Board 9.3

latest/Firmware/Inc/bsp/bsp.hpp

@@ -27,7 +27,7 @@
 // Either modify this header or define a different symbol in the preprocessor to build for a different board
 
 #ifndef BOARD_REV
-#define BOARD_REV 61
+#define BOARD_REV 93
 #endif
 
 /**
@@ -47,9 +47,9 @@ void bsp_enter_dfu();
 void bsp_gnss_on();
 void bsp_gnss_off();
 bool bsp_is_tx_disabled();
-uint8_t bsp_noise_floor();
+void bsp_signal_rx_event();
-void bsp_signal_high();
+void bsp_signal_tx_event();
-void bsp_signal_low();
+void bsp_signal_gps_status(bool tracking);
 
 // Callback for processing UART input (interrupt)
 typedef void(*char_input_cb)(char c);
@@ -83,14 +83,12 @@ bool bsp_read_station_data(StationData &data);
 
 // Board-specific headers go here
 
-#if BOARD_REV == 50
+#if BOARD_REV == 52
-#include "bsp_5_0.hpp"
-#elif BOARD_REV == 52
 #include "bsp_5_2.hpp"
-#elif BOARD_REV == 53
-#include "bsp_5_3.hpp"
 #elif BOARD_REV == 61
 #include <bsp_6_1.hpp>
+#elif BOARD_REV == 93
+#include <bsp_9_3.hpp>
 #endif
 
 

latest/Firmware/Inc/bsp/bsp_9_3.hpp

@@ -17,20 +17,23 @@
   along with this program.  If not, see <https://www.gnu.org/licenses/>
 */
 
-#ifndef INC_BSP_5_3_HPP_
+#ifndef INC_BSP_9_3_HPP_
-#define INC_BSP_5_3_HPP_
+#define INC_BSP_9_3_HPP_
+
 
 
 // GPIO Pin definitions
+#define GNSS_EN_PORT              GPIOC
+#define GNSS_EN_PIN               GPIO_PIN_14
 
-#define EEPROM_WREN_PORT          GPIOC
+#define TRX_IC_CLK_PORT           GPIOC
-#define EEPROM_WREN_PIN           GPIO_PIN_15
+#define TRX_IC_CLK_PIN            GPIO_PIN_15
 
 #define CS2_PORT                  GPIOA
 #define CS2_PIN                   GPIO_PIN_0
 
-#define TRX_IC_CLK_PORT           GPIOA
+#define RX_EVT_PORT               GPIOA
-#define TRX_IC_CLK_PIN            GPIO_PIN_1
+#define RX_EVT_PIN                GPIO_PIN_1
 
 #define GNSS_1PPS_PORT            GPIOA
 #define GNSS_1PPS_PIN             GPIO_PIN_2
@@ -56,8 +59,8 @@
 #define TRX_IC_DATA_PORT          GPIOB
 #define TRX_IC_DATA_PIN           GPIO_PIN_1
 
-#define DFU_EN_PORT               GPIOA
+#define TX_EVT_PORT               GPIOA
-#define DFU_EN_PIN                GPIO_PIN_8
+#define TX_EVT_PIN                GPIO_PIN_8
 
 #define UART_TX_PORT              GPIOA
 #define UART_TX_PIN               GPIO_PIN_9
@@ -65,6 +68,12 @@
 #define UART_RX_PORT              GPIOA
 #define UART_RX_PIN               GPIO_PIN_10
 
+#define GNSS_STATE_PORT           GPIOA
+#define GNSS_STATE_PIN            GPIO_PIN_11
+
+#define TX_DISABLE_PORT           GPIOA
+#define TX_DISABLE_PIN            GPIO_PIN_12
+
 #define SDN2_PORT                 GPIOA
 #define SDN2_PIN                  GPIO_PIN_15
 
@@ -84,4 +93,5 @@
 #define I2C_SDA_PIN               GPIO_PIN_7
 
 
-#endif /* INC_BSP_5_2_HPP_ */
+
+#endif /* INC_BSP_5_0_HPP_ */

latest/Firmware/Inc/radio_config_ph_all_channels.h

@@ -70,7 +70,8 @@
 //#define RF_GLOBAL_XO_TUNE_1 0x11, 0x00, 0x01, 0x00, 0x30
 
 #define RF_GLOBAL_XO_TUNE_1 0x11, 0x00, 0x01, 0x00, 0x2D
-//#define RF_GLOBAL_XO_TUNE_1 0x11, 0x00, 0x01, 0x00, 0x2C
+//#define RF_GLOBAL_XO_TUNE_1 0x11, 0x00, 0x01, 0x00, 0x2A
+
 /*
 // Set properties:           RF_GLOBAL_CONFIG_1
 // Number of properties:     1

latest/Firmware/Src/GPS.cpp

@@ -96,6 +96,7 @@ void GPS::enable()
 void GPS::disable()
 {
   bsp_gnss_off();
+  bsp_signal_gps_status(false);
 }
 
 void GPS::onRX(char c)
@@ -123,9 +124,6 @@ void GPS::onRX(char c)
     }
 }
 
-/*
- * What happens if PPS stops and resumes? Isn't our timestamp wrong?
- */
 void GPS::onPPS()
 {
   // If we don't have time yet, we can't use this
@@ -234,7 +232,7 @@ void GPS::parseSentence(const char *buff)
       if (fields[1].length () < 6 || fields[9].length () < 6)
         {
           // TODO: A loss of fix while the SOTDMA timer is active, MUST stop the timer
-
+          bsp_signal_gps_status(false);
           return;
         }
 
@@ -253,6 +251,7 @@ void GPS::parseSentence(const char *buff)
       // Do we have a fix?
       if (mUTC && sentence.fields()[3].length() > 0 && sentence.fields()[5].length() > 0)
         {
+          bsp_signal_gps_status(true);
           mLat = Utils::latitudeFromNMEA (sentence.fields()[3], sentence.fields()[4]);
           mLng = Utils::longitudeFromNMEA (sentence.fields()[5], sentence.fields()[6]);
           mSpeed = atof(sentence.fields()[7].c_str());

latest/Firmware/Src/NMEAEncoder.cpp

@@ -15,7 +15,7 @@
 
   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <https://www.gnu.org/licenses/>
-*/
+ */
 
 
 #include "NMEAEncoder.hpp"
@@ -48,33 +48,37 @@ void NMEAEncoder::encode(RXPacket &packet, vector<string> &sentences)
   uint16_t numBits = packet.size();
   uint16_t fillBits = 0;
 
-  if ( numBits % 6 ) {
+  if ( numBits % 6 )
+    {
       fillBits = 6 - (numBits%6);
       packet.addFillBits(fillBits);
       numBits = packet.size();
-  }
+    }
 
   uint16_t numSentences = 1;
-  while ( numBits > MAX_SENTENCE_BITS ) {
+  while ( numBits > MAX_SENTENCE_BITS )
+    {
       ++numSentences;
       numBits -= MAX_SENTENCE_BITS;
-  }
+    }
 
 
   numBits = packet.size();
-  if ( numSentences > 1 ) {
+  if ( numSentences > 1 )
+    {
       ++mSequence;
 
       if ( mSequence > 9 )
         mSequence = 0;
-  }
+    }
 
 
   // Now we know how many sentences we need
   char sentence[85];
   uint16_t pos = 0;
 
-  for ( uint16_t i = 1; i <= numSentences; ++i ) {
+  for ( uint16_t i = 1; i <= numSentences; ++i )
+    {
       uint8_t k = 0;
       if ( numSentences > 1 )
         sprintf(sentence, "!AIVDM,%d,%d,%d,%c,", numSentences, i, mSequence, AIS_CHANNELS[packet.channel()].designation);
@@ -84,26 +88,30 @@ void NMEAEncoder::encode(RXPacket &packet, vector<string> &sentences)
       k = strlen(sentence);
       uint16_t sentenceBits = 0;
 
-      for ( ; pos < numBits && sentenceBits < MAX_SENTENCE_BITS; pos += 6, sentenceBits += 6 ) {
+      for ( ; pos < numBits && sentenceBits < MAX_SENTENCE_BITS; pos += 6, sentenceBits += 6 )
+        {
           uint8_t nmeaByte = (uint8_t)packet.bits(pos, 6);
           nmeaByte += (nmeaByte < 40) ? 48 : 56;
           sentence[k++] = nmeaByte;
-      }
+        }
 
       sentence[k++] = ',';
-      if ( numSentences > 1 ) {
+      if ( numSentences > 1 )
+        {
           if ( i == numSentences )
             sentence[k++] = '0' + fillBits;
           else
             sentence[k++] = '0';
-      }
+        }
       else
-        sentence[k++] = '0';
+        {
+          sentence[k++] = '0';
+        }
 
       sentence[k++] = '*';
       sprintf(sentence+k, "%.2X", nmeaCRC(sentence));
       sentences.push_back(string(sentence));
-  }
+    }
 
 }
 

latest/Firmware/Src/RXPacketProcessor.cpp

@@ -29,6 +29,7 @@
 #include "Utils.hpp"
 #include "AISChannels.h"
 #include "printf_serial.h"
+#include "bsp.hpp"
 
 
 #if MULTIPLEXED_OUTPUT
@@ -57,6 +58,8 @@ void RXPacketProcessor::processEvent(const Event &e)
       if (e.rxPacket->isBad() || !e.rxPacket->checkCRC ())
         return;
 
+      bsp_signal_rx_event();
+
       if ( e.rxPacket->messageType() == 15 )
         {
           AISMessage15 msg;

latest/Firmware/Src/Receiver.cpp

@@ -223,18 +223,12 @@ Receiver::Action Receiver::processNRZIBit(uint8_t bit)
     }
   case BIT_STATE_IN_PACKET:
     {
-      if ( mRXPacket->size() >= MAX_AIS_RX_PACKET_SIZE )
+      if ( mOneBitCount >= 7 || mRXPacket->size() >= MAX_AIS_RX_PACKET_SIZE )
         {
           // Start over
           return RESTART_RX;
         }
 
-      // We can never have 7 consecutive "1" bits in a proper NRZI encoded packet
-      if ( mOneBitCount >= 7 )
-        {
-          return RESTART_RX;
-        }
-
       mLastNRZIBit = bit;
       mBitWindow <<= 1;
       mBitWindow |= decodedBit;

latest/Firmware/Src/Transceiver.cpp

@@ -143,11 +143,11 @@ void Transceiver::configureGPIOsForTX(tx_power_level powerLevel)
   bsp_set_tx_mode();
 
   GPIO_PIN_CFG_PARAMS gpiocfg;
-  gpiocfg.GPIO0 = 0x20;       // TX_STATE; low during RX and high during TX
+  gpiocfg.GPIO0 = 0x00;       // No change
-  gpiocfg.GPIO1 = 0x04;       // Input
+  gpiocfg.GPIO1 = 0x04;       // RX/TX bit data
-  gpiocfg.GPIO2 = 0x1F;       // RX/TX data clock
+  gpiocfg.GPIO2 = 0x1F;       // RX/TX bit clock
   gpiocfg.GPIO3 = 0x21;       // RX_STATE; high in RX, low in TX
-  gpiocfg.NIRQ  = 0x1A;       // Sync word detect
+  gpiocfg.NIRQ  = 0x00;       // No change
   gpiocfg.SDO   = 0x00;       // No change
   gpiocfg.GENCFG = 0x00;      // No change
   sendCmd(GPIO_PIN_CFG, &gpiocfg, sizeof gpiocfg, NULL, 0);
@@ -316,11 +316,11 @@ void Transceiver::configureGPIOsForRX()
   bsp_set_rx_mode();
 
   GPIO_PIN_CFG_PARAMS gpiocfg;
-  gpiocfg.GPIO0 = 0x20;       // TX_STATE; low during RX and high during TX
+  gpiocfg.GPIO0 = 0x00;       // No change
   gpiocfg.GPIO1 = 0x14;       // RX data bits
   gpiocfg.GPIO2 = 0x1F;       // RX/TX data clock
   gpiocfg.GPIO3 = 0x21;       // RX_STATE; high during RX and low during TX
-  gpiocfg.NIRQ  = 0x00;       // Nothing
+  gpiocfg.NIRQ  = 0x00;       // No change
   gpiocfg.SDO   = 0x00;       // No change
   gpiocfg.GENCFG = 0x00;      // No change
   sendCmd(GPIO_PIN_CFG, &gpiocfg, sizeof gpiocfg, NULL, 0);
@@ -335,4 +335,5 @@ void Transceiver::reportTXEvent()
   snprintf(e->nmeaBuffer.sentence, sizeof e->nmeaBuffer.sentence, "$PAITX,%c,%s*", AIS_CHANNELS[mTXPacket->channel()].designation, mTXPacket->messageType());
   Utils::completeNMEA(e->nmeaBuffer.sentence);
   EventQueue::instance().push(e);
+  bsp_signal_tx_event();
 }

latest/Firmware/Src/bsp/bsp_5_2.cpp

@@ -553,6 +553,21 @@ void bsp_enter_dfu()
   bsp_reboot();
 }
 
+void bsp_signal_rx_event()
+{
+
+}
+
+void bsp_signal_tx_event()
+{
+
+}
+
+void bsp_signal_gps_status(bool tracking)
+{
+
+}
+
 extern "C"
 {
 

latest/Firmware/Src/bsp/bsp_6_1.cpp

@@ -555,24 +555,22 @@ void bsp_enter_dfu()
   bsp_reboot();
 }
 
-uint8_t bsp_noise_floor()
+void bsp_signal_rx_event()
 {
-  /**
+
-   * This is the result of extensive characterization with this hardware
-   */
-  return 0x22;
 }
 
-void bsp_signal_high()
+void bsp_signal_tx_event()
 {
-  HAL_GPIO_WritePin(SPARE_PORT, SPARE_PIN, GPIO_PIN_SET);
+
 }
 
-void bsp_signal_low()
+void bsp_signal_gps_status(bool tracking)
 {
-  HAL_GPIO_WritePin(SPARE_PORT, SPARE_PIN, GPIO_PIN_RESET);
+
 }
 
+
 extern "C"
 {
 

latest/Firmware/Src/bsp/bsp_9_3.cpp

@@ -25,7 +25,7 @@
 #include <string.h>
 
 
-#if BOARD_REV==53
+#if BOARD_REV==93
 
 I2C_HandleTypeDef hi2c1;
 SPI_HandleTypeDef hspi1;
@@ -53,9 +53,11 @@ typedef struct
 } GPIO;
 
 static const GPIO __gpios[] = {
-    {EEPROM_WREN_PORT, {EEPROM_WREN_PIN, GPIO_MODE_OUTPUT_OD, GPIO_NOPULL, GPIO_SPEED_LOW, 0}, GPIO_PIN_SET},
+    {GNSS_EN_PORT, {GNSS_EN_PIN, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_LOW, 0}, GPIO_PIN_RESET},
-    {CS2_PORT, {CS2_PIN, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_HIGH, 0}, GPIO_PIN_SET},
     {TRX_IC_CLK_PORT, {TRX_IC_CLK_PIN, GPIO_MODE_IT_RISING, GPIO_NOPULL, GPIO_SPEED_LOW, 0}, GPIO_PIN_RESET},
+    {TX_DISABLE_PORT, {TX_DISABLE_PIN, GPIO_MODE_INPUT, GPIO_PULLUP, GPIO_SPEED_LOW, 0}, GPIO_PIN_SET},
+    {CS2_PORT, {CS2_PIN, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_HIGH, 0}, GPIO_PIN_SET},
+    {RX_EVT_PORT, {RX_EVT_PIN, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_LOW, 0}, GPIO_PIN_RESET},
     {GNSS_1PPS_PORT, {GNSS_1PPS_PIN, GPIO_MODE_IT_FALLING, GPIO_PULLUP, GPIO_SPEED_LOW, 0}, GPIO_PIN_RESET},
     {GNSS_NMEA_RX_PORT, {GNSS_NMEA_RX_PIN, GPIO_MODE_AF_PP, GPIO_PULLUP, GPIO_SPEED_LOW, GPIO_AF7_USART2}, GPIO_PIN_RESET},
     {CS1_PORT, {CS1_PIN, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_HIGH, 0}, GPIO_PIN_SET},
@@ -64,9 +66,10 @@ static const GPIO __gpios[] = {
     {MOSI_PORT, {MOSI_PIN, GPIO_MODE_AF_PP, GPIO_NOPULL, GPIO_SPEED_HIGH, GPIO_AF5_SPI1}, GPIO_PIN_SET},
     {SDN1_PORT, {SDN1_PIN, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_LOW, 0}, GPIO_PIN_SET},
     {TRX_IC_DATA_PORT, {TRX_IC_DATA_PIN, GPIO_MODE_INPUT, GPIO_NOPULL, GPIO_SPEED_LOW, 0}, GPIO_PIN_RESET},
-    {DFU_EN_PORT, {DFU_EN_PIN, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_LOW, 0}, GPIO_PIN_RESET},
+    {TX_EVT_PORT, {TX_EVT_PIN, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_LOW, 0}, GPIO_PIN_RESET},
     {UART_TX_PORT, {UART_TX_PIN, GPIO_MODE_AF_PP, GPIO_PULLUP, GPIO_SPEED_LOW, GPIO_AF7_USART1}, GPIO_PIN_RESET},
     {UART_RX_PORT, {UART_RX_PIN, GPIO_MODE_AF_PP, GPIO_PULLUP, GPIO_SPEED_LOW, GPIO_AF7_USART1}, GPIO_PIN_RESET},
+    {GNSS_STATE_PORT, {GNSS_STATE_PIN, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_LOW, 0}, GPIO_PIN_RESET},
     {SDN2_PORT, {SDN2_PIN, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_LOW, 0}, GPIO_PIN_SET},
     {RX_IC_CLK_PORT, {RX_IC_CLK_PIN, GPIO_MODE_IT_RISING, GPIO_NOPULL, GPIO_SPEED_LOW, 0}, GPIO_PIN_RESET},
     {RX_IC_DATA_PORT, {RX_IC_DATA_PIN, GPIO_MODE_INPUT, GPIO_NOPULL, GPIO_SPEED_LOW, 0}, GPIO_PIN_RESET},
@@ -77,11 +80,12 @@ static const GPIO __gpios[] = {
 
 extern "C"
 {
-  void Error_Handler(void)
+  void Error_Handler(uint8_t i)
   {
-    printf_serial_now("[ERROR]\r\n");
+    asm("BKPT 0");
-    printf_serial_now("[ERROR] ***** System error handler resetting *****\r\n");
+    printf_serial_now("[ERROR %d]\r\n", i);
-    NVIC_SystemReset();
+    //printf_serial_now("[ERROR] ***** System error handler resetting *****\r\n");
+    //NVIC_SystemReset();
   }
 }
 
@@ -105,18 +109,6 @@ void bsp_hw_init()
 
   gpio_pin_init();
 
-  // 1PPS signal
-  HAL_NVIC_SetPriority(EXTI2_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(EXTI2_IRQn);
-
-
-  // RF IC clock interrupts
-  HAL_NVIC_SetPriority(EXTI1_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(EXTI1_IRQn);
-
-
-  HAL_NVIC_SetPriority(EXTI3_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(EXTI3_IRQn);
 
 
   // USART1 (main UART)
@@ -132,7 +124,7 @@ void bsp_hw_init()
   huart1.AdvancedInit.AdvFeatureInit  = UART_ADVFEATURE_NO_INIT;
   HAL_UART_Init(&huart1);
 
-  HAL_NVIC_SetPriority(USART1_IRQn, 6, 0);
+  HAL_NVIC_SetPriority(USART1_IRQn, 7, 0);
   HAL_NVIC_EnableIRQ(USART1_IRQn);
   __HAL_UART_ENABLE_IT(&huart1, UART_IT_RXNE);
 
@@ -156,7 +148,7 @@ void bsp_hw_init()
 
   if (HAL_SPI_Init(&hspi1) != HAL_OK)
     {
-      Error_Handler();
+      Error_Handler(0);
     }
 
   __HAL_SPI_ENABLE(&hspi1);
@@ -175,7 +167,7 @@ void bsp_hw_init()
   huart2.AdvancedInit.AdvFeatureInit  = UART_ADVFEATURE_NO_INIT;
   HAL_UART_Init(&huart2);
 
-  HAL_NVIC_SetPriority(USART2_IRQn, 5, 0);
+  HAL_NVIC_SetPriority(USART2_IRQn, 7, 0);
   HAL_NVIC_EnableIRQ(USART2_IRQn);
   __HAL_UART_ENABLE_IT(&huart2, UART_IT_RXNE);
 
@@ -192,9 +184,6 @@ void bsp_hw_init()
 
   HAL_TIM_Base_Init(&htim2);
 
-  HAL_NVIC_SetPriority(TIM2_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(TIM2_IRQn);
-
   // I2C
   hi2c1.Instance = I2C1;
   hi2c1.Init.Timing = 0x00702991;
@@ -207,26 +196,41 @@ void bsp_hw_init()
   hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
   if (HAL_I2C_Init(&hi2c1) != HAL_OK)
     {
-      Error_Handler();
+      Error_Handler(0);
     }
   /** Configure Analogue filter
    */
   if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
     {
-      Error_Handler();
+      Error_Handler(0);
     }
   /** Configure Digital filter
    */
   if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK)
     {
-      Error_Handler();
+      Error_Handler(0);
     }
+
+  // 1PPS signal
+  HAL_NVIC_SetPriority(EXTI2_IRQn, 6, 0);
+  HAL_NVIC_EnableIRQ(EXTI2_IRQn);
+
+  // SOTDMA
+  HAL_NVIC_SetPriority(TIM2_IRQn, 1, 0);
+  HAL_NVIC_EnableIRQ(TIM2_IRQn);
+
+  // RF IC clock interrupts
+  HAL_NVIC_SetPriority(EXTI15_10_IRQn, 1, 0);
+  HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
+
+  HAL_NVIC_SetPriority(EXTI3_IRQn, 1, 0);
+  HAL_NVIC_EnableIRQ(EXTI3_IRQn);
+
+  // This is our HAL tick timer now
+  HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 0, 0);
 }
 
-bool bsp_is_tx_disabled()
+
-{
-  return false;
-}
 
 void SystemClock_Config()
 {
@@ -238,14 +242,13 @@ void SystemClock_Config()
    */
   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
   RCC_OscInitStruct.HSIState = RCC_HSI_ON;
-  RCC_OscInitStruct.HSICalibrationValue = 16;
+  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
   RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
   RCC_OscInitStruct.PLL.PLLM = 1;
   RCC_OscInitStruct.PLL.PLLN = 10;  // 80 MHz
   //RCC_OscInitStruct.PLL.PLLN = 8; // 64 MHz
   //RCC_OscInitStruct.PLL.PLLN = 6; // 48 MHz
-
 #ifdef STM32L432xx
   RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7;
 #endif
@@ -253,7 +256,7 @@ void SystemClock_Config()
   RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
     {
-      Error_Handler();
+      Error_Handler(0);
     }
 
   /**Initializes the CPU, AHB and APB bus clocks
@@ -267,21 +270,21 @@ void SystemClock_Config()
 
   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
     {
-      Error_Handler();
+      Error_Handler(0);
     }
 
   PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1;
   PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_HSI;
   if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
     {
-      Error_Handler();
+      Error_Handler(0);
     }
 
   /**Configure the main internal regulator output voltage
    */
   if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
     {
-      Error_Handler();
+      Error_Handler(0);
     }
 
   /**Configure the Systick interrupt time
@@ -321,6 +324,10 @@ void HAL_MspInit(void)
 
   HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_4);
 
+  /**
+   * Some of these interrupts will be managed and configured in FreeRTOS
+   */
+
   /* System interrupt init*/
   /* MemoryManagement_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(MemoryManagement_IRQn, 0, 0);
@@ -329,13 +336,16 @@ void HAL_MspInit(void)
   /* UsageFault_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(UsageFault_IRQn, 0, 0);
   /* SVCall_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(SVCall_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(SVCall_IRQn, 10, 0);
   /* DebugMonitor_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DebugMonitor_IRQn, 0, 0);
   /* PendSV_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(PendSV_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(PendSV_IRQn, 10, 0);
   /* SysTick_IRQn interrupt configuration */
+
+#ifndef RTOS
   HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
+#endif
 
   /* USER CODE BEGIN MspInit 1 */
 
@@ -344,7 +354,7 @@ void HAL_MspInit(void)
 
 void bsp_set_rx_mode()
 {
-  HAL_GPIO_WritePin(TX_CTRL_PORT, TX_CTRL_PIN, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(TX_CTRL_PORT, TX_CTRL_PIN, GPIO_PIN_RESET);       // Kill the RF MOSFET bias voltage
 
   GPIO_InitTypeDef gpio;
   gpio.Pin = TRX_IC_DATA_PIN;
@@ -363,19 +373,21 @@ void bsp_set_tx_mode()
   gpio.Pull = GPIO_NOPULL;
   HAL_GPIO_Init(TRX_IC_DATA_PORT, &gpio);
 
-  HAL_GPIO_WritePin(TX_CTRL_PORT, TX_CTRL_PIN, GPIO_PIN_SET);
+  HAL_GPIO_WritePin(TX_CTRL_PORT, TX_CTRL_PIN, GPIO_PIN_SET);       // RF MOSFET bias voltage
 }
 
 void bsp_gnss_on()
 {
-  // Do nothing
+  HAL_GPIO_WritePin(GNSS_EN_PORT, GNSS_EN_PIN, GPIO_PIN_SET);
 }
 
 void bsp_gnss_off()
 {
-  // Do nothing
+  HAL_GPIO_WritePin(GNSS_EN_PORT, GNSS_EN_PIN, GPIO_PIN_RESET);
+  HAL_Delay(10);
 }
 
+
 void USART_putc(USART_TypeDef* USARTx, char c)
 {
   while ( !(USARTx->ISR & USART_ISR_TXE) )
@@ -471,14 +483,13 @@ uint32_t bsp_get_system_clock()
 uint8_t bsp_tx_spi_byte(uint8_t data)
 {
   uint8_t result = 0;
-  HAL_SPI_TransmitReceive(&hspi1, &data, &result, 1, 10);
+  HAL_SPI_TransmitReceive(&hspi1, &data, &result, 1, 2);
   return result;
 }
 
 bool bsp_erase_station_data()
 {
   uint8_t b = 0xff;
-  HAL_GPIO_WritePin(EEPROM_WREN_PORT, EEPROM_WREN_PIN, GPIO_PIN_RESET);
   HAL_Delay(1);
 
   for ( unsigned i = 0; i < sizeof(StationData); ++i )
@@ -486,14 +497,12 @@ bool bsp_erase_station_data()
       HAL_I2C_Mem_Write(&hi2c1, EEPROM_ADDRESS, i, 1, &b, 1, 100);
       HAL_Delay(6);
     }
-  HAL_GPIO_WritePin(EEPROM_WREN_PORT, EEPROM_WREN_PIN, GPIO_PIN_SET);
 
   return true;
 }
 
 bool bsp_save_station_data(const StationData &data)
 {
-  HAL_GPIO_WritePin(EEPROM_WREN_PORT, EEPROM_WREN_PIN, GPIO_PIN_RESET);
   HAL_Delay(1);
 
   uint8_t *b = (uint8_t*)&data;
@@ -503,8 +512,6 @@ bool bsp_save_station_data(const StationData &data)
       HAL_Delay(6);
     }
 
-  HAL_GPIO_WritePin(EEPROM_WREN_PORT, EEPROM_WREN_PIN, GPIO_PIN_SET);
-
   return true;
 }
 
@@ -524,24 +531,37 @@ bool bsp_read_station_data(StationData &data)
   return true;
 }
 
+bool bsp_is_tx_disabled()
+{
+  return HAL_GPIO_ReadPin(TX_DISABLE_PORT, TX_DISABLE_PIN) == GPIO_PIN_RESET;
+}
+
 void bsp_enter_dfu()
 {
-  /**
+  // Cut off the GPS signals immediately to prevent its UART from transmitting and hijacking the bootloader upon reset
-   * The RC delay circuit feeding BOOT0 from this GPIO will latch the voltage high
+  bsp_gnss_off();
-   * long enough for the next reset to invoke the ROM bootloader. This is the cleanest
+
-   * way to go about it. The alternative requires that we shut down all peripherals and
+  // This flag simply tells main() to jump to the ROM bootloader immediately upon reset, before initializing anything
-   * disable every interrupt including Systick.
+  *(uint32_t*)DFU_FLAG_ADDRESS = DFU_FLAG_MAGIC;
-   */
 
-  /**
-   * BUG: This can never work with this board, because the GNSS UART is constantly sending data, so the bootloader
-   * will enable DFU protocol on that USART instead of the main one :(
-   */
-  HAL_GPIO_WritePin(DFU_EN_PORT, DFU_EN_PIN, GPIO_PIN_SET);
-  HAL_Delay(5);
   bsp_reboot();
 }
 
+void bsp_signal_rx_event()
+{
+  HAL_GPIO_WritePin(RX_EVT_PORT, RX_EVT_PIN, GPIO_PIN_SET);
+}
+
+void bsp_signal_tx_event()
+{
+  HAL_GPIO_WritePin(TX_EVT_PORT, TX_EVT_PIN, GPIO_PIN_SET);
+}
+
+void bsp_signal_gps_status(bool tracking)
+{
+  HAL_GPIO_WritePin(GNSS_STATE_PORT, GNSS_STATE_PIN, tracking ? GPIO_PIN_SET: GPIO_PIN_RESET);
+}
+
 extern "C"
 {
 
@@ -601,16 +621,27 @@ extern "C"
       }
   }
 
-  void EXTI1_IRQHandler(void)
+  void EXTI15_10_IRQHandler(void)
   {
-    if ( __HAL_GPIO_EXTI_GET_IT(GPIO_PIN_1) != RESET )
+    if ( __HAL_GPIO_EXTI_GET_IT(GPIO_PIN_15) != RESET )
       {
-        __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_1);
+        __HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_15);
         if ( trxClockCallback )
           trxClockCallback();
       }
   }
 
+  void HAL_SYSTICK_Callback()
+  {
+    static int count = 1;
+    if ( count++ % 20 == 0 )
+      {
+        count = 1;
+        HAL_GPIO_WritePin(RX_EVT_PORT, RX_EVT_PIN, GPIO_PIN_RESET);
+        HAL_GPIO_WritePin(TX_EVT_PORT, TX_EVT_PIN, GPIO_PIN_RESET);
+      }
+  }
+
 }
 
 #endif