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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
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53
openrtx/src/gps.c
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@ -25,23 +25,26 @@
/**
* 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)) {
case MINMEA_SENTENCE_RMC:
{
struct minmea_sentence_rmc frame;
if (minmea_parse_rmc(&frame, line)) {
state->latitude = minmea_tocoord(&frame.latitude);
state->longitude = minmea_tocoord(&frame.longitude);
state->timestamp.hour = frame.time.hours;
state->timestamp.minute = frame.time.minutes;
state->timestamp.second = frame.time.seconds - 1;
state->timestamp.day = 0;
state->timestamp.date = frame.date.day;
state->timestamp.month = frame.date.month;
state->timestamp.year = frame.date.year;
state->gps_data.latitude = minmea_tocoord(&frame.latitude);
state->gps_data.longitude = minmea_tocoord(&frame.longitude);
state->gps_data.timestamp.hour = frame.time.hours;
state->gps_data.timestamp.minute = frame.time.minutes;
state->gps_data.timestamp.second = frame.time.seconds + 1;
state->gps_data.timestamp.day = 0;
state->gps_data.timestamp.date = frame.date.day;
state->gps_data.timestamp.month = frame.date.month;
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;
case MINMEA_SENTENCE_GGA:
@ -49,24 +52,24 @@ void gps_taskFunc(char *line, int len, gps_t *state)
struct minmea_sentence_gga frame;
if (minmea_parse_gga(&frame, line))
{
state->fix_quality = frame.fix_quality;
state->satellites_tracked = frame.satellites_tracked;
state->altitude = minmea_tofloat(&frame.altitude);
state->gps_data.fix_quality = frame.fix_quality;
state->gps_data.satellites_tracked = frame.satellites_tracked;
state->gps_data.altitude = minmea_tofloat(&frame.altitude);
}
} break;
case MINMEA_SENTENCE_GSA:
{
state->active_sats = 0;
state->gps_data.active_sats = 0;
struct minmea_sentence_gsa frame;
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++)
{
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;
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++)
{
int index = 4 * (frame.msg_nr - 1) + i;
state->satellites[index].id = frame.sats[i].nr;
state->satellites[index].elevation = frame.sats[i].elevation;
state->satellites[index].azimuth = frame.sats[i].azimuth;
state->satellites[index].snr = frame.sats[i].snr;
state->gps_data.satellites[index].id = frame.sats[i].nr;
state->gps_data.satellites[index].elevation = frame.sats[i].elevation;
state->gps_data.satellites[index].azimuth = frame.sats[i].azimuth;
state->gps_data.satellites[index].snr = frame.sats[i].snr;
}
// Zero out unused satellite slots
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);
}
} break;
@ -97,9 +100,9 @@ void gps_taskFunc(char *line, int len, gps_t *state)
{
struct minmea_sentence_vtg frame;
if (minmea_parse_vtg(&frame, line)) {
state->speed = minmea_tofloat(&frame.speed_kph);
state->tmg_mag = minmea_tofloat(&frame.magnetic_track_degrees);
state->tmg_true = minmea_tofloat(&frame.true_track_degrees);
state->gps_data.speed = minmea_tofloat(&frame.speed_kph);
state->gps_data.tmg_mag = minmea_tofloat(&frame.magnetic_track_degrees);
state->gps_data.tmg_true = minmea_tofloat(&frame.true_track_degrees);
}
} break;

6
openrtx/src/threads.c
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@ -319,11 +319,7 @@ static void gps_task(void *arg)
OSMutexPend(&state_mutex, 0u, OS_OPT_PEND_BLOCKING, 0u, &os_err);
// GPS readout is blocking, no need to delay here
gps_taskFunc(line, len, &state.gps_data);
// Synchronize RTC with GPS UTC clock
if(state.settings.gps_set_time)
rtc_setTime(state.gps_data.timestamp);
gps_taskFunc(line, len, &state);
// Unlock state mutex
OSMutexPost(&state_mutex, OS_OPT_POST_NONE, &os_err);