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bug #376 wip - we now kill gps power when it is supposed to be asleep

1.2-legacy
Kevin Hester 2020-10-05 15:29:26 +08:00
rodzic b072eec4ac
commit 3c1c11e439
7 zmienionych plików z 69 dodań i 60 usunięć
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4
docs/software/gps-todo.txt
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@ -3,14 +3,14 @@ gps todo - bug 376
for taiwan region:
bin/run.sh --set region 8
after sleep we declare success without real new data
handle the various GPS modes
fix poll interval for sending commands to ublox
handle maxint parameters
handle loss of lock at end of wake (gotLocThisTime)
if not sharing location, don't even power up the GPS
if we go to sleep without getting a location set hasValidLocation to false

9
src/gps/GPS.cpp
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@ -95,9 +95,13 @@ uint32_t getValidTime()
bool GPS::setup()
{
notifySleepObserver.observe(&notifySleep);
setAwake(true); // Wake GPS power before doing any init
bool ok = setupGPS();
return true;
if (ok)
notifySleepObserver.observe(&notifySleep);
return ok;
}
/**
@ -175,7 +179,6 @@ void GPS::loop()
// If we are overdue for an update, turn on the GPS and at least publish the current status
uint32_t now = millis();
bool mustPublishUpdate = false;
if ((now - lastSleepStartMsec) > getSleepTime() && !isAwake) {
// We now want to be awake - so wake up the GPS

4
src/gps/GPS.h
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@ -79,6 +79,9 @@ class GPS
void forceWake(bool on);
protected:
/// Do gps chipset specific init, return true for success
virtual bool setupGPS() = 0;
/// If possible force the GPS into sleep/low power mode
virtual void sleep() {}
@ -134,7 +137,6 @@ class GPS
* Tell users we have new GPS readings
*/
void publishUpdate();
};
extern GPS *gps;

3
src/gps/NMEAGPS.cpp
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@ -10,14 +10,13 @@ static int32_t toDegInt(RawDegrees d)
return r;
}
bool NMEAGPS::setup()
bool NMEAGPS::setupGPS()
{
#ifdef PIN_GPS_PPS
// pulse per second
// FIXME - move into shared GPS code
pinMode(PIN_GPS_PPS, INPUT);
#endif
GPS::setup();
return true;
}

2
src/gps/NMEAGPS.h
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@ -15,7 +15,7 @@ class NMEAGPS : public GPS
TinyGPSPlus reader;
public:
virtual bool setup();
virtual bool setupGPS();
protected:
/** Subclasses should look for serial rx characters here and feed it to their GPS parser

96
src/gps/UBloxGPS.cpp
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@ -1,5 +1,6 @@
#include "UBloxGPS.h"
#include "error.h"
#include "sleep.h"
#include <assert.h>
UBloxGPS::UBloxGPS() {}
@ -22,7 +23,7 @@ bool UBloxGPS::tryConnect()
return isConnected;
}
bool UBloxGPS::setup()
bool UBloxGPS::setupGPS()
{
if (_serial_gps) {
#ifdef GPS_RX_PIN
@ -33,12 +34,6 @@ bool UBloxGPS::setup()
// _serial_gps.setRxBufferSize(1024); // the default is 256
}
#ifdef GPS_POWER_EN
pinMode(GPS_POWER_EN, OUTPUT);
digitalWrite(GPS_POWER_EN, 1);
delay(200); // Give time for the GPS to startup after we gave power
#endif
ublox.enableDebugging(Serial);
// try a second time, the ublox lib serial parsing is buggy?
@ -49,15 +44,11 @@ bool UBloxGPS::setup()
if (isConnected) {
DEBUG_MSG("Connected to UBLOX GPS successfully\n");
GPS::setup();
if (!setUBXMode())
recordCriticalError(UBloxInitFailed); // Don't halt the boot if saving the config fails, but do report the bug
return true;
} else {
// Note: we do not call superclass setup in this case, because we dont want sleep observer registered
return false;
}
}
@ -134,24 +125,28 @@ void UBloxGPS::whileActive()
*/
bool UBloxGPS::lookForTime()
{
if (fixType >= 2 && ublox.getT(maxWait())) {
/* 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(0);
t.tm_min = ublox.getMinute(0);
t.tm_hour = ublox.getHour(0);
t.tm_mday = ublox.getDay(0);
t.tm_mon = ublox.getMonth(0) - 1;
t.tm_year = ublox.getYear(0) - 1900;
t.tm_isdst = false;
perhapsSetRTC(t);
return true;
} else {
return false;
if (fixType >= 2) {
if (ublox.moduleQueried.gpsSecond) {
/* 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(0);
t.tm_min = ublox.getMinute(0);
t.tm_hour = ublox.getHour(0);
t.tm_mday = ublox.getDay(0);
t.tm_mon = ublox.getMonth(0) - 1;
t.tm_year = ublox.getYear(0) - 1900;
t.tm_isdst = false;
perhapsSetRTC(t);
return true;
} else {
ublox.getT(maxWait()); // ask for new time data - hopefully ready when we come back
}
}
return false;
}
/**
@ -165,19 +160,24 @@ bool UBloxGPS::lookForLocation()
bool foundLocation = false;
// we only notify if position has changed due to a new fix
if ((fixType >= 3 && fixType <= 4) && ublox.getP(maxWait())) // rd fixes only
{
latitude = ublox.getLatitude(0);
longitude = ublox.getLongitude(0);
altitude = ublox.getAltitudeMSL(0) / 1000; // in mm convert to meters
dop = ublox.getPDOP(0); // PDOP (an accuracy metric) is reported in 10^2 units so we have to scale down when we use it
heading = ublox.getHeading(0);
numSatellites = ublox.getSIV(0);
if ((fixType >= 3 && fixType <= 4)) {
if (ublox.moduleQueried.latitude) // rd fixes only
{
latitude = ublox.getLatitude(0);
longitude = ublox.getLongitude(0);
altitude = ublox.getAltitudeMSL(0) / 1000; // in mm convert to meters
dop = ublox.getPDOP(0); // PDOP (an accuracy metric) is reported in 10^2 units so we have to scale down when we use it
heading = ublox.getHeading(0);
numSatellites = ublox.getSIV(0);
// bogus lat lon is reported as 0 or 0 (can be bogus just for one)
// Also: apparently when the GPS is initially reporting lock it can output a bogus latitude > 90 deg!
foundLocation =
(latitude != 0) && (longitude != 0) && (latitude <= 900000000 && latitude >= -900000000) && (numSatellites > 0);
// bogus lat lon is reported as 0 or 0 (can be bogus just for one)
// Also: apparently when the GPS is initially reporting lock it can output a bogus latitude > 90 deg!
foundLocation =
(latitude != 0) && (longitude != 0) && (latitude <= 900000000 && latitude >= -900000000) && (numSatellites > 0);
} else {
// Ask for a new position fix - hopefully it will have results ready by next time
ublox.getP(maxWait());
}
}
return foundLocation;
@ -193,10 +193,14 @@ bool UBloxGPS::whileIdle()
/// Note: ublox doesn't need a wake method, because as soon as we send chars to the GPS it will wake up
void UBloxGPS::sleep()
{
if (isConnected) {
DEBUG_MSG("FIXME, enter low power mode\n");
// won't work on 6M
// ublox.powerOff();
}
// won't work on 6M
// ublox.powerOff();
setGPSPower(false);
}
void UBloxGPS::wake()
{
setGPSPower(true);
// Give time for the GPS to boot
delay(200);
}

11
src/gps/UBloxGPS.h
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@ -17,11 +17,6 @@ class UBloxGPS : public GPS
public:
UBloxGPS();
/**
* Returns true if we succeeded
*/
virtual bool setup();
/**
* Reset our GPS back to factory settings
*
@ -30,6 +25,11 @@ class UBloxGPS : public GPS
bool factoryReset();
protected:
/**
* Returns true if we succeeded
*/
virtual bool setupGPS();
/** Subclasses should look for serial rx characters here and feed it to their GPS parser
*
* Return true if we received a valid message from the GPS
@ -57,6 +57,7 @@ class UBloxGPS : public GPS
/// If possible force the GPS into sleep/low power mode
virtual void sleep();
virtual void wake();
private:
/// Attempt to connect to our GPS, returns false if no gps is present