#include "UBloxGPS.h" #include "sleep.h" #include UBloxGPS::UBloxGPS() : PeriodicTask() { notifySleepObserver.observe(¬ifySleep); } bool UBloxGPS::setup() { #ifdef GPS_RX_PIN _serial_gps.begin(GPS_BAUDRATE, SERIAL_8N1, GPS_RX_PIN, GPS_TX_PIN); #else _serial_gps.begin(GPS_BAUDRATE); #endif // _serial_gps.setRxBufferSize(1024); // the default is 256 // ublox.enableDebugging(Serial); // 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 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) { DEBUG_MSG("Connected to UBLOX GPS successfully\n"); 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) ublox.factoryReset(); delay(3000); isConnected = ublox.begin(_serial_gps); DEBUG_MSG("Factory reset success=%d\n", isConnected); ok = ublox.saveConfiguration(3000); assert(ok); return false; } 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 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(true, 2000); // use power save mode, the default timeout (1100ms seems a bit too tight) assert(ok); } ok = ublox.saveConfiguration(3000); assert(ok); PeriodicTask::setup(); // We don't start our periodic task unless we actually found the device return true; } else { return false; } } /// Prepare the GPS for the cpu entering deep or light sleep, expect to be gone for at least 100s of msecs int UBloxGPS::prepareSleep(void *unused) { if (isConnected) ublox.powerOff(); return 0; } void UBloxGPS::doTask() { uint8_t fixtype = 3; // If we are only using the RX pin, assume we have a 3d fix assert(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. // If we don't have a fix (a quick check), don't try waiting for a solution) // Hmmm my fix type reading returns zeros for fix, which doesn't seem correct, because it is still sptting out positions // turn off for now fixtype = ublox.getFixType(0); DEBUG_MSG("GPS fix type %d\n", fixtype); // DEBUG_MSG("sec %d\n", ublox.getSecond()); // DEBUG_MSG("lat %d\n", ublox.getLatitude()); // any fix that has time if (ublox.getT(0)) { /* 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; perhapsSetRTC(t); } if ((fixtype >= 3 && fixtype <= 4) && ublox.getP(0)) // rd fixes only { // we only notify if position has changed latitude = ublox.getLatitude(); longitude = ublox.getLongitude(); altitude = ublox.getAltitude() / 1000; // in mm convert to meters dop = ublox.getPDOP(); // PDOP (an accuracy metric) is reported in 10^2 units so we have to scale down when we use it DEBUG_MSG("new gps pos lat=%f, lon=%f, alt=%d, pdop=%f\n", latitude * 1e-7, longitude * 1e-7, altitude, dop * 1e-2); // bogus lat lon is reported as 0 or 0 (can be bogus just for one) // Also: apparently when the GPS is initially reporting lock it can output a bogus latitude > 90 deg! hasValidLocation = (latitude != 0) && (longitude != 0) && (latitude <= 900000000 && latitude >= -900000000); if (hasValidLocation) { wantNewLocation = false; notifyObservers(NULL); // ublox.powerOff(); } } 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 1s until we have something over // the serial setPeriod(hasValidLocation && !wantNewLocation ? 30 * 1000 : 10 * 1000); } void UBloxGPS::startLock() { DEBUG_MSG("Looking for GPS lock\n"); wantNewLocation = true; setPeriod(1); }