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Merge pull request #43 from geeksville/one-wire-gps

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fixes to make one-wire gpses work and cope with tbeams with crummy rx buffers
This commit is contained in:
Kevin Hester 2020-03-18 14:02:46 -07:00 committed by GitHub
commit c9e2e6c386
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5 changed files with 127 additions and 128 deletions
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159
src/GPS.cpp
View File

@ -1,25 +1,25 @@
#include "GPS.h"
#include "configuration.h"
#include "time.h"
#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)
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)
GPS 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 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;
GPS::GPS() : PeriodicTask()
{
}
GPS::GPS() : PeriodicTask() {}
void GPS::setup()
{
@ -35,50 +35,45 @@ void GPS::setup()
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) isConnected = ublox.begin(_serial_gps);
if (isConnected)
{
if (isConnected) {
DEBUG_MSG("Connected to GPS successfully, TXpin=%d\n", GPS_TX_PIN);
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)
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)
{
if (isConnected) {
ublox.assumeAutoPVT(true, true); // Just parse NEMA for now
}
}
else
{
} else {
ok = ublox.setUART1Output(COM_TYPE_UBX, 500); // Use native API
assert(ok);
ok = ublox.setNavigationFrequency(1, 500); //Produce 4x/sec to keep the amount of time we stall in getPVT low
ok = ublox.setNavigationFrequency(1, 500); // 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.powerSaveMode(); //use power save mode
// 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.powerSaveMode(); // use power save mode
assert(ok);
}
ok = ublox.saveConfiguration(2000);
assert(ok);
}
else
{
} 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)
// 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
@ -88,8 +83,7 @@ void GPS::readFromRTC()
{
struct timeval tv; /* btw settimeofday() is helpfull here too*/
if (!gettimeofday(&tv, NULL))
{
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);
@ -101,8 +95,7 @@ void GPS::readFromRTC()
/// If we haven't yet set our RTC this boot, set it from a GPS derived time
void GPS::perhapsSetRTC(const struct timeval *tv)
{
if (!timeSetFromGPS)
{
if (!timeSetFromGPS) {
timeSetFromGPS = true;
DEBUG_MSG("Setting RTC %ld secs\n", tv->tv_sec);
settimeofday(tv, NULL);
@ -144,67 +137,67 @@ void GPS::prepareSleep()
void GPS::doTask()
{
#ifdef GPS_RX_PIN
if (isConnected)
{
uint8_t fixtype = 3; // If we are only using the RX pin, assume we have a 3d fix
if (isConnected) {
// 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("sec %d\n", ublox.getSecond());
// DEBUG_MSG("lat %d\n", ublox.getLatitude());
ublox.checkUblox(); // See if new data is available. Process bytes as they come in.
// If we don't have a fix (a quick check), don't try waiting for a solution)
uint8_t fixtype = ublox.getFixType();
fixtype = ublox.getFixType();
DEBUG_MSG("fix type %d\n", fixtype);
// any fix that has time
if ((fixtype >= 2 && fixtype <= 5) && !timeSetFromGPS && ublox.getT())
{
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);
DEBUG_MSG("Got time from GPS month=%d, year=%d, unixtime=%ld\n", t.tm_mon, t.tm_year, tv.tv_sec);
perhapsSetRTC(&tv);
}
if ((fixtype >= 3 && fixtype <= 4) && ublox.getP()) // rd fixes only
{
// we only notify if position has changed
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 = (latitude != 0) || (longitude != 0); // bogus lat lon is reported as 0,0
if (hasValidLocation)
{
wantNewLocation = false;
notifyObservers();
//ublox.powerOff();
}
}
else // we didn't get a location update, go back to sleep and hope the characters show up
wantNewLocation = true;
}
// DEBUG_MSG("sec %d\n", ublox.getSecond());
// DEBUG_MSG("lat %d\n", ublox.getLatitude());
// any fix that has time
if ((fixtype >= 2 && fixtype <= 5) && !timeSetFromGPS && ublox.getT()) {
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);
DEBUG_MSG("Got time from GPS month=%d, year=%d, unixtime=%ld\n", t.tm_mon, t.tm_year, tv.tv_sec);
perhapsSetRTC(&tv);
}
if ((fixtype >= 3 && fixtype <= 4) && ublox.getP()) // rd fixes only
{
// we only notify if position has changed
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 = (latitude != 0) || (longitude != 0); // bogus lat lon is reported as 0,0
if (hasValidLocation) {
wantNewLocation = false;
notifyObservers();
// ublox.powerOff();
}
} else // we didn't get a location update, go back to sleep and hope the characters show up
wantNewLocation = true;
#endif
// Once we have sent a location once we only poll the GPS rarely, otherwise check back every 1s until we have something over the serial
// Once we have sent a location once we only poll the GPS rarely, otherwise check back every 1s until we have something over
// the serial
setPeriod(hasValidLocation && !wantNewLocation ? 30 * 1000 : 10 * 1000);
}

13
src/MeshBluetoothService.cpp
View File

@ -13,6 +13,8 @@
#include "PowerFSM.h"
#include "CallbackCharacteristic.h"
#include "GPS.h"
// This scratch buffer is used for various bluetooth reads/writes - but it is safe because only one bt operation can be in proccess at once
static uint8_t trBytes[_max(_max(_max(_max(ToRadio_size, RadioConfig_size), User_size), MyNodeInfo_size), FromRadio_size)];
@ -93,6 +95,7 @@ public:
}
};
// wrap our protobuf version with something that forces the service to reload the config
class RadioCharacteristic : public ProtobufCharacteristic
{
@ -102,6 +105,16 @@ public:
{
}
void onRead(BLECharacteristic *c)
{
DEBUG_MSG("Reading radio config\n");
// update gps connection state
devicestate.has_radio = gps.isConnected;
BLEKeepAliveCallbacks::onRead(c);
}
void onWrite(BLECharacteristic *c)
{
ProtobufCharacteristic::onWrite(c);

2
src/NodeDB.cpp
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@ -52,7 +52,7 @@ void NodeDB::init()
devicestate.has_my_node = true;
devicestate.has_radio = true;
devicestate.has_owner = true;
devicestate.has_radio = true;
devicestate.has_radio = false;
devicestate.radio.has_channel_settings = true;
devicestate.radio.has_preferences = true;
devicestate.node_db_count = 0;

62
src/PowerFSM.cpp
View File

@ -1,12 +1,12 @@
#include "sleep.h"
#include "PowerFSM.h"
#include "GPS.h"
#include "MeshService.h"
#include "NodeDB.h"
#include "configuration.h"
#include "screen.h"
#include "PowerFSM.h"
#include "GPS.h"
#include "main.h"
#include "screen.h"
#include "sleep.h"
static void sdsEnter()
{
@ -33,7 +33,8 @@ 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
DEBUG_MSG("lsEnter end\n");
@ -47,8 +48,7 @@ static void lsIdle()
esp_sleep_source_t wakeCause = ESP_SLEEP_WAKEUP_UNDEFINED;
bool reached_ls_secs = false;
while (!reached_ls_secs)
{
while (!reached_ls_secs) {
// Briefly come out of sleep long enough to blink the led once every few seconds
uint32_t sleepTime = 5;
@ -67,17 +67,19 @@ static void lsIdle()
}
setLed(false);
if (reached_ls_secs)
{
if (reached_ls_secs) {
// stay in LS mode but let loop check whatever it wants
DEBUG_MSG("reached ls_secs, servicing loop()\n");
}
else
{
} else {
DEBUG_MSG("wakeCause %d\n", wakeCause);
// Regardless of why we woke just transition to NB (and that state will handle stuff like IRQs etc)
powerFSM.trigger(EVENT_WAKE_TIMER);
if (!digitalRead(BUTTON_PIN)) // If we woke because of press, instead generate a PRESS event.
{
powerFSM.trigger(EVENT_PRESS);
} else {
// Otherwise let the NB state handle the IRQ (and that state will handle stuff like IRQs etc)
powerFSM.trigger(EVENT_WAKE_TIMER);
}
}
}
@ -104,12 +106,18 @@ static void onEnter()
{
screen.setOn(true);
setBluetoothEnable(true);
static uint32_t lastPingMs;
uint32_t now = millis();
if (now - lastPingMs > 60 * 1000) { // if more than a minute since our last press, ask other nodes to update their state
service.sendNetworkPing();
lastPingMs = now;
}
}
static void wakeForPing()
{
}
static void wakeForPing() {}
static void screenPress()
{
@ -128,14 +136,13 @@ void PowerFSM_setup()
powerFSM.add_transition(&stateDARK, &stateON, EVENT_BOOT, NULL, "Boot");
powerFSM.add_transition(&stateLS, &stateDARK, EVENT_WAKE_TIMER, wakeForPing, "Wake timer");
// Note we don't really use this transition, because when we wake from light sleep we _always_ transition to NB and then it handles things
// powerFSM.add_transition(&stateLS, &stateNB, EVENT_RECEIVED_PACKET, NULL, "Received packet");
// Note we don't really use this transition, because when we wake from light sleep we _always_ transition to NB and then it
// handles things powerFSM.add_transition(&stateLS, &stateNB, EVENT_RECEIVED_PACKET, NULL, "Received packet");
powerFSM.add_transition(&stateNB, &stateNB, EVENT_RECEIVED_PACKET, NULL, "Received packet, resetting win wake");
// Note we don't really use this transition, because when we wake from light sleep we _always_ transition to NB and then it handles things
// powerFSM.add_transition(&stateLS, &stateON, EVENT_PRESS, NULL, "Press");
// Handle press events
powerFSM.add_transition(&stateLS, &stateON, EVENT_PRESS, NULL, "Press");
powerFSM.add_transition(&stateNB, &stateON, EVENT_PRESS, NULL, "Press");
powerFSM.add_transition(&stateDARK, &stateON, EVENT_PRESS, NULL, "Press");
powerFSM.add_transition(&stateON, &stateON, EVENT_PRESS, screenPress, "Press"); // reenter On to restart our timers
@ -162,11 +169,14 @@ void PowerFSM_setup()
powerFSM.add_timed_transition(&stateNB, &stateLS, radioConfig.preferences.min_wake_secs * 1000, NULL, "Min wake timeout");
powerFSM.add_timed_transition(&stateDARK, &stateLS, radioConfig.preferences.wait_bluetooth_secs * 1000, NULL, "Bluetooth timeout");
powerFSM.add_timed_transition(&stateDARK, &stateLS, radioConfig.preferences.wait_bluetooth_secs * 1000, NULL,
"Bluetooth timeout");
powerFSM.add_timed_transition(&stateLS, &stateSDS, radioConfig.preferences.mesh_sds_timeout_secs * 1000, NULL, "mesh timeout");
powerFSM.add_timed_transition(&stateLS, &stateSDS, radioConfig.preferences.mesh_sds_timeout_secs * 1000, NULL,
"mesh timeout");
// removing for now, because some users don't even have phones
// powerFSM.add_timed_transition(&stateLS, &stateSDS, radioConfig.preferences.phone_sds_timeout_sec * 1000, NULL, "phone timeout");
// powerFSM.add_timed_transition(&stateLS, &stateSDS, radioConfig.preferences.phone_sds_timeout_sec * 1000, NULL, "phone
// timeout");
powerFSM.run_machine(); // run one interation of the state machine, so we run our on enter tasks for the initial DARK state
}

19
src/main.cpp
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@ -370,9 +370,8 @@ void loop()
#ifdef BUTTON_PIN
// if user presses button for more than 3 secs, discard our network prefs and reboot (FIXME, use a debounce lib instead of this boilerplate)
static bool wasPressed = false;
static uint32_t minPressMs; // what tick should we call this press long enough
static uint32_t lastPingMs;
if (!digitalRead(BUTTON_PIN))
{
if (!wasPressed)
@ -383,15 +382,6 @@ void loop()
// esp_pm_dump_locks(stdout); // FIXME, do this someplace better
wasPressed = true;
uint32_t now = millis();
minPressMs = now + 3000;
if (now - lastPingMs > 60 * 1000)
{ // if more than a minute since our last press, ask other nodes to update their state
service.sendNetworkPing();
lastPingMs = now;
}
powerFSM.trigger(EVENT_PRESS);
}
}
@ -399,13 +389,6 @@ void loop()
{
// we just did a release
wasPressed = false;
if (millis() > minPressMs)
{
// held long enough
screen_print("Erasing prefs");
delay(5000); // Give some time to read the screen
// ESP.restart();
}
}
#endif