sforkowany z mirror/meshtastic-firmware
route debug output back to the CDC-ACM device instead of JLINK
geeksville
rodzic
db33200468
commit
266ba03bb7
192
src/GPSStatus.h
192
src/GPSStatus.h
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@ -1,126 +1,98 @@
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#pragma once
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#include <Arduino.h>
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#include "Status.h"
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#include "configuration.h"
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#include <Arduino.h>
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namespace meshtastic {
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namespace meshtastic
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{
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/// Describes the state of the GPS system.
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class GPSStatus : public Status
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/// Describes the state of the GPS system.
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class GPSStatus : public Status
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{
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private:
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CallbackObserver<GPSStatus, const GPSStatus *> statusObserver =
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CallbackObserver<GPSStatus, const GPSStatus *>(this, &GPSStatus::updateStatus);
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bool hasLock = false; // default to false, until we complete our first read
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bool isConnected = false; // Do we have a GPS we are talking to
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int32_t latitude = 0, longitude = 0; // as an int mult by 1e-7 to get value as double
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int32_t altitude = 0;
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uint32_t dop = 0; // Diminution of position; PDOP where possible (UBlox), HDOP otherwise (TinyGPS) in 10^2 units (needs
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// scaling before use)
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uint32_t heading = 0;
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uint32_t numSatellites = 0;
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public:
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GPSStatus() { statusType = STATUS_TYPE_GPS; }
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GPSStatus(bool hasLock, bool isConnected, int32_t latitude, int32_t longitude, int32_t altitude, uint32_t dop,
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uint32_t heading, uint32_t numSatellites)
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: Status()
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{
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this->hasLock = hasLock;
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this->isConnected = isConnected;
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this->latitude = latitude;
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this->longitude = longitude;
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this->altitude = altitude;
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this->dop = dop;
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this->heading = heading;
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this->numSatellites = numSatellites;
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}
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GPSStatus(const GPSStatus &);
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GPSStatus &operator=(const GPSStatus &);
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private:
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CallbackObserver<GPSStatus, const GPSStatus *> statusObserver = CallbackObserver<GPSStatus, const GPSStatus *>(this, &GPSStatus::updateStatus);
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void observe(Observable<const GPSStatus *> *source) { statusObserver.observe(source); }
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bool hasLock = false; // default to false, until we complete our first read
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bool isConnected = false; // Do we have a GPS we are talking to
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int32_t latitude = 0, longitude = 0; // as an int mult by 1e-7 to get value as double
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int32_t altitude = 0;
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uint32_t dop = 0; // Diminution of position; PDOP where possible (UBlox), HDOP otherwise (TinyGPS) in 10^2 units (needs scaling before use)
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uint32_t heading = 0;
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uint32_t numSatellites = 0;
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bool getHasLock() const { return hasLock; }
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public:
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bool getIsConnected() const { return isConnected; }
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GPSStatus() {
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statusType = STATUS_TYPE_GPS;
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}
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GPSStatus( bool hasLock, bool isConnected, int32_t latitude, int32_t longitude, int32_t altitude, uint32_t dop, uint32_t heading, uint32_t numSatellites ) : Status()
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int32_t getLatitude() const { return latitude; }
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int32_t getLongitude() const { return longitude; }
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int32_t getAltitude() const { return altitude; }
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uint32_t getDOP() const { return dop; }
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uint32_t getHeading() const { return heading; }
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uint32_t getNumSatellites() const { return numSatellites; }
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bool matches(const GPSStatus *newStatus) const
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{
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return (newStatus->hasLock != hasLock || newStatus->isConnected != isConnected || newStatus->latitude != latitude ||
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newStatus->longitude != longitude || newStatus->altitude != altitude || newStatus->dop != dop ||
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newStatus->heading != heading || newStatus->numSatellites != numSatellites);
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}
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int updateStatus(const GPSStatus *newStatus)
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{
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// Only update the status if values have actually changed
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bool isDirty;
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{
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this->hasLock = hasLock;
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this->isConnected = isConnected;
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this->latitude = latitude;
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this->longitude = longitude;
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this->altitude = altitude;
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this->dop = dop;
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this->heading = heading;
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this->numSatellites = numSatellites;
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isDirty = matches(newStatus);
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initialized = true;
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hasLock = newStatus->hasLock;
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isConnected = newStatus->isConnected;
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latitude = newStatus->latitude;
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longitude = newStatus->longitude;
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altitude = newStatus->altitude;
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dop = newStatus->dop;
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heading = newStatus->heading;
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numSatellites = newStatus->numSatellites;
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}
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GPSStatus(const GPSStatus &);
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GPSStatus &operator=(const GPSStatus &);
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void observe(Observable<const GPSStatus *> *source)
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{
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statusObserver.observe(source);
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if (isDirty) {
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if (hasLock)
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DEBUG_MSG("New GPS pos lat=%f, lon=%f, alt=%d, pdop=%f, heading=%f, sats=%d\n", latitude * 1e-7, longitude * 1e-7,
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altitude, dop * 1e-2, heading * 1e-5, numSatellites);
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else
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DEBUG_MSG("No GPS lock\n");
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onNewStatus.notifyObservers(this);
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}
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return 0;
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}
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};
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bool getHasLock() const
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{
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return hasLock;
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}
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bool getIsConnected() const
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{
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return isConnected;
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}
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int32_t getLatitude() const
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{
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return latitude;
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}
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int32_t getLongitude() const
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{
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return longitude;
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}
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int32_t getAltitude() const
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{
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return altitude;
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}
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uint32_t getDOP() const
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{
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return dop;
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}
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uint32_t getHeading() const
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{
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return heading;
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}
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uint32_t getNumSatellites() const
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{
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return numSatellites;
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}
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bool matches(const GPSStatus *newStatus) const
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{
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return (
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newStatus->hasLock != hasLock ||
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newStatus->isConnected != isConnected ||
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newStatus->latitude != latitude ||
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newStatus->longitude != longitude ||
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newStatus->altitude != altitude ||
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newStatus->dop != dop ||
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newStatus->heading != heading ||
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newStatus->numSatellites != numSatellites
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);
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}
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int updateStatus(const GPSStatus *newStatus) {
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// Only update the status if values have actually changed
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bool isDirty;
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{
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isDirty = matches(newStatus);
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initialized = true;
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hasLock = newStatus->hasLock;
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isConnected = newStatus->isConnected;
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latitude = newStatus->latitude;
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longitude = newStatus->longitude;
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altitude = newStatus->altitude;
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dop = newStatus->dop;
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heading = newStatus->heading;
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numSatellites = newStatus->numSatellites;
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}
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if(isDirty) {
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DEBUG_MSG("New GPS pos lat=%f, lon=%f, alt=%d, pdop=%f, heading=%f, sats=%d\n", latitude * 1e-7, longitude * 1e-7, altitude, dop * 1e-2, heading * 1e-5, numSatellites);
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onNewStatus.notifyObservers(this);
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}
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return 0;
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}
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};
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}
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} // namespace meshtastic
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extern meshtastic::GPSStatus *gpsStatus;
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@ -81,7 +81,7 @@ void NMEAGPS::loop()
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}
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// expect gps pos lat=37.520825, lon=-122.309162, alt=158
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DEBUG_MSG("new NMEA GPS pos lat=%f, lon=%f, alt=%d, hdop=%f, heading=%f\n", latitude * 1e-7, longitude * 1e-7,
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DEBUG_MSG("new NMEA GPS pos lat=%f, lon=%f, alt=%d, hdop=%g, heading=%f\n", latitude * 1e-7, longitude * 1e-7,
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altitude, dop * 1e-2, heading * 1e-5);
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}
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@ -29,6 +29,7 @@
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fix bootloader to use two buttons - remove bootloader hacks
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fix battery voltage sensing
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fix floating point SEGGER printf on nrf52 - see "new NMEA GPS pos"
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get second button working in app load
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if battery falls too low deassert PWR_ON (to force board to shutdown)
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fix display width and height
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@ -201,7 +202,7 @@ FIXME define/FIX flash access
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#define PIN_SPI_SCK (0 + 19)
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// To debug via the segger JLINK console rather than the CDC-ACM serial device
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#define USE_SEGGER
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// #define USE_SEGGER
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#ifdef __cplusplus
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}
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