gps: use GPIO interrupt to track pulse per second (PPS) into a counter variable

firmware/CTS-SAT-1_FW.ioc

@@ -155,6 +155,7 @@ NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.DMA1_Channel1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Channel2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC.EXTI9_5_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.LPUART1_IRQn=true\:4\:0\:true\:false\:true\:false\:true\:true\:true
@@ -214,7 +215,7 @@ PA4.Signal=GPIO_Input
 PA6.GPIOParameters=GPIO_Label
 PA6.GPIO_Label=PIN_GPS_PPS_IN
 PA6.Locked=true
-PA6.Signal=GPIO_Input
+PA6.Signal=GPXTI6
 PA9.GPIOParameters=GPIO_Label
 PA9.GPIO_Label=PIN_MPI_MOSI_USART1_TX
 PA9.Locked=true
@@ -502,6 +503,8 @@ RCC.VCOInputFreq_Value=16000000
 RCC.VCOOutputFreq_Value=192000000
 RCC.VCOSAI1OutputFreq_Value=128000000
 RCC.VCOSAI2OutputFreq_Value=128000000
+SH.GPXTI6.0=GPIO_EXTI6
+SH.GPXTI6.ConfNb=1
 SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_8
 SPI1.CalculateBaudRate=2.0 MBits/s
 SPI1.DataSize=SPI_DATASIZE_8BIT

firmware/Core/Inc/gpio_handler/gpio_handler.h

@@ -0,0 +1,11 @@
+
+#ifndef __INCLUDE_GUARD__GPIO_HANDLER_H
+#define __INCLUDE_GUARD__GPIO_HANDLER_H
+
+#include "stm32l4xx_hal.h"
+#include "main.h"
+
+extern uint32_t GPS_pps_counter;
+
+void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin);
+#endif

firmware/Core/Inc/gps/gps_pps_interrupt.h

@@ -0,0 +1,11 @@
+
+#ifndef __INCLUDE_GUARD__GPS_PPS_INTERRUPT_H
+#define __INCLUDE_GUARD__GPS_PPS_INTERRUPT_H
+
+#include "stm32l4xx_hal.h"
+
+void GPIO_EXTI_Init(void);
+
+void Disable_GPIO_EXTI(void);
+
+#endif // __INCLUDE_GUARD__GPS_PPS_INTERRUPT_H

firmware/Core/Inc/main.h

@@ -109,6 +109,7 @@ void Error_Handler(void);
 #define PIN_BOOM_PGOOD_IN_GPIO_Port GPIOA
 #define PIN_GPS_PPS_IN_Pin GPIO_PIN_6
 #define PIN_GPS_PPS_IN_GPIO_Port GPIOA
+#define PIN_GPS_PPS_IN_EXTI_IRQn EXTI9_5_IRQn
 #define PIN_GPS_MOSI_USART3_TX_Pin GPIO_PIN_4
 #define PIN_GPS_MOSI_USART3_TX_GPIO_Port GPIOC
 #define PIN_GPS_MISO_USART3_RX_Pin GPIO_PIN_5

firmware/Core/Inc/stm32l4xx_it.h

@@ -54,6 +54,7 @@ void UsageFault_Handler(void);
 void DebugMon_Handler(void);
 void DMA1_Channel1_IRQHandler(void);
 void DMA1_Channel2_IRQHandler(void);
+void EXTI9_5_IRQHandler(void);
 void TIM1_UP_TIM16_IRQHandler(void);
 void USART2_IRQHandler(void);
 void USART3_IRQHandler(void);

firmware/Core/Inc/telecommands/gps_telecommand_defs.h

@@ -0,0 +1,11 @@
+
+#ifndef __INCLUDE_GUARD__GPS_TELECOMMAND_DEFINITIONS_H
+#define __INCLUDE_GUARD__GPS_TELECOMMAND_DEFINITIONS_H
+
+#include "main.h"
+#include "telecommands/telecommand_types.h"
+
+uint8_t TCMDEXEC_gps_set_enabled_pps_tracking(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_DEFINITIONS_H

firmware/Core/Src/gpio_handler/gpio_handler.c

@@ -0,0 +1,27 @@
+
+#include "gpio_handler/gpio_handler.h"
+#include "log/log.h"
+#include "timekeeping/timekeeping.h"
+#include <stdio.h>
+#include <stdint.h>
+#include <string.h>
+uint32_t GPS_pps_counter = 0;
+uint64_t GPS_last_pps_time = 0;
+
+void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
+    if (TIM_get_current_unix_epoch_time_ms() - GPS_last_pps_time > 800) {
+        GPS_last_pps_time = TIM_get_current_unix_epoch_time_ms();
+        if (GPIO_Pin != PIN_GPS_PPS_IN_Pin) {
+            return;
+        }
+        if (HAL_GPIO_ReadPin(PIN_GPS_PPS_IN_GPIO_Port, PIN_GPS_PPS_IN_Pin) == GPIO_PIN_SET) {
+            GPS_pps_counter++;
+        }
+        // char message[100];
+        // sprintf(message, "GPS PPS interrupt. Counter: %ld\r\n", GPS_pps_counter);
+        // LOG_message(
+        //     LOG_SYSTEM_TELECOMMAND, LOG_SEVERITY_NORMAL, LOG_SINK_ALL,
+        //     message
+        // );
+    }
+}

firmware/Core/Src/gps/gps_pps_interrupt.c

@@ -0,0 +1,13 @@
+#include "stm32l4xx_hal.h"
+#include "gps/gps_pps_interrupt.h"
+
+#include "main.h"
+
+void GPIO_EXTI_Init(void) {
+    HAL_NVIC_SetPriority(EXTI9_5_IRQn, 0, 0); 
+    HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
+}
+
+void Disable_GPIO_EXTI(void) {
+    HAL_NVIC_DisableIRQ(EXTI9_5_IRQn);
+}

firmware/Core/Src/main.c

@@ -1022,11 +1022,17 @@ static void MX_GPIO_Init(void)
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
-  /*Configure GPIO pins : PIN_BOOM_PGOOD_IN_Pin PIN_GPS_PPS_IN_Pin */
-  GPIO_InitStruct.Pin = PIN_BOOM_PGOOD_IN_Pin|PIN_GPS_PPS_IN_Pin;
+  /*Configure GPIO pin : PIN_BOOM_PGOOD_IN_Pin */
+  GPIO_InitStruct.Pin = PIN_BOOM_PGOOD_IN_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
-  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+  HAL_GPIO_Init(PIN_BOOM_PGOOD_IN_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : PIN_GPS_PPS_IN_Pin */
+  GPIO_InitStruct.Pin = PIN_GPS_PPS_IN_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(PIN_GPS_PPS_IN_GPIO_Port, &GPIO_InitStruct);
 
   /*Configure GPIO pins : PIN_MEM_NCS_FLASH_7_Pin PIN_MEM_NCS_FLASH_6_Pin PIN_MEM_NCS_FLASH_5_Pin PIN_MEM_NCS_FLASH_4_Pin
                            PIN_MEM_NCS_FLASH_3_Pin */
@@ -1072,7 +1078,12 @@ static void MX_GPIO_Init(void)
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   HAL_GPIO_Init(PIN_BOOT0_GPIO_Port, &GPIO_InitStruct);
 
+  /* EXTI interrupt init*/
+  HAL_NVIC_SetPriority(EXTI9_5_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
+
 /* USER CODE BEGIN MX_GPIO_Init_2 */
+  HAL_NVIC_DisableIRQ(EXTI9_5_IRQn);
 /* USER CODE END MX_GPIO_Init_2 */
 }
 

firmware/Core/Src/stm32l4xx_it.c

@@ -213,6 +213,20 @@ void DMA1_Channel2_IRQHandler(void)
   /* USER CODE END DMA1_Channel2_IRQn 1 */
 }
 
+/**
+  * @brief This function handles EXTI line[9:5] interrupts.
+  */
+void EXTI9_5_IRQHandler(void)
+{
+  /* USER CODE BEGIN EXTI9_5_IRQn 0 */
+
+  /* USER CODE END EXTI9_5_IRQn 0 */
+  HAL_GPIO_EXTI_IRQHandler(PIN_GPS_PPS_IN_Pin);
+  /* USER CODE BEGIN EXTI9_5_IRQn 1 */
+
+  /* USER CODE END EXTI9_5_IRQn 1 */
+}
+
 /**
   * @brief This function handles TIM1 update interrupt and TIM16 global interrupt.
   */
@@ -221,8 +235,14 @@ void TIM1_UP_TIM16_IRQHandler(void)
   /* USER CODE BEGIN TIM1_UP_TIM16_IRQn 0 */
 
   /* USER CODE END TIM1_UP_TIM16_IRQn 0 */
-  HAL_TIM_IRQHandler(&htim1);
-  HAL_TIM_IRQHandler(&htim16);
+  if (htim1.Instance != NULL)
+  {
+    HAL_TIM_IRQHandler(&htim1);
+  }
+  if (htim16.Instance != NULL)
+  {
+    HAL_TIM_IRQHandler(&htim16);
+  }
   /* USER CODE BEGIN TIM1_UP_TIM16_IRQn 1 */
   ulHighFrequencyTimerTicks++;
 

firmware/Core/Src/telecommands/gps_telecommand_defs.c

@@ -0,0 +1,45 @@
+#include "telecommands/telecommand_definitions.h"
+#include "telecommands/telecommand_args_helpers.h"
+#include "telecommands/telecommand_executor.h"
+#include "debug_tools/debug_uart.h"
+#include "telecommands/gps_telecommand_defs.h"
+#include "gps/gps_pps_interrupt.h" 
+
+#include <string.h>
+#include <stdio.h>
+
+#include "stm32l4xx_hal.h"
+
+/// @brief Telecommand: Delete all agendas
+/// @param args_str No arguments needed
+/// @param tcmd_channel The channel on which the telecommand was received, and on which the response should be sent
+/// @param response_output_buf The buffer to write the response to
+/// @param response_output_buf_len The maximum length of the response_output_buf (its size)
+/// @return 0 on success, 1 gps is off.
+uint8_t TCMDEXEC_gps_set_enabled_pps_tracking(const char *args_str, TCMD_TelecommandChannel_enum_t tcmd_channel,
+                        char *response_output_buf, uint16_t response_output_buf_len) {
+
+        static uint8_t GPS_pps_interrupt_enabled = 0;
+
+        // Check if EXTI is active
+        if (GPS_pps_interrupt_enabled) {
+            // Disable EXTI tracking
+            Disable_GPIO_EXTI();
+            GPS_pps_interrupt_enabled = 0;
+            snprintf(
+                response_output_buf, response_output_buf_len,
+                "PPS tracking disabled");
+            return 0;
+        } 
+        // Check if EXTI is inactive
+        else if (!GPS_pps_interrupt_enabled) {
+            // Enable EXTI tracking
+            GPIO_EXTI_Init();
+            GPS_pps_interrupt_enabled = 1;
+            snprintf(
+                response_output_buf, response_output_buf_len,
+                "PPS tracking enabled");
+            return 0;
+        }
+    return 1;
+}

firmware/Core/Src/telecommands/telecommand_definitions.c

@@ -24,6 +24,8 @@
 #include "telecommands/eps_telecommands.h"
 #include "telecommands/stm32_internal_flash_telecommand_defs.h"
 #include "telecommands/comms_telecommand_defs.h"
+#include "telecommands/gps_telecommand_defs.h"
+#include "telecommands/comms_telecommand_defs.h"
 
 
 #include "timekeeping/timekeeping.h"
@@ -1016,6 +1018,14 @@ const TCMD_TelecommandDefinition_t TCMD_telecommand_definitions[] = {
         .readiness_level = TCMD_READINESS_LEVEL_FLIGHT_TESTING,
     },
     // ****************** END SECTION: comms_telecommand_defs ******************
+    // ****************** START SECTION: gps_telecommand_defs ******************
+    {
+        .tcmd_name = "gps_set_enabled_pps_tracking",
+        .tcmd_func = TCMDEXEC_gps_set_enabled_pps_tracking,
+        .number_of_args = 0,
+        .readiness_level = TCMD_READINESS_LEVEL_FOR_OPERATION,
+    }
+    // ****************** END SECTION: gps_telecommand_defs ******************
 };
 
 // extern

firmware/Makefile

@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [4.4.0-B60] date: [Sat Sep 21 13:09:25 MDT 2024] 
+# File automatically-generated by tool: [projectgenerator] version: [4.5.0-RC5] date: [Thu Dec 05 20:28:29 MST 2024] 
 ##########################################################################################################################
 
 # ------------------------------------------------
@@ -165,7 +165,7 @@ CFLAGS += -MMD -MP -MF"$(@:%.o=%.d)"
 # LDFLAGS
 #######################################
 # link script
-LDSCRIPT = STM32L4R5ZITx_FLASH.ld
+LDSCRIPT = stm32l4r5zitx_flash.ld
 
 # libraries
 LIBS = -lc -lm -lnosys