wip for #376

docs/software/gps-todo.txt

@@ -1,8 +1,11 @@
 gps todo - bug 376
 
+for taiwan region:
+bin/run.sh --set region 8
+
 handle the various GPS modes 
 
-handle wake and sleep times 
+fix poll interval for sending commands to ublox
 
 handle maxint parameters
 
@@ -18,10 +21,15 @@ force gps sleep when in LightSleep and force wake only once <- confirm
 
 fix has_gps based on new logic
 
+have loop methods return allowable sleep time (from their perspective)
+increase main cpu sleep time
+
 add set router mode in python tool - it will also set GPS to stationary
 (which will shrink DARK and NB period to zero and
  make light_sleep very long)
 
+warn people about crummy gps antennas - add to faq
+
 gps states
 
 Active - for gps_attempt_time seconds

proto

@@ -1 +1 @@
-Subproject commit c250aaa459d7d6727b01b8f4d9f31d315f738d61
+Subproject commit 0d4ad90e4aca509e942e1dacdb947076dc01e2ab

src/gps/GPS.cpp

@@ -1,5 +1,6 @@
 
 #include "GPS.h"
+#include "NodeDB.h"
 #include "configuration.h"
 #include "sleep.h"
 #include <assert.h>
@@ -45,7 +46,7 @@ void readFromRTC()
 }
 
 /// If we haven't yet set our RTC this boot, set it from a GPS derived time
-void perhapsSetRTC(const struct timeval *tv)
+bool perhapsSetRTC(const struct timeval *tv)
 {
     if (!timeSetFromGPS) {
         timeSetFromGPS = true;
@@ -56,10 +57,13 @@ void perhapsSetRTC(const struct timeval *tv)
         DEBUG_MSG("ERROR TIME SETTING NOT IMPLEMENTED!\n");
 #endif
         readFromRTC();
+        return true;
+    } else {
+        return false;
     }
 }
 
-void perhapsSetRTC(struct tm &t)
+bool perhapsSetRTC(struct tm &t)
 {
     /* 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
@@ -71,10 +75,12 @@ void perhapsSetRTC(struct tm &t)
     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);
-    if (t.tm_year < 0 || t.tm_year >= 300)
+    if (t.tm_year < 0 || t.tm_year >= 300) {
-        DEBUG_MSG("Ignoring invalid GPS month=%d, year=%d, unixtime=%ld\n", t.tm_mon, t.tm_year, tv.tv_sec);
+        // DEBUG_MSG("Ignoring invalid GPS month=%d, year=%d, unixtime=%ld\n", t.tm_mon, t.tm_year, tv.tv_sec);
-    else
+        return false;
-        perhapsSetRTC(&tv);
+    } else {
+        return perhapsSetRTC(&tv);
+    }
 }
 
 uint32_t getTime()
@@ -101,22 +107,65 @@ bool GPS::setup()
  */
 void GPS::setAwake(bool on)
 {
-    if(!wakeAllowed && on) {
+    if (!wakeAllowed && on) {
         DEBUG_MSG("Inhibiting because !wakeAllowed\n");
         on = false;
     }
 
     if (isAwake != on) {
         DEBUG_MSG("WANT GPS=%d\n", on);
-        if (on)
+        if (on) {
+            lastWakeStartMsec = millis();
             wake();
-        else
+        } else {
+            lastSleepStartMsec = millis();
             sleep();
+        }
 
         isAwake = on;
     }
 }
 
+/** Get how long we should stay looking for each aquisition in msecs
+ */
+uint32_t GPS::getWakeTime() const
+{
+    uint32_t t = radioConfig.preferences.gps_attempt_time;
+
+    // fixme check modes
+    if (t == 0)
+        t = 30;
+
+    t *= 1000; // msecs
+
+    return t;
+}
+
+/** Get how long we should sleep between aqusition attempts in msecs
+ */
+uint32_t GPS::getSleepTime() const
+{
+    uint32_t t = radioConfig.preferences.gps_update_interval;
+
+    // fixme check modes
+    if (t == 0)
+        t = 30;
+
+    t *= 1000;
+
+    return t;
+}
+
+void GPS::publishUpdate()
+{
+    DEBUG_MSG("publishing GPS lock=%d\n", hasLock());
+
+    // Notify any status instances that are observing us
+    const meshtastic::GPSStatus status =
+        meshtastic::GPSStatus(hasLock(), isConnected, latitude, longitude, altitude, dop, heading, numSatellites);
+    newStatus.notifyObservers(&status);
+}
+
 void GPS::loop()
 {
     if (whileIdle()) {
@@ -128,47 +177,44 @@ void GPS::loop()
     uint32_t now = millis();
     bool mustPublishUpdate = false;
 
-    if ((now - lastUpdateMsec) > 30 * 1000 && !isAwake) {
+    if ((now - lastSleepStartMsec) > getSleepTime() && !isAwake) {
         // We now want to be awake - so wake up the GPS
         setAwake(true);
-
-        mustPublishUpdate =
-            true; // Even if we don't have an update this time, we at least want to occasionally publish the current state
     }
 
     // While we are awake
     if (isAwake) {
-        DEBUG_MSG("looking for location\n");
+        // DEBUG_MSG("looking for location\n");
-        bool gotTime = lookForTime();
+        whileActive();
+
+        // If we've already set time from the GPS, no need to ask the GPS
+        bool gotTime = timeSetFromGPS || lookForTime();
         bool gotLoc = lookForLocation();
 
-        if (gotLoc)
+        // We've been awake too long - force sleep
-            hasValidLocation = true;
+        bool tooLong = (now - lastWakeStartMsec) > getWakeTime();
-
-        mustPublishUpdate |= gotLoc;
 
         // Once we get a location we no longer desperately want an update
-        if (gotLoc) {
+        if (gotLoc || tooLong) {
-            lastUpdateMsec = now;
+            if (gotLoc)
+                hasValidLocation = true;
+
+            if (tooLong) {
+                // we didn't get a location during this ack window, therefore declare loss of lock
+                hasValidLocation = false;
+            }
+
             setAwake(false);
+            publishUpdate(); // publish our update for this just finished acquisition window
         }
     }
-
-    if (mustPublishUpdate) {
-        DEBUG_MSG("publishing GPS lock=%d\n", hasLock());
-
-        // Notify any status instances that are observing us
-        const meshtastic::GPSStatus status =
-            meshtastic::GPSStatus(hasLock(), isConnected, latitude, longitude, altitude, dop, heading, numSatellites);
-        newStatus.notifyObservers(&status);
-    }
 }
 
 void GPS::forceWake(bool on)
 {
     if (on) {
         DEBUG_MSG("Looking for GPS lock\n");
-        lastUpdateMsec = 0; // Force an update ASAP
+        lastSleepStartMsec = 0; // Force an update ASAP
         wakeAllowed = true;
     } else {
         wakeAllowed = false;

src/gps/GPS.h

@@ -6,8 +6,8 @@
 #include "sys/time.h"
 
 /// If we haven't yet set our RTC this boot, set it from a GPS derived time
-void perhapsSetRTC(const struct timeval *tv);
+bool perhapsSetRTC(const struct timeval *tv);
-void perhapsSetRTC(struct tm &t);
+bool perhapsSetRTC(struct tm &t);
 
 // Generate a string representation of DOP
 const char *getDOPString(uint32_t dop);
@@ -28,7 +28,7 @@ void readFromRTC();
 class GPS
 {
   private:
-    uint32_t lastUpdateMsec = 0;
+    uint32_t lastWakeStartMsec = 0, lastSleepStartMsec = 0;
 
     bool hasValidLocation = false; // default to false, until we complete our first read
 
@@ -91,6 +91,9 @@ class GPS
      */
     virtual bool whileIdle() = 0;
 
+    /** Idle processing while GPS is looking for lock */
+    virtual void whileActive() {}
+
     /**
      * 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
@@ -118,6 +121,20 @@ class GPS
      * calls sleep/wake
      */
     void setAwake(bool on);
+
+    /** Get how long we should stay looking for each aquisition
+     */
+    uint32_t getWakeTime() const;
+
+    /** Get how long we should sleep between aqusition attempts
+     */
+    uint32_t getSleepTime() const;
+
+    /**
+     * Tell users we have new GPS readings
+     */
+    void publishUpdate();
+
 };
 
 extern GPS *gps;

src/gps/UBloxGPS.cpp

@@ -2,9 +2,7 @@
 #include "error.h"
 #include <assert.h>
 
-UBloxGPS::UBloxGPS() 
+UBloxGPS::UBloxGPS() {}
-{
-}
 
 bool UBloxGPS::tryConnect()
 {
@@ -41,7 +39,7 @@ bool UBloxGPS::setup()
     delay(200); // Give time for the GPS to startup after we gave power
 #endif
 
-    // ublox.enableDebugging(Serial);
+    ublox.enableDebugging(Serial);
 
     // try a second time, the ublox lib serial parsing is buggy?
     // see https://github.com/meshtastic/Meshtastic-device/issues/376
@@ -120,6 +118,14 @@ bool UBloxGPS::factoryReset()
     return ok;
 }
 
+/** Idle processing while GPS is looking for lock */
+void UBloxGPS::whileActive()
+{
+    // If we don't have a fix (a quick check), don't try waiting for a solution)
+    fixType = ublox.getFixType(maxWait());
+    DEBUG_MSG("GPS fix type %d\n", fixType);
+}
+
 /**
  * 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
@@ -128,7 +134,7 @@ bool UBloxGPS::factoryReset()
  */
 bool UBloxGPS::lookForTime()
 {
-    if (ublox.getT(maxWait())) {
+    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).
@@ -143,9 +149,7 @@ bool UBloxGPS::lookForTime()
         t.tm_isdst = false;
         perhapsSetRTC(t);
         return true;
-    }
+    } else {
-    else
-    {
         return false;
     }
 }
@@ -160,12 +164,8 @@ bool UBloxGPS::lookForLocation()
 {
     bool foundLocation = false;
 
-    // If we don't have a fix (a quick check), don't try waiting for a solution)
-    uint8_t fixtype = ublox.getFixType(maxWait());
-    DEBUG_MSG("GPS fix type %d\n", fixtype);
-
     // we only notify if position has changed due to a new fix
-    if ((fixtype >= 3 && fixtype <= 4) && ublox.getP(maxWait())) // rd fixes only
+    if ((fixType >= 3 && fixType <= 4) && ublox.getP(maxWait())) // rd fixes only
     {
         latitude = ublox.getLatitude(0);
         longitude = ublox.getLongitude(0);
@@ -189,11 +189,14 @@ bool UBloxGPS::whileIdle()
     return ublox.checkUblox(); // See if new data is available. Process bytes as they come in.
 }
 
-
 /// If possible force the GPS into sleep/low power mode
 /// 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() {
+void UBloxGPS::sleep()
-    if (isConnected)
+{
-        ublox.powerOff();
+    if (isConnected) {
-}
+        DEBUG_MSG("FIXME, enter low power mode\n");
 
+        // won't work on 6M
+        // ublox.powerOff();
+    }
+}

src/gps/UBloxGPS.h

@@ -12,6 +12,7 @@
 class UBloxGPS : public GPS
 {
     SFE_UBLOX_GPS ublox;
+    uint8_t fixType = 0;
 
   public:
     UBloxGPS();
@@ -35,6 +36,9 @@ class UBloxGPS : public GPS
      */
     virtual bool whileIdle();
 
+    /** Idle processing while GPS is looking for lock */
+    virtual void whileActive();
+
     /**
      * 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
@@ -55,7 +59,6 @@ class UBloxGPS : public GPS
     virtual void sleep();
 
   private:
-
     /// Attempt to connect to our GPS, returns false if no gps is present
     bool tryConnect();
 

src/main.cpp

@@ -21,9 +21,9 @@
 
 */
 
+#include "Air530GPS.h"
 #include "MeshRadio.h"
 #include "MeshService.h"
-#include "Air530GPS.h"
 #include "NodeDB.h"
 #include "PowerFSM.h"
 #include "UBloxGPS.h"
@@ -429,7 +429,7 @@ void loop()
 
     // FIXME - until button press handling is done by interrupt (see polling above) we can't sleep very long at all or buttons
     // feel slow
-    msecstosleep = 10;
+    msecstosleep = 200; // FIXME, stop early if something happens
 
     // TODO: This should go into a thread handled by FreeRTOS.
     handleWebResponse();

src/mesh/mesh.pb.h

@@ -39,7 +39,6 @@ typedef enum _RegionCode {
 
 typedef enum _GpsOperation {
     GpsOperation_GpsOpUnset = 0,
-    GpsOperation_GpsOpStationary = 1,
     GpsOperation_GpsOpMobile = 2,
     GpsOperation_GpsOpTimeOnly = 3,
     GpsOperation_GpsOpDisabled = 4
@@ -137,7 +136,7 @@ typedef struct _RadioConfig_UserPreferences {
     RegionCode region;
     LocationSharing location_share;
     GpsOperation gps_operation;
-    uint32_t gps_update_rate;
+    uint32_t gps_update_interval;
     uint32_t gps_attempt_time;
     bool factory_reset;
     pb_size_t ignore_incoming_count;
@@ -369,7 +368,7 @@ typedef struct _ToRadio {
 #define RadioConfig_UserPreferences_region_tag   15
 #define RadioConfig_UserPreferences_location_share_tag 32
 #define RadioConfig_UserPreferences_gps_operation_tag 33
-#define RadioConfig_UserPreferences_gps_update_rate_tag 34
+#define RadioConfig_UserPreferences_gps_update_interval_tag 34
 #define RadioConfig_UserPreferences_gps_attempt_time_tag 36
 #define RadioConfig_UserPreferences_factory_reset_tag 100
 #define RadioConfig_UserPreferences_ignore_incoming_tag 103
@@ -530,7 +529,7 @@ X(a, STATIC,   SINGULAR, BOOL,     wifi_ap_mode,     14) \
 X(a, STATIC,   SINGULAR, UENUM,    region,           15) \
 X(a, STATIC,   SINGULAR, UENUM,    location_share,   32) \
 X(a, STATIC,   SINGULAR, UENUM,    gps_operation,    33) \
-X(a, STATIC,   SINGULAR, UINT32,   gps_update_rate,  34) \
+X(a, STATIC,   SINGULAR, UINT32,   gps_update_interval,  34) \
 X(a, STATIC,   SINGULAR, UINT32,   gps_attempt_time,  36) \
 X(a, STATIC,   SINGULAR, BOOL,     factory_reset,   100) \
 X(a, STATIC,   REPEATED, UINT32,   ignore_incoming, 103)