mirror of
https://github.com/meshtastic/firmware.git
synced 2025-06-08 14:12:05 +00:00
refactor and avoid needless probe (#2799)
* Use UINT32_MAX to indicate no configured GPS * Refactor GPS to not probe if pins not defined * Minor cleanups related to rework * Use Named Constructor to clean up code * Actually disable the GPS thread * Don't actually disable the GPS thread * Move doGPSPowerSave to GPS class * Make sure to set GPS awake on triple-click --------- Co-authored-by: Ben Meadors <benmmeadors@gmail.com>
This commit is contained in:
Jonathan Bennett
GitHub
parent
822c150e0d
commit
8b82ae6fe3
@ -165,13 +165,15 @@ class ButtonThread : public concurrency::OSThread
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static void userButtonMultiPressed()
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{
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#if defined(GPS_POWER_TOGGLE)
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if (gps != nullptr) {
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if (config.position.gps_enabled) {
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LOG_DEBUG("Flag set to false for gps power\n");
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} else {
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LOG_DEBUG("Flag set to true to restore power\n");
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}
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config.position.gps_enabled = !(config.position.gps_enabled);
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doGPSpowersave(config.position.gps_enabled);
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gps->doGPSpowersave(config.position.gps_enabled);
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}
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#endif
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}
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367
src/gps/GPS.cpp
367
src/gps/GPS.cpp
@ -13,12 +13,7 @@
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#define GPS_RESET_MODE HIGH
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#endif
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// If we have a serial GPS port it will not be null
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#ifdef GPS_SERIAL_NUM
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HardwareSerial _serial_gps_real(GPS_SERIAL_NUM);
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HardwareSerial *GPS::_serial_gps = &_serial_gps_real;
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#elif defined(NRF52840_XXAA) || defined(NRF52833_XXAA)
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// Assume NRF52840
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#if defined(NRF52840_XXAA) || defined(NRF52833_XXAA) || defined(ARCH_ESP32)
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HardwareSerial *GPS::_serial_gps = &Serial1;
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#else
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HardwareSerial *GPS::_serial_gps = NULL;
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@ -32,6 +27,8 @@ static bool didSerialInit;
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struct uBloxGnssModelInfo info;
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uint8_t uBloxProtocolVersion;
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#define GPS_SOL_EXPIRY_MS 5000 // in millis. give 1 second time to combine different sentences. NMEA Frequency isn't higher anyway
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#define NMEA_MSG_GXGSA "GNGSA" // GSA message (GPGSA, GNGSA etc)
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void GPS::UBXChecksum(uint8_t *message, size_t length)
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{
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@ -257,6 +254,7 @@ bool GPS::setup()
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if (_serial_gps && !didSerialInit) {
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#if !defined(GPS_UC6580)
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if (tx_gpio) {
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LOG_DEBUG("Probing for GPS at %d \n", serialSpeeds[speedSelect]);
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gnssModel = probe(serialSpeeds[speedSelect]);
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if (gnssModel == GNSS_MODEL_UNKNOWN) {
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@ -269,6 +267,9 @@ bool GPS::setup()
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}
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return false;
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}
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} else {
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gnssModel = GNSS_MODEL_UNKNOWN;
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}
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#else
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gnssModel = GNSS_MODEL_UC6850;
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#endif
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@ -437,16 +438,6 @@ GPS::~GPS()
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notifyGPSSleepObserver.observe(¬ifyGPSSleep);
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}
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bool GPS::hasLock()
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{
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return hasValidLocation;
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}
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bool GPS::hasFlow()
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{
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return hasGPS;
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}
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// Allow defining the polarity of the WAKE output. default is active high
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#ifndef GPS_WAKE_ACTIVE
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#define GPS_WAKE_ACTIVE 1
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@ -563,7 +554,7 @@ int32_t GPS::runOnce()
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// We have now loaded our saved preferences from flash
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// ONCE we will factory reset the GPS for bug #327
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if (gps && !devicestate.did_gps_reset) {
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if (!devicestate.did_gps_reset) {
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LOG_WARN("GPS FactoryReset requested\n");
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if (gps->factoryReset()) { // If we don't succeed try again next time
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devicestate.did_gps_reset = true;
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@ -576,6 +567,8 @@ int32_t GPS::runOnce()
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return 0;
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}
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}
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if (config.position.gps_enabled == false)
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return 0;
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// Repeaters have no need for GPS
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if (config.device.role == meshtastic_Config_DeviceConfig_Role_REPEATER)
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@ -840,18 +833,30 @@ GnssModel_t GPS::probe(int serialSpeed)
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return GNSS_MODEL_UBLOX;
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}
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#if HAS_GPS
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#include "NMEAGPS.h"
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#endif
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GPS *createGps()
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// GPS::GPS(uint32_t _rx_gpio, uint32_t _tx_gpio) : concurrency::OSThread("GPS")
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GPS *GPS::createGps()
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{
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#if !HAS_GPS
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int8_t _rx_gpio = config.position.rx_gpio;
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int8_t _tx_gpio = config.position.tx_gpio;
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#if defined(HAS_GPS) && !defined(ARCH_ESP32)
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_rx_gpio = 1; // We only specify GPS serial ports on ESP32. Otherwise, these are just flags.
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_tx_gpio = 1;
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#endif
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#if defined(GPS_RX_PIN)
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if (!_rx_gpio)
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_rx_gpio = GPS_RX_PIN;
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#endif
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#if defined(GPS_TX_PIN)
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if (!_tx_gpio)
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_tx_gpio = GPS_TX_PIN;
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#endif
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if (!_rx_gpio) // Configured to have no GPS at all
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return nullptr;
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#else
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GPS *new_gps = new NMEAGPS();
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// Master power for the GPS
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GPS *new_gps = new GPS;
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new_gps->rx_gpio = _rx_gpio;
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new_gps->tx_gpio = _tx_gpio;
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#ifdef PIN_GPS_PPS
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// pulse per second
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pinMode(PIN_GPS_PPS, INPUT);
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@ -883,42 +888,308 @@ GPS *createGps()
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#endif
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new_gps->setAwake(true); // Wake GPS power before doing any init
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if (new_gps->_serial_gps) {
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if (_serial_gps) {
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#ifdef ARCH_ESP32
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// In esp32 framework, setRxBufferSize needs to be initialized before Serial
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new_gps->_serial_gps->setRxBufferSize(SERIAL_BUFFER_SIZE); // the default is 256
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_serial_gps->setRxBufferSize(SERIAL_BUFFER_SIZE); // the default is 256
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#endif
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// if the overrides are not dialled in, set them from the board definitions, if they exist
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#if defined(GPS_RX_PIN)
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if (!config.position.rx_gpio)
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config.position.rx_gpio = GPS_RX_PIN;
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#endif
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#if defined(GPS_TX_PIN)
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if (!config.position.tx_gpio)
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config.position.tx_gpio = GPS_TX_PIN;
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#endif
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// #define BAUD_RATE 115200
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// ESP32 has a special set of parameters vs other arduino ports
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#if defined(ARCH_ESP32)
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if (config.position.rx_gpio) {
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LOG_DEBUG("Using GPIO%d for GPS RX\n", config.position.rx_gpio);
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LOG_DEBUG("Using GPIO%d for GPS TX\n", config.position.tx_gpio);
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new_gps->_serial_gps->begin(GPS_BAUDRATE, SERIAL_8N1, config.position.rx_gpio, config.position.tx_gpio);
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}
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LOG_DEBUG("Using GPIO%d for GPS RX\n", new_gps->rx_gpio);
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LOG_DEBUG("Using GPIO%d for GPS TX\n", new_gps->tx_gpio);
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_serial_gps->begin(GPS_BAUDRATE, SERIAL_8N1, new_gps->rx_gpio, new_gps->tx_gpio);
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#else
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new_gps->_serial_gps->begin(GPS_BAUDRATE);
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_serial_gps->begin(GPS_BAUDRATE);
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#endif
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/*
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* T-Beam-S3-Core will be preset to use gps Probe here, and other boards will not be changed first
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*/
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#if defined(GPS_UC6580)
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new_gps->_serial_gps->updateBaudRate(115200);
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_serial_gps->updateBaudRate(115200);
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#endif
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}
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return new_gps;
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}
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static int32_t toDegInt(RawDegrees d)
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{
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int32_t degMult = 10000000; // 1e7
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int32_t r = d.deg * degMult + d.billionths / 100;
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if (d.negative)
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r *= -1;
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return r;
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}
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bool GPS::factoryReset()
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{
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#ifdef PIN_GPS_REINIT
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// The L76K GNSS on the T-Echo requires the RESET pin to be pulled LOW
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digitalWrite(PIN_GPS_REINIT, 0);
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pinMode(PIN_GPS_REINIT, OUTPUT);
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delay(150); // The L76K datasheet calls for at least 100MS delay
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digitalWrite(PIN_GPS_REINIT, 1);
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#endif
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// send the UBLOX Factory Reset Command regardless of detect state, something is very wrong, just assume it's UBLOX.
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// Factory Reset
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byte _message_reset[] = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0xFF, 0xFB, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x17, 0x2B, 0x7E};
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_serial_gps->write(_message_reset, sizeof(_message_reset));
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delay(1000);
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return true;
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}
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/**
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* Perform any processing that should be done only while the GPS is awake and looking for a fix.
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* Override this method to check for new locations
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*
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* @return true if we've acquired a new location
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*/
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bool GPS::lookForTime()
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{
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auto ti = reader.time;
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auto d = reader.date;
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if (ti.isValid() && d.isValid()) { // Note: we don't check for updated, because we'll only be called if needed
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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
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(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 = ti.second();
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t.tm_min = ti.minute();
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t.tm_hour = ti.hour();
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t.tm_mday = d.day();
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t.tm_mon = d.month() - 1;
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t.tm_year = d.year() - 1900;
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t.tm_isdst = false;
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if (t.tm_mon > -1) {
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LOG_DEBUG("NMEA GPS time %02d-%02d-%02d %02d:%02d:%02d\n", d.year(), d.month(), t.tm_mday, t.tm_hour, t.tm_min,
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t.tm_sec);
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perhapsSetRTC(RTCQualityGPS, t);
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return true;
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} else
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return false;
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} else
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return false;
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}
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/**
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* Perform any processing that should be done only while the GPS is awake and looking for a fix.
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* Override this method to check for new locations
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*
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* @return true if we've acquired a new location
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*/
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bool GPS::lookForLocation()
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{
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// By default, TinyGPS++ does not parse GPGSA lines, which give us
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// the 2D/3D fixType (see NMEAGPS.h)
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// At a minimum, use the fixQuality indicator in GPGGA (FIXME?)
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fixQual = reader.fixQuality();
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#ifndef TINYGPS_OPTION_NO_STATISTICS
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if (reader.failedChecksum() > lastChecksumFailCount) {
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LOG_WARN("Warning, %u new GPS checksum failures, for a total of %u.\n", reader.failedChecksum() - lastChecksumFailCount,
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reader.failedChecksum());
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lastChecksumFailCount = reader.failedChecksum();
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}
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#endif
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#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
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fixType = atoi(gsafixtype.value()); // will set to zero if no data
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// LOG_DEBUG("FIX QUAL=%d, TYPE=%d\n", fixQual, fixType);
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#endif
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// check if GPS has an acceptable lock
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if (!hasLock())
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return false;
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#ifdef GPS_EXTRAVERBOSE
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LOG_DEBUG("AGE: LOC=%d FIX=%d DATE=%d TIME=%d\n", reader.location.age(),
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#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
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gsafixtype.age(),
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#else
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0,
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#endif
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reader.date.age(), reader.time.age());
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#endif // GPS_EXTRAVERBOSE
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// check if a complete GPS solution set is available for reading
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// tinyGPSDatum::age() also includes isValid() test
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// FIXME
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if (!((reader.location.age() < GPS_SOL_EXPIRY_MS) &&
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#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
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(gsafixtype.age() < GPS_SOL_EXPIRY_MS) &&
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#endif
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(reader.time.age() < GPS_SOL_EXPIRY_MS) && (reader.date.age() < GPS_SOL_EXPIRY_MS))) {
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LOG_WARN("SOME data is TOO OLD: LOC %u, TIME %u, DATE %u\n", reader.location.age(), reader.time.age(), reader.date.age());
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return false;
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}
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// Is this a new point or are we re-reading the previous one?
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if (!reader.location.isUpdated())
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return false;
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// We know the solution is fresh and valid, so just read the data
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auto loc = reader.location.value();
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// Bail out EARLY to avoid overwriting previous good data (like #857)
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if (toDegInt(loc.lat) > 900000000) {
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#ifdef GPS_EXTRAVERBOSE
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LOG_DEBUG("Bail out EARLY on LAT %i\n", toDegInt(loc.lat));
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#endif
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return false;
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}
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if (toDegInt(loc.lng) > 1800000000) {
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#ifdef GPS_EXTRAVERBOSE
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LOG_DEBUG("Bail out EARLY on LNG %i\n", toDegInt(loc.lng));
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#endif
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return false;
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}
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p.location_source = meshtastic_Position_LocSource_LOC_INTERNAL;
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// Dilution of precision (an accuracy metric) is reported in 10^2 units, so we need to scale down when we use it
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#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
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p.HDOP = reader.hdop.value();
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p.PDOP = TinyGPSPlus::parseDecimal(gsapdop.value());
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// LOG_DEBUG("PDOP=%d, HDOP=%d\n", p.PDOP, p.HDOP);
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#else
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// FIXME! naive PDOP emulation (assumes VDOP==HDOP)
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// correct formula is PDOP = SQRT(HDOP^2 + VDOP^2)
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p.HDOP = reader.hdop.value();
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p.PDOP = 1.41 * reader.hdop.value();
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#endif
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// Discard incomplete or erroneous readings
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if (reader.hdop.value() == 0) {
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LOG_WARN("BOGUS hdop.value() REJECTED: %d\n", reader.hdop.value());
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return false;
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}
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p.latitude_i = toDegInt(loc.lat);
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p.longitude_i = toDegInt(loc.lng);
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p.altitude_geoidal_separation = reader.geoidHeight.meters();
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p.altitude_hae = reader.altitude.meters() + p.altitude_geoidal_separation;
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p.altitude = reader.altitude.meters();
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p.fix_quality = fixQual;
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#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
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p.fix_type = fixType;
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#endif
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// positional timestamp
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struct tm t;
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t.tm_sec = reader.time.second();
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t.tm_min = reader.time.minute();
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t.tm_hour = reader.time.hour();
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t.tm_mday = reader.date.day();
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t.tm_mon = reader.date.month() - 1;
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t.tm_year = reader.date.year() - 1900;
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t.tm_isdst = false;
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p.timestamp = mktime(&t);
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// Nice to have, if available
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if (reader.satellites.isUpdated()) {
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p.sats_in_view = reader.satellites.value();
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}
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if (reader.course.isUpdated() && reader.course.isValid()) {
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if (reader.course.value() < 36000) { // sanity check
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p.ground_track =
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reader.course.value() * 1e3; // Scale the heading (in degrees * 10^-2) to match the expected degrees * 10^-5
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} else {
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LOG_WARN("BOGUS course.value() REJECTED: %d\n", reader.course.value());
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}
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}
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if (reader.speed.isUpdated() && reader.speed.isValid()) {
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p.ground_speed = reader.speed.kmph();
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}
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return true;
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}
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bool GPS::hasLock()
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{
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// Using GPGGA fix quality indicator
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if (fixQual >= 1 && fixQual <= 5) {
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#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
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// Use GPGSA fix type 2D/3D (better) if available
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if (fixType == 3 || fixType == 0) // zero means "no data received"
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#endif
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return true;
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}
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return false;
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}
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bool GPS::hasFlow()
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{
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return reader.passedChecksum() > 0;
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}
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bool GPS::whileIdle()
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{
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bool isValid = false;
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#ifdef SERIAL_BUFFER_SIZE
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if (_serial_gps->available() >= SERIAL_BUFFER_SIZE - 1) {
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LOG_WARN("GPS Buffer full with %u bytes waiting. Flushing to avoid corruption.\n", _serial_gps->available());
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clearBuffer();
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}
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#endif
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// if (_serial_gps->available() > 0)
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// LOG_DEBUG("GPS Bytes Waiting: %u\n", _serial_gps->available());
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// First consume any chars that have piled up at the receiver
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while (_serial_gps->available() > 0) {
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int c = _serial_gps->read();
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// LOG_DEBUG("%c", c);
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isValid |= reader.encode(c);
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}
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return isValid;
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}
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void GPS::doGPSpowersave(bool on)
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{
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#if defined(HAS_PMU) || defined(PIN_GPS_EN)
|
||||
if (on) {
|
||||
LOG_INFO("Turning GPS back on\n");
|
||||
gps->forceWake(1);
|
||||
setGPSPower(1);
|
||||
setAwake(1);
|
||||
} else {
|
||||
LOG_INFO("Turning off GPS chip\n");
|
||||
notifyGPSSleep.notifyObservers(NULL);
|
||||
setGPSPower(0);
|
||||
}
|
||||
#endif
|
||||
#ifdef PIN_GPS_WAKE
|
||||
if (on) {
|
||||
LOG_INFO("Waking GPS");
|
||||
gps->forceWake(1);
|
||||
setAwake(1);
|
||||
} else {
|
||||
LOG_INFO("GPS entering sleep");
|
||||
notifyGPSSleep.notifyObservers(NULL);
|
||||
}
|
||||
#endif
|
||||
#if !(defined(HAS_PMU) || defined(PIN_GPS_EN) || defined(PIN_GPS_WAKE))
|
||||
if (!on) {
|
||||
notifyGPSSleep.notifyObservers(NULL);
|
||||
if (gnssModel == GNSS_MODEL_UBLOX) {
|
||||
uint8_t msglen;
|
||||
msglen = gps->makeUBXPacket(0x02, 0x41, 0x08, gps->_message_PMREQ);
|
||||
gps->_serial_gps->write(gps->UBXscratch, msglen);
|
||||
}
|
||||
setAwake(1);
|
||||
} else {
|
||||
gps->forceWake(1);
|
||||
if (gnssModel == GNSS_MODEL_UBLOX)
|
||||
gps->_serial_gps->write(0xFF);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
@ -2,6 +2,7 @@
|
||||
|
||||
#include "GPSStatus.h"
|
||||
#include "Observer.h"
|
||||
#include "TinyGPS++.h"
|
||||
#include "concurrency/OSThread.h"
|
||||
|
||||
struct uBloxGnssModelInfo {
|
||||
@ -35,10 +36,24 @@ const char *getDOPString(uint32_t dop);
|
||||
*/
|
||||
class GPS : private concurrency::OSThread
|
||||
{
|
||||
TinyGPSPlus reader;
|
||||
uint8_t fixQual = 0; // fix quality from GPGGA
|
||||
uint32_t lastChecksumFailCount = 0;
|
||||
|
||||
#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
|
||||
// (20210908) TinyGps++ can only read the GPGSA "FIX TYPE" field
|
||||
// via optional feature "custom fields", currently disabled (bug #525)
|
||||
TinyGPSCustom gsafixtype; // custom extract fix type from GPGSA
|
||||
TinyGPSCustom gsapdop; // custom extract PDOP from GPGSA
|
||||
uint8_t fixType = 0; // fix type from GPGSA
|
||||
#endif
|
||||
private:
|
||||
uint32_t lastWakeStartMsec = 0, lastSleepStartMsec = 0, lastWhileActiveMsec = 0;
|
||||
const int serialSpeeds[6] = {9600, 4800, 38400, 57600, 115200, 9600};
|
||||
|
||||
uint32_t rx_gpio = 0;
|
||||
uint32_t tx_gpio = 0;
|
||||
|
||||
int speedSelect = 0;
|
||||
int probeTries = 2;
|
||||
|
||||
@ -120,9 +135,6 @@ class GPS : private concurrency::OSThread
|
||||
* */
|
||||
void forceWake(bool on);
|
||||
|
||||
// Some GPS modules (ublock) require factory reset
|
||||
virtual bool factoryReset() { return true; }
|
||||
|
||||
// Empty the input buffer as quickly as possible
|
||||
void clearBuffer();
|
||||
|
||||
@ -142,6 +154,12 @@ class GPS : private concurrency::OSThread
|
||||
* calls sleep/wake
|
||||
*/
|
||||
void setAwake(bool on);
|
||||
void doGPSpowersave(bool on);
|
||||
virtual bool factoryReset();
|
||||
|
||||
// Creates an instance of the GPS class.
|
||||
// Returns the new instance or null if the GPS is not present.
|
||||
static GPS *createGps();
|
||||
|
||||
protected:
|
||||
/// If possible force the GPS into sleep/low power mode
|
||||
@ -154,7 +172,6 @@ class GPS : private concurrency::OSThread
|
||||
*
|
||||
* Return true if we received a valid message from the GPS
|
||||
*/
|
||||
virtual bool whileIdle() = 0;
|
||||
|
||||
/** Idle processing while GPS is looking for lock, called once per secondish */
|
||||
virtual void whileActive() {}
|
||||
@ -165,7 +182,6 @@ class GPS : private concurrency::OSThread
|
||||
*
|
||||
* @return true if we've acquired a time
|
||||
*/
|
||||
virtual bool lookForTime() = 0;
|
||||
|
||||
/**
|
||||
* Perform any processing that should be done only while the GPS is awake and looking for a fix.
|
||||
@ -173,13 +189,34 @@ class GPS : private concurrency::OSThread
|
||||
*
|
||||
* @return true if we've acquired a new location
|
||||
*/
|
||||
virtual bool lookForLocation() = 0;
|
||||
|
||||
/// Record that we have a GPS
|
||||
void setConnected();
|
||||
|
||||
void setNumSatellites(uint8_t n);
|
||||
|
||||
/** 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
|
||||
*/
|
||||
virtual bool whileIdle();
|
||||
|
||||
/**
|
||||
* Perform any processing that should be done only while the GPS is awake and looking for a fix.
|
||||
* Override this method to check for new locations
|
||||
*
|
||||
* @return true if we've acquired a time
|
||||
*/
|
||||
virtual bool lookForTime();
|
||||
|
||||
/**
|
||||
* Perform any processing that should be done only while the GPS is awake and looking for a fix.
|
||||
* Override this method to check for new locations
|
||||
*
|
||||
* @return true if we've acquired a new location
|
||||
*/
|
||||
virtual bool lookForLocation();
|
||||
|
||||
private:
|
||||
/// Prepare the GPS for the cpu entering deep or light sleep, expect to be gone for at least 100s of msecs
|
||||
/// always returns 0 to indicate okay to sleep
|
||||
@ -218,8 +255,4 @@ class GPS : private concurrency::OSThread
|
||||
GnssModel_t gnssModel = GNSS_MODEL_UNKNOWN;
|
||||
};
|
||||
|
||||
// Creates an instance of the GPS class.
|
||||
// Returns the new instance or null if the GPS is not present.
|
||||
GPS *createGps();
|
||||
|
||||
extern GPS *gps;
|
||||
@ -1,248 +0,0 @@
|
||||
#include "NMEAGPS.h"
|
||||
#include "RTC.h"
|
||||
#include "configuration.h"
|
||||
|
||||
#include <TinyGPS++.h>
|
||||
|
||||
// GPS solutions older than this will be rejected - see TinyGPSDatum::age()
|
||||
#define GPS_SOL_EXPIRY_MS 5000 // in millis. give 1 second time to combine different sentences. NMEA Frequency isn't higher anyway
|
||||
#define NMEA_MSG_GXGSA "GNGSA" // GSA message (GPGSA, GNGSA etc)
|
||||
|
||||
static int32_t toDegInt(RawDegrees d)
|
||||
{
|
||||
int32_t degMult = 10000000; // 1e7
|
||||
int32_t r = d.deg * degMult + d.billionths / 100;
|
||||
if (d.negative)
|
||||
r *= -1;
|
||||
return r;
|
||||
}
|
||||
|
||||
bool NMEAGPS::factoryReset()
|
||||
{
|
||||
#ifdef PIN_GPS_REINIT
|
||||
// The L76K GNSS on the T-Echo requires the RESET pin to be pulled LOW
|
||||
digitalWrite(PIN_GPS_REINIT, 0);
|
||||
pinMode(PIN_GPS_REINIT, OUTPUT);
|
||||
delay(150); // The L76K datasheet calls for at least 100MS delay
|
||||
digitalWrite(PIN_GPS_REINIT, 1);
|
||||
#endif
|
||||
|
||||
// send the UBLOX Factory Reset Command regardless of detect state, something is very wrong, just assume it's UBLOX.
|
||||
// Factory Reset
|
||||
byte _message_reset[] = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0xFF, 0xFB, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x17, 0x2B, 0x7E};
|
||||
_serial_gps->write(_message_reset, sizeof(_message_reset));
|
||||
delay(1000);
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* Perform any processing that should be done only while the GPS is awake and looking for a fix.
|
||||
* Override this method to check for new locations
|
||||
*
|
||||
* @return true if we've acquired a new location
|
||||
*/
|
||||
bool NMEAGPS::lookForTime()
|
||||
{
|
||||
auto ti = reader.time;
|
||||
auto d = reader.date;
|
||||
if (ti.isValid() && d.isValid()) { // Note: we don't check for updated, because we'll only be called if needed
|
||||
/* 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 = ti.second();
|
||||
t.tm_min = ti.minute();
|
||||
t.tm_hour = ti.hour();
|
||||
t.tm_mday = d.day();
|
||||
t.tm_mon = d.month() - 1;
|
||||
t.tm_year = d.year() - 1900;
|
||||
t.tm_isdst = false;
|
||||
if (t.tm_mon > -1) {
|
||||
LOG_DEBUG("NMEA GPS time %02d-%02d-%02d %02d:%02d:%02d\n", d.year(), d.month(), t.tm_mday, t.tm_hour, t.tm_min,
|
||||
t.tm_sec);
|
||||
perhapsSetRTC(RTCQualityGPS, t);
|
||||
return true;
|
||||
} else
|
||||
return false;
|
||||
} else
|
||||
return false;
|
||||
}
|
||||
|
||||
/**
|
||||
* Perform any processing that should be done only while the GPS is awake and looking for a fix.
|
||||
* Override this method to check for new locations
|
||||
*
|
||||
* @return true if we've acquired a new location
|
||||
*/
|
||||
bool NMEAGPS::lookForLocation()
|
||||
{
|
||||
// By default, TinyGPS++ does not parse GPGSA lines, which give us
|
||||
// the 2D/3D fixType (see NMEAGPS.h)
|
||||
// At a minimum, use the fixQuality indicator in GPGGA (FIXME?)
|
||||
fixQual = reader.fixQuality();
|
||||
|
||||
#ifndef TINYGPS_OPTION_NO_STATISTICS
|
||||
if (reader.failedChecksum() > lastChecksumFailCount) {
|
||||
LOG_WARN("Warning, %u new GPS checksum failures, for a total of %u.\n", reader.failedChecksum() - lastChecksumFailCount,
|
||||
reader.failedChecksum());
|
||||
lastChecksumFailCount = reader.failedChecksum();
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
|
||||
fixType = atoi(gsafixtype.value()); // will set to zero if no data
|
||||
// LOG_DEBUG("FIX QUAL=%d, TYPE=%d\n", fixQual, fixType);
|
||||
#endif
|
||||
|
||||
// check if GPS has an acceptable lock
|
||||
if (!hasLock())
|
||||
return false;
|
||||
|
||||
#ifdef GPS_EXTRAVERBOSE
|
||||
LOG_DEBUG("AGE: LOC=%d FIX=%d DATE=%d TIME=%d\n", reader.location.age(),
|
||||
#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
|
||||
gsafixtype.age(),
|
||||
#else
|
||||
0,
|
||||
#endif
|
||||
reader.date.age(), reader.time.age());
|
||||
#endif // GPS_EXTRAVERBOSE
|
||||
|
||||
// check if a complete GPS solution set is available for reading
|
||||
// tinyGPSDatum::age() also includes isValid() test
|
||||
// FIXME
|
||||
if (!((reader.location.age() < GPS_SOL_EXPIRY_MS) &&
|
||||
#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
|
||||
(gsafixtype.age() < GPS_SOL_EXPIRY_MS) &&
|
||||
#endif
|
||||
(reader.time.age() < GPS_SOL_EXPIRY_MS) && (reader.date.age() < GPS_SOL_EXPIRY_MS))) {
|
||||
LOG_WARN("SOME data is TOO OLD: LOC %u, TIME %u, DATE %u\n", reader.location.age(), reader.time.age(), reader.date.age());
|
||||
return false;
|
||||
}
|
||||
|
||||
// Is this a new point or are we re-reading the previous one?
|
||||
if (!reader.location.isUpdated())
|
||||
return false;
|
||||
|
||||
// We know the solution is fresh and valid, so just read the data
|
||||
auto loc = reader.location.value();
|
||||
|
||||
// Bail out EARLY to avoid overwriting previous good data (like #857)
|
||||
if (toDegInt(loc.lat) > 900000000) {
|
||||
#ifdef GPS_EXTRAVERBOSE
|
||||
LOG_DEBUG("Bail out EARLY on LAT %i\n", toDegInt(loc.lat));
|
||||
#endif
|
||||
return false;
|
||||
}
|
||||
if (toDegInt(loc.lng) > 1800000000) {
|
||||
#ifdef GPS_EXTRAVERBOSE
|
||||
LOG_DEBUG("Bail out EARLY on LNG %i\n", toDegInt(loc.lng));
|
||||
#endif
|
||||
return false;
|
||||
}
|
||||
|
||||
p.location_source = meshtastic_Position_LocSource_LOC_INTERNAL;
|
||||
|
||||
// Dilution of precision (an accuracy metric) is reported in 10^2 units, so we need to scale down when we use it
|
||||
#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
|
||||
p.HDOP = reader.hdop.value();
|
||||
p.PDOP = TinyGPSPlus::parseDecimal(gsapdop.value());
|
||||
// LOG_DEBUG("PDOP=%d, HDOP=%d\n", p.PDOP, p.HDOP);
|
||||
#else
|
||||
// FIXME! naive PDOP emulation (assumes VDOP==HDOP)
|
||||
// correct formula is PDOP = SQRT(HDOP^2 + VDOP^2)
|
||||
p.HDOP = reader.hdop.value();
|
||||
p.PDOP = 1.41 * reader.hdop.value();
|
||||
#endif
|
||||
|
||||
// Discard incomplete or erroneous readings
|
||||
if (reader.hdop.value() == 0) {
|
||||
LOG_WARN("BOGUS hdop.value() REJECTED: %d\n", reader.hdop.value());
|
||||
return false;
|
||||
}
|
||||
|
||||
p.latitude_i = toDegInt(loc.lat);
|
||||
p.longitude_i = toDegInt(loc.lng);
|
||||
|
||||
p.altitude_geoidal_separation = reader.geoidHeight.meters();
|
||||
p.altitude_hae = reader.altitude.meters() + p.altitude_geoidal_separation;
|
||||
p.altitude = reader.altitude.meters();
|
||||
|
||||
p.fix_quality = fixQual;
|
||||
#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
|
||||
p.fix_type = fixType;
|
||||
#endif
|
||||
|
||||
// positional timestamp
|
||||
struct tm t;
|
||||
t.tm_sec = reader.time.second();
|
||||
t.tm_min = reader.time.minute();
|
||||
t.tm_hour = reader.time.hour();
|
||||
t.tm_mday = reader.date.day();
|
||||
t.tm_mon = reader.date.month() - 1;
|
||||
t.tm_year = reader.date.year() - 1900;
|
||||
t.tm_isdst = false;
|
||||
p.timestamp = mktime(&t);
|
||||
|
||||
// Nice to have, if available
|
||||
if (reader.satellites.isUpdated()) {
|
||||
p.sats_in_view = reader.satellites.value();
|
||||
}
|
||||
|
||||
if (reader.course.isUpdated() && reader.course.isValid()) {
|
||||
if (reader.course.value() < 36000) { // sanity check
|
||||
p.ground_track =
|
||||
reader.course.value() * 1e3; // Scale the heading (in degrees * 10^-2) to match the expected degrees * 10^-5
|
||||
} else {
|
||||
LOG_WARN("BOGUS course.value() REJECTED: %d\n", reader.course.value());
|
||||
}
|
||||
}
|
||||
|
||||
if (reader.speed.isUpdated() && reader.speed.isValid()) {
|
||||
p.ground_speed = reader.speed.kmph();
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool NMEAGPS::hasLock()
|
||||
{
|
||||
// Using GPGGA fix quality indicator
|
||||
if (fixQual >= 1 && fixQual <= 5) {
|
||||
#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
|
||||
// Use GPGSA fix type 2D/3D (better) if available
|
||||
if (fixType == 3 || fixType == 0) // zero means "no data received"
|
||||
#endif
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
bool NMEAGPS::hasFlow()
|
||||
{
|
||||
return reader.passedChecksum() > 0;
|
||||
}
|
||||
|
||||
bool NMEAGPS::whileIdle()
|
||||
{
|
||||
bool isValid = false;
|
||||
#ifdef SERIAL_BUFFER_SIZE
|
||||
if (_serial_gps->available() >= SERIAL_BUFFER_SIZE - 1) {
|
||||
LOG_WARN("GPS Buffer full with %u bytes waiting. Flushing to avoid corruption.\n", _serial_gps->available());
|
||||
clearBuffer();
|
||||
}
|
||||
#endif
|
||||
// if (_serial_gps->available() > 0)
|
||||
// LOG_DEBUG("GPS Bytes Waiting: %u\n", _serial_gps->available());
|
||||
// First consume any chars that have piled up at the receiver
|
||||
while (_serial_gps->available() > 0) {
|
||||
int c = _serial_gps->read();
|
||||
// LOG_DEBUG("%c", c);
|
||||
isValid |= reader.encode(c);
|
||||
}
|
||||
|
||||
return isValid;
|
||||
}
|
||||
@ -1,55 +0,0 @@
|
||||
#pragma once
|
||||
|
||||
#include "GPS.h"
|
||||
#include "Observer.h"
|
||||
#include "TinyGPS++.h"
|
||||
|
||||
/**
|
||||
* A gps class thatreads from a NMEA GPS stream (and FIXME - eventually keeps the gps powered down except when reading)
|
||||
*
|
||||
* When new data is available it will notify observers.
|
||||
*/
|
||||
class NMEAGPS : public GPS
|
||||
{
|
||||
TinyGPSPlus reader;
|
||||
uint8_t fixQual = 0; // fix quality from GPGGA
|
||||
uint32_t lastChecksumFailCount = 0;
|
||||
|
||||
#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
|
||||
// (20210908) TinyGps++ can only read the GPGSA "FIX TYPE" field
|
||||
// via optional feature "custom fields", currently disabled (bug #525)
|
||||
TinyGPSCustom gsafixtype; // custom extract fix type from GPGSA
|
||||
TinyGPSCustom gsapdop; // custom extract PDOP from GPGSA
|
||||
uint8_t fixType = 0; // fix type from GPGSA
|
||||
#endif
|
||||
|
||||
public:
|
||||
virtual bool factoryReset() override;
|
||||
|
||||
protected:
|
||||
/** 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
|
||||
*/
|
||||
virtual bool whileIdle() override;
|
||||
|
||||
/**
|
||||
* Perform any processing that should be done only while the GPS is awake and looking for a fix.
|
||||
* Override this method to check for new locations
|
||||
*
|
||||
* @return true if we've acquired a time
|
||||
*/
|
||||
virtual bool lookForTime() override;
|
||||
|
||||
/**
|
||||
* Perform any processing that should be done only while the GPS is awake and looking for a fix.
|
||||
* Override this method to check for new locations
|
||||
*
|
||||
* @return true if we've acquired a new location
|
||||
*/
|
||||
virtual bool lookForLocation() override;
|
||||
|
||||
virtual bool hasLock() override;
|
||||
|
||||
virtual bool hasFlow() override;
|
||||
};
|
||||
@ -557,9 +557,13 @@ void setup()
|
||||
screen = new graphics::Screen(screen_found, screen_model, screen_geometry);
|
||||
|
||||
readFromRTC(); // read the main CPU RTC at first (in case we can't get GPS time)
|
||||
gps = createGps();
|
||||
if (gps)
|
||||
|
||||
gps = GPS::createGps();
|
||||
if (gps) {
|
||||
gpsStatus->observe(&gps->newStatus);
|
||||
} else {
|
||||
LOG_DEBUG("Running without GPS.\n");
|
||||
}
|
||||
nodeStatus->observe(&nodeDB.newStatus);
|
||||
|
||||
service.init();
|
||||
|
||||
@ -123,22 +123,6 @@
|
||||
#define HW_VENDOR meshtastic_HardwareModel_HELTEC_HT62
|
||||
#endif
|
||||
|
||||
//
|
||||
// Standard definitions for ESP32 targets
|
||||
//
|
||||
|
||||
#define GPS_SERIAL_NUM 1
|
||||
#ifndef GPS_RX_PIN
|
||||
#define GPS_RX_PIN 34
|
||||
#endif
|
||||
#ifndef GPS_TX_PIN
|
||||
#ifdef USE_JTAG
|
||||
#define GPS_TX_PIN -1
|
||||
#else
|
||||
#define GPS_TX_PIN 12
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// -----------------------------------------------------------------------------
|
||||
// LoRa SPI
|
||||
// -----------------------------------------------------------------------------
|
||||
|
||||
@ -182,41 +182,6 @@ static void waitEnterSleep()
|
||||
notifySleep.notifyObservers(NULL);
|
||||
}
|
||||
|
||||
void doGPSpowersave(bool on)
|
||||
{
|
||||
#if defined(HAS_PMU) || defined(PIN_GPS_EN)
|
||||
if (on) {
|
||||
LOG_INFO("Turning GPS back on\n");
|
||||
gps->forceWake(1);
|
||||
setGPSPower(1);
|
||||
} else {
|
||||
LOG_INFO("Turning off GPS chip\n");
|
||||
notifyGPSSleep.notifyObservers(NULL);
|
||||
setGPSPower(0);
|
||||
}
|
||||
#endif
|
||||
#ifdef PIN_GPS_WAKE
|
||||
if (on) {
|
||||
LOG_INFO("Waking GPS");
|
||||
gps->forceWake(1);
|
||||
} else {
|
||||
LOG_INFO("GPS entering sleep");
|
||||
notifyGPSSleep.notifyObservers(NULL);
|
||||
}
|
||||
#endif
|
||||
#if !(defined(HAS_PMU) || defined(PIN_GPS_EN) || defined(PIN_GPS_WAKE))
|
||||
if (!on) {
|
||||
uint8_t msglen;
|
||||
notifyGPSSleep.notifyObservers(NULL);
|
||||
msglen = gps->makeUBXPacket(0x02, 0x41, 0x08, gps->_message_PMREQ);
|
||||
gps->_serial_gps->write(gps->UBXscratch, msglen);
|
||||
} else {
|
||||
gps->forceWake(1);
|
||||
gps->_serial_gps->write(0xFF);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
void doDeepSleep(uint32_t msecToWake)
|
||||
{
|
||||
if (INCLUDE_vTaskSuspend && (msecToWake == portMAX_DELAY)) {
|
||||
|
||||
@ -19,7 +19,7 @@ extern XPowersLibInterface *PMU;
|
||||
#endif
|
||||
|
||||
void setGPSPower(bool on);
|
||||
void doGPSpowersave(bool on);
|
||||
|
||||
// Perform power on init that we do on each wake from deep sleep
|
||||
void initDeepSleep();
|
||||
|
||||
|
||||
@ -11,8 +11,6 @@
|
||||
#define VEXT_ENABLE Vext // active low, powers the oled display and the lora antenna boost
|
||||
#define BUTTON_PIN 0
|
||||
|
||||
#define PIN_GPS_EN 46 // GPS power enable pin
|
||||
|
||||
#define BATTERY_PIN 1 // A battery voltage measurement pin, voltage divider connected here to measure battery voltage
|
||||
#define ADC_CHANNEL ADC1_GPIO1_CHANNEL
|
||||
#define ADC_ATTENUATION ADC_ATTEN_DB_2_5 // lower dB for high resistance voltage divider
|
||||
|
||||
@ -11,8 +11,6 @@
|
||||
#undef ECB
|
||||
#define ECB 0
|
||||
|
||||
#undef GPS_SERIAL_NUM
|
||||
|
||||
#define LED_CONN PIN_LED2
|
||||
#define LED_PIN LED_BUILTIN
|
||||
|
||||
|
||||
@ -11,9 +11,7 @@
|
||||
#undef ECB
|
||||
#define ECB 0
|
||||
|
||||
#define NO_GPS 1
|
||||
#define USE_SH1106 1
|
||||
#undef GPS_SERIAL_NUM
|
||||
|
||||
// default I2C pins:
|
||||
// SDA = 4
|
||||
|
||||
@ -11,9 +11,7 @@
|
||||
#undef ECB
|
||||
#define ECB 0
|
||||
|
||||
#define NO_GPS 1
|
||||
#define USE_SH1106 1
|
||||
#undef GPS_SERIAL_NUM
|
||||
|
||||
// default I2C pins:
|
||||
// SDA = 4
|
||||
|
||||
@ -46,3 +46,7 @@
|
||||
|
||||
// different screen
|
||||
#define USE_SH1106
|
||||
|
||||
// Station may not have GPS installed, but it has a labeled GPS pinout
|
||||
#define GPS_RX_PIN 34
|
||||
#define GPS_TX_PIN 12
|
||||
@ -38,3 +38,5 @@
|
||||
// #define PMU_IRQ 35
|
||||
#define HAS_AXP192
|
||||
#define GPS_UBLOX
|
||||
#define GPS_RX_PIN 34
|
||||
#define GPS_TX_PIN 12
|
||||
Loading…
Reference in New Issue
Block a user