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143 lines
5.1 KiB
C++
143 lines
5.1 KiB
C++
#include "UBloxGPS.h"
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#include "sleep.h"
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#include <assert.h>
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UBloxGPS::UBloxGPS() : PeriodicTask()
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{
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notifySleepObserver.observe(¬ifySleep);
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}
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bool UBloxGPS::setup()
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{
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#ifdef GPS_RX_PIN
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_serial_gps.begin(GPS_BAUDRATE, SERIAL_8N1, GPS_RX_PIN, GPS_TX_PIN);
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#else
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_serial_gps.begin(GPS_BAUDRATE);
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#endif
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// _serial_gps.setRxBufferSize(1024); // the default is 256
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// ublox.enableDebugging(Serial);
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// note: the lib's implementation has the wrong docs for what the return val is
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// it is not a bool, it returns zero for success
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isConnected = ublox.begin(_serial_gps);
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// try a second time, the ublox lib serial parsing is buggy?
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if (!isConnected)
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isConnected = ublox.begin(_serial_gps);
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if (isConnected) {
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DEBUG_MSG("Connected to UBLOX GPS successfully\n");
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bool factoryReset = false;
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bool ok;
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if (factoryReset) {
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// It is useful to force back into factory defaults (9600baud, NEMA to test the behavior of boards that don't have
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// GPS_TX connected)
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ublox.factoryReset();
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delay(3000);
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isConnected = ublox.begin(_serial_gps);
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DEBUG_MSG("Factory reset success=%d\n", isConnected);
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ok = ublox.saveConfiguration(3000);
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assert(ok);
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return false;
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} else {
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ok = ublox.setUART1Output(COM_TYPE_UBX, 500); // Use native API
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assert(ok);
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ok = ublox.setNavigationFrequency(1, 500); // Produce 4x/sec to keep the amount of time we stall in getPVT low
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assert(ok);
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// ok = ublox.setAutoPVT(false); // Not implemented on NEO-6M
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// assert(ok);
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// ok = ublox.setDynamicModel(DYN_MODEL_BIKE); // probably PEDESTRIAN but just in case assume bike speeds
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// assert(ok);
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ok = ublox.powerSaveMode(true, 2000); // use power save mode, the default timeout (1100ms seems a bit too tight)
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assert(ok);
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}
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ok = ublox.saveConfiguration(3000);
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assert(ok);
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PeriodicTask::setup(); // We don't start our periodic task unless we actually found the device
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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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/// Prepare the GPS for the cpu entering deep or light sleep, expect to be gone for at least 100s of msecs
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int UBloxGPS::prepareSleep(void *unused)
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{
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if (isConnected)
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ublox.powerOff();
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return 0;
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}
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void UBloxGPS::doTask()
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{
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uint8_t fixtype = 3; // If we are only using the RX pin, assume we have a 3d fix
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assert(isConnected);
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// Consume all characters that have arrived
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// getPVT automatically calls checkUblox
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ublox.checkUblox(); // See if new data is available. Process bytes as they come in.
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// If we don't have a fix (a quick check), don't try waiting for a solution)
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// Hmmm my fix type reading returns zeros for fix, which doesn't seem correct, because it is still sptting out positions
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// turn off for now
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fixtype = ublox.getFixType(0);
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DEBUG_MSG("GPS fix type %d\n", fixtype);
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// DEBUG_MSG("sec %d\n", ublox.getSecond());
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// DEBUG_MSG("lat %d\n", ublox.getLatitude());
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// any fix that has time
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if (ublox.getT(0)) {
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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 = ublox.getSecond();
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t.tm_min = ublox.getMinute();
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t.tm_hour = ublox.getHour();
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t.tm_mday = ublox.getDay();
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t.tm_mon = ublox.getMonth() - 1;
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t.tm_year = ublox.getYear() - 1900;
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t.tm_isdst = false;
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perhapsSetRTC(t);
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}
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if ((fixtype >= 3 && fixtype <= 4) && ublox.getP(0)) // rd fixes only
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{
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// we only notify if position has changed
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latitude = ublox.getLatitude();
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longitude = ublox.getLongitude();
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altitude = ublox.getAltitude() / 1000; // in mm convert to meters
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dop = ublox.getPDOP(); // PDOP (an accuracy metric) is reported in 10^2 units so we have to scale down when we use it
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DEBUG_MSG("new gps pos lat=%f, lon=%f, alt=%d, pdop=%f\n", latitude * 1e-7, longitude * 1e-7, altitude, dop * 1e-2);
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// bogus lat lon is reported as 0 or 0 (can be bogus just for one)
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// Also: apparently when the GPS is initially reporting lock it can output a bogus latitude > 90 deg!
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hasValidLocation = (latitude != 0) && (longitude != 0) && (latitude <= 900000000 && latitude >= -900000000);
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if (hasValidLocation) {
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wantNewLocation = false;
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notifyObservers(NULL);
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// ublox.powerOff();
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}
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} else // we didn't get a location update, go back to sleep and hope the characters show up
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wantNewLocation = true;
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// Once we have sent a location once we only poll the GPS rarely, otherwise check back every 1s until we have something over
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// the serial
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setPeriod(hasValidLocation && !wantNewLocation ? 30 * 1000 : 10 * 1000);
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}
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void UBloxGPS::startLock()
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{
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DEBUG_MSG("Looking for GPS lock\n");
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wantNewLocation = true;
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setPeriod(1);
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}
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