sforkowany z mirror/meshtastic-firmware
Merge pull request #248 from Professr/issue#199
Issue#199 update - add satellite info, change DOP display, add compass rose1.2-legacy
Kevin Hester
GitHub
commit
29c8543f87
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@ -17,13 +17,15 @@ namespace meshtastic {
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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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public:
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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 ) : Status()
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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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{
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this->hasLock = hasLock;
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this->isConnected = isConnected;
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@ -31,6 +33,8 @@ namespace meshtastic {
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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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@ -70,6 +74,16 @@ namespace meshtastic {
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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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@ -78,7 +92,9 @@ namespace meshtastic {
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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->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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@ -93,9 +109,11 @@ namespace meshtastic {
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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\n", latitude * 1e-7, longitude * 1e-7, altitude, dop * 1e-2);
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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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@ -36,6 +36,8 @@ class GPS : public Observable<void *>
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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; // Heading of motion, in degrees * 10^-5
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uint32_t numSatellites = 0;
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bool isConnected = false; // Do we have a GPS we are talking to
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@ -54,12 +54,18 @@ void NEMAGPS::loop()
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longitude = toDegInt(loc.lng);
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}
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// Diminution of precision (an accuracy metric) is reported in 10^2 units, so we need to scale down when we use it
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if(reader.hdop.isValid()) {
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if (reader.hdop.isValid()) {
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dop = reader.hdop.value();
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}
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if (reader.course.isValid()) {
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heading = reader.course.value() * 1e3; //Scale the heading (in degrees * 10^-2) to match the expected degrees * 10^-5
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}
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if (reader.satellites.isValid()) {
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numSatellites = reader.satellites.value();
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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 NEMA GPS pos lat=%f, lon=%f, alt=%d, hdop=%f\n", latitude * 1e-7, longitude * 1e-7, altitude, dop * 1e-2);
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DEBUG_MSG("new NEMA GPS pos lat=%f, lon=%f, alt=%d, hdop=%f, heading=%f\n", latitude * 1e-7, longitude * 1e-7, altitude, dop * 1e-2, heading * 1e-5);
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hasValidLocation = (latitude != 0) || (longitude != 0); // bogus lat lon is reported as 0,0
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if (hasValidLocation)
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@ -67,7 +73,7 @@ void NEMAGPS::loop()
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}
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// Notify any status instances that are observing us
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const meshtastic::GPSStatus status = meshtastic::GPSStatus(hasLock(), isConnected, latitude, longitude, altitude, dop);
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const meshtastic::GPSStatus status = meshtastic::GPSStatus(hasLock(), isConnected, latitude, longitude, altitude, dop, heading, numSatellites);
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newStatus.notifyObservers(&status);
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}
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}
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@ -116,6 +116,8 @@ The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of s
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longitude = ublox.getLongitude(0);
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altitude = ublox.getAltitude(0) / 1000; // in mm convert to meters
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dop = ublox.getPDOP(0); // PDOP (an accuracy metric) is reported in 10^2 units so we have to scale down when we use it
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heading = ublox.getHeading(0);
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numSatellites = ublox.getSIV(0);
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// bogus lat lon is reported as 0 or 0 (can be bogus just for one)
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// Also: apparently when the GPS is initially reporting lock it can output a bogus latitude > 90 deg!
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@ -129,7 +131,7 @@ The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of s
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wantNewLocation = true;
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// Notify any status instances that are observing us
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const meshtastic::GPSStatus status = meshtastic::GPSStatus(hasLock(), isConnected, latitude, longitude, altitude, dop);
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const meshtastic::GPSStatus status = meshtastic::GPSStatus(hasLock(), isConnected, latitude, longitude, altitude, dop, heading, numSatellites);
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newStatus.notifyObservers(&status);
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// Once we have sent a location once we only poll the GPS rarely, otherwise check back every 1s until we have something over
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150
src/screen.cpp
150
src/screen.cpp
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@ -52,7 +52,10 @@ static FrameCallback normalFrames[MAX_NUM_NODES + NUM_EXTRA_FRAMES];
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static uint32_t targetFramerate = IDLE_FRAMERATE;
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static char btPIN[16] = "888888";
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uint8_t imgBattery[16] = {0xFF, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0xE7, 0x3C};
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uint8_t imgBattery[16] = { 0xFF, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0x81, 0xE7, 0x3C };
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uint8_t imgSatellite[8] = { 0x70, 0x71, 0x22, 0xFA, 0xFA, 0x22, 0x71, 0x70 };
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uint32_t dopThresholds[5] = { 2000, 1000, 500, 200, 100 };
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// if defined a pixel will blink to show redraws
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// #define SHOW_REDRAWS
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@ -212,38 +215,39 @@ static void drawNodes(OLEDDisplay *display, int16_t x, int16_t y, NodeStatus *no
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// Draw GPS status summary
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static void drawGPS(OLEDDisplay *display, int16_t x, int16_t y, const GPSStatus *gps)
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{
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if (!gps->getIsConnected()) {
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if (!gps->getIsConnected())
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{
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display->drawString(x, y - 2, "No GPS");
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return;
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}
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display->drawFastImage(x, y, 6, 8, gps->getHasLock() ? imgPositionSolid : imgPositionEmpty);
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if (!gps->getHasLock()) {
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if (!gps->getHasLock())
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{
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display->drawString(x + 8, y - 2, "No sats");
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return;
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}
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if (gps->getDOP() <= 100) {
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display->drawString(x + 8, y - 2, "Ideal");
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return;
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}
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if (gps->getDOP() <= 200) {
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display->drawString(x + 8, y - 2, "Exc.");
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return;
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}
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if (gps->getDOP() <= 500) {
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display->drawString(x + 8, y - 2, "Good");
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return;
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}
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if (gps->getDOP() <= 1000) {
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display->drawString(x + 8, y - 2, "Mod.");
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return;
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}
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if (gps->getDOP() <= 2000) {
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display->drawString(x + 8, y - 2, "Fair");
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return;
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}
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if (gps->getDOP() > 0) {
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display->drawString(x + 8, y - 2, "Poor");
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return;
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}
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else
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{
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char satsString[3];
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uint8_t bar[2] = { 0 };
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//Draw DOP signal bars
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for(int i = 0; i < 5; i++)
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{
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if (gps->getDOP() <= dopThresholds[i])
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bar[0] = ~((1 << (5 - i)) - 1);
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else
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bar[0] = 0b10000000;
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//bar[1] = bar[0];
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display->drawFastImage(x + 9 + (i * 2), y, 2, 8, bar);
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}
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//Draw satellite image
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display->drawFastImage(x + 24, y, 8, 8, imgSatellite);
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//Draw the number of satellites
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sprintf(satsString, "%d", gps->getNumSatellites());
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display->drawString(x + 34, y - 2, satsString);
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}
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}
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@ -386,28 +390,41 @@ static bool hasPosition(NodeInfo *n)
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static size_t nodeIndex;
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static int8_t prevFrame = -1;
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// Draw the compass and arrow pointing to location
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static void drawCompass(OLEDDisplay *display, int16_t compassX, int16_t compassY, float headingRadian)
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// Draw the arrow pointing to a node's location
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static void drawNodeHeading(OLEDDisplay *display, int16_t compassX, int16_t compassY, float headingRadian)
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{
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// display->drawXbm(compassX, compassY, compass_width, compass_height,
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// (const uint8_t *)compass_bits);
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Point tip(0.0f, 0.5f), tail(0.0f, -0.5f); // pointing up initially
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float arrowOffsetX = 0.2f, arrowOffsetY = 0.2f;
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Point leftArrow(tip.x - arrowOffsetX, tip.y - arrowOffsetY), rightArrow(tip.x + arrowOffsetX, tip.y - arrowOffsetY);
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Point *points[] = {&tip, &tail, &leftArrow, &rightArrow};
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Point *arrowPoints[] = {&tip, &tail, &leftArrow, &rightArrow};
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for (int i = 0; i < 4; i++) {
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points[i]->rotate(headingRadian);
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points[i]->scale(COMPASS_DIAM * 0.6);
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points[i]->translate(compassX, compassY);
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arrowPoints[i]->rotate(headingRadian);
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arrowPoints[i]->scale(COMPASS_DIAM * 0.6);
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arrowPoints[i]->translate(compassX, compassY);
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}
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drawLine(display, tip, tail);
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drawLine(display, leftArrow, tip);
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drawLine(display, rightArrow, tip);
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}
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display->drawCircle(compassX, compassY, COMPASS_DIAM / 2);
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// Draw the compass heading
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static void drawCompassHeading(OLEDDisplay *display, int16_t compassX, int16_t compassY, float myHeading)
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{
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Point N1(-0.04f, -0.65f), N2( 0.04f, -0.65f);
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Point N3(-0.04f, -0.55f), N4( 0.04f, -0.55f);
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Point *rosePoints[] = {&N1, &N2, &N3, &N4};
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for (int i = 0; i < 4; i++) {
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rosePoints[i]->rotate(myHeading);
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rosePoints[i]->scale(COMPASS_DIAM);
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rosePoints[i]->translate(compassX, compassY);
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}
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drawLine(display, N1, N3);
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drawLine(display, N2, N4);
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drawLine(display, N1, N4);
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}
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/// Convert an integer GPS coords to a floating point
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@ -461,29 +478,35 @@ static void drawNodeInfo(OLEDDisplay *display, OLEDDisplayUiState *state, int16_
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const char *fields[] = {username, distStr, signalStr, lastStr, NULL};
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// coordinates for the center of the compass/circle
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int16_t compassX = x + SCREEN_WIDTH - COMPASS_DIAM / 2 - 1, compassY = y + SCREEN_HEIGHT / 2;
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int16_t compassX = x + SCREEN_WIDTH - COMPASS_DIAM / 2 - 5, compassY = y + SCREEN_HEIGHT / 2;
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if (ourNode && hasPosition(ourNode) && hasPosition(node)) { // display direction toward node
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Position &op = ourNode->position, &p = node->position;
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float d = latLongToMeter(DegD(p.latitude_i), DegD(p.longitude_i), DegD(op.latitude_i), DegD(op.longitude_i));
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if (d < 2000)
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snprintf(distStr, sizeof(distStr), "%.0f m", d);
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else
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snprintf(distStr, sizeof(distStr), "%.1f km", d / 1000);
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if(ourNode && hasPosition(ourNode))
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{
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Position &op = ourNode->position;
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float myHeading = estimatedHeading(DegD(op.latitude_i), DegD(op.longitude_i));
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drawCompassHeading(display, compassX, compassY, myHeading);
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// FIXME, also keep the guess at the operators heading and add/substract
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// it. currently we don't do this and instead draw north up only.
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float bearingToOther = bearing(DegD(p.latitude_i), DegD(p.longitude_i), DegD(op.latitude_i), DegD(op.longitude_i));
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float myHeading = estimatedHeading(DegD(p.latitude_i), DegD(p.longitude_i));
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headingRadian = bearingToOther - myHeading;
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drawCompass(display, compassX, compassY, headingRadian);
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} else { // direction to node is unknown so display question mark
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// Debug info for gps lock errors
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// DEBUG_MSG("ourNode %d, ourPos %d, theirPos %d\n", !!ourNode, ourNode && hasPosition(ourNode), hasPosition(node));
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if(hasPosition(node)) { // display direction toward node
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Position &p = node->position;
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float d = latLongToMeter(DegD(p.latitude_i), DegD(p.longitude_i), DegD(op.latitude_i), DegD(op.longitude_i));
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if (d < 2000)
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snprintf(distStr, sizeof(distStr), "%.0f m", d);
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else
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snprintf(distStr, sizeof(distStr), "%.1f km", d / 1000);
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display->drawString(compassX - FONT_HEIGHT / 4, compassY - FONT_HEIGHT / 2, "?");
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display->drawCircle(compassX, compassY, COMPASS_DIAM / 2);
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// FIXME, also keep the guess at the operators heading and add/substract
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// it. currently we don't do this and instead draw north up only.
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float bearingToOther = bearing(DegD(p.latitude_i), DegD(p.longitude_i), DegD(op.latitude_i), DegD(op.longitude_i));
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headingRadian = bearingToOther - myHeading;
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drawNodeHeading(display, compassX, compassY, headingRadian);
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} else { // direction to node is unknown so display question mark
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// Debug info for gps lock errors
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// DEBUG_MSG("ourNode %d, ourPos %d, theirPos %d\n", !!ourNode, ourNode && hasPosition(ourNode), hasPosition(node));
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display->drawString(compassX - FONT_HEIGHT / 4, compassY - FONT_HEIGHT / 2, "?");
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}
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}
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display->drawCircle(compassX, compassY, COMPASS_DIAM / 2);
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// Must be after distStr is populated
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drawColumns(display, x, y, fields);
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@ -760,7 +783,7 @@ void DebugInfo::drawFrame(OLEDDisplay *display, OLEDDisplayUiState *state, int16
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// Display nodes status
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drawNodes(display, x + (SCREEN_WIDTH * 0.25), y + 2, nodeStatus);
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// Display GPS status
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drawGPS(display, x + (SCREEN_WIDTH * 0.66), y + 2, gpsStatus);
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drawGPS(display, x + (SCREEN_WIDTH * 0.63), y + 2, gpsStatus);
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}
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display->drawString(x, y + FONT_HEIGHT, channelStr);
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@ -790,13 +813,14 @@ void Screen::adjustBrightness()
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dispdev.setBrightness(brightness);
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}
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int Screen::handleStatusUpdate(const Status *arg)
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int Screen::handleStatusUpdate(const Status *arg)
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{
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DEBUG_MSG("Screen got status update %d\n", arg->getStatusType());
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switch (arg->getStatusType()) {
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case STATUS_TYPE_NODE:
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setFrames();
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break;
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//DEBUG_MSG("Screen got status update %d\n", arg->getStatusType());
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switch(arg->getStatusType())
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{
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case STATUS_TYPE_NODE:
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setFrames();
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break;
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}
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setPeriod(1); // Update the screen right away
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return 0;
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