begin testing native ublox api

docs/software/TODO.md

@@ -2,6 +2,7 @@
 
 Items to complete soon (next couple of alpha releases).
 
+* make girts gps work again with SparkFun Ublox Arduino Library_ID5746/examples/Example13_PVT/Example3_AssumeAutoPVTviaUart/Example3_AssumeAutoPVTviaUart.ino
 * turn on gps https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library/blob/master/examples/Example18_PowerSaveMode/Example18_PowerSaveMode.ino
 * switch gps to 38400 baud https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library/blob/master/examples/Example11_ResetModule/Example2_FactoryDefaultsviaSerial/Example2_FactoryDefaultsviaSerial.ino
 * Use Neo-M8M API to put it in sleep mode

platformio.ini

@@ -59,7 +59,6 @@ debug_init_break = tbreak setup
 ; names.
 lib_deps =
   https://github.com/meshtastic/RadioHead.git
-  1655 ; TinyGPSPlus
   https://github.com/meshtastic/esp8266-oled-ssd1306.git ; ESP8266_SSD1306 
   AXP202X_Library
   SPI

src/GPS.cpp

@@ -4,7 +4,6 @@
 #include <sys/time.h>
 #include "configuration.h"
 
-
 HardwareSerial _serial_gps(GPS_SERIAL_NUM);
 
 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)
@@ -28,23 +27,36 @@ void GPS::setup()
 
 #ifdef GPS_RX_PIN
     _serial_gps.begin(GPS_BAUDRATE, SERIAL_8N1, GPS_RX_PIN, GPS_TX_PIN);
-    ublox.enableDebugging(Serial);
+    // ublox.enableDebugging(Serial);
 
-#if 0
     // 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);
+    isConnected = ublox.begin(_serial_gps);
-    assert(!errCode); // FIXME, report hw failure on screen
+    if (isConnected)
+    {
+        DEBUG_MSG("Connected to GPS successfully\n");
 
-    bool ok = ublox.setUART1Output(COM_TYPE_UBX); // Use native API
+        bool ok = ublox.setUART1Output(COM_TYPE_UBX); // Use native API
-    assert(ok);
+        assert(ok);
-    ok = ublox.setNavigationFrequency(1); //Produce one solutions per second
+        ok = ublox.setNavigationFrequency(1); //Produce one solutions per second
-    assert(ok);
+        assert(ok);
-    ok = ublox.setAutoPVT(true);
+        ok = ublox.setAutoPVT(false);
-    assert(ok);
+        assert(ok);
-    // ublox.saveConfiguration();
+        ok = ublox.setDynamicModel(DYN_MODEL_BIKE); // probably PEDESTRIAN but just in case assume bike speeds
-    assert(ok);
+        assert(ok);
-#endif
+        ok = ublox.saveConfiguration();
+        assert(ok);
+    }
+    else
+    {
+        // Some boards might have only the TX line from the GPS connected, in that case, we can't configure it at all.  Just
+        // assume NEMA at 9600 baud.
+        DEBUG_MSG("ERROR: No bidirectional GPS found, hoping that it still might work\n");
+
+        // tell lib, we are expecting the module to send PVT messages by itself to our Rx pin
+        // you can set second parameter to "false" if you want to control the parsing and eviction of the data (need to call checkUblox cyclically)
+        ublox.assumeAutoPVT(true, true);
+    }
 #endif
 }
 
@@ -109,17 +121,19 @@ void GPS::doTask()
 #ifdef GPS_RX_PIN
     // Consume all characters that have arrived
 
-#if 0
+    // getPVT automatically calls checkUblox
-    ublox.checkUblox(); //See if new data is available. Process bytes as they come in.
+    // 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());
 
+#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;
 
-            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). 
         */
@@ -135,6 +149,8 @@ void GPS::doTask()
             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", ublox.getMonth(), ublox.getYear(), tv.tv_sec);
+
             // FIXME
             // perhapsSetRTC(&tv);
         }

src/GPS.h

@@ -17,6 +17,7 @@ class GPS : public PeriodicTask, public Observable
 public:
     double latitude, longitude;
     uint32_t altitude;
+    bool isConnected; // Do we have a GPS we are talking to
     
     GPS();
 
@@ -50,6 +51,3 @@ private:
 
 extern GPS gps;
 
-// Temporary support for the one TTGO in the world with a busted serial rx line (my old devboard)
-extern HardwareSerial _serial_gps;
-extern RTC_DATA_ATTR bool timeSetFromGPS; 

src/GPSNema.cpp

@@ -1,156 +0,0 @@
-
-#include "GPSNema.h"
-#include "time.h"
-#include <sys/time.h>
-#include "configuration.h"
-#include "GPS.h"
-
-// GPSNema gps;
-
-// stuff that really should be in in the instance instead...
-static uint32_t timeStartMsec;  // Once we have a GPS lock, this is where we hold the initial msec clock that corresponds to that time
-static uint64_t zeroOffsetSecs; // GPS based time in secs since 1970 - only updated once on initial lock
-
-static bool hasValidLocation; // default to false, until we complete our first read
-static bool wantNewLocation = true;
-
-GPSNema::GPSNema() : PeriodicTask()
-{
-}
-
-void GPSNema::setup()
-{
-    readFromRTC();
-
-#ifdef GPS_RX_PIN
-    _serial_gps.begin(GPS_BAUDRATE, SERIAL_8N1, GPS_RX_PIN, GPS_TX_PIN);
-#endif
-}
-
-void GPSNema::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 GPSNema::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 GPSNema::loop()
-{
-    PeriodicTask::loop();
-}
-
-uint32_t GPSNema::getTime()
-{
-    return ((millis() - timeStartMsec) / 1000) + zeroOffsetSecs;
-}
-
-uint32_t GPSNema::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 GPSNema::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 GPSNema::prepareSleep()
-{
-    // discard all rx serial bytes so we don't try to parse them when we come back
-    while (_serial_gps.available())
-    {
-        _serial_gps.read();
-    }
-
-    // make the parser bail on whatever it was parsing
-    encode('\n');
-}
-
-void GPSNema::doTask()
-{
-#ifdef GPS_RX_PIN
-    // Consume all characters that have arrived
-
-    while (_serial_gps.available())
-    {
-        encode(_serial_gps.read());
-        // DEBUG_MSG("Got GPS response\n");
-    }
-
-    if (!timeSetFromGPS && time.isValid() && date.isValid())
-    {
-        struct timeval tv;
-
-        DEBUG_MSG("Got time from GPS\n");
-
-        /* 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 = time.second();
-        t.tm_min = time.minute();
-        t.tm_hour = time.hour();
-        t.tm_mday = date.day();
-        t.tm_mon = date.month() - 1;
-        t.tm_year = date.year() - 1900;
-        t.tm_isdst = false;
-        time_t res = mktime(&t);
-        tv.tv_sec = res;
-        tv.tv_usec = 0; // time.centisecond() * (10 / 1000);
-
-        perhapsSetRTC(&tv);
-    }
-#endif
-
-    if (location.isValid() && location.isUpdated())
-    { // we only notify if position has changed
-        // DEBUG_MSG("new gps pos\n");
-        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;
-
-    // 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 GPSNema::startLock()
-{
-    DEBUG_MSG("Looking for GPS lock\n");
-    wantNewLocation = true;
-    setPeriod(1);
-}
-
-String GPSNema::getTimeStr()
-{
-    static char t[12]; // used to sprintf for Serial output
-
-    snprintf(t, sizeof(t), "%02d:%02d:%02d", time.hour(), time.minute(), time.second());
-    return t;
-}

src/GPSNema.h

@@ -1,48 +0,0 @@
-#pragma once
-
-#include <TinyGPS++.h>
-#include "PeriodicTask.h"
-#include "Observer.h"
-#include "sys/time.h"
-
-/**
- * A gps class that only reads from the GPS periodically (and FIXME - eventually keeps the gps powered down except when reading)
- * 
- * When new data is available it will notify observers.
- */
-class GPSNema : public PeriodicTask, public Observable, public TinyGPSPlus
-{
-public:
-    GPSNema();
-
-    /// Return time since 1970 in secs.  Until we have a GPS lock we will be returning time based at zero
-    uint32_t getTime();
-
-    /// Return time since 1970 in secs.  If we don't have a GPS lock return zero
-    uint32_t getValidTime();
-
-    String getTimeStr();
-
-    void setup();
-
-    virtual void loop();
-
-    virtual void doTask();
-
-    /// If we haven't yet set our RTC this boot, set it from a GPS derived time
-    void perhapsSetRTC(const struct timeval *tv);
-
-    /// Returns true if we think the board can enter deep or light sleep now (we might be trying to get a GPS lock)
-    bool canSleep();
-
-    /// Prepare the GPS for the cpu entering deep or light sleep, expect to be gone for at least 100s of msecs
-    void prepareSleep();
-
-    /// Restart our lock attempt - try to get and broadcast a GPS reading ASAP
-    void startLock();
-
-private:
-    void readFromRTC();
-};
-
-// extern GPSNema gps;

src/PowerFSM.cpp

@@ -32,8 +32,8 @@ static void lsEnter()
 
     gps.prepareSleep(); // abandon in-process parsing
 
-    if (!isUSBPowered)      // FIXME - temp hack until we can put gps in sleep mode, if we have AC when we go to sleep then leave GPS on
+    //if (!isUSBPowered)      // FIXME - temp hack until we can put gps in sleep mode, if we have AC when we go to sleep then leave GPS on
-        setGPSPower(false); // kill GPS power
+    //    setGPSPower(false); // kill GPS power
 }
 
 static void lsIdle()
@@ -76,7 +76,7 @@ static void lsIdle()
 
 static void lsExit()
 {
-    setGPSPower(true); // restore GPS power
+    // setGPSPower(true); // restore GPS power
     gps.startLock();
 }