sforkowany z mirror/meshtastic-firmware
begin testing native ublox api
geeksville
rodzic
4999da0824
commit
9bbd658b9d
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@ -2,6 +2,7 @@
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Items to complete soon (next couple of alpha releases).
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* make girts gps work again with SparkFun Ublox Arduino Library_ID5746/examples/Example13_PVT/Example3_AssumeAutoPVTviaUart/Example3_AssumeAutoPVTviaUart.ino
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* turn on gps https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library/blob/master/examples/Example18_PowerSaveMode/Example18_PowerSaveMode.ino
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* switch gps to 38400 baud https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library/blob/master/examples/Example11_ResetModule/Example2_FactoryDefaultsviaSerial/Example2_FactoryDefaultsviaSerial.ino
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* Use Neo-M8M API to put it in sleep mode
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@ -59,7 +59,6 @@ debug_init_break = tbreak setup
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; names.
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lib_deps =
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https://github.com/meshtastic/RadioHead.git
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1655 ; TinyGPSPlus
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https://github.com/meshtastic/esp8266-oled-ssd1306.git ; ESP8266_SSD1306
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AXP202X_Library
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SPI
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52
src/GPS.cpp
52
src/GPS.cpp
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@ -4,7 +4,6 @@
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#include <sys/time.h>
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#include "configuration.h"
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HardwareSerial _serial_gps(GPS_SERIAL_NUM);
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RTC_DATA_ATTR bool timeSetFromGPS; // We only reset our time once per _boot_ after that point just run from the internal clock (even across sleeps)
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@ -28,23 +27,36 @@ void GPS::setup()
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#ifdef GPS_RX_PIN
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_serial_gps.begin(GPS_BAUDRATE, SERIAL_8N1, GPS_RX_PIN, GPS_TX_PIN);
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ublox.enableDebugging(Serial);
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// ublox.enableDebugging(Serial);
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#if 0
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// note: the lib's implementation has the wrong docs for what the return val is
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// it is not a bool, it returns zero for success
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bool errCode = ublox.begin(_serial_gps);
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assert(!errCode); // FIXME, report hw failure on screen
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isConnected = ublox.begin(_serial_gps);
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if (isConnected)
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{
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DEBUG_MSG("Connected to GPS successfully\n");
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bool ok = ublox.setUART1Output(COM_TYPE_UBX); // Use native API
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assert(ok);
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ok = ublox.setNavigationFrequency(1); //Produce one solutions per second
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assert(ok);
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ok = ublox.setAutoPVT(true);
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assert(ok);
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// ublox.saveConfiguration();
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assert(ok);
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#endif
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bool ok = ublox.setUART1Output(COM_TYPE_UBX); // Use native API
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assert(ok);
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ok = ublox.setNavigationFrequency(1); //Produce one solutions per second
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assert(ok);
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ok = ublox.setAutoPVT(false);
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assert(ok);
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ok = ublox.setDynamicModel(DYN_MODEL_BIKE); // probably PEDESTRIAN but just in case assume bike speeds
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assert(ok);
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ok = ublox.saveConfiguration();
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assert(ok);
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}
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else
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{
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// Some boards might have only the TX line from the GPS connected, in that case, we can't configure it at all. Just
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// assume NEMA at 9600 baud.
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DEBUG_MSG("ERROR: No bidirectional GPS found, hoping that it still might work\n");
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// tell lib, we are expecting the module to send PVT messages by itself to our Rx pin
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// you can set second parameter to "false" if you want to control the parsing and eviction of the data (need to call checkUblox cyclically)
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ublox.assumeAutoPVT(true, true);
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}
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#endif
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}
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@ -109,17 +121,19 @@ void GPS::doTask()
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#ifdef GPS_RX_PIN
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// Consume all characters that have arrived
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#if 0
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ublox.checkUblox(); //See if new data is available. Process bytes as they come in.
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// getPVT automatically calls checkUblox
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// ublox.checkUblox(); //See if new data is available. Process bytes as they come in.
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DEBUG_MSG("numsat %d, sec %d\n", ublox.getSIV(), ublox.getSecond());
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#if 0
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if (ublox.getPVT())
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{ // we only notify if position has changed
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isConnected = true; // We just received a packet, so we must have a GPS
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if (!timeSetFromGPS)
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{
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struct timeval tv;
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DEBUG_MSG("Got time from GPS month=%d, year=%d\n", ublox.getMonth(), ublox.getYear());
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/* Convert to unix time
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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).
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*/
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@ -135,6 +149,8 @@ void GPS::doTask()
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tv.tv_sec = res;
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tv.tv_usec = 0; // time.centisecond() * (10 / 1000);
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DEBUG_MSG("Got time from GPS month=%d, year=%d, unixtime=%ld\n", ublox.getMonth(), ublox.getYear(), tv.tv_sec);
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// FIXME
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// perhapsSetRTC(&tv);
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}
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@ -17,6 +17,7 @@ class GPS : public PeriodicTask, public Observable
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public:
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double latitude, longitude;
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uint32_t altitude;
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bool isConnected; // Do we have a GPS we are talking to
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GPS();
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@ -50,6 +51,3 @@ private:
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extern GPS gps;
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// Temporary support for the one TTGO in the world with a busted serial rx line (my old devboard)
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extern HardwareSerial _serial_gps;
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extern RTC_DATA_ATTR bool timeSetFromGPS;
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156
src/GPSNema.cpp
156
src/GPSNema.cpp
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@ -1,156 +0,0 @@
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#include "GPSNema.h"
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#include "time.h"
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#include <sys/time.h>
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#include "configuration.h"
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#include "GPS.h"
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// GPSNema gps;
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// stuff that really should be in in the instance instead...
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static uint32_t timeStartMsec; // Once we have a GPS lock, this is where we hold the initial msec clock that corresponds to that time
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static uint64_t zeroOffsetSecs; // GPS based time in secs since 1970 - only updated once on initial lock
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static bool hasValidLocation; // default to false, until we complete our first read
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static bool wantNewLocation = true;
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GPSNema::GPSNema() : PeriodicTask()
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{
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}
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void GPSNema::setup()
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{
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readFromRTC();
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#ifdef GPS_RX_PIN
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_serial_gps.begin(GPS_BAUDRATE, SERIAL_8N1, GPS_RX_PIN, GPS_TX_PIN);
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#endif
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}
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void GPSNema::readFromRTC()
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{
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struct timeval tv; /* btw settimeofday() is helpfull here too*/
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if (!gettimeofday(&tv, NULL))
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{
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uint32_t now = millis();
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DEBUG_MSG("Read RTC time as %ld (cur millis %u) valid=%d\n", tv.tv_sec, now, timeSetFromGPS);
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timeStartMsec = now;
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zeroOffsetSecs = tv.tv_sec;
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}
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}
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/// If we haven't yet set our RTC this boot, set it from a GPS derived time
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void GPSNema::perhapsSetRTC(const struct timeval *tv)
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{
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if (!timeSetFromGPS)
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{
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timeSetFromGPS = true;
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DEBUG_MSG("Setting RTC %ld secs\n", tv->tv_sec);
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settimeofday(tv, NULL);
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readFromRTC();
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}
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}
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#include <time.h>
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// for the time being we need to rapidly read from the serial port to prevent overruns
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void GPSNema::loop()
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{
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PeriodicTask::loop();
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}
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uint32_t GPSNema::getTime()
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{
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return ((millis() - timeStartMsec) / 1000) + zeroOffsetSecs;
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}
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uint32_t GPSNema::getValidTime()
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{
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return timeSetFromGPS ? getTime() : 0;
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}
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/// Returns true if we think the board can enter deep or light sleep now (we might be trying to get a GPS lock)
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bool GPSNema::canSleep()
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{
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return !wantNewLocation;
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}
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/// Prepare the GPS for the cpu entering deep or light sleep, expect to be gone for at least 100s of msecs
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void GPSNema::prepareSleep()
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{
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// discard all rx serial bytes so we don't try to parse them when we come back
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while (_serial_gps.available())
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{
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_serial_gps.read();
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}
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// make the parser bail on whatever it was parsing
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encode('\n');
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}
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void GPSNema::doTask()
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{
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#ifdef GPS_RX_PIN
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// Consume all characters that have arrived
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while (_serial_gps.available())
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{
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encode(_serial_gps.read());
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// DEBUG_MSG("Got GPS response\n");
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}
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if (!timeSetFromGPS && time.isValid() && date.isValid())
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{
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struct timeval tv;
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DEBUG_MSG("Got time from GPS\n");
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/* Convert to unix time
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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).
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*/
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struct tm t;
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t.tm_sec = time.second();
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t.tm_min = time.minute();
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t.tm_hour = time.hour();
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t.tm_mday = date.day();
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t.tm_mon = date.month() - 1;
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t.tm_year = date.year() - 1900;
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t.tm_isdst = false;
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time_t res = mktime(&t);
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tv.tv_sec = res;
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tv.tv_usec = 0; // time.centisecond() * (10 / 1000);
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perhapsSetRTC(&tv);
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}
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#endif
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if (location.isValid() && location.isUpdated())
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{ // we only notify if position has changed
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// DEBUG_MSG("new gps pos\n");
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hasValidLocation = true;
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wantNewLocation = false;
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notifyObservers();
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}
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else // we didn't get a location update, go back to sleep and hope the characters show up
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wantNewLocation = true;
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// Once we have sent a location once we only poll the GPS rarely, otherwise check back every 100ms until we have something over the serial
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setPeriod(hasValidLocation && !wantNewLocation ? 30 * 1000 : 100);
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}
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void GPSNema::startLock()
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{
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DEBUG_MSG("Looking for GPS lock\n");
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wantNewLocation = true;
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setPeriod(1);
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}
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String GPSNema::getTimeStr()
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{
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static char t[12]; // used to sprintf for Serial output
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snprintf(t, sizeof(t), "%02d:%02d:%02d", time.hour(), time.minute(), time.second());
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return t;
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}
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@ -1,48 +0,0 @@
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#pragma once
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#include <TinyGPS++.h>
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#include "PeriodicTask.h"
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#include "Observer.h"
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#include "sys/time.h"
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/**
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* A gps class that only reads from the GPS periodically (and FIXME - eventually keeps the gps powered down except when reading)
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*
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* When new data is available it will notify observers.
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*/
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class GPSNema : public PeriodicTask, public Observable, public TinyGPSPlus
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{
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public:
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GPSNema();
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/// Return time since 1970 in secs. Until we have a GPS lock we will be returning time based at zero
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uint32_t getTime();
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/// Return time since 1970 in secs. If we don't have a GPS lock return zero
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uint32_t getValidTime();
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String getTimeStr();
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void setup();
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virtual void loop();
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virtual void doTask();
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/// If we haven't yet set our RTC this boot, set it from a GPS derived time
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void perhapsSetRTC(const struct timeval *tv);
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/// Returns true if we think the board can enter deep or light sleep now (we might be trying to get a GPS lock)
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bool canSleep();
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/// Prepare the GPS for the cpu entering deep or light sleep, expect to be gone for at least 100s of msecs
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void prepareSleep();
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/// Restart our lock attempt - try to get and broadcast a GPS reading ASAP
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void startLock();
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private:
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void readFromRTC();
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};
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// extern GPSNema gps;
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@ -32,8 +32,8 @@ static void lsEnter()
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gps.prepareSleep(); // abandon in-process parsing
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if (!isUSBPowered) // FIXME - temp hack until we can put gps in sleep mode, if we have AC when we go to sleep then leave GPS on
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setGPSPower(false); // kill GPS power
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//if (!isUSBPowered) // FIXME - temp hack until we can put gps in sleep mode, if we have AC when we go to sleep then leave GPS on
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// setGPSPower(false); // kill GPS power
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}
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static void lsIdle()
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@ -76,7 +76,7 @@ static void lsIdle()
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static void lsExit()
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{
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setGPSPower(true); // restore GPS power
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// setGPSPower(true); // restore GPS power
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gps.startLock();
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}
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