
+/// @return 32 bit CRC Value
+uint32_t GPS_calculate_block_crc32( uint32_t ulCount, uint8_t *ucBuffer ) {
+    uint32_t temp1;
+    uint32_t temp2;
+    uint32_t crc = 0;
+    while ( ulCount-- != 0 ) {
+        temp1 = ( crc >> 8 ) & 0x00FFFFFFL;
+        temp2 = GPS_crc32_value( ((int) crc ^ *ucBuffer++ ) & 0xFF );
+        crc = temp1 ^ temp2;
+        }
+
+    return( crc );
+}

firmware/Core/Src/gps/gps_args_helpers.c

@@ -0,0 +1,30 @@
+#include "gps/gps_args_helpers.h"
+
+#include <stdio.h>
+#include <stdint.h>
+#include <string.h>
+
+/// @brief Checks if the passed string starts with the valid log prefix (LOG, UNLOG and UNLOGALL)
+/// @param str The gps log command string to check.
+/// @return 0 if str starts with valid log prefix, 1 otherwise.
+uint8_t GPS_check_starts_with_log_prefix(const char *str) {
+
+    // Copying the passed gps log command into a buffer for parsing
+    char buffer[100];
+    strncpy(buffer,str,sizeof(buffer));
+    buffer[sizeof(buffer) - 1] = '\0';
+
+    // Extracting the log prefix from the gps log command
+    char* token = strtok(buffer, " \t\n");
+
+    if (token == NULL) {
+        return 1;
+    }
+
+    if (strncmp(token, "log", 3) == 0 || strncmp(token, "unlog", 5) == 0 || strncmp(token, "unlogall", 8) == 0) {
+        return 0;  
+    }
+
+    // Error: Token does not start with the log prefix
+    return 1; 
+}