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111 lines
3.1 KiB
C++
111 lines
3.1 KiB
C++
#include "NMEAGPS.h"
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#include "configuration.h"
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#include "RTC.h"
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static int32_t toDegInt(RawDegrees d)
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{
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int32_t degMult = 10000000; // 1e7
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int32_t r = d.deg * degMult + d.billionths / 100;
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if (d.negative)
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r *= -1;
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return r;
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}
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bool NMEAGPS::setupGPS()
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{
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#ifdef PIN_GPS_PPS
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// pulse per second
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// FIXME - move into shared GPS code
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pinMode(PIN_GPS_PPS, INPUT);
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#endif
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return true;
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}
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/**
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* Perform any processing that should be done only while the GPS is awake and looking for a fix.
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* Override this method to check for new locations
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*
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* @return true if we've acquired a new location
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*/
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bool NMEAGPS::lookForTime()
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{
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auto ti = reader.time;
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auto d = reader.date;
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if (ti.isUpdated() && ti.isValid() && d.isValid()) {
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/* Convert to unix time
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The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of seconds that have elapsed since January 1, 1970
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(midnight UTC/GMT), not counting leap seconds (in ISO 8601: 1970-01-01T00:00:00Z).
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*/
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struct tm t;
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t.tm_sec = ti.second();
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t.tm_min = ti.minute();
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t.tm_hour = ti.hour();
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t.tm_mday = d.day();
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t.tm_mon = d.month() - 1;
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t.tm_year = d.year() - 1900;
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t.tm_isdst = false;
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perhapsSetRTC(RTCQualityGPS, t);
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return true;
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} else
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return false;
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}
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/**
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* Perform any processing that should be done only while the GPS is awake and looking for a fix.
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* Override this method to check for new locations
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*
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* @return true if we've acquired a new location
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*/
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bool NMEAGPS::lookForLocation()
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{
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bool foundLocation = false;
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// uint8_t fixtype = reader.fixQuality();
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// hasValidLocation = ((fixtype >= 1) && (fixtype <= 5));
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if (reader.location.isUpdated()) {
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if (reader.altitude.isValid())
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altitude = reader.altitude.meters();
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if (reader.location.isValid()) {
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auto loc = reader.location.value();
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latitude = toDegInt(loc.lat);
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longitude = toDegInt(loc.lng);
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foundLocation = true;
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}
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// Diminution of precision (an accuracy metric) is reported in 10^2 units, so we need to scale down when we use it
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if (reader.hdop.isValid()) {
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dop = reader.hdop.value();
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}
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if (reader.course.isValid()) {
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heading = reader.course.value() * 1e3; // Scale the heading (in degrees * 10^-2) to match the expected degrees * 10^-5
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}
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if (reader.satellites.isValid()) {
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setNumSatellites(reader.satellites.value());
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}
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// expect gps pos lat=37.520825, lon=-122.309162, alt=158
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DEBUG_MSG("new NMEA GPS pos lat=%f, lon=%f, alt=%d, hdop=%g, heading=%f\n", latitude * 1e-7, longitude * 1e-7, altitude,
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dop * 1e-2, heading * 1e-5);
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}
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return foundLocation;
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}
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bool NMEAGPS::whileIdle()
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{
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bool isValid = false;
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// First consume any chars that have piled up at the receiver
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while (_serial_gps->available() > 0) {
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int c = _serial_gps->read();
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// DEBUG_MSG("%c", c);
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isValid |= reader.encode(c);
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}
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return isValid;
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}
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