firmware/src/GPS.cpp

#include "GPS.h"
#include "time.h"
#include <sys/time.h>
#include "configuration.h"

// stuff that really should be in in the instance instead...
HardwareSerial _serial_gps(GPS_SERIAL_NUM);
uint32_t timeStartMsec;  // Once we have a GPS lock, this is where we hold the initial msec clock that corresponds to that time
uint64_t zeroOffsetSecs; // GPS based time in secs since 1970 - only updated once on initial lock

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)

GPS gps;
bool hasValidLocation; // default to false, until we complete our first read
bool wantNewLocation = true;

GPS::GPS() : PeriodicTask()
{
}

void GPS::setup()
{
    readFromRTC(); // read the main CPU RTC at first

#ifdef GPS_RX_PIN
    _serial_gps.begin(GPS_BAUDRATE, SERIAL_8N1, GPS_RX_PIN, GPS_TX_PIN);
    ublox.enableDebugging(Serial);

    // note: the lib's implementation has the wrong docs for what the return val is
    // it is not a bool, it returns zero for success
    bool errCode = ublox.begin(_serial_gps);
    assert(!errCode); // FIXME, report hw failure on screen

    bool ok = ublox.setUART1Output(COM_TYPE_UBX); // Use native API
    assert(ok);
    ok = ublox.setNavigationFrequency(1); //Produce one solutions per second
    assert(ok);
    ok = ublox.setAutoPVT(true);
    assert(ok);
    // ublox.saveConfiguration(); 
    assert(ok);
#endif
}

void GPS::readFromRTC()
{
    struct timeval tv; /* btw settimeofday() is helpfull here too*/

    if (!gettimeofday(&tv, NULL))
    {
        uint32_t now = millis();

        DEBUG_MSG("Read RTC time as %ld (cur millis %u) valid=%d\n", tv.tv_sec, now, timeSetFromGPS);
        timeStartMsec = now;
        zeroOffsetSecs = tv.tv_sec;
    }
}

/// If we haven't yet set our RTC this boot, set it from a GPS derived time
void GPS::perhapsSetRTC(const struct timeval *tv)
{
    if (!timeSetFromGPS)
    {
        timeSetFromGPS = true;
        DEBUG_MSG("Setting RTC %ld secs\n", tv->tv_sec);
        settimeofday(tv, NULL);
        readFromRTC();
    }
}

#include <time.h>

// for the time being we need to rapidly read from the serial port to prevent overruns
void GPS::loop()
{
    PeriodicTask::loop();
}

uint32_t GPS::getTime()
{
    return ((millis() - timeStartMsec) / 1000) + zeroOffsetSecs;
}

uint32_t GPS::getValidTime()
{
    return timeSetFromGPS ? getTime() : 0;
}

/// Returns true if we think the board can enter deep or light sleep now (we might be trying to get a GPS lock)
bool GPS::canSleep()
{
    return !wantNewLocation;
}

/// Prepare the GPS for the cpu entering deep or light sleep, expect to be gone for at least 100s of msecs
void GPS::prepareSleep()
{
    // discard all rx serial bytes so we don't try to parse them when we come back

}

void GPS::doTask()
{
#ifdef GPS_RX_PIN
    // Consume all characters that have arrived

      ublox.checkUblox(); //See if new data is available. Process bytes as they come in.

    if (ublox.getPVT())
    { // we only notify if position has changed
        if (!timeSetFromGPS)
    {
        struct timeval tv;

        DEBUG_MSG("Got time from GPS month=%d, year=%d\n", ublox.getMonth(), ublox.getYear());

        /* 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();
        t.tm_min = ublox.getMinute();
        t.tm_hour = ublox.getHour();
        t.tm_mday = ublox.getDay();
        t.tm_mon = ublox.getMonth() - 1;
        t.tm_year = ublox.getYear() - 1900;
        t.tm_isdst = false;
        time_t res = mktime(&t);
        tv.tv_sec = res;
        tv.tv_usec = 0; // time.centisecond() * (10 / 1000);

        // FIXME
        // perhapsSetRTC(&tv);
    }

        DEBUG_MSG("new gps pos\n");
        latitude = ublox.getLatitude() * 10e-7;
        longitude = ublox.getLongitude() * 10e-7;
        altitude = ublox.getAltitude() / 1000; // in mm convert to meters
        hasValidLocation = true;
        wantNewLocation = false;
        notifyObservers();
    }
    else // we didn't get a location update, go back to sleep and hope the characters show up
        wantNewLocation = true;
#endif 

    // 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
    setPeriod(hasValidLocation && !wantNewLocation ? 30 * 1000 : 100);
}

void GPS::startLock()
{
    DEBUG_MSG("Looking for GPS lock\n");
    wantNewLocation = true;
    setPeriod(1);
}