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allow gpses which only have the RX pin connected to also work. 

(and because I'm lazy, let the autoreformat rule work on this file)
pull/43/head
geeksville 2020-03-18 09:16:44 -07:00
rodzic f002bee4f4
commit 0ac218b06d
1 zmienionych plików z 74 dodań i 81 usunięć
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155
src/GPS.cpp
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@ -1,25 +1,25 @@
#include "GPS.h"
#include "configuration.h"
#include "time.h"
#include <sys/time.h>
#include "configuration.h"
HardwareSerial _serial_gps(GPS_SERIAL_NUM);
RTC_DATA_ATTR bool timeSetFromGPS; // We only reset our time once per _boot_ after that point just run from the internal clock (even across sleeps)
RTC_DATA_ATTR bool timeSetFromGPS; // We only reset our time once per _boot_ after that point just run from the internal clock
// (even across sleeps)
GPS gps;
// stuff that really should be in in the instance instead...
static uint32_t timeStartMsec; // Once we have a GPS lock, this is where we hold the initial msec clock that corresponds to that time
static uint32_t
timeStartMsec; // Once we have a GPS lock, this is where we hold the initial msec clock that corresponds to that time
static uint64_t zeroOffsetSecs; // GPS based time in secs since 1970 - only updated once on initial lock
static bool hasValidLocation; // default to false, until we complete our first read
static bool wantNewLocation = true;
GPS::GPS() : PeriodicTask()
{
}
GPS::GPS() : PeriodicTask() {}
void GPS::setup()
{
@ -37,48 +37,43 @@ void GPS::setup()
// try a second time, the ublox lib serial parsing is buggy?
// if(!isConnected) isConnected = ublox.begin(_serial_gps);
if (isConnected)
{
if (isConnected) {
DEBUG_MSG("Connected to GPS successfully, TXpin=%d\n", GPS_TX_PIN);
bool factoryReset = false;
bool ok;
if (factoryReset)
{
// It is useful to force back into factory defaults (9600baud, NEMA to test the behavior of boards that don't have GPS_TX connected)
if (factoryReset) {
// It is useful to force back into factory defaults (9600baud, NEMA to test the behavior of boards that don't have
// GPS_TX connected)
ublox.factoryReset();
delay(2000);
isConnected = ublox.begin(_serial_gps);
DEBUG_MSG("Factory reset success=%d\n", isConnected);
if (isConnected)
{
if (isConnected) {
ublox.assumeAutoPVT(true, true); // Just parse NEMA for now
}
}
else
{
} else {
ok = ublox.setUART1Output(COM_TYPE_UBX, 500); // Use native API
assert(ok);
ok = ublox.setNavigationFrequency(1, 500); //Produce 4x/sec to keep the amount of time we stall in getPVT low
ok = ublox.setNavigationFrequency(1, 500); // Produce 4x/sec to keep the amount of time we stall in getPVT low
assert(ok);
//ok = ublox.setAutoPVT(false); // Not implemented on NEO-6M
//assert(ok);
//ok = ublox.setDynamicModel(DYN_MODEL_BIKE); // probably PEDESTRIAN but just in case assume bike speeds
//assert(ok);
ok = ublox.powerSaveMode(); //use power save mode
// ok = ublox.setAutoPVT(false); // Not implemented on NEO-6M
// assert(ok);
// ok = ublox.setDynamicModel(DYN_MODEL_BIKE); // probably PEDESTRIAN but just in case assume bike speeds
// assert(ok);
ok = ublox.powerSaveMode(); // use power save mode
assert(ok);
}
ok = ublox.saveConfiguration(2000);
assert(ok);
}
else
{
} else {
// Some boards might have only the TX line from the GPS connected, in that case, we can't configure it at all. Just
// assume NEMA at 9600 baud.
DEBUG_MSG("ERROR: No bidirectional GPS found, hoping that it still might work\n");
// tell lib, we are expecting the module to send PVT messages by itself to our Rx pin
// you can set second parameter to "false" if you want to control the parsing and eviction of the data (need to call checkUblox cyclically)
// you can set second parameter to "false" if you want to control the parsing and eviction of the data (need to call
// checkUblox cyclically)
ublox.assumeAutoPVT(true, true);
}
#endif
@ -88,8 +83,7 @@ void GPS::readFromRTC()
{
struct timeval tv; /* btw settimeofday() is helpfull here too*/
if (!gettimeofday(&tv, NULL))
{
if (!gettimeofday(&tv, NULL)) {
uint32_t now = millis();
DEBUG_MSG("Read RTC time as %ld (cur millis %u) valid=%d\n", tv.tv_sec, now, timeSetFromGPS);
@ -101,8 +95,7 @@ void GPS::readFromRTC()
/// If we haven't yet set our RTC this boot, set it from a GPS derived time
void GPS::perhapsSetRTC(const struct timeval *tv)
{
if (!timeSetFromGPS)
{
if (!timeSetFromGPS) {
timeSetFromGPS = true;
DEBUG_MSG("Setting RTC %ld secs\n", tv->tv_sec);
settimeofday(tv, NULL);
@ -144,67 +137,67 @@ void GPS::prepareSleep()
void GPS::doTask()
{
#ifdef GPS_RX_PIN
if (isConnected)
{
uint8_t fixtype = 3; // If we are only using the RX pin, assume we have a 3d fix
if (isConnected) {
// Consume all characters that have arrived
// getPVT automatically calls checkUblox
ublox.checkUblox(); //See if new data is available. Process bytes as they come in.
// DEBUG_MSG("sec %d\n", ublox.getSecond());
// DEBUG_MSG("lat %d\n", ublox.getLatitude());
ublox.checkUblox(); // See if new data is available. Process bytes as they come in.
// If we don't have a fix (a quick check), don't try waiting for a solution)
uint8_t fixtype = ublox.getFixType();
DEBUG_MSG("fix type %d\n", fixtype);
// any fix that has time
if ((fixtype >= 2 && fixtype <= 5) && !timeSetFromGPS && ublox.getT())
{
struct timeval tv;
/* Convert to unix time
The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of seconds that have elapsed since January 1, 1970 (midnight UTC/GMT), not counting leap seconds (in ISO 8601: 1970-01-01T00:00:00Z).
*/
struct tm t;
t.tm_sec = ublox.getSecond();
t.tm_min = ublox.getMinute();
t.tm_hour = ublox.getHour();
t.tm_mday = ublox.getDay();
t.tm_mon = ublox.getMonth() - 1;
t.tm_year = ublox.getYear() - 1900;
t.tm_isdst = false;
time_t res = mktime(&t);
tv.tv_sec = res;
tv.tv_usec = 0; // time.centisecond() * (10 / 1000);
DEBUG_MSG("Got time from GPS month=%d, year=%d, unixtime=%ld\n", t.tm_mon, t.tm_year, tv.tv_sec);
perhapsSetRTC(&tv);
}
if ((fixtype >= 3 && fixtype <= 4) && ublox.getP()) // rd fixes only
{
// we only notify if position has changed
latitude = ublox.getLatitude() * 1e-7;
longitude = ublox.getLongitude() * 1e-7;
altitude = ublox.getAltitude() / 1000; // in mm convert to meters
DEBUG_MSG("new gps pos lat=%f, lon=%f, alt=%d\n", latitude, longitude, altitude);
hasValidLocation = (latitude != 0) || (longitude != 0); // bogus lat lon is reported as 0,0
if (hasValidLocation)
{
wantNewLocation = false;
notifyObservers();
//ublox.powerOff();
}
}
else // we didn't get a location update, go back to sleep and hope the characters show up
wantNewLocation = true;
}
// DEBUG_MSG("sec %d\n", ublox.getSecond());
// DEBUG_MSG("lat %d\n", ublox.getLatitude());
// any fix that has time
if ((fixtype >= 2 && fixtype <= 5) && !timeSetFromGPS && ublox.getT()) {
struct timeval tv;
/* Convert to unix time
The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of seconds that have elapsed since January 1, 1970
(midnight UTC/GMT), not counting leap seconds (in ISO 8601: 1970-01-01T00:00:00Z).
*/
struct tm t;
t.tm_sec = ublox.getSecond();
t.tm_min = ublox.getMinute();
t.tm_hour = ublox.getHour();
t.tm_mday = ublox.getDay();
t.tm_mon = ublox.getMonth() - 1;
t.tm_year = ublox.getYear() - 1900;
t.tm_isdst = false;
time_t res = mktime(&t);
tv.tv_sec = res;
tv.tv_usec = 0; // time.centisecond() * (10 / 1000);
DEBUG_MSG("Got time from GPS month=%d, year=%d, unixtime=%ld\n", t.tm_mon, t.tm_year, tv.tv_sec);
perhapsSetRTC(&tv);
}
if ((fixtype >= 3 && fixtype <= 4) && ublox.getP()) // rd fixes only
{
// we only notify if position has changed
latitude = ublox.getLatitude() * 1e-7;
longitude = ublox.getLongitude() * 1e-7;
altitude = ublox.getAltitude() / 1000; // in mm convert to meters
DEBUG_MSG("new gps pos lat=%f, lon=%f, alt=%d\n", latitude, longitude, altitude);
hasValidLocation = (latitude != 0) || (longitude != 0); // bogus lat lon is reported as 0,0
if (hasValidLocation) {
wantNewLocation = false;
notifyObservers();
// ublox.powerOff();
}
} else // we didn't get a location update, go back to sleep and hope the characters show up
wantNewLocation = true;
#endif
// Once we have sent a location once we only poll the GPS rarely, otherwise check back every 1s until we have something over the serial
// Once we have sent a location once we only poll the GPS rarely, otherwise check back every 1s until we have something over
// the serial
setPeriod(hasValidLocation && !wantNewLocation ? 30 * 1000 : 10 * 1000);
}