diff --git a/src/GPS.cpp b/src/GPS.cpp index ce28f3d03..a4a3f20ff 100644 --- a/src/GPS.cpp +++ b/src/GPS.cpp @@ -1,25 +1,25 @@ #include "GPS.h" +#include "configuration.h" #include "time.h" #include -#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); }