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

docs/software/gps-todo.txt

@@ -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

src/gps/GPS.cpp

@@ -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

src/gps/GPS.h

@@ -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;

src/gps/NMEAGPS.cpp

@@ -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;
 }

src/gps/NMEAGPS.h

@@ -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

src/gps/UBloxGPS.cpp

@@ -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);
+}

src/gps/UBloxGPS.h

@@ -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