kopia lustrzana https://github.com/bristol-seds/pico-tracker
[gps_osp] Add gps_get_data wrapper, reinitialises GPS if required
Richard Meadows
rodzic
6d48d514fe
commit
c7050a1fb7
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@ -103,9 +103,12 @@ struct gps_data_t {
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enum gps_error gps_get_error_state(void);
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struct gps_data_t gps_get_data(void);
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struct gps_data_t gps_get_data_wrapped(void);
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void gps_setup(void);
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void gps_reinit(void);
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#endif /* GPS_TYPE_OSP */
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@ -37,6 +37,7 @@
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#include "osp_messages.h"
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#include "gps.h"
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#include "watchdog.h"
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#include "init.h" /* leds etc */
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/**
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* Internal buffers and things
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@ -314,7 +315,6 @@ void osp_process_ack(osp_message_id_t message_id, enum osp_packet_state state)
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}
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}
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}
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#include "init.h"
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/**
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* Process a single osp frame. Runs in the IRQ so should be short and sweet.
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*/
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@ -568,6 +568,8 @@ struct gps_data_t gps_get_data(void)
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/* Take the GPS out of hibernate*/
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gps_make_active();
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int j = 0;
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for (i = 0; i < 60; i++) { /* 60 seconds */
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while (osp_out_geodetic_navigation_data.state != OSP_PACKET_UPDATED) {
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@ -588,6 +590,10 @@ struct gps_data_t gps_get_data(void)
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((osp_out_geodetic_navigation_data.payload.nav_type & 0x7) != 0) && /* Currently have this fix */
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(osp_out_geodetic_navigation_data.payload.estimated_vertical_position_error < 100*100)) /* < 100m error */
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{
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j++;
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}
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if (j > 10) {
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/* GPS back to hibernate */
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gps_make_hibernate();
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@ -638,6 +644,65 @@ struct gps_data_t gps_get_data(void)
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}
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/**
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* =============================================================================
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* Wrapped get data ============================================================
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* =============================================================================
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*/
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/* Number of times called */
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uint8_t gd_count = 0;
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//#define GD_COUNT_MAX (360) /* GPS is good for about a day @15 per hour */
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#define GD_COUNT_MAX (10) /* testing */
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/* No lock */
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uint8_t gd_nolock_count = 0;
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#define GD_NOLOCK_COUNT_MAX (10)
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/* Invalid if position is outside the range we expect */
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uint8_t gd_invalid_count = 0;
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#define GD_INVALID_COUNT_MAX (3)
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#define GD_INVALID_50M_ALITUDE (50*1000) /* mm */
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#define GD_INVALID_20KM_ALTITUDE (20*1000*1000) /* mm */
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/**
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* gps_get_data, but with re-initialisation as required
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*/
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struct gps_data_t gps_get_data_wrapped(void)
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{
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if ((gd_count > GD_COUNT_MAX) ||
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(gd_nolock_count > GD_NOLOCK_COUNT_MAX) ||
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(gd_invalid_count > GD_INVALID_COUNT_MAX)) {
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/* reinitialise */
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gps_reinit();
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/* and reset this */
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gd_count = 0;
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gd_nolock_count = 0;
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gd_invalid_count = 0;
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}
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struct gps_data_t data = gps_get_data();
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/* Always increment count */
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gd_count++;
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/* No lock */
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if (data.is_locked == 0) {
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gd_nolock_count++;
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} else {
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gd_nolock_count = 0;
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}
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/* Invalid */
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if ((data.altitude < GD_INVALID_50M_ALITUDE) || (data.altitude > GD_INVALID_20KM_ALTITUDE)) {
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gd_invalid_count++;
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} else {
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gd_invalid_count = 0;
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}
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return data;
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}
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/**
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* =============================================================================
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* Low Power ===================================================================
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@ -747,6 +812,14 @@ void osp_set_messages(void)
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_osp_send_message((osp_message_t*)&config,
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(uint8_t*)&config.payload,
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sizeof(config.payload));
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/* Enable 1pps time */
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config.payload.mode = OSP_SET_MESSAGE_RATE_ONE;
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config.payload.message_id = OSP_OUT_1PPS_TIME_ID;
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config.payload.update_rate = 1; /* Once per second */
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_osp_send_message((osp_message_t*)&config,
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(uint8_t*)&config.payload,
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sizeof(config.payload));
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}
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/**
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@ -771,7 +844,7 @@ void osp_send_hw_config_resp(void)
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OSP_HW_CONFIG_FREQUENCY_REFCLK_OFF
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);
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config.payload.nominal_frequency_high = 0;
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config.payload.nominal_frequency_low = 1*1000; /* 1Hz */
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config.payload.nominal_frequency_low = 0;//1*1000; /* 1Hz */
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config.payload.network_enhancement_type = 0; /* No enhancement */
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osp_in_hardware_configuration_response_pre(&config);
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@ -983,31 +1056,10 @@ void gps_usart_init_enable(uint32_t baud_rate)
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usart_enable(GPS_SERCOM);
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}
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/* void gps_usart_init_disable(void) */
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/* { */
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/* usart_disable(GPS_SERCOM); */
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/* system_pinmux_pin_set_config(GPS_SERCOM_MOGI_PIN, */
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/* SYSTEM_PINMUX_GPIO, */
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/* SYSTEM_PINMUX_PIN_DIR_OUTPUT, */
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/* SYSTEM_PINMUX_PIN_PULL_NONE, */
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/* true); */
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/* system_pinmux_pin_set_config(GPS_SERCOM_MIGO_PIN, */
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/* SYSTEM_PINMUX_GPIO, */
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/* SYSTEM_PINMUX_PIN_DIR_OUTPUT, */
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/* SYSTEM_PINMUX_PIN_PULL_NONE, */
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/* true); */
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/* system_pinmux_pin_set_config(GPS_TIMEPULSE_PIN, */
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/* SYSTEM_PINMUX_GPIO, */
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/* SYSTEM_PINMUX_PIN_DIR_OUTPUT, */
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/* SYSTEM_PINMUX_PIN_PULL_NONE, */
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/* true); */
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/* system_pinmux_pin_set_config(GPS_SE_ON_OFF_PIN, */
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/* SYSTEM_PINMUX_GPIO, */
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/* SYSTEM_PINMUX_PIN_DIR_OUTPUT, */
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/* SYSTEM_PINMUX_PIN_PULL_NONE, */
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/* true); */
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/* } */
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void gps_usart_init_disable(void)
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{
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usart_disable(GPS_SERCOM);
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}
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/**
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* GPS reset pin
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@ -1065,13 +1117,32 @@ void gps_init(void)
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/* ---- GPS Configuration ---- */
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/* We need to wait for the GPS 32kHz clock to start (~300ms). TODO: more robust method for this */
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for (int i = 0; i < 300*1000; i++);
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/* Close any currently running session. Doesn't do anything unless debugging */
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//osp_reset_initialise(); /* hopefully don't need this now */
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/* Setup sequence */
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gps_setup();
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}
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/**
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* Re-initialise
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*/
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void gps_reinit(void)
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{
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/* Place GPS in reset */
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gps_reset_enter();
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/* Wait for about 3 seconds, kicking the watchdog along the way. TODO: more robust method for this */
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for (int j = 0; j < 10; j++) {
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for (int i = 0; i < 300*1000; i++);
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kick_the_watchdog();
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}
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/* Initialise as normal */
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gps_init();
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}
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/**
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* Quick and dirty loopback test. Should print 0x34
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@ -144,9 +144,6 @@ void init(enum init_type init_t)
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/* Telemetry init depends on gclk */
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telemetry_init();
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/* We need to wait for the GPS 32kHz clock to start (~300ms). TODO: more robust method for this */
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for (int i = 0; i < 300*1000; i++);
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/* GPS init */
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gps_init();
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}
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