Fix GPS configuration

Cargo.toml

@@ -17,6 +17,7 @@ embedded-graphics = "0.8.1"
 tinyvec = "1.6.0"
 #nmea0183 = "0.4.0"
 ublox = { version = "0.4.5", default-features = false }
+nb = "1.1.0"
 
 # cargo build/run
 [profile.dev]

src/bin/minimal.rs

@@ -142,12 +142,11 @@ mod app {
         let mut gps_uart = hal::serial::Serial::usart1(
             cx.device.USART1,
             (tx, rx),
-            Config::default().baudrate(115200.bps()),
+            Config::default().baudrate(9600.bps()),
             clocks,
             &mut rcc.apb2
         );
         gps_uart.listen(serial::Event::Rxne);
-        // rtic::pend(Interrupt::USART1);
 
         // Spawn tasks
         display_task::spawn().unwrap();
@@ -182,13 +181,9 @@ mod app {
 
     #[task(binds = USART1, shared = [gps])]
     fn on_uart(mut cx: on_uart::Context) {
-        info!("foo");
-        if let Ok(b) = cx.shared.gps.lock(|gps| gps.serial.read()) {
-            info!("hewwo {}", b);
-        }
-        // cx.shared.gps.lock(|gps| {
-        //     gps.handle();
-        // });
+        cx.shared.gps.lock(|gps| {
+            gps.handle();
+        });
 
     }
 

src/gps.rs

@@ -1,21 +1,73 @@
+use core::fmt::{self, Write};
+
 use defmt::{error, info};
 use stm32l4xx_hal::hal::serial;
-use ublox::{PacketRef, Parser};
+use ublox::{CfgMsgAllPortsBuilder, CfgPrtUartBuilder, NavPvt, PacketRef, Parser, UartMode, UartPortId};
 use tinyvec::ArrayVec;
 
+struct WriteableArrayVec(ArrayVec<[u8; 256]>);
+
+impl Write for WriteableArrayVec {
+    fn write_str(&mut self, s: &str) -> fmt::Result {
+        for b in s.bytes() {
+            self.0.try_push(b);
+        }
+        Ok(())
+    }
+}
+
+impl WriteableArrayVec {
+    pub fn as_str(&self) -> Option<&str> {
+        core::str::from_utf8(self.0.as_slice()).ok()
+    }
+}
+
 pub struct Gps<SERIAL> {
     pub serial: SERIAL,
     pub parser: Parser<ArrayVec<[u8; 256]>>
 }
 
 impl<SERIAL> Gps<SERIAL>
-    where SERIAL: serial::Read<u8>,
-          SERIAL::Error: core::fmt::Debug
+    where SERIAL: serial::Read<u8> + serial::Write<u8>,
+          <SERIAL as serial::Read<u8>>::Error: core::fmt::Debug,
+          <SERIAL as serial::Write<u8>>::Error: core::fmt::Debug,
 {
     pub fn new(serial: SERIAL) -> Self {
-        Self {
+        let mut s = Self {
             serial,
             parser: Parser::new(ArrayVec::new())
+        };
+
+        s.configure();
+
+        s
+    }
+
+    fn configure(&mut self) {
+        let packet = CfgPrtUartBuilder {
+            portid: UartPortId::Uart1,
+            reserved0: 0,
+            tx_ready: 0,
+            mode: UartMode::new(
+                ublox::DataBits::Eight,
+                ublox::Parity::None,
+                ublox::StopBits::One,
+            ),
+            baud_rate: 9600,
+            in_proto_mask: ublox::InProtoMask::UBLOX,
+            out_proto_mask: ublox::OutProtoMask::UBLOX,
+            flags: 0,
+            reserved5: 0,
+        }.into_packet_bytes();
+
+        for b in packet {
+            nb::block!(self.serial.write(b)).unwrap();
+        }
+
+        let packet = CfgMsgAllPortsBuilder::set_rate_for::<NavPvt>([1, 1, 1, 1, 1, 1]).into_packet_bytes();
+
+        for b in packet {
+            nb::block!(self.serial.write(b)).unwrap();
         }
     }
 
@@ -28,7 +80,15 @@ impl<SERIAL> Gps<SERIAL>
                         PacketRef::NavPvt(navpvt) => info!("lat: {}, lon: {}", navpvt.lat_degrees(), navpvt.lon_degrees()),
                         _ => info!("other packet")
                     },
-                    Some(Err(_)) => error!("ubx error"),
+                    Some(Err(err)) => {
+                        let mut s = WriteableArrayVec(Default::default());
+                        write!(&mut s, "{err:?}").unwrap();
+                        if let Some(s) = s.as_str() {
+                            error!("ubx error {}", s);
+                        } else {
+                            error!("ubx error");
+                        }
+                    }
                     None => break
                 }
             }