Merge pure GPS into GLONASS; Make rate sigma treatment rigorous

firmware/dd/dd.rb

@@ -117,7 +117,7 @@
       dst.write(read_block.call(i, [each_sectors, es - i].min))
     rescue
       sp.close
-      sleep(1000)
+      sleep(3)
       sp = open_proc.call
       $stderr.print 'r'
       retry

firmware/gps.c

@@ -544,6 +544,7 @@ static void make_packet(packet_t *packet){
               gps_utc.tm_hour = buf.utc.hour;         // Hours   [0-23]
               gps_utc.tm_min  = buf.utc.min;          // Minutes [0-59]
               gps_utc.tm_sec  = buf.utc.sec;          // Seconds [0-60]
+              update_wday(&gps_utc);
               gps_utc_valid = TRUE;
             }else if((ubx_state.packet_type == AID_EPH) && (buf.svid <= UBX_GPS_MAX_ID)){
               u32 mask = 1;

firmware/main.c

@@ -54,6 +54,9 @@
 #include "mag3110.h"
 #endif
 #include "ms5611.h"
+#if defined(I2C0_RV3129)
+#include "rv3129.h"
+#endif
 #if defined(I2C1_ADS122)
 #include "ads122.h"
 #elif defined(I2C1_ELVR)
@@ -301,6 +304,9 @@ void main() {
   mag3110_init();
 #endif
   ms5611_init();
+#if defined(I2C0_RV3129)
+  rv3129_init();
+#endif
 #if defined(I2C1_ADS122)
   ads122_init();
 #elif defined(I2C1_ELVR)
@@ -333,6 +339,9 @@ void main() {
     mag3110_polling();
 #endif
     ms5611_polling();
+#if defined(I2C0_RV3129)
+    rv3129_polling();
+#endif
 #if defined(I2C1_ADS122)
     ads122_polling();
 #elif defined(I2C1_ELVR)

firmware/ms5611.c

@@ -58,6 +58,8 @@ static void send_command(u8 cmd){
 }
 
 void ms5611_init(){
+  send_command(0x1E); // reset
+
   { // Read Coefficient 1-6 from PROM
     u8 i, cmd;
     __xdata u8 *buf;

firmware/rv3129.c

@@ -0,0 +1,244 @@
+/*
+ * Copyright (c) 2024, M.Naruoka (fenrir)
+ * All rights reserved.
+ * 
+ * Redistribution and use in source and binary forms, with or without modification, 
+ * are permitted provided that the following conditions are met:
+ * 
+ * - Redistributions of source code must retain the above copyright notice, 
+ *   this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright notice, 
+ *   this list of conditions and the following disclaimer in the documentation 
+ *   and/or other materials provided with the distribution.
+ * - Neither the name of the naruoka.org nor the names of its contributors 
+ *   may be used to endorse or promote products derived from this software 
+ *   without specific prior written permission.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, 
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS 
+ * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, 
+ * OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) 
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, 
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, 
+ * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ * 
+ */
+
+#include "c8051f380.h"
+
+#include "rv3129.h"
+#include "main.h"
+#include "gps.h"
+#include "util.h"
+
+#include "f38x_i2c.h"
+
+#include "data_hub.h"
+#include "ff.h"
+
+#include <stdio.h>
+
+#define I2C_ADDRESS_RW (0x56 << 1)
+
+typedef enum {
+  // Control page
+  ADDR_Control_1 = 0,
+  ADDR_Control_INT,
+  ADDR_Control_INT_Flag,
+  ADDR_Control_Status,
+  ADDR_Control_Reset,
+
+  // Clock page
+  ADDR_Seconds = 0x08,
+  ADDR_Minutes,
+  ADDR_Hours,
+  ADDR_Days,
+  ADDR_Weekdays,
+  ADDR_Months,
+  ADDR_Years,
+
+  // Alarm page
+  ADDR_Second_Alarm = 0x10,
+  ADDR_Minute_Alarm,
+  ADDR_Hour_Alarm,
+  ADDR_Days_Alarm,
+  ADDR_Weekday_Alarm,
+  ADDR_Months_Alarm,
+  ADDR_Year_Alarm,
+
+  // Timer page
+  ADDR_Timer_Low = 0x18,
+  ADDR_Timer_High,
+
+  // Temperature page
+  ADDR_Temperature = 0x20,
+
+  // EEPROM User
+  ADDR_EEPROM_User0 = 0x28,
+  ADDR_EEPROM_User1,
+
+  // EEPROM Control page
+  ADDR_EEPROM_Contr = 0x30,
+  ADDR_Xtal_Offset,
+  ADDR_Xtal_Coef,
+  ADDR_Xtal_T0,
+
+  // RAM page
+  //User RAM = 0x38,
+} address_t;
+
+static void read_data(u8 addr, u8 *buf, u8 buf_size){
+  i2c0_read_write(I2C_WRITE(I2C_ADDRESS_RW), &addr, 1);
+  i2c0_read_write(I2C_READ(I2C_ADDRESS_RW), buf, buf_size);
+}
+
+static void update_register(u8 addr, u8 v, u8 v_mask){
+  u8 buf[2] = {addr};
+  read_data(addr, &buf[1], 1);
+  buf[1] &= ~v_mask;
+  buf[1] |= (v & v_mask);
+  i2c0_read_write(I2C_WRITE(I2C_ADDRESS_RW), buf, 2);
+}
+
+static void start_watch(){
+  update_register(ADDR_Control_1, 0x01, 0x01); // WE = 1
+}
+static void stop_watch(){
+  update_register(ADDR_Control_1, 0x00, 0x01); // WE = 0
+}
+static void start_timer(){
+  update_register(ADDR_Control_1, 0x02, 0x02); // TE = 1
+}
+static void stop_timer(){
+  update_register(ADDR_Control_1, 0x00, 0x02); // TE = 0
+}
+
+#define BCD2NUM(bcd) ((((bcd & 0xF0) >> 4) * 10) + (bcd & 0x0F))
+#define NUM2BCD(num) ((((num) / 10) << 4) + (num % 10))
+
+static void get_watch(struct tm *t){
+  u8 buf[7];
+  read_data(ADDR_Seconds, buf, sizeof(buf));
+  t->tm_sec = BCD2NUM(buf[0]);        // Seconds [0-60]
+  t->tm_min = BCD2NUM(buf[1]);        // Minutes [0-59]
+  t->tm_hour = BCD2NUM(buf[2]);       // Hours   [0-23]
+  t->tm_mday = BCD2NUM(buf[3]);       // Day     [1-31]
+  t->tm_wday = BCD2NUM(buf[4]);       // Weekday [0:Sunday-6]
+  t->tm_mon = BCD2NUM(buf[5]) - 1;    // Month [1-12] -> [0-11]
+  t->tm_year = BCD2NUM(buf[6]) + 100; // Year since 2000 -> 1900
+}
+
+static void set_watch(struct tm *t){
+  u8 mon = t->tm_mon + 1; // Month [0-11] -> [1-12]
+  u8 year = t->tm_year - 100; // Year since 1900 -> 2000
+  update_wday(t); // Recalculate weekday
+  {
+    u8 buf[] = {
+      ADDR_Seconds,
+      NUM2BCD(t->tm_sec),     // Seconds [0-60]
+      NUM2BCD(t->tm_min),     // Minutes [0-59]
+      NUM2BCD(t->tm_hour),    // Hours   [0-23]
+      NUM2BCD(t->tm_mday),    // Day     [1-31]
+      NUM2BCD(t->tm_wday),    // weekday [0:Sunday-6]
+      NUM2BCD(mon),
+      NUM2BCD(year),
+    };
+    i2c0_read_write(I2C_WRITE(I2C_ADDRESS_RW), buf, sizeof(buf));
+  }
+}
+
+static void get_watch2(u32 *tow_ms, struct tm *t_buf){
+  struct tm t;
+  if(!t_buf){t_buf = &t;}
+  get_watch(t_buf);
+  *tow_ms = t_buf->tm_wday;    // weekday [0:Sunday-6]
+  (*tow_ms) *= 24;
+  (*tow_ms) += t_buf->tm_hour; // Hours   [0-23]
+  (*tow_ms) *= 60;
+  (*tow_ms) += t_buf->tm_min;  // Minutes [0-59]
+  (*tow_ms) *= 60;
+  (*tow_ms) += t_buf->tm_sec;  // Seconds [0-60]
+  (*tow_ms) *= 1000;
+}
+
+static void set_watch2(u32 tow_ms, struct tm *t_ref){
+  struct tm t = {0};
+  tow_ms = ((tow_ms + 999) / 1000) + 1; // round up
+  t.tm_sec = tow_ms % 60;         // Seconds [0-60]
+  t.tm_min = (tow_ms /= 60) % 60; // Minutes [0-59]
+  t.tm_hour = (tow_ms /= 60) % 24;// Hours   [0-23]
+  t.tm_wday = tow_ms / 24;        // weekday [0:Sunday-6]
+  if(t_ref && (t.tm_wday == t_ref->tm_wday) && (t_ref->tm_year >= 100)){
+    // Note: (RV3129 year) in [2000, 2079]
+    t.tm_mday = t_ref->tm_mday;
+    t.tm_mon = t_ref->tm_mon;
+    t.tm_year = t_ref->tm_year;
+  }else{
+    t.tm_mday = 9 + t.tm_wday;    // Day     [1-31]
+    t.tm_mon = 0; // 2000/1/9 = Sunday
+    t.tm_year = 100;
+  }
+  set_watch(&t);
+}
+
+static u16 get_timer(){
+  WORD_t v;
+  read_data(ADDR_Timer_Low, v.c, sizeof(v));
+  return v.i;
+}
+
+static void set_timer(u16 v){
+  u8 buf[] = {
+    ADDR_Timer_Low, (u8)(v & 0xFF), (u8)(v >> 8)
+  };
+  i2c0_read_write(I2C_WRITE(I2C_ADDRESS_RW), buf, sizeof(buf));
+}
+
+// Load milliseconds of week described in RTC.CFG.
+// After loaded, file name is changed to RTC.OLD to preventfrom multiple load.
+// Appropriate time can be obtained online such as https://gnsscalc.com/
+static const char config_fname[] = "RTC.CFG";
+static void set_rtc_config(FIL *f){
+  long tow_ms_new = data_hub_read_long(f);
+  if(tow_ms_new < 0){return;}
+  stop_watch();
+  set_watch2(tow_ms_new, NULL);
+  start_watch();
+#if _FS_MINIMIZE < 1
+  f_close(f);
+  f_rename(config_fname, "RTC.OLD");
+#else // set illegal size for overwrite prevention
+#define push_str(f, str) { \
+  UINT buf_filled; \
+  f_write(f, str, (sizeof(str) - 1), &buf_filled); \
+}
+  push_str(f, "-1");
+#undef push_str
+#endif
+}
+
+void rv3129_init(){
+  u8 buf;
+  data_hub_load_config(config_fname, set_rtc_config);
+  read_data(ADDR_Control_1, &buf, 1);
+  if(buf & 0x01){ // watch started
+    get_watch2(&(gps_time.itow_ms), &gps_utc);
+    gps_time_modified = TRUE;
+    IE0 = 1; // invoke -INT0
+  }
+}
+
+static __xdata u8 watch_updated = 0;
+
+void rv3129_polling(){
+  if(!gps_utc_valid){return;}
+  if((watch_updated++ & 0x0F) != 0){return;}
+  stop_watch();
+  set_watch2(gps_time.itow_ms, &gps_utc);
+  start_watch();
+}

firmware/rv3129.h

@@ -0,0 +1,41 @@
+/*
+ * Copyright (c) 2024, M.Naruoka (fenrir)
+ * All rights reserved.
+ * 
+ * Redistribution and use in source and binary forms, with or without modification, 
+ * are permitted provided that the following conditions are met:
+ * 
+ * - Redistributions of source code must retain the above copyright notice, 
+ *   this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright notice, 
+ *   this list of conditions and the following disclaimer in the documentation 
+ *   and/or other materials provided with the distribution.
+ * - Neither the name of the naruoka.org nor the names of its contributors 
+ *   may be used to endorse or promote products derived from this software 
+ *   without specific prior written permission.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, 
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS 
+ * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, 
+ * OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) 
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, 
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, 
+ * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ * 
+ */
+
+#ifndef __RV3129_H__
+#define __RV3129_H__
+
+#include <time.h>
+#include "type.h"
+
+void rv3129_init();
+void rv3129_polling();
+
+#endif /* __RV3129_H__ */

firmware/util.c

@@ -199,3 +199,14 @@ long str2num(char *s, char **endptr){
   if(endptr){*endptr = s;}
   return res;
 }
+
+void update_wday(struct tm *t){
+  // Recalculate weekday
+  // @see https://en.wikipedia.org/wiki/Determination_of_the_day_of_the_week#Sakamoto's_methods
+  // modified base date from 1753/1/1(1=Monday) -> 1980/1/1(2=Tuesday)
+  // valid from 1980/1/1 to 2099/12/31
+  u8 y = t->tm_year - 76; // y > 1980
+  static const u8 tbl[] = {5, 1, 0, 3, 5, 1, 3, 6, 2, 4, 0, 2};
+  if(t->tm_mon < 2){y -= 1;}
+  t->tm_wday = ((y + y/4 + tbl[t->tm_mon] + (u8)t->tm_mday) % 7);
+}

firmware/util.h

@@ -34,6 +34,7 @@
 
 #include "main.h"
 #include "type.h"
+#include <time.h>
 
 void wait_8n6clk(unsigned char i);
 void _wait_us(unsigned int count);
@@ -82,6 +83,7 @@ u16 swap_u16(u16 w);
 
 u16 crc16(u8 *buf, u8 size, u16 crc);
 long str2num(char *str, char **endptr);
+void update_wday(struct tm *t);
 
 #endif /* __UTIL_H__ */
 

firmware/ver1/Makefile

@@ -32,7 +32,7 @@ BIN_PATH = /usr/bin:/usr/local/bin
 CXX = sdcc
 AS = sdas8051
 CPPFLAGS = -V --use-stdout -D__SDCC__ -D__F380_VER__
-CFLAGS = -V --debug --stack-auto --nooverlay --model-small --use-stdout -D__SDCC__ -D__F380_VER__ --opt-code-speed #-mmcs51
+override CFLAGS += -V --debug --stack-auto --nooverlay --model-small --use-stdout -D__SDCC__ -D__F380_VER__ --opt-code-speed #-mmcs51
 LFLAGS = -V --debug --use-stdout --stack-auto --model-small --iram-size 0x0100 --xram-loc 0x0800 --xram-size 0x0800 --code-size 0xf800  #-mmcs51
 ASFLAGS = -plosgff
 MKFILE_DIR := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))

firmware/ver2/Makefile

@@ -32,7 +32,7 @@ BIN_PATH = /usr/bin:/usr/local/bin
 CXX = sdcc
 AS = sdas8051
 CPPFLAGS = -V --use-stdout -D__SDCC__ -D__F380_VER__ -DNINJA_VER=200
-CFLAGS = -V --debug --stack-auto --nooverlay --model-small --use-stdout -D__SDCC__ -D__F380_VER__ -DNINJA_VER=200 --opt-code-speed #-mmcs51
+override CFLAGS += -V --debug --stack-auto --nooverlay --model-small --use-stdout -D__SDCC__ -D__F380_VER__ -DNINJA_VER=200 --opt-code-speed #-mmcs51
 LFLAGS = -V --debug --use-stdout --stack-auto --model-small --iram-size 0x0100 --xram-loc 0x0800 --xram-size 0x0800 --code-size 0xf800  #-mmcs51
 ASFLAGS = -plosgff
 MKFILE_DIR := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))