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Use int based lat/long from now on in the device code 

for https://github.com/meshtastic/Meshtastic-device/issues/124
pull/125/head
geeksville 2020-05-04 08:09:08 -07:00
rodzic 29fd8dc7a5
commit 9b309fe0a0
8 zmienionych plików z 31 dodań i 38 usunięć
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2
docs/software/nrf52-TODO.md
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@ -9,7 +9,7 @@ Minimum items needed to make sure hardware is good.
- plug in correct variants for the real board
- Use the PMU driver on real hardware
- add a NEMA based GPS driver to test GPS
- Use new radio driver on real hardware - possibly start with https://os.mbed.com/teams/Semtech/code/SX126xLib/
- Use new radio driver on real hardware
- Use UC1701 LCD driver on real hardware. Still need to create at startup and probe on SPI
- test the LEDs
- test the buttons

2
proto

@ -1 +1 @@
Subproject commit bd002e5a144f209e42c97b64fea9a05a2e513b28
Subproject commit cabbdf51ed365b72ab995ad24b075269627f58ad

8
src/GPS.cpp
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@ -48,7 +48,7 @@ void GPS::setup()
isConnected = ublox.begin(_serial_gps);
if (isConnected) {
DEBUG_MSG("Connected to GPS successfully\n");
DEBUG_MSG("Connected to UBLOX GPS successfully\n");
bool factoryReset = false;
bool ok;
@ -191,10 +191,10 @@ The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of s
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;
latitude = ublox.getLatitude();
longitude = ublox.getLongitude();
altitude = ublox.getAltitude() / 1000; // in mm convert to meters
DEBUG_MSG("new gps pos lat=%f, lon=%f, alt=%d\n", latitude, longitude, altitude);
DEBUG_MSG("new gps pos lat=%f, lon=%f, alt=%d\n", latitude * 1e-7, longitude * 1e-7, altitude);
hasValidLocation = (latitude != 0) || (longitude != 0); // bogus lat lon is reported as 0,0
if (hasValidLocation) {

3
src/GPS.h
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@ -15,7 +15,7 @@ class GPS : public PeriodicTask, public Observable<void *>
SFE_UBLOX_GPS ublox;
public:
double latitude, longitude;
uint32_t latitude, longitude; // as an int mult by 1e-7 to get value as double
uint32_t altitude;
bool isConnected; // Do we have a GPS we are talking to
@ -29,7 +29,6 @@ class GPS : public PeriodicTask, public Observable<void *>
void setup();
virtual void doTask();
/// If we haven't yet set our RTC this boot, set it from a GPS derived time

7
src/mesh/MeshService.cpp
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@ -269,8 +269,7 @@ void MeshService::sendToMesh(MeshPacket *p)
if (p->to == nodeDB.getNodeNum()) {
DEBUG_MSG("Dropping locally processed message\n");
releaseToPool(p);
}
else {
} else {
// Note: We might return !OK if our fifo was full, at that point the only option we have is to drop it
if (router.send(p) != ERRNO_OK) {
DEBUG_MSG("No radio was able to send packet, discarding...\n");
@ -333,8 +332,8 @@ int MeshService::onGPSChanged(void *unused)
if (gps.latitude != 0 || gps.longitude != 0) {
if (gps.altitude != 0)
pos.altitude = gps.altitude;
pos.latitude = gps.latitude;
pos.longitude = gps.longitude;
pos.latitude_i = gps.latitude;
pos.longitude_i = gps.longitude;
pos.time = gps.getValidTime();
}

8
src/mesh/mesh.pb.c
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@ -55,11 +55,3 @@ PB_BIND(ToRadio, ToRadio, 2)
#ifndef PB_CONVERT_DOUBLE_FLOAT
/* On some platforms (such as AVR), double is really float.
* To be able to encode/decode double on these platforms, you need.
* to define PB_CONVERT_DOUBLE_FLOAT in pb.h or compiler command line.
*/
PB_STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES)
#endif

28
src/mesh/mesh.pb.h
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@ -66,11 +66,11 @@ typedef struct _MyNodeInfo {
} MyNodeInfo;
typedef struct _Position {
double latitude;
double longitude;
int32_t altitude;
int32_t battery_level;
uint32_t time;
int32_t latitude_i;
int32_t longitude_i;
} Position;
typedef struct _RadioConfig_UserPreferences {
@ -237,8 +237,8 @@ typedef struct _ToRadio {
#define MyNodeInfo_error_code_tag 7
#define MyNodeInfo_error_address_tag 8
#define MyNodeInfo_error_count_tag 9
#define Position_latitude_tag 1
#define Position_longitude_tag 2
#define Position_latitude_i_tag 7
#define Position_longitude_i_tag 8
#define Position_altitude_tag 3
#define Position_battery_level_tag 4
#define Position_time_tag 6
@ -297,11 +297,11 @@ typedef struct _ToRadio {
/* Struct field encoding specification for nanopb */
#define Position_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, DOUBLE, latitude, 1) \
X(a, STATIC, SINGULAR, DOUBLE, longitude, 2) \
X(a, STATIC, SINGULAR, INT32, altitude, 3) \
X(a, STATIC, SINGULAR, INT32, battery_level, 4) \
X(a, STATIC, SINGULAR, UINT32, time, 6)
X(a, STATIC, SINGULAR, UINT32, time, 6) \
X(a, STATIC, SINGULAR, INT32, latitude_i, 7) \
X(a, STATIC, SINGULAR, INT32, longitude_i, 8)
#define Position_CALLBACK NULL
#define Position_DEFAULT NULL
@ -486,21 +486,21 @@ extern const pb_msgdesc_t ToRadio_msg;
#define ToRadio_fields &ToRadio_msg
/* Maximum encoded size of messages (where known) */
#define Position_size 46
#define Position_size 50
#define Data_size 256
#define User_size 72
/* RouteDiscovery_size depends on runtime parameters */
#define SubPacket_size 383
#define MeshPacket_size 425
#define SubPacket_size 387
#define MeshPacket_size 429
#define ChannelSettings_size 44
#define RadioConfig_size 120
#define RadioConfig_UserPreferences_size 72
#define NodeInfo_size 138
#define NodeInfo_size 142
#define MyNodeInfo_size 85
#define DeviceState_size 18925
#define DeviceState_size 19185
#define DebugString_size 258
#define FromRadio_size 434
#define ToRadio_size 428
#define FromRadio_size 438
#define ToRadio_size 432
#ifdef __cplusplus
} /* extern "C" */

11
src/screen.cpp
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@ -280,7 +280,7 @@ static float estimatedHeading(double lat, double lon)
/// valid lat/lon
static bool hasPosition(NodeInfo *n)
{
return n->has_position && (n->position.latitude != 0 || n->position.longitude != 0);
return n->has_position && (n->position.latitude_i != 0 || n->position.longitude_i != 0);
}
/// We will skip one node - the one for us, so we just blindly loop over all
@ -288,6 +288,9 @@ static bool hasPosition(NodeInfo *n)
static size_t nodeIndex;
static int8_t prevFrame = -1;
/// Convert an integer GPS coords to a floating point
#define DegD(i) (i * 1e-7)
static void drawNodeInfo(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t y)
{
// We only advance our nodeIndex if the frame # has changed - because
@ -334,7 +337,7 @@ static void drawNodeInfo(OLEDDisplay *display, OLEDDisplayUiState *state, int16_
NodeInfo *ourNode = nodeDB.getNode(nodeDB.getNodeNum());
if (ourNode && hasPosition(ourNode) && hasPosition(node)) {
Position &op = ourNode->position, &p = node->position;
float d = latLongToMeter(p.latitude, p.longitude, op.latitude, op.longitude);
float d = latLongToMeter(DegD(p.latitude_i), DegD(p.longitude_i), DegD(op.latitude_i), DegD(op.longitude_i));
if (d < 2000)
snprintf(distStr, sizeof(distStr), "%.0f m", d);
else
@ -342,8 +345,8 @@ static void drawNodeInfo(OLEDDisplay *display, OLEDDisplayUiState *state, int16_
// FIXME, also keep the guess at the operators heading and add/substract
// it. currently we don't do this and instead draw north up only.
float bearingToOther = bearing(p.latitude, p.longitude, op.latitude, op.longitude);
float myHeading = estimatedHeading(p.latitude, p.longitude);
float bearingToOther = bearing(DegD(p.latitude_i), DegD(p.longitude_i), DegD(op.latitude_i), DegD(op.longitude_i));
float myHeading = estimatedHeading(DegD(p.latitude_i), DegD(p.longitude_i));
headingRadian = bearingToOther - myHeading;
} else {
// Debug info for gps lock errors