GPS support at runtime

2022-03-20 16:30:58 +01:00
parent b5779f2a6a
commit 4bdd7e7ea7
19 changed files with 127 additions and 263 deletions
@@ -1466,7 +1466,6 @@ int cliShowJitter(const char ** argv)
 #if defined(INTERNAL_GPS)
 int cliGps(const char ** argv)
 {
-  int baudrate = 0;

  if (argv[1][0] == '$') {
    // send command to GPS
@@ -1477,10 +1476,6 @@ int cliGps(const char ** argv)
    gpsTraceEnabled = !gpsTraceEnabled;
  }
 #endif
-  else if (toInt(argv, 1, &baudrate) > 0 && baudrate > 0) {
-    gpsInit(baudrate);
-    cliSerialPrint("GPS baudrate set to %d", baudrate);
-  }
  else {
    cliSerialPrint("%s: Invalid arguments", argv[0]);
  }
@@ -213,6 +213,8 @@ enum SerialPort {
 #define MAX_AUX_SERIAL (SP_AUX2 + 1)
 #define STORAGE_SERIAL_PORTS 4

+// GPS
+#define PILOTPOS_MIN_HDOP 500

 #define TRAINER_MODE_MIN()               TRAINER_MODE_MASTER_TRAINER_JACK

@@ -255,6 +257,7 @@ enum UartModes {
  UART_MODE_SBUS_TRAINER,
  UART_MODE_LUA,
  UART_MODE_CLI,
+  UART_MODE_GPS,
  UART_MODE_COUNT SKIP,
  UART_MODE_MAX SKIP = UART_MODE_COUNT-1
 };
@@ -320,10 +320,33 @@ void gpsNewData(uint8_t c)
  }
 }

+static const etx_serial_driver_t* gpsSerialDrv = nullptr;
+static void* gpsSerialCtx = nullptr;
+
+#if defined(DEBUG)
+uint8_t gpsTraceEnabled = false;
+#endif
+
+void gpsSetSerialDriver(void* ctx, const etx_serial_driver_t* drv)
+{
+  gpsSerialCtx = ctx;
+  gpsSerialDrv = drv;
+}
+
 void gpsWakeup()
 {
+  if (!gpsSerialDrv) return;
+  
+  auto _getByte = gpsSerialDrv->getByte;
+  if (!_getByte) return;
+
  uint8_t byte;
-  while (gpsGetByte(&byte)) {
+  while (_getByte(gpsSerialCtx, &byte)) {
+#if defined(DEBUG)
+    if (gpsTraceEnabled) {
+      dbgSerialPutc(byte);
+    }
+#endif  
    gpsNewData(byte);
  }
 }
@@ -334,18 +357,26 @@ char hex(uint8_t b) {

 void gpsSendFrame(const char * frame)
 {
+  if (!gpsSerialDrv) return;
+  
+  auto _sendByte = gpsSerialDrv->sendByte;
+  if (!_sendByte) return;  
+  
  // send given frame, add checksum and CRLF
  uint8_t parity = 0;
  TRACE_NOCRLF("gps> %s", frame);
+
  while (*frame) {
    if (*frame != '$') parity ^= *frame;
-    gpsSendByte(*frame);
+    _sendByte(gpsSerialCtx, *frame);
    ++frame;
  }
-  gpsSendByte('*');
-  gpsSendByte(hex(parity >> 4));
-  gpsSendByte(hex(parity & 0x0F));
-  gpsSendByte('\r');
-  gpsSendByte('\n');
+
+  _sendByte(gpsSerialCtx, '*');
+  _sendByte(gpsSerialCtx, hex(parity >> 4));
+  _sendByte(gpsSerialCtx, hex(parity & 0x0F));
+  _sendByte(gpsSerialCtx, '\r');
+  _sendByte(gpsSerialCtx, '\n');
+
  TRACE("*%02x", parity);
 }
@@ -39,8 +39,18 @@ struct gpsdata_t
 };

 extern gpsdata_t gpsData;
+
+#if defined(DEBUG)
+extern uint8_t gpsTraceEnabled;
+#endif
+
+// Setup GPS serial port
+void gpsSetSerialDriver(void* ctx, const etx_serial_driver_t* drv);
+
+// Periodic processing
 void gpsWakeup();

+// Send a 0-terminated frame
 void gpsSendFrame(const char * frame);

 #endif // _GPS_H_
@@ -34,7 +34,9 @@ TopbarImpl::TopbarImpl(Window * parent) :
 unsigned int TopbarImpl::getZonesCount() const
 {
 #if defined(INTERNAL_GPS)
-  return MAX_TOPBAR_ZONES-1;
+  if (hasSerialMode(UART_MODE_GPS)) {
+    return MAX_TOPBAR_ZONES-1;
+  }
 #endif
  return MAX_TOPBAR_ZONES;
 }
@@ -96,13 +98,16 @@ void TopbarImpl::paint(BitmapBuffer * dc)
  dc->drawText(DATETIME_MIDDLE, DATETIME_LINE2, str, FONT(XS) | CENTERED | COLOR_THEME_PRIMARY2);

 #if defined(INTERNAL_GPS)
-  if (gpsData.fix) {
-    char s[10];
-    sprintf(s, "%d", gpsData.numSat);
-    dc->drawText(GPS_X, 4, s, FONT(XS) | CENTERED | COLOR_THEME_PRIMARY2);
+  if (hasSerialMode(UART_MODE_GPS)) {
+    if (gpsData.fix) {
+      char s[10];
+      sprintf(s, "%d", gpsData.numSat);
+      dc->drawText(GPS_X, 4, s, FONT(XS) | CENTERED | COLOR_THEME_PRIMARY2);
+    }
+    dc->drawBitmapPattern(
+        GPS_X - 10, 22, LBM_TOPMENU_GPS,
+        (gpsData.fix) ? COLOR_THEME_PRIMARY2 : COLOR_THEME_PRIMARY3);
  }
-  dc->drawBitmapPattern(GPS_X - 10, 22, LBM_TOPMENU_GPS,
-                        (gpsData.fix) ? COLOR_THEME_PRIMARY2 : COLOR_THEME_PRIMARY3);
 #endif

  // USB icon
@@ -418,7 +418,7 @@ void RadioSetupPage::build(FormWindow * window)
  
 #if defined(INTERNAL_GPS)
  // GPS
-  {
+  if (hasSerialMode(UART_MODE_GPS)) {
    new Subtitle(window, grid.getLabelSlot(), STR_GPS, 0, COLOR_THEME_PRIMARY1);
    grid.nextLine();

@@ -240,19 +240,21 @@ void DebugViewPage::build(FormWindow *window)
 #endif

 #if defined(INTERNAL_GPS)
-  new StaticText(window, grid.getLabelSlot(), STR_INT_GPS_LABEL, 0,
-                 COLOR_THEME_PRIMARY1);
-  new DynamicText(
-      window, grid.getFieldSlot(3, 0),
-      [] { return std::string(gpsData.fix ? "[Fix] Yes" : "[Fix] No"); },
-      COLOR_THEME_PRIMARY1);
-  new DebugInfoNumber<uint8_t>(
-      window, grid.getFieldSlot(3, 1), [] { return gpsData.numSat; },
-      COLOR_THEME_PRIMARY1, "[Sats] ", nullptr);
-  new DebugInfoNumber<uint16_t>(
-      window, grid.getFieldSlot(3, 2), [] { return gpsData.hdop; },
-      COLOR_THEME_PRIMARY1, "[Hdop] ", nullptr);
-  grid.nextLine();
+  if (hasSerialMode(UART_MODE_GPS)) {
+    new StaticText(window, grid.getLabelSlot(), STR_INT_GPS_LABEL, 0,
+                   COLOR_THEME_PRIMARY1);
+    new DynamicText(
+        window, grid.getFieldSlot(3, 0),
+        [] { return std::string(gpsData.fix ? "[Fix] Yes" : "[Fix] No"); },
+        COLOR_THEME_PRIMARY1);
+    new DebugInfoNumber<uint8_t>(
+        window, grid.getFieldSlot(3, 1), [] { return gpsData.numSat; },
+        COLOR_THEME_PRIMARY1, "[Sats] ", nullptr);
+    new DebugInfoNumber<uint16_t>(
+        window, grid.getFieldSlot(3, 2), [] { return gpsData.hdop; },
+        COLOR_THEME_PRIMARY1, "[Hdop] ", nullptr);
+    grid.nextLine();
+  }
 #endif

  // Reset
@@ -793,6 +793,7 @@ bool isTrainerModeAvailable(int mode)
  }
 #endif

+#if defined(PCBTARANIS) || defined(AUX_SERIAL) || defined(AUX2_SERIAL)
  if (mode == TRAINER_MODE_MASTER_BATTERY_COMPARTMENT) {
 #if defined(TRAINER_BATTERY_COMPARTMENT)
    return hasSerialMode(UART_MODE_SBUS_TRAINER) >= 0;
@@ -800,6 +801,7 @@ bool isTrainerModeAvailable(int mode)
    return false;
 #endif
  }
+#endif

 #if defined(BLUETOOTH) && !defined(PCBX9E)
  if (g_eeGeneral.bluetoothMode != BLUETOOTH_TRAINER && (mode == TRAINER_MODE_MASTER_BLUETOOTH || mode == TRAINER_MODE_SLAVE_BLUETOOTH))
@@ -179,6 +179,12 @@ static void serialSetCallBacks(int mode, void* ctx, const etx_serial_port_t* por
    cliSetSerialDriver(ctx, drv);
    break;
 #endif
+
+#if defined(INTERNAL_GPS)
+  case UART_MODE_GPS:
+    gpsSetSerialDriver(ctx, drv);
+    break;
+#endif
 #endif
  }
 }
@@ -189,6 +195,7 @@ static void serialSetupPort(int mode, etx_serial_init& params, bool& power_requi

 #if defined(DEBUG) || defined(CLI)
  case UART_MODE_DEBUG:
+  case UART_MODE_CLI:
    params.baudrate = DEBUG_BAUDRATE;
    break;
 #endif
@@ -230,6 +237,14 @@ static void serialSetupPort(int mode, etx_serial_init& params, bool& power_requi
    power_required = true;
    break;
 #endif
+
+#if defined(INTERNAL_GPS)
+  case UART_MODE_GPS:
+    params.baudrate = GPS_USART_BAUDRATE;
+    params.rx_enable = true;
+    power_required = true;
+    break;
+#endif
 #endif
  }
 }
@@ -92,12 +92,7 @@ void aux_serial_deinit(void* ctx)
 #if defined(AUX_SERIAL)

 Fifo<uint8_t, 512> auxSerialTxFifo;
-
-#if defined(AUX_SERIAL_DMA_Stream_RX)
 AuxSerialRxFifo auxSerialRxFifo __DMA (AUX_SERIAL_DMA_Stream_RX);
-#else
-AuxSerialRxFifo auxSerialRxFifo;
-#endif

 const LL_GPIO_InitTypeDef auxUSARTPinInit = {
  .Pin = AUX_SERIAL_GPIO_PIN_TX | AUX_SERIAL_GPIO_PIN_RX,
@@ -117,15 +112,9 @@ const stm32_usart_t auxUSART = {
  .txDMA = nullptr,
  .txDMA_Stream = 0,
  .txDMA_Channel = 0,
-#if defined(AUX_SERIAL_DMA_Stream_RX)
  .rxDMA = AUX_SERIAL_DMA_RX,
  .rxDMA_Stream = AUX_SERIAL_DMA_Stream_RX_LL,
  .rxDMA_Channel = AUX_SERIAL_DMA_Channel_RX,
-#else
-  .rxDMA = nullptr,
-  .rxDMA_Stream = 0,
-  .rxDMA_Channel = 0,
-#endif
 };

 AuxSerialState auxSerialState = {
@@ -175,7 +164,6 @@ extern "C" void AUX_SERIAL_USART_IRQHandler(void)
 #if defined(AUX2_SERIAL)

 Fifo<uint8_t, 512> aux2SerialTxFifo;
-
 AuxSerialRxFifo aux2SerialRxFifo __DMA (AUX2_SERIAL_DMA_Stream_RX);

 const LL_GPIO_InitTypeDef aux2USARTPinInit = {
@@ -57,7 +57,6 @@ set(CLI ON CACHE BOOL "Enable CLI")

 if (PCB STREQUAL X10)
  set(PCBREV "STD" CACHE STRING "PCB Revision")
-  add_definitions(-DPCBX10)
  add_definitions(-DSOFTWARE_VOLUME)
  set(FIRMWARE_SRC
    ${FIRMWARE_SRC}
@@ -96,14 +95,14 @@ if (PCB STREQUAL X10)
    add_definitions(-DRADIO_FAMILY_T16)
    set(DEFAULT_INTERNAL_MODULE MULTIMODULE CACHE STRING "Default internal module")
    option(BLUETOOTH "Support for bluetooth module" OFF)
-    option(INTERNAL_GPS "Support for internal ublox GPS" OFF)
+    option(INTERNAL_GPS "Support for internal ublox GPS" ON)
    set(HARDWARE_TOUCH YES)
    set(USB_CHARGER YES)
    set(DEFAULT_THEME "DARKBLUE")
    set(SBUS_TRAINER ON)
    set(AUX_SERIAL ON)
    add_definitions(-DMANUFACTURER_RADIOMASTER)
-    if (NOT BLUETOOTH AND NOT INTERNAL_GPS)
+    if (NOT BLUETOOTH)
      set(AUX2_SERIAL ON)
    endif()
    set(INTERNAL_GPS_BAUDRATE "9600" CACHE STRING "Baud rate for internal GPS")
@@ -136,7 +135,7 @@ elseif (PCB STREQUAL X12S)
    endif()
  endif()
  set(INTERNAL_GPS_BAUDRATE "9600" CACHE STRING "Baud rate for internal GPS")
-  add_definitions(-DPCBX12S)
+  set(AUX2_SERIAL ON) # wire to GPS
  set(FIRMWARE_TARGET_SRC
    ${FIRMWARE_TARGET_SRC}
    audio_spi_driver.cpp
@@ -149,6 +148,7 @@ elseif (PCB STREQUAL X12S)
  add_definitions(-DMANUFACTURER_FRSKY)
 endif()

+add_definitions(-DPCB${PCB})
 add_definitions(-DPCBREV=${PCBREV})
 add_definitions(-DPCBREV_${PCBREV})

@@ -216,9 +216,8 @@ endif()

 if(INTERNAL_GPS)
  set(SRC ${SRC} gps.cpp)
-  set(FIRMWARE_TARGET_SRC ${FIRMWARE_TARGET_SRC} gps_driver.cpp)
  add_definitions(-DINTERNAL_GPS)
-  message("Horus: Internal GPS enabled")
+  message("-- Internal GPS enabled")
 endif()

 set(GVAR_SCREEN model_gvars.cpp)
@@ -230,7 +229,7 @@ if(HARDWARE_TOUCH)
 endif()

 if(USB_CHARGER)
-  set(FIRMWARE_TARGET_SRC ${TARGET_SRC} usb_charger_driver.cpp)
+  set(FIRMWARE_TARGET_SRC ${FIRMWARE_TARGET_SRC} usb_charger_driver.cpp)
  add_definitions(-DUSB_CHARGER)
 endif()

@@ -351,7 +350,7 @@ if(PYTHONINTERP_FOUND)
  add_custom_command(
    OUTPUT ${PROJECT_BINARY_DIR}/radio/src/datacopy.cpp
    WORKING_DIRECTORY ${RADIO_DIRECTORY}/src
-    COMMAND ${PYTHON_EXECUTABLE} ${RADIO_DIRECTORY}/util/generate_datacopy.py datastructs_private.h -DPCBHORUS -DPCBX10 -DCPUARM -DSTM32F4 -DSTM32F429_439xx -DCOLORLCD -DBACKUP -DSIMU -I. -Igui/colorlcd -Itargets/horus -Itargets/common/arm/stm32 -I${THIRDPARTY_DIR} -I${THIRDPARTY_DIR}/libopenui/src -I${THIRDPARTY_DIR}/STM32F4xx_DSP_StdPeriph_Lib_V1.8.0/Libraries/STM32F4xx_StdPeriph_Driver/inc -I${THIRDPARTY_DIR}/STM32F4xx_DSP_StdPeriph_Lib_V1.8.0/Libraries/CMSIS/Device/ST/STM32F4xx/Include -I${THIRDPARTY_DIR}/STM32F4xx_DSP_StdPeriph_Lib_V1.8.0/Libraries/CMSIS/Include ${gcc_include_path} -Wno-asm-operand-widths -Wno-pragma-once-outside-header ${SYSROOT_ARG} > ${PROJECT_BINARY_DIR}/radio/src/datacopy.cpp
+    COMMAND ${PYTHON_EXECUTABLE} ${RADIO_DIRECTORY}/util/generate_datacopy.py datastructs_private.h -DPCBHORUS -DPCB${PCB} -DCPUARM -DSTM32F4 -DSTM32F429_439xx -DCOLORLCD -DBACKUP -DSIMU -I. -Igui/colorlcd -Itargets/horus -Itargets/common/arm/stm32 -I${THIRDPARTY_DIR} -I${THIRDPARTY_DIR}/libopenui/src -I${THIRDPARTY_DIR}/STM32F4xx_DSP_StdPeriph_Lib_V1.8.0/Libraries/STM32F4xx_StdPeriph_Driver/inc -I${THIRDPARTY_DIR}/STM32F4xx_DSP_StdPeriph_Lib_V1.8.0/Libraries/CMSIS/Device/ST/STM32F4xx/Include -I${THIRDPARTY_DIR}/STM32F4xx_DSP_StdPeriph_Lib_V1.8.0/Libraries/CMSIS/Include ${gcc_include_path} -Wno-asm-operand-widths -Wno-pragma-once-outside-header ${SYSROOT_ARG} > ${PROJECT_BINARY_DIR}/radio/src/datacopy.cpp
    DEPENDS ${RADIO_DIRECTORY}/src/datastructs.h ${RADIO_DIRECTORY}/util/generate_datacopy.py
    )

@@ -117,7 +117,6 @@ void boardInit()
                         INTMODULE_RCC_AHB1Periph |
                         EXTMODULE_RCC_AHB1Periph |
                         I2C_B1_RCC_AHB1Periph |
-                         GPS_RCC_AHB1Periph |
                         SPORT_UPDATE_RCC_AHB1Periph |
                         TOUCH_INT_RCC_AHB1Periph |
                         TOUCH_RST_RCC_AHB1Periph,
@@ -144,7 +143,6 @@ void boardInit()
                         EXTMODULE_RCC_APB1Periph |
                         I2C_B1_RCC_APB1Periph |
                         MIXER_SCHEDULER_TIMER_RCC_APB1Periph |
-                         GPS_RCC_APB1Periph |
                         BACKLIGHT_RCC_APB1Periph,
                         ENABLE);

@@ -158,7 +156,6 @@ void boardInit()
                         BT_RCC_APB2Periph |
                         AUX_SERIAL_RCC_APB2Periph |
                         AUX2_SERIAL_RCC_APB2Periph |
-                         GPS_RCC_APB2Periph |
                         BACKLIGHT_RCC_APB2Periph,
                         ENABLE);

@@ -231,9 +228,6 @@ void boardInit()
  bluetoothInit(BLUETOOTH_DEFAULT_BAUDRATE, true);
 #endif

-#if defined(INTERNAL_GPS)
-  gpsInit(GPS_USART_BAUDRATE);
-#endif

 #if defined(DEBUG)
  DBGMCU_APB1PeriphConfig(DBGMCU_IWDG_STOP|DBGMCU_TIM1_STOP|DBGMCU_TIM2_STOP|DBGMCU_TIM3_STOP|DBGMCU_TIM4_STOP|DBGMCU_TIM5_STOP|DBGMCU_TIM6_STOP|DBGMCU_TIM7_STOP|DBGMCU_TIM8_STOP|DBGMCU_TIM9_STOP|DBGMCU_TIM10_STOP|DBGMCU_TIM11_STOP|DBGMCU_TIM12_STOP|DBGMCU_TIM13_STOP|DBGMCU_TIM14_STOP, ENABLE);
@@ -661,17 +661,6 @@ void hapticDone();
 void hapticOff();
 void hapticOn(uint32_t pwmPercent);

-// GPS driver
-void gpsInit(uint32_t baudrate);
-uint8_t gpsGetByte(uint8_t * byte);
-#if defined(DEBUG)
-extern uint8_t gpsTraceEnabled;
-#endif
-void gpsSendByte(uint8_t byte);
-#if defined(INTERNAL_GPS)
-#define PILOTPOS_MIN_HDOP             500
-#endif
-
 #define USART_FLAG_ERRORS              (USART_FLAG_ORE | USART_FLAG_NE | USART_FLAG_FE | USART_FLAG_PE)

 // BT driver
@@ -1,122 +0,0 @@
-/*
- * Copyright (C) EdgeTX
- *
- * Based on code named
- *   opentx - https://github.com/opentx/opentx
- *   th9x - http://code.google.com/p/th9x
- *   er9x - http://code.google.com/p/er9x
- *   gruvin9x - http://code.google.com/p/gruvin9x
- *
- * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- */
-
-#include "opentx.h"
-
-#if GPS_USART_BAUDRATE > 9600
-  Fifo<uint8_t, 256> gpsRxFifo;
-#else
-  Fifo<uint8_t, 64> gpsRxFifo;
-#endif
-
-void gpsInit(uint32_t baudrate)
-{
-  GPIO_InitTypeDef GPIO_InitStructure;
-  USART_InitTypeDef USART_InitStructure;
-  NVIC_InitTypeDef NVIC_InitStructure;
-
-  // RX and TX pins
-  GPIO_PinAFConfig(GPS_UART_GPIO, GPS_TX_GPIO_PinSource, GPS_GPIO_AF);
-  GPIO_PinAFConfig(GPS_UART_GPIO, GPS_RX_GPIO_PinSource, GPS_GPIO_AF);
-  GPIO_InitStructure.GPIO_Pin = (GPS_TX_GPIO_PIN | GPS_RX_GPIO_PIN);
-  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
-  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
-  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
-  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
-  GPIO_Init(GPS_UART_GPIO, &GPIO_InitStructure);
-
-  // UART config
-  USART_InitStructure.USART_BaudRate = baudrate;
-  USART_InitStructure.USART_Parity = USART_Parity_No;
-  USART_InitStructure.USART_StopBits = USART_StopBits_1;
-  USART_InitStructure.USART_WordLength = USART_WordLength_8b;
-  USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
-  USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
-  USART_Init(GPS_USART, &USART_InitStructure);
-  USART_Cmd(GPS_USART, ENABLE);
-  USART_ITConfig(GPS_USART, USART_IT_RXNE, ENABLE);
-
-  NVIC_InitStructure.NVIC_IRQChannel = GPS_USART_IRQn;
-  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x9;
-  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
-  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
-  NVIC_Init(&NVIC_InitStructure);
-
-#if defined(GPS_PWR_GPIO)
-  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
-  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
-  GPIO_InitStructure.GPIO_Pin = GPS_PWR_GPIO_PIN;
-  GPIO_Init(GPS_PWR_GPIO, &GPIO_InitStructure);
-  GPIO_SetBits(GPS_PWR_GPIO, GPS_PWR_GPIO_PIN);
-#endif
-}
-
-#if defined(DEBUG)
-uint8_t gpsTraceEnabled = false;
-#endif
-
-Fifo<uint8_t, 64> gpsTxFifo;
-
-void gpsSendByte(uint8_t byte)
-{
-  while (gpsTxFifo.isFull());
-  gpsTxFifo.push(byte);
-  USART_ITConfig(GPS_USART, USART_IT_TXE, ENABLE);
-}
-
-#define USART_FLAG_ERRORS \
-  (USART_FLAG_ORE | USART_FLAG_NE | USART_FLAG_FE | USART_FLAG_PE)
-
-extern "C" void GPS_USART_IRQHandler(void)
-{
-  // Send
-  if (USART_GetITStatus(GPS_USART, USART_IT_TXE) != RESET) {
-    uint8_t txchar;
-    if (gpsTxFifo.pop(txchar)) {
-      /* Write one byte to the transmit data register */
-      USART_SendData(GPS_USART, txchar);
-    }
-    else {
-      USART_ITConfig(GPS_USART, USART_IT_TXE, DISABLE);
-    }
-  }
-
-  // Receive
-  uint32_t status = GPS_USART->SR;
-  while (status & (USART_FLAG_RXNE | USART_FLAG_ERRORS)) {
-    uint8_t data = GPS_USART->DR;
-    if (!(status & USART_FLAG_ERRORS)) {
-      gpsRxFifo.push(data);
-    }
-    status = GPS_USART->SR;
-  }
-}
-
-uint8_t gpsGetByte(uint8_t * byte)
-{
-  uint8_t result = gpsRxFifo.pop(*byte);
-#if defined(DEBUG)
-  if (gpsTraceEnabled) {
-    serialPutc(*byte);
-  }
-#endif
-  return result;
-}
@@ -442,6 +442,25 @@
 #endif

 #if defined(AUX2_SERIAL)
+#if defined(PCBX12S)
+  #define AUX2_SERIAL_RCC_AHB1Periph           RCC_AHB1Periph_GPIOA
+  #define AUX2_SERIAL_RCC_APB1Periph           RCC_APB1Periph_UART4
+  #define AUX2_SERIAL_RCC_APB2Periph           0
+  #define AUX2_SERIAL_USART                    UART4
+  #define AUX2_SERIAL_GPIO_AF                  GPIO_AF_UART4
+  #define AUX2_SERIAL_GPIO_AF_LL               LL_GPIO_AF_8
+  #define AUX2_SERIAL_USART_IRQn               UART4_IRQn
+  #define AUX2_SERIAL_USART_IRQHandler         UART4_IRQHandler
+  #define AUX2_SERIAL_GPIO                     GPIOA
+  #define AUX2_SERIAL_GPIO_PIN_TX              GPIO_Pin_0 // PA.00
+  #define AUX2_SERIAL_GPIO_PIN_RX              GPIO_Pin_1 // PA.01
+  #define AUX2_SERIAL_GPIO_TX_PinSource        GPIO_PinSource0
+  #define AUX2_SERIAL_GPIO_RX_PinSource        GPIO_PinSource1
+  #define AUX2_SERIAL_DMA_RX                   DMA1
+  #define AUX2_SERIAL_DMA_Stream_RX            DMA1_Stream2
+  #define AUX2_SERIAL_DMA_Channel_RX           DMA_Channel_4
+  #define AUX2_SERIAL_DMA_Stream_RX_LL         LL_DMA_STREAM_2
+#else
  #define AUX2_SERIAL_RCC_AHB1Periph           (RCC_AHB1Periph_GPIOB | RCC_AHB1Periph_GPIOG | RCC_AHB1Periph_DMA2)
  #define AUX2_SERIAL_RCC_APB1Periph           0
  #define AUX2_SERIAL_RCC_APB2Periph           RCC_APB2Periph_USART6
@@ -449,40 +468,23 @@
  #define AUX2_SERIAL_GPIO_AF                  GPIO_AF_USART6
  #define AUX2_SERIAL_GPIO_AF_LL               LL_GPIO_AF_8
  #define AUX2_SERIAL_USART_IRQn               USART6_IRQn
+  #define AUX2_SERIAL_USART_IRQHandler         USART6_IRQHandler
  #define AUX2_SERIAL_GPIO                     GPIOG
  #define AUX2_SERIAL_GPIO_PIN_TX              GPIO_Pin_14 // PG.14
  #define AUX2_SERIAL_GPIO_PIN_RX              GPIO_Pin_9  // PG.09
  #define AUX2_SERIAL_GPIO_PinSource_TX        GPIO_PinSource14
  #define AUX2_SERIAL_GPIO_PinSource_RX        GPIO_PinSource9
-  #define AUX2_SERIAL_USART_IRQHandler         USART6_IRQHandler
  #define AUX2_SERIAL_DMA_RX                   DMA2
  #define AUX2_SERIAL_DMA_Stream_RX            DMA2_Stream1 // or DMA2_Stream2
  #define AUX2_SERIAL_DMA_Channel_RX           DMA_Channel_5
  #define AUX2_SERIAL_DMA_Stream_RX_LL         LL_DMA_STREAM_1
  #define AUX2_SERIAL_PWR_GPIO                 GPIOB
  #define AUX2_SERIAL_PWR_GPIO_PIN             GPIO_Pin_0  // PB.00
+#endif
 #if defined(RADIO_TX16S)
  #define TRAINER_BATTERY_COMPARTMENT         // allows serial port TTL trainer
 #endif
-#elif defined(RADIO_TX16S) && defined(INTERNAL_GPS)
-  #define GPS_RCC_AHB1Periph                   (RCC_AHB1Periph_GPIOB | RCC_AHB1Periph_GPIOG)
-  #define GPS_RCC_APB1Periph                   0
-  #define GPS_RCC_APB2Periph                   RCC_APB2Periph_USART6
-  #define GPS_USART                            USART6
-  #define GPS_GPIO_AF                          GPIO_AF_USART6
-  #define GPS_USART_IRQn                       USART6_IRQn
-  #define GPS_USART_IRQHandler                 USART6_IRQHandler
-  #define GPS_UART_GPIO                        GPIOG
-  #define GPS_TX_GPIO_PIN                      GPIO_Pin_14 // PG.14
-  #define GPS_RX_GPIO_PIN                      GPIO_Pin_9  // PG.09
-  #define GPS_TX_GPIO_PinSource                GPIO_PinSource14
-  #define GPS_RX_GPIO_PinSource                GPIO_PinSource9
-  #define GPS_PWR_GPIO                         GPIOB
-  #define GPS_PWR_GPIO_PIN                     GPIO_Pin_0  // PB.00
-  #define AUX2_SERIAL_RCC_AHB1Periph           0
-  #define AUX2_SERIAL_RCC_APB1Periph           0
-  #define AUX2_SERIAL_RCC_APB2Periph           0
-#else
+#else // AUX2_SERIAL
  #define AUX2_SERIAL_RCC_AHB1Periph           0
  #define AUX2_SERIAL_RCC_APB1Periph           0
  #define AUX2_SERIAL_RCC_APB2Periph           0
@@ -960,10 +962,6 @@
 #define TRAINER_GPIO_AF                 GPIO_AF_TIM3
 #define TRAINER_DMA                     DMA1
 #define TRAINER_DMA_CHANNEL             DMA_Channel_5
-#define TRAINER_DMA_STREAM              DMA1_Stream2
-#define TRAINER_DMA_IRQn                DMA1_Stream2_IRQn
-#define TRAINER_DMA_IRQHandler          DMA1_Stream2_IRQHandler
-#define TRAINER_DMA_FLAG_TC             DMA_IT_TCIF2
 #define TRAINER_TIMER_FREQ              (PERI1_FREQUENCY * TIMER_MULT_APB1)

 // Xms Interrupt
@@ -1019,24 +1017,4 @@
  #define BT_EN_GPIO_PIN                GPIO_Pin_10 // PG.10
 #endif

-// GPS
-#if defined(PCBX12S)
-  #define GPS_RCC_AHB1Periph            RCC_AHB1Periph_GPIOA
-  #define GPS_RCC_APB1Periph            RCC_APB1Periph_UART4
-  #define GPS_RCC_APB2Periph            0
-  #define GPS_USART                     UART4
-  #define GPS_GPIO_AF                   GPIO_AF_UART4
-  #define GPS_USART_IRQn                UART4_IRQn
-  #define GPS_USART_IRQHandler          UART4_IRQHandler
-  #define GPS_UART_GPIO                 GPIOA
-  #define GPS_TX_GPIO_PIN               GPIO_Pin_0 // PA.00
-  #define GPS_RX_GPIO_PIN               GPIO_Pin_1 // PA.01
-  #define GPS_TX_GPIO_PinSource         GPIO_PinSource0
-  #define GPS_RX_GPIO_PinSource         GPIO_PinSource1
-#elif !defined(INTERNAL_GPS)
-  #define GPS_RCC_AHB1Periph            0
-  #define GPS_RCC_APB1Periph            0
-  #define GPS_RCC_APB2Periph            0
-#endif
-
 #endif // _HAL_H_
@@ -21,7 +21,6 @@ set(SIMU_SRC
  backlight_driver.cpp
  gyro_driver.cpp
  bt_driver.cpp
-  gps_driver.cpp
  )

 if(SIMU_DISKIO)
@@ -1,23 +0,0 @@
-/*
- * Copyright (C) EdgeTX
- *
- * Based on code named
- *   opentx - https://github.com/opentx/opentx
- *   th9x - http://code.google.com/p/th9x
- *   er9x - http://code.google.com/p/er9x
- *   gruvin9x - http://code.google.com/p/gruvin9x
- *
- * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- */
-
-void gpsGetByte(unsigned char*) {}
-void gpsSendByte(unsigned char) {}
@@ -66,7 +66,6 @@ if(GTEST_INCDIR AND GTEST_SRCDIR AND Qt5Widgets_FOUND)
    ../targets/simu/backlight_driver.cpp
    ../targets/simu/gyro_driver.cpp
    ../targets/simu/bt_driver.cpp
-    ../targets/simu/gps_driver.cpp
    )
  add_dependencies(gtests-radio ${RADIO_DEPENDENCIES} ${FIRMWARE_DEPENDENCIES} gtests-radio-lib)
  if(PCB STREQUAL X12S OR PCB STREQUAL X10)
@@ -63,9 +63,9 @@

 #define LEN_AUX_SERIAL_MODES           "\015"
 #if defined(CLI) || defined(DEBUG)
-#define TR_AUX_SERIAL_MODES            "Debug\0       ""Telem Mirror\0""Telemetry In\0""SBUS Trainer\0""LUA\0         ""CLI\0         "
+#define TR_AUX_SERIAL_MODES            "Debug\0       ""Telem Mirror\0""Telemetry In\0""SBUS Trainer\0""LUA\0         ""CLI\0         ""GPS\0         "
 #else
-#define TR_AUX_SERIAL_MODES            "OFF\0         ""Telem Mirror\0""Telemetry In\0""SBUS Trainer\0""LUA\0         ""CLI\0         "
+#define TR_AUX_SERIAL_MODES            "OFF\0         ""Telem Mirror\0""Telemetry In\0""SBUS Trainer\0""LUA\0         ""CLI\0         ""GPS\0         "
 #endif

 #define LEN_SWTYPES                    "\006"