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Switch to native ublox api for GPS position and time

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This commit is contained in:
geeksville 2020-03-14 12:46:24 -07:00
parent e93bc76ac9
commit 64109b25f2
2 changed files with 62 additions and 42 deletions
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2
platformio.ini
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@ -66,7 +66,7 @@ lib_deps =
1202 ; CRC32, explicitly needed because dependency is missing in the ble ota update lib
Wire ; explicitly needed here because the AXP202 library forgets to add it
https://github.com/geeksville/arduino-fsm.git
SparkFun Ublox Arduino Library
https://github.com/meshtastic/SparkFun_Ublox_Arduino_Library.git
;[env:tbeam]
;board = ttgo-t-beam

102
src/GPS.cpp
View File

@ -32,19 +32,37 @@ void GPS::setup()
// 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
isConnected = ublox.begin(_serial_gps);
// try a second time, the ublox lib serial parsing is buggy?
// if(!isConnected) isConnected = ublox.begin(_serial_gps);
if (isConnected)
{
DEBUG_MSG("Connected to GPS successfully\n");
DEBUG_MSG("Connected to GPS successfully, TXpin=%d\n", GPS_TX_PIN);
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(false);
assert(ok);
ok = ublox.setDynamicModel(DYN_MODEL_BIKE); // probably PEDESTRIAN but just in case assume bike speeds
assert(ok);
ok = ublox.saveConfiguration();
bool factoryReset = false;
bool ok;
if(factoryReset) {
// It is useful to force back into factory defaults (9600baud, NEMA to test the behavior of boards that don't have GPS_TX connected)
ublox.factoryReset();
delay(2000);
isConnected = ublox.begin(_serial_gps);
DEBUG_MSG("Factory reset success=%d\n", isConnected);
if(isConnected) {
ublox.assumeAutoPVT(true, true); // Just parse NEMA for now
}
}
else {
ok = ublox.setUART1Output(COM_TYPE_UBX); // Use native API
assert(ok);
ok = ublox.setNavigationFrequency(4); //Produce 4x/sec to keep the amount of time we stall in getPVT low
assert(ok);
//ok = ublox.setAutoPVT(false); // Not implemented on NEO-6M
//assert(ok);
//ok = ublox.setDynamicModel(DYN_MODEL_BIKE); // probably PEDESTRIAN but just in case assume bike speeds
//assert(ok);
}
ok = ublox.saveConfiguration(2000);
assert(ok);
}
else
@ -122,51 +140,53 @@ void GPS::doTask()
// Consume all characters that have arrived
// getPVT automatically calls checkUblox
// ublox.checkUblox(); //See if new data is available. Process bytes as they come in.
DEBUG_MSG("numsat %d, sec %d\n", ublox.getSIV(), ublox.getSecond());
ublox.checkUblox(); //See if new data is available. Process bytes as they come in.
// DEBUG_MSG("sec %d\n", ublox.getSecond());
// DEBUG_MSG("lat %d\n", ublox.getLatitude());
if (!timeSetFromGPS && ublox.getT())
{
struct timeval tv;
#if 0
if (ublox.getPVT())
{ // we only notify if position has changed
isConnected = true; // We just received a packet, so we must have a GPS
if (!timeSetFromGPS)
{
struct timeval tv;
/* 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);
/* 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);
DEBUG_MSG("Got time from GPS month=%d, year=%d, unixtime=%ld\n", t.tm_mon, t.tm_year, tv.tv_sec);
DEBUG_MSG("Got time from GPS month=%d, year=%d, unixtime=%ld\n", ublox.getMonth(), ublox.getYear(), tv.tv_sec);
perhapsSetRTC(&tv);
}
// FIXME
// perhapsSetRTC(&tv);
}
if (ublox.getP())
{
// we only notify if position has changed
isConnected = true; // We just received a packet, so we must have a GPS
DEBUG_MSG("new gps pos\n");
latitude = ublox.getLatitude() * 10e-7;
longitude = ublox.getLongitude() * 10e-7;
latitude = ublox.getLatitude() * 1e-7;
longitude = ublox.getLongitude() * 1e-7;
altitude = ublox.getAltitude() / 1000; // in mm convert to meters
DEBUG_MSG("new gps pos lat=%f, lon=%f, alt=%d\n", latitude, longitude, altitude);
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
#endif
#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);