Use int based lat/long from now on in the device code

for https://github.com/meshtastic/Meshtastic-device/issues/124

docs/software/nrf52-TODO.md

@@ -9,7 +9,7 @@ Minimum items needed to make sure hardware is good.
 - plug in correct variants for the real board
 - Use the PMU driver on real hardware
 - add a NEMA based GPS driver to test GPS
-- Use new radio driver on real hardware - possibly start with https://os.mbed.com/teams/Semtech/code/SX126xLib/
+- Use new radio driver on real hardware 
 - Use UC1701 LCD driver on real hardware. Still need to create at startup and probe on SPI
 - test the LEDs
 - test the buttons

proto

@@ -1 +1 @@
-Subproject commit bd002e5a144f209e42c97b64fea9a05a2e513b28
+Subproject commit cabbdf51ed365b72ab995ad24b075269627f58ad

src/GPS.cpp

@@ -48,7 +48,7 @@ void GPS::setup()
         isConnected = ublox.begin(_serial_gps);
 
     if (isConnected) {
-        DEBUG_MSG("Connected to GPS successfully\n");
+        DEBUG_MSG("Connected to UBLOX GPS successfully\n");
 
         bool factoryReset = false;
         bool ok;
@@ -191,10 +191,10 @@ The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of s
     if ((fixtype >= 3 && fixtype <= 4) && ublox.getP()) // rd fixes only
     {
         // we only notify if position has changed
-        latitude = ublox.getLatitude() * 1e-7;
+        latitude = ublox.getLatitude();
-        longitude = ublox.getLongitude() * 1e-7;
+        longitude = ublox.getLongitude();
         altitude = ublox.getAltitude() / 1000; // in mm convert to meters
-        DEBUG_MSG("new gps pos lat=%f, lon=%f, alt=%d\n", latitude, longitude, altitude);
+        DEBUG_MSG("new gps pos lat=%f, lon=%f, alt=%d\n", latitude * 1e-7, longitude * 1e-7, altitude);
 
         hasValidLocation = (latitude != 0) || (longitude != 0); // bogus lat lon is reported as 0,0
         if (hasValidLocation) {

src/GPS.h

@@ -15,7 +15,7 @@ class GPS : public PeriodicTask, public Observable<void *>
     SFE_UBLOX_GPS ublox;
 
   public:
-    double latitude, longitude;
+    uint32_t latitude, longitude; // as an int mult by 1e-7 to get value as double
     uint32_t altitude;
     bool isConnected; // Do we have a GPS we are talking to
 
@@ -29,7 +29,6 @@ class GPS : public PeriodicTask, public Observable<void *>
 
     void setup();
 
-
     virtual void doTask();
 
     /// If we haven't yet set our RTC this boot, set it from a GPS derived time

src/mesh/MeshService.cpp

@@ -269,8 +269,7 @@ void MeshService::sendToMesh(MeshPacket *p)
     if (p->to == nodeDB.getNodeNum()) {
         DEBUG_MSG("Dropping locally processed message\n");
         releaseToPool(p);
-    }
+    } else {
-    else {
         // Note: We might return !OK if our fifo was full, at that point the only option we have is to drop it
         if (router.send(p) != ERRNO_OK) {
             DEBUG_MSG("No radio was able to send packet, discarding...\n");
@@ -333,8 +332,8 @@ int MeshService::onGPSChanged(void *unused)
     if (gps.latitude != 0 || gps.longitude != 0) {
         if (gps.altitude != 0)
             pos.altitude = gps.altitude;
-        pos.latitude = gps.latitude;
+        pos.latitude_i = gps.latitude;
-        pos.longitude = gps.longitude;
+        pos.longitude_i = gps.longitude;
         pos.time = gps.getValidTime();
     }
 

src/mesh/mesh.pb.c

@@ -55,11 +55,3 @@ PB_BIND(ToRadio, ToRadio, 2)
 
 
 
-#ifndef PB_CONVERT_DOUBLE_FLOAT
-/* On some platforms (such as AVR), double is really float.
- * To be able to encode/decode double on these platforms, you need.
- * to define PB_CONVERT_DOUBLE_FLOAT in pb.h or compiler command line.
- */
-PB_STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES)
-#endif
-

src/mesh/mesh.pb.h

@@ -66,11 +66,11 @@ typedef struct _MyNodeInfo {
 } MyNodeInfo;
 
 typedef struct _Position {
-    double latitude;
-    double longitude;
     int32_t altitude;
     int32_t battery_level;
     uint32_t time;
+    int32_t latitude_i;
+    int32_t longitude_i;
 } Position;
 
 typedef struct _RadioConfig_UserPreferences {
@@ -237,8 +237,8 @@ typedef struct _ToRadio {
 #define MyNodeInfo_error_code_tag                7
 #define MyNodeInfo_error_address_tag             8
 #define MyNodeInfo_error_count_tag               9
-#define Position_latitude_tag                    1
+#define Position_latitude_i_tag                  7
-#define Position_longitude_tag                   2
+#define Position_longitude_i_tag                 8
 #define Position_altitude_tag                    3
 #define Position_battery_level_tag               4
 #define Position_time_tag                        6
@@ -297,11 +297,11 @@ typedef struct _ToRadio {
 
 /* Struct field encoding specification for nanopb */
 #define Position_FIELDLIST(X, a) \
-X(a, STATIC,   SINGULAR, DOUBLE,   latitude,          1) \
-X(a, STATIC,   SINGULAR, DOUBLE,   longitude,         2) \
 X(a, STATIC,   SINGULAR, INT32,    altitude,          3) \
 X(a, STATIC,   SINGULAR, INT32,    battery_level,     4) \
-X(a, STATIC,   SINGULAR, UINT32,   time,              6)
+X(a, STATIC,   SINGULAR, UINT32,   time,              6) \
+X(a, STATIC,   SINGULAR, INT32,    latitude_i,        7) \
+X(a, STATIC,   SINGULAR, INT32,    longitude_i,       8)
 #define Position_CALLBACK NULL
 #define Position_DEFAULT NULL
 
@@ -486,21 +486,21 @@ extern const pb_msgdesc_t ToRadio_msg;
 #define ToRadio_fields &ToRadio_msg
 
 /* Maximum encoded size of messages (where known) */
-#define Position_size                            46
+#define Position_size                            50
 #define Data_size                                256
 #define User_size                                72
 /* RouteDiscovery_size depends on runtime parameters */
-#define SubPacket_size                           383
+#define SubPacket_size                           387
-#define MeshPacket_size                          425
+#define MeshPacket_size                          429
 #define ChannelSettings_size                     44
 #define RadioConfig_size                         120
 #define RadioConfig_UserPreferences_size         72
-#define NodeInfo_size                            138
+#define NodeInfo_size                            142
 #define MyNodeInfo_size                          85
-#define DeviceState_size                         18925
+#define DeviceState_size                         19185
 #define DebugString_size                         258
-#define FromRadio_size                           434
+#define FromRadio_size                           438
-#define ToRadio_size                             428
+#define ToRadio_size                             432
 
 #ifdef __cplusplus
 } /* extern "C" */

src/screen.cpp

@@ -280,7 +280,7 @@ static float estimatedHeading(double lat, double lon)
 /// valid lat/lon
 static bool hasPosition(NodeInfo *n)
 {
-    return n->has_position && (n->position.latitude != 0 || n->position.longitude != 0);
+    return n->has_position && (n->position.latitude_i != 0 || n->position.longitude_i != 0);
 }
 
 /// We will skip one node - the one for us, so we just blindly loop over all
@@ -288,6 +288,9 @@ static bool hasPosition(NodeInfo *n)
 static size_t nodeIndex;
 static int8_t prevFrame = -1;
 
+/// Convert an integer GPS coords to a floating point
+#define DegD(i) (i * 1e-7)
+
 static void drawNodeInfo(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t y)
 {
     // We only advance our nodeIndex if the frame # has changed - because
@@ -334,7 +337,7 @@ static void drawNodeInfo(OLEDDisplay *display, OLEDDisplayUiState *state, int16_
     NodeInfo *ourNode = nodeDB.getNode(nodeDB.getNodeNum());
     if (ourNode && hasPosition(ourNode) && hasPosition(node)) {
         Position &op = ourNode->position, &p = node->position;
-        float d = latLongToMeter(p.latitude, p.longitude, op.latitude, op.longitude);
+        float d = latLongToMeter(DegD(p.latitude_i), DegD(p.longitude_i), DegD(op.latitude_i), DegD(op.longitude_i));
         if (d < 2000)
             snprintf(distStr, sizeof(distStr), "%.0f m", d);
         else
@@ -342,8 +345,8 @@ static void drawNodeInfo(OLEDDisplay *display, OLEDDisplayUiState *state, int16_
 
         // FIXME, also keep the guess at the operators heading and add/substract
         // it.  currently we don't do this and instead draw north up only.
-        float bearingToOther = bearing(p.latitude, p.longitude, op.latitude, op.longitude);
+        float bearingToOther = bearing(DegD(p.latitude_i), DegD(p.longitude_i), DegD(op.latitude_i), DegD(op.longitude_i));
-        float myHeading = estimatedHeading(p.latitude, p.longitude);
+        float myHeading = estimatedHeading(DegD(p.latitude_i), DegD(p.longitude_i));
         headingRadian = bearingToOther - myHeading;
     } else {
         // Debug info for gps lock errors