Skip to content

Commit 919c29c

Browse files
avtokuavtoku
committed
Sync ubx timestamp with GPS pps
1 parent 475db66 commit 919c29c

File tree

5 files changed

+146
-115
lines changed

5 files changed

+146
-115
lines changed

‎boards/varmint_h7/common/Varmint.cpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -309,7 +309,7 @@ bool Varmint::gnss_read(rosflight_firmware::GnssStruct * gnss)
309309
gnss->header = p.header;
310310
gnss->pps = p.pps;
311311
gnss->unix_seconds = p.unix_seconds; // Unix time
312-
gnss->unix_nanos = p.pvt.nano;
312+
gnss->unix_nanos = p.unix_nanos;
313313
gnss->fix_type = p.pvt.fixType;
314314
gnss->num_sat = p.pvt.numSV;
315315
gnss->lon = (double)p.pvt.lon* 1e-7; // Convert 100's of nanodegs into deg (DDS format)

‎boards/varmint_h7/common/drivers/Ubx.cpp‎

Lines changed: 108 additions & 79 deletions
Original file line numberDiff line numberDiff line change
@@ -64,6 +64,7 @@ uint32_t Ubx::init(
6464
drdyPort_ = drdy_port;
6565
drdyPin_ = drdy_pin;
6666
hasPps_ = has_pps;
67+
ppsHz_ = 1; // To match top of second.
6768

6869
dtimeout_ = 1000000; // 1 seconds
6970
timeout_ = 0;
@@ -75,14 +76,14 @@ uint32_t Ubx::init(
7576
baud_ = baud;
7677

7778
ubxProtocol_ = ubx_protocol;
78-
79+
ubx_.pps = 0;
7980
groupDelay_ = 0;
8081

8182
// gotNav_ = false;
8283
gotPvt_ = 0;
83-
gotTime_ = 0;
84-
gotEcefP_ = 0;
85-
gotEcefV_ = 0;
84+
// gotTime_ = 0;
85+
// gotEcefP_ = 0;
86+
// gotEcefV_ = 0;
8687

8788
// USART initialization
8889
huart_->Instance = huart_instance;
@@ -181,17 +182,20 @@ uint32_t Ubx::init(
181182
error |= (uint16_t) cfgMsg(0x01, 0x20, 0); // NAV-TIMEGPS
182183
error |= (uint16_t) cfgMsg(0x01, 0x01, 0); // NAV-POSECEF (length 20)
183184
error |= (uint16_t) cfgMsg(0x01, 0x11, 0); // NAV-VELECEF (length 20)
185+
error |= (uint16_t) cfgMsg(0x01, 0x20, 0); // NAV-TIMEGPS (length 16)
186+
error |= (uint16_t) cfgMsg(0x01, 0x01, 0); // NAV-POSECEF (length 20)
187+
error |= (uint16_t) cfgMsg(0x01, 0x11, 0); // NAV-VELECEF (length 20)
184188

185189
// Enable these messages
186-
error |= (uint16_t) cfgMsg(0x01, 0x20, 1); // NAV-TIMEGPS (length 16)
190+
//error |= (uint16_t) cfgMsg(0x01, 0x20, 1); // NAV-TIMEGPS (length 16)
187191
error |= (uint16_t) cfgMsg(0x01, 0x07, 1); // NAV-PVT (length 92)
188-
error |= (uint16_t) cfgMsg(0x01, 0x01, 1); // NAV-POSECEF (length 20)
189-
error |= (uint16_t) cfgMsg(0x01, 0x11, 1); // NAV-VELECEF (length 20)
192+
//error |= (uint16_t) cfgMsg(0x01, 0x01, 1); // NAV-POSECEF (length 20)
193+
//error |= (uint16_t) cfgMsg(0x01, 0x11, 1); // NAV-VELECEF (length 20)
190194

191195
// Set GPS Configuration (already done in pollCfgPrtM9() for UBX_M9)
192196
if (ubxProtocol_ == UBX_M8) {
193197
error |= (uint16_t) cfgRate(sampleRateHz_); // Nav rate 0x06 0x08
194-
error |= (uint16_t) cfgTp5(sampleRateHz_); // PPS rate 0x06 0x31
198+
error |= (uint16_t) cfgTp5(ppsHz_); // PPS rate 0x06 0x31
195199
error |= (uint16_t) cfgNav5(); // airplane mode 0x06 0x24
196200
}
197201

@@ -242,37 +246,46 @@ void Ubx::endDma(void)
242246
tm.tm_mday = ubx_.pvt.day;
243247
tm.tm_mon = ubx_.pvt.month - 1;
244248
tm.tm_year = ubx_.pvt.year - 1900;
245-
ubx_.unix_seconds = mktime(&tm);
249+
ubx_.unix_nanos = ubx_.pvt.nano;
250+
246251
if (ubx_.pvt.nano<0)
247252
{
248-
ubx_.unix_seconds -= 1;
249-
ubx_.pvt.nano += 1000000000;
253+
tm.tm_sec--;
254+
ubx_.unix_nanos += 1000000000;
250255
}
251-
} else if ((p.cl == 0x01) && (p.id == 0x20)) {
252-
gotTime_ = time64.Us();
253-
memcpy((uint8_t *) (&ubx_.time), p.payload, sizeof(ubx_.time));
254-
} else if ((p.cl == 0x01) && (p.id == 0x01)) {
255-
gotEcefP_ = time64.Us();
256-
memcpy((uint8_t *) (&ubx_.ecefp), p.payload, sizeof(ubx_.ecefp));
257-
} else if ((p.cl == 0x01) && (p.id == 0x11)) {
258-
gotEcefV_ = time64.Us();
259-
memcpy((uint8_t *) (&ubx_.ecefv), p.payload, sizeof(ubx_.ecefv));
256+
257+
ubx_.unix_seconds = mktime(&tm);
260258
}
259+
// else if ((p.cl == 0x01) && (p.id == 0x20)) {
260+
// gotTime_ = time64.Us();
261+
// memcpy((uint8_t *) (&ubx_.time), p.payload, sizeof(ubx_.time));
262+
// } else if ((p.cl == 0x01) && (p.id == 0x01)) {
263+
// gotEcefP_ = time64.Us();
264+
// memcpy((uint8_t *) (&ubx_.ecefp), p.payload, sizeof(ubx_.ecefp));
265+
// } else if ((p.cl == 0x01) && (p.id == 0x11)) {
266+
// gotEcefV_ = time64.Us();
267+
// memcpy((uint8_t *) (&ubx_.ecefv), p.payload, sizeof(ubx_.ecefv));
268+
// }
269+
270+
if (gotPvt_) { // && gotTime_ && gotEcefP_ && gotEcefV_) {
271+
// ubx_.drdy = time64.Us(); // usTime();
261272

262-
if (gotPvt_ && gotTime_ && gotEcefP_ && gotEcefV_) {
263273
ubx_.header.timestamp = time64.Us(); // usTime();
264274

265-
ubx_.drdy = drdy_;
266-
if (!hasPps_) ubx_.pps = 0; //ubx_.drdy - 25000; // fake number if we don't have PPS hooked up
267-
268-
if (ubx_.pps > ubx_.drdy) ubx_.pps -= 1000000 / sampleRateHz_;
269-
ubx_.groupDelay = ubx_.drdy - ubx_.pps;
275+
if (!hasPps_) { // just use current time.
276+
ubx_.pps = 0; // zero means error
277+
} else if(ubx_.pps!=0) { // adjust to time of validity
278+
// uint64_t period_us = 1000000/sampleRateHz_;
279+
// ubx_.header.timestamp = ubx_.pps + (((ubx_.header.timestamp - ubx_.pps) % 1000000 )/period_us)*period_us;
280+
ubx_.header.timestamp = ubx_.pps + ubx_.unix_nanos/1000;
281+
}
282+
// ubx_.groupDelay = 0;
270283

271284
rxFifo_.write((uint8_t *) &ubx_, sizeof(ubx_));
272285
gotPvt_ = 0;
273-
gotTime_ = 0;
274-
gotEcefP_ = 0;
275-
gotEcefV_ = 0;
286+
// gotTime_ = 0;
287+
// gotEcefP_ = 0;
288+
// gotEcefV_ = 0;
276289
drdy_ = 0;
277290
}
278291
}
@@ -315,7 +328,6 @@ bool Ubx::parseByte(uint8_t c, UbxFrame * p)
315328
p->A += c;
316329
p->B += p->A;
317330

318-
if ((p->cl == 0x01) && (p->id == 0x07)) drdy_ = time64.Us() - UBX_DMA_BUFFER_SIZE * 10000000 / baud_;
319331
} else if (n == 4) // length LSB
320332
{
321333
p->length = (uint16_t) c;
@@ -351,49 +363,6 @@ bool Ubx::parseByte(uint8_t c, UbxFrame * p)
351363

352364
void Ubx::pps(uint64_t pps_timestamp) { ubx_.pps = pps_timestamp; }
353365

354-
bool Ubx::display(void)
355-
{
356-
UbxPacket p;
357-
358-
char name_pvt[] = "Ubx (pvt)";
359-
char name_time[] = "Ubx (time)";
360-
char name_ecefp[] = "Ubx (ecefp)";
361-
char name_ecefv[] = "Ubx (ecefv)";
362-
363-
if (rxFifo_.read((uint8_t *) &p, sizeof(p))) {
364-
misc_header(name_pvt, p.drdy, p.header.timestamp, p.groupDelay);
365-
misc_printf("%10.3f ms | ", (double) (p.header.timestamp - p.pps) / 1000.);
366-
misc_printf(" iTOW %10u | ", p.pvt.iTOW);
367-
misc_printf("%02u/%02u/%04u ", p.pvt.month, p.pvt.day, p.pvt.year);
368-
misc_printf("%02u:%02u:%09.6f", p.pvt.hour, p.pvt.min, (double) p.pvt.sec + (double) p.pvt.nano * 1e-9);
369-
misc_printf("%14.8f deg %14.8f deg | ", (double) p.pvt.lat * 1e-7, (double) p.pvt.lon * 1e-7);
370-
misc_printf("numSV %02d | ", p.pvt.numSV);
371-
misc_printf("Fix %02d\n", p.pvt.fixType);
372-
373-
misc_header(name_time, p.drdy, p.header.timestamp, p.groupDelay);
374-
misc_printf("%10.3f ms | ", (double) (p.header.timestamp - p.pps) / 1000.);
375-
misc_printf(" iTOW %10u | ", p.time.iTOW);
376-
misc_printf(" TOW %14.3f ms | valid 0x%02X\n", (double) p.time.iTOW + (double) p.time.fTOW / 1000, p.time.valid);
377-
378-
misc_header(name_ecefp, p.drdy, p.header.timestamp, p.groupDelay);
379-
misc_printf("%10.3f ms | ", (double) (p.header.timestamp - p.pps) / 1000.);
380-
misc_printf(" iTOW %10u | ", p.ecefp.iTOW);
381-
misc_printf(" %10d %10d %10d %10u cm\n", p.ecefp.ecefX, p.ecefp.ecefY, p.ecefp.ecefZ, p.ecefp.pAcc);
382-
383-
misc_header(name_ecefv, p.drdy, p.header.timestamp, p.groupDelay);
384-
misc_printf("%10.3f ms | ", (double) (p.header.timestamp - p.pps) / 1000.);
385-
misc_printf(" iTOW %10u | ", p.ecefv.iTOW);
386-
misc_printf(" %10d %10d %10d %10u cm/s\n", p.ecefv.ecefVX, p.ecefv.ecefVY, p.ecefv.ecefVZ, p.ecefv.sAcc);
387-
} else {
388-
misc_printf("%s\n", name_pvt);
389-
misc_printf("%s\n", name_time);
390-
misc_printf("%s\n", name_ecefp);
391-
misc_printf("%s\n", name_ecefv);
392-
}
393-
394-
return 1;
395-
}
396-
397366
///////////////////////////////////////////////////////////////////////////////
398367
// Packet Stuff
399368

@@ -520,12 +489,12 @@ uint16_t Ubx::cfgTp5(uint32_t hz)
520489
payload[3] = 0x00; // reserved
521490
SET(payload + 4, 0x0000, int16_t); // antenna delay
522491
SET(payload + 6, 0x0000, int16_t); // rf delay
523-
SET(payload + 8, period_us, uint32_t);
524-
SET(payload + 12, period_us / 2, uint32_t);
525-
SET(payload + 16, pulse_len_us, uint32_t); // no pulse when not locked =0 ?
526-
SET(payload + 20, pulse_len_us / 2, uint32_t);
492+
SET(payload + 8, period_us, uint32_t); // period when not locked
493+
SET(payload + 12, period_us, uint32_t); // period when locked
494+
SET(payload + 16, pulse_len_us, uint32_t);
495+
SET(payload + 20, pulse_len_us, uint32_t);
527496
SET(payload + 24, 0x0000, uint32_t); // delay
528-
SET(payload + 28, 0x01F7, uint32_t); // 0001 1111 1111 0111 = 0x01F7
497+
SET(payload + 28, 0x0077, uint32_t); // 0001 1111 1111 0111 = 0x01F7 // 0000 0000 0111 0111 = 0x0077
529498

530499
return tx(message, SFG_TP5_LENGTH);
531500
}
@@ -578,7 +547,7 @@ uint16_t Ubx::cfgMsg(uint8_t cl, uint8_t id, uint8_t decimation_rate)
578547

579548
uint16_t Ubx::cfgM9(uint32_t baud, uint16_t sampleRateHz)
580549
{
581-
uint8_t cfg_message[64] = {0};
550+
uint8_t cfg_message[128] = {0};
582551
uint16_t length = 0;
583552
uint8_t * p = cfg_message;
584553
// Header
@@ -595,8 +564,21 @@ uint16_t Ubx::cfgM9(uint32_t baud, uint16_t sampleRateHz)
595564
SETKV(p, 0x40520001, baud, uint32_t); // baud rate (8 bytes)
596565
SETKV(p, 0x30210001, 1000 / sampleRateHz, uint16_t); // output rate in milliseconds (6 bytes)
597566
SETKV(p, 0x30210002, 1, uint16_t); // 1 data output per nav measurement (6 bytes)
567+
SETKV(p, 0x20210003, 0, uint8_t); // CFG-RATE-TIMEREF 0 = UTC
598568
SETKV(p, 0x20110021, 8, uint8_t); // CFG-NAVSPG-DYNMODEL 8 = 4G Airborne (5 bytes)
599569
SETKV(p, 0x20110011, 3, uint8_t); // CFG-NAVSPG-FIXMODE 3 = Auto 2/3D (5 bytes)
570+
SETKV(p, 0x20050023, 0, uint8_t); // CFG-TP-PULSE_DEF = 0 set period in us
571+
SETKV(p, 0x20050030, 1, uint8_t); // CFG-TP-PULSE_LENGTH_DEF = 1 set pulse length in us
572+
SETKV(p, 0x40050002, 1000000, uint32_t); // CFG-TP-PERIOD_TP1
573+
SETKV(p, 0x40050003, 1000000, uint32_t); // CFG-TP-PERIOD_LOCK_TP1 = 1000000 us (1 second)
574+
SETKV(p, 0x40050003, 1000000, uint32_t); //CFG-TP-PERIOD_LOCK_TP1 = 1000000 us (1 second)
575+
SETKV(p, 0x40050004, 500, uint32_t); // CFG-TP-LEN_TP1 = 500 us (0.5 ms)
576+
SETKV(p, 0x40050005, 1000, uint32_t); // CFG-TP-LEN_LOCK_TP1 = 1000 us (1ms)
577+
SETKV(p, 0x10050008, 1, uint8_t); // CFG-TP-SYNC_GNSS_TP1
578+
SETKV(p, 0x1005000a, 1, uint8_t); // CFG-TP-ALIGN_TO_TOW_TP1
579+
SETKV(p, 0x2005000c, 1, uint8_t); //CFG-TP-POL_TP1 1= rising edge
580+
SETKV(p, 0x10050009, 1, uint8_t); // CFG-TP-USE_LOCKED_TP1
581+
SETKV(p, 0x2005000c, 0, uint8_t); // CFG-TP-TIMEGRID_TP1, 0 = UTC
600582

601583
// compute and insert message length length
602584
length = p - cfg_message - 6;
@@ -652,3 +634,50 @@ uint32_t Ubx::pollBaudM9(void)
652634
}
653635
return 0;
654636
}
637+
638+
bool Ubx::display(void)
639+
{
640+
UbxPacket p;
641+
642+
char name_pvt[] = "Ubx (pvt)";
643+
// char name_time[] = "Ubx (time)";
644+
// char name_ecefp[] = "Ubx (ecefp)";
645+
// char name_ecefv[] = "Ubx (ecefv)";
646+
647+
if (rxFifo_.read((uint8_t *) &p, sizeof(p))) {
648+
// misc_header(name_pvt, p.drdy, p.header.timestamp, p.groupDelay);
649+
misc_header(name_pvt, p.pps , p.header.timestamp, 0);
650+
misc_printf("| pps %10.6f s | ", (double)p.pps * 1e-6);
651+
misc_printf(" iTOW %10.3f s | ", (double)p.pvt.iTOW/1000);
652+
misc_printf("%02u/%02u/%04u ", p.pvt.month, p.pvt.day, p.pvt.year);
653+
654+
misc_printf("%02u:%02u:%02u.%+010d", p.pvt.hour, p.pvt.min, p.pvt.sec, p.pvt.nano);
655+
656+
misc_printf("%14.8f deg %14.8f deg | ", (double) p.pvt.lat * 1e-7, (double) p.pvt.lon * 1e-7);
657+
misc_printf("numSV %02d | ", p.pvt.numSV);
658+
misc_printf("Fix %02d\n", p.pvt.fixType);
659+
660+
// misc_header(name_time, p.drdy, p.header.timestamp, p.groupDelay);
661+
// misc_printf("%10.3f ms | ", (double) (p.header.timestamp - p.pps) / 1000.);
662+
// misc_printf(" iTOW %10u | ", p.time.iTOW);
663+
// misc_printf(" TOW %14.3f ms | valid 0x%02X\n", (double) p.time.iTOW + (double) p.time.fTOW / 1000, p.time.valid);
664+
//
665+
// misc_header(name_ecefp, p.drdy, p.header.timestamp, p.groupDelay);
666+
// misc_printf("%10.3f ms | ", (double) (p.header.timestamp - p.pps) / 1000.);
667+
// misc_printf(" iTOW %10u | ", p.ecefp.iTOW);
668+
// misc_printf(" %10d %10d %10d %10u cm\n", p.ecefp.ecefX, p.ecefp.ecefY, p.ecefp.ecefZ, p.ecefp.pAcc);
669+
//
670+
// misc_header(name_ecefv, p.drdy, p.header.timestamp, p.groupDelay);
671+
// misc_printf("%10.3f ms | ", (double) (p.header.timestamp - p.pps) / 1000.);
672+
// misc_printf(" iTOW %10u | ", p.ecefv.iTOW);
673+
// misc_printf(" %10d %10d %10d %10u cm/s\n", p.ecefv.ecefVX, p.ecefv.ecefVY, p.ecefv.ecefVZ, p.ecefv.sAcc);
674+
} else {
675+
misc_printf("%s\n", name_pvt);
676+
// misc_printf("%s\n", name_time);
677+
// misc_printf("%s\n", name_ecefp);
678+
// misc_printf("%s\n", name_ecefv);
679+
}
680+
681+
return 1;
682+
}
683+

‎boards/varmint_h7/common/drivers/Ubx.h‎

Lines changed: 34 additions & 32 deletions
Original file line numberDiff line numberDiff line change
@@ -94,35 +94,35 @@ typedef struct __attribute__((__packed__)) // This matches the Ubx packet, do no
9494
} UbxPvt;
9595

9696
// Class 0x01, ID 0x20
97-
typedef struct __attribute__((__packed__)) // This matches the Ubx packet, do not modify
98-
{
99-
uint32_t iTOW; // ms, GPS time of week
100-
int32_t fTOW; // ns, (iTOW * 1e-3) + (fTOW * 1e-9) seconds
101-
int16_t week; // GPS week number
102-
int8_t leapS;
103-
uint8_t valid;
104-
uint32_t tAcc;
105-
} UbxTime;
97+
//typedef struct __attribute__((__packed__)) // This matches the Ubx packet, do not modify
98+
//{
99+
// uint32_t iTOW; // ms, GPS time of week
100+
// int32_t fTOW; // ns, (iTOW * 1e-3) + (fTOW * 1e-9) seconds
101+
// int16_t week; // GPS week number
102+
// int8_t leapS;
103+
// uint8_t valid;
104+
// uint32_t tAcc;
105+
//} UbxTime;
106106

107107
// Class 0x01, ID 0x01
108-
typedef struct __attribute__((__packed__)) // This matches the Ubx packet, do not modify
109-
{
110-
uint32_t iTOW; // ms, GPS time of week
111-
int32_t ecefX;
112-
int32_t ecefY;
113-
int32_t ecefZ;
114-
uint32_t pAcc;
115-
} UbxEcefPos;
108+
//typedef struct __attribute__((__packed__)) // This matches the Ubx packet, do not modify
109+
//{
110+
// uint32_t iTOW; // ms, GPS time of week
111+
// int32_t ecefX;
112+
// int32_t ecefY;
113+
// int32_t ecefZ;
114+
// uint32_t pAcc;
115+
//} UbxEcefPos;
116116

117117
// Class 0x01, ID 0x11
118-
typedef struct __attribute__((__packed__)) // This matches the Ubx packet, do not modify
119-
{
120-
uint32_t iTOW; // ms, GPS time of week
121-
int32_t ecefVX;
122-
int32_t ecefVY;
123-
int32_t ecefVZ;
124-
uint32_t sAcc;
125-
} UbxEcefVel;
118+
//typedef struct __attribute__((__packed__)) // This matches the Ubx packet, do not modify
119+
//{
120+
// uint32_t iTOW; // ms, GPS time of week
121+
// int32_t ecefVX;
122+
// int32_t ecefVY;
123+
// int32_t ecefVZ;
124+
// uint32_t sAcc;
125+
//} UbxEcefVel;
126126

127127
#define UBX_MAX_PAYLOAD_BYTES (256)
128128
typedef struct __attribute__((__packed__))
@@ -135,15 +135,16 @@ typedef struct __attribute__((__packed__))
135135

136136
typedef struct __attribute__((__packed__)) // This matches the Ubx packet, do not modify
137137
{
138-
rosflight_firmware::PacketHeader header;
138+
rosflight_firmware::PacketHeader header; // time of validity, status
139139
int64_t unix_seconds; // computed from pvt time values
140-
uint64_t drdy;
141-
uint64_t groupDelay; // us, time from measurement to drdy, (approximate!)
140+
int32_t unix_nanos;
141+
// uint64_t drdy; // time of packet parse complete
142+
// uint64_t groupDelay; // us, time from measurement to drdy, (approximate!)
142143
uint64_t pps;
143144
UbxPvt pvt;
144-
UbxTime time;
145-
UbxEcefPos ecefp;
146-
UbxEcefVel ecefv;
145+
// UbxTime time;
146+
// UbxEcefPos ecefp;
147+
// UbxEcefVel ecefv;
147148
} UbxPacket;
148149

149150
/**
@@ -181,13 +182,14 @@ class Ubx : public Driver
181182

182183
private:
183184
UbxPacket ubx_;
184-
uint64_t gotPvt_, gotTime_, gotEcefP_, gotEcefV_; //, gotNav_;
185+
uint64_t gotPvt_; //, gotTime_, gotEcefP_, gotEcefV_; //, gotNav_;
185186
uint64_t dtimeout_;
186187
UART_HandleTypeDef * huart_;
187188
DMA_HandleTypeDef * hdmaUartRx_;
188189
uint32_t baud_, baud_initial_;
189190
UbxProtocol ubxProtocol_;
190191
bool hasPps_;
192+
uint16_t ppsHz_;
191193

192194
void checksum(uint8_t * buffer);
193195
void header(uint8_t * buffer, uint8_t cl, uint8_t id, uint16_t length);

‎boards/varmint_h7/common/drivers/misc.cpp‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -267,8 +267,8 @@ size_t misc_getline(uint8_t * line, size_t len)
267267

268268
void misc_header(char * name, uint64_t drdy, uint64_t timestamp, uint64_t delay)
269269
{
270-
misc_printf("%-16s [%8.2f s %8.2f ms %8.3f ms] ", name, (double) drdy / 1e6, (double) (timestamp - drdy) / 1000.,
271-
(double) delay / 1000.);
270+
misc_printf("%-16s [t:%12.6f s dt:%12.6f s group_delay:%12.6f s] ", name, (double) timestamp / 1e6, (double) (timestamp - drdy) / 1e6,
271+
(double) delay / 1e6);
272272
}
273273

274274
uint16_t misc_bytes_in_dma(DMA_HandleTypeDef * hdma_uart_rx, uint16_t dma_buffer_size)

0 commit comments

Comments
 (0)