mirror
/
OpenRTX
kopia lustrzana https://github.com/OpenRTX/OpenRTX
1
0
Forkuj 0
Kod Zgłoszenia Packages Projekty Wydania Wiki Aktywność

Improved RTC GPS time synchronization

replace/cf241be5cbda82b00b6cdc9a288390f04bcd291d
Niccolò Izzo 2021-02-16 08:33:34 +01:00
rodzic 8d90ee0588
commit fed9912c7d
2 zmienionych plików z 29 dodań i 30 usunięć
Pokaż statystyki Ściągnij plik aktualizacji Ściągnij plik porównania Expand all files Collapse all files

53
openrtx/src/gps.c
Wyświetl plik

@ -25,23 +25,26 @@
/** /**
* This function parses a GPS NMEA sentence and updates radio state * This function parses a GPS NMEA sentence and updates radio state
*/ */
void gps_taskFunc(char *line, int len, gps_t *state) void gps_taskFunc(char *line, int len, state_t *state)
{ {
switch (minmea_sentence_id(line, false)) { switch (minmea_sentence_id(line, false)) {
case MINMEA_SENTENCE_RMC: case MINMEA_SENTENCE_RMC:
{ {
struct minmea_sentence_rmc frame; struct minmea_sentence_rmc frame;
if (minmea_parse_rmc(&frame, line)) { if (minmea_parse_rmc(&frame, line)) {
state->latitude = minmea_tocoord(&frame.latitude); state->gps_data.latitude = minmea_tocoord(&frame.latitude);
state->longitude = minmea_tocoord(&frame.longitude); state->gps_data.longitude = minmea_tocoord(&frame.longitude);
state->timestamp.hour = frame.time.hours; state->gps_data.timestamp.hour = frame.time.hours;
state->timestamp.minute = frame.time.minutes; state->gps_data.timestamp.minute = frame.time.minutes;
state->timestamp.second = frame.time.seconds - 1; state->gps_data.timestamp.second = frame.time.seconds + 1;
state->timestamp.day = 0; state->gps_data.timestamp.day = 0;
state->timestamp.date = frame.date.day; state->gps_data.timestamp.date = frame.date.day;
state->timestamp.month = frame.date.month; state->gps_data.timestamp.month = frame.date.month;
state->timestamp.year = frame.date.year; state->gps_data.timestamp.year = frame.date.year;
} }
// Synchronize RTC with GPS UTC clock
if(state->settings.gps_set_time)
rtc_setTime(state->gps_data.timestamp);
} break; } break;
case MINMEA_SENTENCE_GGA: case MINMEA_SENTENCE_GGA:
@ -49,24 +52,24 @@ void gps_taskFunc(char *line, int len, gps_t *state)
struct minmea_sentence_gga frame; struct minmea_sentence_gga frame;
if (minmea_parse_gga(&frame, line)) if (minmea_parse_gga(&frame, line))
{ {
state->fix_quality = frame.fix_quality; state->gps_data.fix_quality = frame.fix_quality;
state->satellites_tracked = frame.satellites_tracked; state->gps_data.satellites_tracked = frame.satellites_tracked;
state->altitude = minmea_tofloat(&frame.altitude); state->gps_data.altitude = minmea_tofloat(&frame.altitude);
} }
} break; } break;
case MINMEA_SENTENCE_GSA: case MINMEA_SENTENCE_GSA:
{ {
state->active_sats = 0; state->gps_data.active_sats = 0;
struct minmea_sentence_gsa frame; struct minmea_sentence_gsa frame;
if (minmea_parse_gsa(&frame, line)) if (minmea_parse_gsa(&frame, line))
{ {
state->fix_type = frame.fix_type; state->gps_data.fix_type = frame.fix_type;
for (int i = 0; i < 12; i++) for (int i = 0; i < 12; i++)
{ {
if (frame.sats[i] != 0) if (frame.sats[i] != 0)
{ {
state->active_sats |= 1 << (frame.sats[i] - 1); state->gps_data.active_sats |= 1 << (frame.sats[i] - 1);
} }
} }
} }
@ -77,18 +80,18 @@ void gps_taskFunc(char *line, int len, gps_t *state)
struct minmea_sentence_gsv frame; struct minmea_sentence_gsv frame;
if (minmea_parse_gsv(&frame, line)) if (minmea_parse_gsv(&frame, line))
{ {
state->satellites_in_view = frame.total_sats; state->gps_data.satellites_in_view = frame.total_sats;
for (int i = 0; i < 4; i++) for (int i = 0; i < 4; i++)
{ {
int index = 4 * (frame.msg_nr - 1) + i; int index = 4 * (frame.msg_nr - 1) + i;
state->satellites[index].id = frame.sats[i].nr; state->gps_data.satellites[index].id = frame.sats[i].nr;
state->satellites[index].elevation = frame.sats[i].elevation; state->gps_data.satellites[index].elevation = frame.sats[i].elevation;
state->satellites[index].azimuth = frame.sats[i].azimuth; state->gps_data.satellites[index].azimuth = frame.sats[i].azimuth;
state->satellites[index].snr = frame.sats[i].snr; state->gps_data.satellites[index].snr = frame.sats[i].snr;
} }
// Zero out unused satellite slots // Zero out unused satellite slots
if (frame.msg_nr == frame.total_msgs && frame.total_msgs < 3) if (frame.msg_nr == frame.total_msgs && frame.total_msgs < 3)
bzero(&state->satellites[4 * frame.msg_nr], bzero(&state->gps_data.satellites[4 * frame.msg_nr],
sizeof(sat_t) * 12 - frame.total_msgs * 4); sizeof(sat_t) * 12 - frame.total_msgs * 4);
} }
} break; } break;
@ -97,9 +100,9 @@ void gps_taskFunc(char *line, int len, gps_t *state)
{ {
struct minmea_sentence_vtg frame; struct minmea_sentence_vtg frame;
if (minmea_parse_vtg(&frame, line)) { if (minmea_parse_vtg(&frame, line)) {
state->speed = minmea_tofloat(&frame.speed_kph); state->gps_data.speed = minmea_tofloat(&frame.speed_kph);
state->tmg_mag = minmea_tofloat(&frame.magnetic_track_degrees); state->gps_data.tmg_mag = minmea_tofloat(&frame.magnetic_track_degrees);
state->tmg_true = minmea_tofloat(&frame.true_track_degrees); state->gps_data.tmg_true = minmea_tofloat(&frame.true_track_degrees);
} }
} break; } break;

6
openrtx/src/threads.c
Wyświetl plik

@ -319,11 +319,7 @@ static void gps_task(void *arg)
OSMutexPend(&state_mutex, 0u, OS_OPT_PEND_BLOCKING, 0u, &os_err); OSMutexPend(&state_mutex, 0u, OS_OPT_PEND_BLOCKING, 0u, &os_err);
// GPS readout is blocking, no need to delay here // GPS readout is blocking, no need to delay here
gps_taskFunc(line, len, &state.gps_data); gps_taskFunc(line, len, &state);
// Synchronize RTC with GPS UTC clock
if(state.settings.gps_set_time)
rtc_setTime(state.gps_data.timestamp);
// Unlock state mutex // Unlock state mutex
OSMutexPost(&state_mutex, OS_OPT_POST_NONE, &os_err); OSMutexPost(&state_mutex, OS_OPT_POST_NONE, &os_err);