firmware/src/gps/UBloxGPS.cpp
2020-06-20 18:59:41 -07:00

143 lines
5.1 KiB
C++

#include "UBloxGPS.h"
#include "sleep.h"
#include <assert.h>
UBloxGPS::UBloxGPS() : PeriodicTask()
{
notifySleepObserver.observe(&notifySleep);
}
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);
}