fix(firmware): return gps transport status

9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/gps_handler.cpp

@@ -1,6 +1,7 @@
-// gps_handler.cpp
+// gps_handler.cpp
-#include "gps_handler.h"
+#include "gps_handler.h"
-#include <cmath>
+#include <cmath>
+#include <cstdio>
 
 // UART handle for communication with GUI
 static UART_HandleTypeDef* gui_huart = NULL;
@@ -14,40 +15,46 @@ void GPS_Init(UART_HandleTypeDef* huart)
     memset(&current_gps, 0, sizeof(GPS_Data_t));
 }
 
-uint8_t GPS_IsDataValid(GPS_Data_t* gps_data)
+uint8_t GPS_IsDataValid(GPS_Data_t* gps_data)
-{
+{
-    // Check if GPS data is within valid ranges
+    if (gps_data == NULL) {
-    if (gps_data->latitude < -90.0 || gps_data->latitude > 90.0)
+        return 0;
-        return 0;
+    }
+
+    // Check if GPS data is within valid ranges
+    if (gps_data->latitude < -90.0 || gps_data->latitude > 90.0)
+        return 0;
     if (gps_data->longitude < -180.0 || gps_data->longitude > 180.0)
         return 0;
     if (gps_data->altitude < -1000.0 || gps_data->altitude > 10000.0) // -1km to 10km
         return 0;
     
-    return 1;
+    return 1;
-}
+}
-
+
-void GPS_ProcessData(GPS_Data_t* gps_data)
+bool GPS_ProcessData(GPS_Data_t* gps_data)
-{
+{
-    // Validate GPS data
+    // Validate GPS data
-    if (!GPS_IsDataValid(gps_data)) {
+    if (!GPS_IsDataValid(gps_data)) {
-        return;
+        return false;
-    }
+    }
-    
+    
-    // Update current GPS data
+    // Update current GPS data
-    memcpy(&current_gps, gps_data, sizeof(GPS_Data_t));
+    memcpy(&current_gps, gps_data, sizeof(GPS_Data_t));
-    current_gps.timestamp = HAL_GetTick();
+    current_gps.timestamp = HAL_GetTick();
-    
+    
-    // Send to GUI
+    // Send to GUI
-    GPS_SendToGUI(&current_gps);
+    return GPS_SendToGUI(&current_gps);
-}
+}
-
+
-void GPS_SendToGUI(GPS_Data_t* gps_data)
+bool GPS_SendToGUI(GPS_Data_t* gps_data)
-{
+{
-    if (gui_huart == NULL) return;
+    if (gui_huart == NULL || gps_data == NULL) {
-    
+        return false;
-    // Create packet: "GPS:lat,lon,alt\r\n"
+    }
-    char buffer[64];
+    
+    // Create packet: "GPS:lat,lon,alt\r\n"
+    char buffer[64];
     
     // Convert double and float to string with high precision
     int len = snprintf(buffer, sizeof(buffer), "GPS:%.8f,%.8f,%.2f\r\n",
@@ -55,19 +62,23 @@ void GPS_SendToGUI(GPS_Data_t* gps_data)
                       gps_data->longitude,
                       gps_data->altitude);
     
-    if (len > 0 && len < (int)sizeof(buffer)) {
+    if (len <= 0 || len >= (int)sizeof(buffer)) {
-        // Send via UART3 to GUI
+        return false;
-        HAL_UART_Transmit(gui_huart, (uint8_t*)buffer, len, 1000);
+    }
-    }
+
-}
+    // Send via UART3 to GUI
-
+    return HAL_UART_Transmit(gui_huart, (uint8_t*)buffer, len, 1000) == HAL_OK;
-// Alternative binary protocol version (more efficient)
+}
-void GPS_SendBinaryToGUI(GPS_Data_t* gps_data)
+
-{
+// Alternative binary protocol version (more efficient)
-    if (gui_huart == NULL) return;
+bool GPS_SendBinaryToGUI(GPS_Data_t* gps_data)
-    
+{
-    // Binary packet structure:
+    if (gui_huart == NULL || gps_data == NULL) {
-    // [Header 4 bytes][Latitude 8 bytes][Longitude 8 bytes][Altitude 4 bytes][Pitch 4 bytes][CRC 2 bytes]
+        return false;
+    }
+    
+    // Binary packet structure:
+    // [Header 4 bytes][Latitude 8 bytes][Longitude 8 bytes][Altitude 4 bytes][Pitch 4 bytes][CRC 2 bytes]
     
     uint8_t packet[30]; // 4 + 8 + 8 + 4 + 4 + 2 = 30 bytes
     uint16_t crc = 0;
@@ -99,10 +110,10 @@ void GPS_SendBinaryToGUI(GPS_Data_t* gps_data)
         packet[20 + i] = (alt_bits >> (24 - i*8)) & 0xFF;
     }
     
-    // Convert float altitude to bytes (big-endian)
+    // Convert float pitch to bytes (big-endian)
-    uint32_t pitch_bits;
+    uint32_t pitch_bits;
-    memcpy(&pitch_bits, &gps_data->pitch, sizeof(float));
+    memcpy(&pitch_bits, &gps_data->pitch, sizeof(float));
-    for(int i = 0; i < 4; i++) {
+    for(int i = 0; i < 4; i++) {
         packet[24 + i] = (pitch_bits >> (24 - i*8)) & 0xFF;
     }
 
@@ -112,8 +123,8 @@ void GPS_SendBinaryToGUI(GPS_Data_t* gps_data)
     }
     
     packet[28] = (crc >> 8) & 0xFF;
-    packet[29] = crc & 0xFF;
+    packet[29] = crc & 0xFF;
-    
+    
-    // Send binary packet
+    // Send binary packet
-    CDC_Transmit_FS(packet, sizeof(packet));
+    return CDC_Transmit_FS(packet, sizeof(packet)) == USBD_OK;
-}
+}

9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/gps_handler.h

@@ -3,10 +3,11 @@
 #define GPS_HANDLER_H
 
 #include "main.h"
-#include "usb_device.h"
+#include "usb_device.h"
-#include "usbd_cdc_if.h"
+#include "usbd_cdc_if.h"
-#include <stdint.h>
+#include <stdbool.h>
-#include <string.h>
+#include <stdint.h>
+#include <string.h>
 
 #ifdef __cplusplus
 extern "C" {
@@ -20,11 +21,11 @@ typedef struct {
     uint32_t timestamp;
 } GPS_Data_t;
 
-void GPS_Init(UART_HandleTypeDef* huart);
+void GPS_Init(UART_HandleTypeDef* huart);
-void GPS_ProcessData(GPS_Data_t* gps_data);
+bool GPS_ProcessData(GPS_Data_t* gps_data);
-void GPS_SendToGUI(GPS_Data_t* gps_data);
+bool GPS_SendToGUI(GPS_Data_t* gps_data);
-void GPS_SendBinaryToGUI(GPS_Data_t* gps_data);
+bool GPS_SendBinaryToGUI(GPS_Data_t* gps_data);
-uint8_t GPS_IsDataValid(GPS_Data_t* gps_data);
+uint8_t GPS_IsDataValid(GPS_Data_t* gps_data);
 
 #ifdef __cplusplus
 }

9_Firmware/9_1_Microcontroller/9_1_3_C_Cpp_Code/main.cpp

@@ -1524,11 +1524,14 @@ int main(void)
   /**********wait for GUI start flag and Send Lat/Long/alt********/
   /***************************************************************/
 
-  GPS_Data_t gps_data;
+  GPS_Data_t gps_data;
-  // Binary packet structure:
+  // Binary packet structure:
-  // [Header 4 bytes][Latitude 8 bytes][Longitude 8 bytes][Altitude 4 bytes][CRC 2 bytes]
+  // [Header 4 bytes][Latitude 8 bytes][Longitude 8 bytes][Altitude 4 bytes][Pitch 4 bytes][CRC 2 bytes]
-  gps_data = {RADAR_Latitude, RADAR_Longitude, RADAR_Altitude, Pitch_Sensor, HAL_GetTick()};
+  gps_data = {RADAR_Latitude, RADAR_Longitude, RADAR_Altitude, Pitch_Sensor, HAL_GetTick()};
-  GPS_SendBinaryToGUI(&gps_data);
+  if (!GPS_SendBinaryToGUI(&gps_data)) {
+      const uint8_t gps_send_error[] = "GPS binary send failed\r\n";
+      HAL_UART_Transmit(&huart3, (uint8_t*)gps_send_error, sizeof(gps_send_error) - 1, 1000);
+  }
 
   // Check if start flag was received and settings are ready
   do{