Paparazzi UAS: sw/airborne/modules/gps/gps_ubx_i2c.c File Reference

Paparazzi UAS v7.0_unstable

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pprz link device for Ublox over I2C More...

#include "mcu_periph/i2c.h"
#include "modules/gps/gps_ubx_i2c.h"
#include "modules/datalink/downlink.h"
#include <math.h>
#include <string.h>

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Macros
#define	GPS_I2C_SLAVE_ADDR (0x42 << 1)

#define	GPS_I2C_ADDR_NB_AVAIL_BYTES 0xFD
	number of bytes available register

#define	GPS_I2C_ADDR_DATA 0xFF
	data stream register

Functions
void	null_function (struct GpsUbxI2C *p, uint32_t baudrate)
	null function

int	gps_i2c_check_free_space (struct GpsUbxI2C p, long fd, uint16_t len)
	Check available space in transmit buffer.

void	gps_i2c_put_byte (struct GpsUbxI2C *p, long fd, uint8_t data)
	Put byte into transmit buffer.

void	gps_i2c_put_buffer (struct GpsUbxI2C p, long fd, uint8_t data, uint16_t len)
	Put bytes into transmit buffer.

void	gps_i2c_msg_ready (struct GpsUbxI2C *p, long fd)
	send buffer when ready

int	gps_i2c_char_available (struct GpsUbxI2C *p)
	check if a new character is available

uint8_t	gps_i2c_getch (struct GpsUbxI2C *p)
	get a new char

void	gps_ubx_i2c_init (void)
	init function

bool	gps_i2c_tx_is_ready (void)
	is driver ready to send a message

void	gps_i2c_begin (void)
	config is done, begin reading messages

void	gps_ubx_i2c_periodic (void)
	handle message sending

void	gps_ubx_i2c_read_event (void)
	handle message reception

Variables
struct GpsUbxI2C	gps_i2c

bool	gps_ubx_i2c_ucenter_done
	ucenter finished configuring flag

uint16_t	gps_ubx_i2c_bytes_to_read
	ublox bytes to read

Detailed Description

pprz link device for Ublox over I2C

This module adds i2c functionality for the ublox using existing driver

Definition in file gps_ubx_i2c.c.

Macro Definition Documentation

◆ GPS_I2C_ADDR_DATA

#define GPS_I2C_ADDR_DATA 0xFF

data stream register

Definition at line 47 of file gps_ubx_i2c.c.

◆ GPS_I2C_ADDR_NB_AVAIL_BYTES

#define GPS_I2C_ADDR_NB_AVAIL_BYTES 0xFD

number of bytes available register

Definition at line 46 of file gps_ubx_i2c.c.

◆ GPS_I2C_SLAVE_ADDR

#define GPS_I2C_SLAVE_ADDR (0x42 << 1)

Definition at line 39 of file gps_ubx_i2c.c.

Function Documentation

◆ gps_i2c_begin()

void gps_i2c_begin ( void )

config is done, begin reading messages

Definition at line 160 of file gps_ubx_i2c.c.

References gps_ubx_i2c_ucenter_done, and TRUE.

Referenced by gps_ubx_ucenter_periodic().

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◆ gps_i2c_char_available()

int gps_i2c_char_available ( struct GpsUbxI2C * p )

check if a new character is available

Parameters

p unused

Definition at line 150 of file gps_ubx_i2c.c.

References gps_i2c, GpsUbxI2C::rx_buf_avail, and GpsUbxI2C::rx_buf_idx.

Referenced by gps_ubx_i2c_init(), and gps_ubx_i2c_periodic().

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◆ gps_i2c_check_free_space()

int gps_i2c_check_free_space	(	struct GpsUbxI2C *	p,
		long *	fd,
		uint16_t	len
	)

Check available space in transmit buffer.

Parameters

p	unused
fd	unused
len	number of bytes to check

Definition at line 126 of file gps_ubx_i2c.c.

References gps_i2c, GPS_I2C_BUF_SIZE, and GpsUbxI2C::tx_buf_idx.

Referenced by gps_ubx_i2c_init().

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◆ gps_i2c_getch()

uint8_t gps_i2c_getch ( struct GpsUbxI2C * p )

get a new char

Parameters

p unused

Definition at line 165 of file gps_ubx_i2c.c.

References gps_i2c, GpsUbxI2C::rx_buf, and GpsUbxI2C::rx_buf_idx.

Referenced by gps_ubx_i2c_init().

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◆ gps_i2c_msg_ready()

void gps_i2c_msg_ready	(	struct GpsUbxI2C *	p,
		long	fd
	)

send buffer when ready

Parameters

p unused

Definition at line 144 of file gps_ubx_i2c.c.

References FALSE, gps_i2c, gps_i2c_write_cfg, GpsUbxI2C::tx_rdy, and GpsUbxI2C::write_state.

Referenced by gps_ubx_i2c_init().

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◆ gps_i2c_put_buffer()

void gps_i2c_put_buffer	(	struct GpsUbxI2C *	p,
		long	fd,
		uint8_t *	data,
		uint16_t	len
	)

Put bytes into transmit buffer.

Parameters

p	unused
fd	unused
data	byte to put in buffer

Definition at line 131 of file gps_ubx_i2c.c.

References fd, gps_i2c_put_byte(), and p.

Referenced by gps_ubx_i2c_init().

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◆ gps_i2c_put_byte()

void gps_i2c_put_byte	(	struct GpsUbxI2C *	p,
		long	fd,
		uint8_t	data
	)

Put byte into transmit buffer.

Parameters

p	unused
fd	unused
data	byte to put in buffer

Definition at line 139 of file gps_ubx_i2c.c.

References gps_i2c, GpsUbxI2C::tx_buf, and GpsUbxI2C::tx_buf_idx.

Referenced by gps_i2c_put_buffer(), and gps_ubx_i2c_init().

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◆ gps_i2c_tx_is_ready()

bool gps_i2c_tx_is_ready ( void )

is driver ready to send a message

Definition at line 155 of file gps_ubx_i2c.c.

References gps_i2c, and GpsUbxI2C::tx_rdy.

Referenced by gps_ubx_ucenter_periodic().

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◆ gps_ubx_i2c_init()

void gps_ubx_i2c_init ( void )

init function

< check if transmit buffer is not full

< put one byte

< put several bytes

< send completed buffer

< check if a new character is available

< get a new char

< set device baudrate

Definition at line 97 of file gps_ubx_i2c.c.

References GpsUbxI2C::device, FALSE, foo, gps_i2c, gps_i2c_char_available(), gps_i2c_check_free_space(), gps_i2c_getch(), gps_i2c_msg_ready(), gps_i2c_put_buffer(), gps_i2c_put_byte(), gps_i2c_read_standby, gps_i2c_write_standby, gps_ubx_i2c_ucenter_done, I2CTransDone, null_function(), GpsUbxI2C::read_state, GpsUbxI2C::rx_buf_avail, GpsUbxI2C::rx_buf_idx, i2c_transaction::status, GpsUbxI2C::trans, TRUE, GpsUbxI2C::tx_buf_idx, GpsUbxI2C::tx_rdy, and GpsUbxI2C::write_state.

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◆ gps_ubx_i2c_periodic()

void gps_ubx_i2c_periodic ( void )

handle message sending

Definition at line 170 of file gps_ubx_i2c.c.

References i2c_transaction::buf, foo, gps_i2c, GPS_I2C_ADDR_NB_AVAIL_BYTES, GPS_I2C_BUF_SIZE, gps_i2c_char_available(), gps_i2c_read_sizeof, gps_i2c_read_standby, GPS_I2C_SLAVE_ADDR, gps_i2c_write_cfg, gps_i2c_write_request_size, gps_i2c_write_standby, gps_ubx_i2c_bytes_to_read, gps_ubx_i2c_ucenter_done, i2c_transceive(), i2c_transmit(), I2CTransDone, GpsUbxI2C::read_state, i2c_transaction::status, GpsUbxI2C::trans, TRUE, GpsUbxI2C::tx_buf, GpsUbxI2C::tx_buf_idx, GpsUbxI2C::tx_rdy, and GpsUbxI2C::write_state.

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◆ gps_ubx_i2c_read_event()

void gps_ubx_i2c_read_event ( void )

handle message reception

Definition at line 209 of file gps_ubx_i2c.c.

References i2c_transaction::buf, foo, gps_i2c, GPS_I2C_ADDR_DATA, GPS_I2C_BUF_SIZE, gps_i2c_read_data, gps_i2c_read_sizeof, gps_i2c_read_standby, GPS_I2C_SLAVE_ADDR, gps_i2c_write_request_size, gps_i2c_write_standby, gps_ubx_i2c_bytes_to_read, i2c_transceive(), I2CTransDone, GpsUbxI2C::read_state, GpsUbxI2C::rx_buf, GpsUbxI2C::rx_buf_avail, GpsUbxI2C::rx_buf_idx, i2c_transaction::status, GpsUbxI2C::trans, and GpsUbxI2C::write_state.

Referenced by GpsUbxi2cEvent().

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◆ null_function()

void null_function	(	struct GpsUbxI2C *	p,
		uint32_t	baudrate
	)

null function

Parameters

p unused

Definition at line 124 of file gps_ubx_i2c.c.

Referenced by gps_ubx_i2c_init().

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Variable Documentation

◆ gps_i2c

struct GpsUbxI2C gps_i2c

Definition at line 50 of file gps_ubx_i2c.c.

Referenced by gps_i2c_char_available(), gps_i2c_check_free_space(), gps_i2c_getch(), gps_i2c_msg_ready(), gps_i2c_put_byte(), gps_i2c_tx_is_ready(), gps_ubx_i2c_init(), gps_ubx_i2c_periodic(), gps_ubx_i2c_read_event(), and GpsUbxi2cEvent().

◆ gps_ubx_i2c_bytes_to_read

uint16_t gps_ubx_i2c_bytes_to_read

ublox bytes to read

Definition at line 54 of file gps_ubx_i2c.c.

Referenced by gps_ubx_i2c_periodic(), and gps_ubx_i2c_read_event().

◆ gps_ubx_i2c_ucenter_done

bool gps_ubx_i2c_ucenter_done

ucenter finished configuring flag

Definition at line 53 of file gps_ubx_i2c.c.

Referenced by gps_i2c_begin(), gps_ubx_i2c_init(), and gps_ubx_i2c_periodic().

sw
airborne
modules
gps
gps_ubx_i2c.c
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