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Add NMEA output mode (my own position, and other devices as waypoints) to serial module

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This commit is contained in:
Thomas Göttgens 2022-10-16 16:37:38 +02:00
parent 44529620ad
commit d3e9dbf6a9
4 changed files with 91 additions and 10 deletions
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50
src/gps/NMEAWPL.cpp
View File

@ -12,6 +12,7 @@
* 4 E or W (East or West)
* 5 Waypoint name
* 6 Checksum
* -------------------------------------------
*/
uint printWPL(char *buf, Position &pos, const char *name)
@ -24,3 +25,52 @@ uint printWPL(char *buf, Position &pos, const char *name)
len += sprintf(buf + len, "*%02X\r\n", chk);
return len;
}
/* -------------------------------------------
* 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
* | | | | | | | | | | | | | | |
* $--GGA,hhmmss.ss,ddmm.mm,a,ddmm.mm,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh<CR><LF>
*
* Field Number:
* 1 UTC of this position report, hh is hours, mm is minutes, ss.ss is seconds.
* 2 Latitude
* 3 N or S (North or South)
* 4 Longitude
* 5 E or W (East or West)
* 6 GPS Quality Indicator (non null)
* 7 Number of satellites in use, 00 - 12
* 8 Horizontal Dilution of precision (meters)
* 9 Antenna Altitude above/below mean-sea-level (geoid) (in meters)
* 10 Units of antenna altitude, meters
* 11 Geoidal separation, the difference between the WGS-84 earth ellipsoid and mean-sea-level (geoid), "-" means mean-sea-level below ellipsoid
* 12 Units of geoidal separation, meters
* 13 Age of differential GPS data, time in seconds since last SC104 type 1 or 9 update, null field when DGPS is not used
* 14 Differential reference station ID, 0000-1023
* 15 Checksum
* -------------------------------------------
*/
uint printGGA(char *buf, Position &pos)
{
uint len = sprintf(buf, "$GNGGA,%06d.%03d,%07.2f,%c,%08.2f,%c,%d,%02d,%04d,%04d,%c,%04d,%c,%d,%04d",
pos.time / 1000,
pos.time % 1000,
pos.latitude_i * 1e-5, pos.latitude_i < 0 ? 'S' : 'N',
pos.longitude_i * 1e-5, pos.longitude_i < 0 ? 'W' : 'E',
pos.fix_type,
pos.sats_in_view,
pos.HDOP,
pos.altitude,
'M',
pos.altitude_geoidal_separation,
'M',
0,
0);
uint chk = 0;
for (uint i = 1; i < len; i++) {
chk ^= buf[i];
}
len += sprintf(buf + len, "*%02X\r\n", chk);
return len;
}

1
src/gps/NMEAWPL.h
View File

@ -4,3 +4,4 @@
#include "main.h"
uint printWPL(char *buf, Position &pos, const char *name);
uint printGGA(char *buf, Position &pos);

47
src/modules/SerialModule.cpp
View File

@ -2,6 +2,7 @@
#include "MeshService.h"
#include "NodeDB.h"
#include "RTC.h"
#include "NMEAWPL.h"
#include "Router.h"
#include "configuration.h"
#include <Arduino.h>
@ -40,7 +41,7 @@
KNOWN PROBLEMS
* Until the module is initilized by the startup sequence, the TX pin is in a floating
state. Device connected to that pin may see this as "noise".
* Will not work on NRF and the Linux device targets.
* Will not work on T-Echo and the Linux device targets.
*/
@ -62,16 +63,19 @@ char serialStringChar[Constants_DATA_PAYLOAD_LEN];
SerialModuleRadio::SerialModuleRadio() : MeshModule("SerialModuleRadio")
{
// restrict to the admin channel for rx
boundChannel = Channels::serialChannel;
switch (moduleConfig.serial.mode)
{
case ModuleConfig_SerialConfig_Serial_Mode_TEXTMSG:
ourPortNum = PortNum_TEXT_MESSAGE_APP;
break;
case ModuleConfig_SerialConfig_Serial_Mode_NMEA:
ourPortNum = PortNum_POSITION_APP;
break;
default:
ourPortNum = PortNum_SERIAL_APP;
// restrict to the serial channel for rx
boundChannel = Channels::serialChannel;
break;
}
}
@ -175,15 +179,25 @@ int32_t SerialModule::runOnce()
firstTime = 0;
} else {
String serialString;
while (Serial2.available()) {
serialString = Serial2.readString();
serialString.toCharArray(serialStringChar, Constants_DATA_PAYLOAD_LEN);
// in NMEA mode send out GGA every 2 seconds, Don't read from Port
if (moduleConfig.serial.mode == ModuleConfig_SerialConfig_Serial_Mode_NMEA) {
if (millis() - lastNmeaTime > 2000) {
lastNmeaTime = millis();
printGGA(outbuf, nodeDB.getNode(myNodeInfo.my_node_num)->position);
Serial2.printf("%s", outbuf);
}
} else {
String serialString;
serialModuleRadio->sendPayload();
while (Serial2.available()) {
serialString = Serial2.readString();
serialString.toCharArray(serialStringChar, Constants_DATA_PAYLOAD_LEN);
DEBUG_MSG("Received: %s\n", serialStringChar);
serialModuleRadio->sendPayload();
DEBUG_MSG("Received: %s\n", serialStringChar);
}
}
}
@ -191,7 +205,7 @@ int32_t SerialModule::runOnce()
} else {
DEBUG_MSG("Serial Module Disabled\n");
return (INT32_MAX);
return INT32_MAX;
}
#else
return INT32_MAX;
@ -255,6 +269,19 @@ ProcessMessage SerialModuleRadio::handleReceived(const MeshPacket &mp)
} else if (moduleConfig.serial.mode == ModuleConfig_SerialConfig_Serial_Mode_PROTO) {
// TODO this needs to be implemented
} else if (moduleConfig.serial.mode == ModuleConfig_SerialConfig_Serial_Mode_NMEA) {
// Decode the Payload some more
Position scratch;
Position *decoded = NULL;
if (mp.which_payload_variant == MeshPacket_decoded_tag && mp.decoded.portnum == ourPortNum) {
memset(&scratch, 0, sizeof(scratch));
if (pb_decode_from_bytes(p.payload.bytes, p.payload.size, Position_fields, &scratch)) {
decoded = &scratch;
}
// send position packet as WPL to the serial port
printWPL(outbuf, *decoded, nodeDB.getNode(getFrom(&mp))->user.long_name);
Serial2.printf("%s", outbuf);
}
}
}

3
src/modules/SerialModule.h
View File

@ -11,6 +11,8 @@
class SerialModule : private concurrency::OSThread
{
bool firstTime = 1;
unsigned long lastNmeaTime = millis();
char outbuf[90] = "";
public:
SerialModule();
@ -28,6 +30,7 @@ extern SerialModule *serialModule;
class SerialModuleRadio : public MeshModule
{
uint32_t lastRxID = 0;
char outbuf[90] = "";
public:
SerialModuleRadio();