DigitalInfinity/ESP32-PaxCounter
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GPS handling and timesync code refactored

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This commit is contained in:
Verkehrsrot 2019-08-04 15:17:50 +02:00
parent 7284d7ce4d
commit 1efc9be6c3
8 changed files with 69 additions and 50 deletions
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2
include/globals.h
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@ -82,8 +82,6 @@ typedef struct {
uint8_t satellites;
uint16_t hdop;
int16_t altitude;
uint32_t time_age;
tmElements_t timedate;
} gpsStatus_t;
typedef struct {

9
include/gpsread.h
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@ -10,18 +10,15 @@
#endif
#define NMEA_FRAME_SIZE 82 // NEMA has a maxium of 82 bytes per record
#define NMEA_BUFFERTIME 50 // 50ms safety time regardless
extern TinyGPSPlus gps; // Make TinyGPS++ instance globally availabe
extern gpsStatus_t
gps_status; // Make struct for storing gps data globally available
extern TaskHandle_t GpsTask;
int gps_init(void);
void IRAM_ATTR gps_storetime(gpsStatus_t *gps_store);
int gps_config();
void gps_storelocation(gpsStatus_t *gps_store);
void gps_loop(void *pvParameters);
time_t fetch_gpsTime(gpsStatus_t value, uint16_t *msec);
int gps_config();
time_t fetch_gpsTime(uint16_t *msec);
time_t fetch_gpsTime(void);
#endif

76
src/gpsread.cpp
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@ -5,7 +5,12 @@
// Local logging tag
static const char TAG[] = __FILE__;
// we use NMEA $GPZDA sentence field 1 for time synchronization
// $GPZDA gives time for preceding pps pulse, but does not has a constant offset
TinyGPSPlus gps;
TinyGPSCustom gpstime(gps, "GPZDA", 1); // field 1 = UTC time
static const String ZDA_Request = "$EIGPQ,ZDA*39\r\n";
gpsStatus_t gps_status = {0};
TaskHandle_t GpsTask;
@ -27,7 +32,7 @@ int gps_init(void) {
return 0;
}
#if defined GPS_SERIAL
#ifdef GPS_SERIAL
GPS_Serial.begin(GPS_SERIAL);
ESP_LOGI(TAG, "Using serial GPS");
#elif defined GPS_I2C
@ -55,11 +60,11 @@ int gps_config() {
int rslt = 1; // success
#if defined GPS_SERIAL
/* to come */
/* insert user configuration here, if needed */
#elif defined GPS_I2C
/* to come */
/* insert user configuration here, if needed */
#endif
return rslt;
@ -68,7 +73,7 @@ int gps_config() {
// store current GPS location data in struct
void gps_storelocation(gpsStatus_t *gps_store) {
if (gps.location.isUpdated() && gps.location.isValid() &&
(gps.time.age() < 1500)) {
(gps.location.age() < 1500)) {
gps_store->latitude = (int32_t)(gps.location.lat() * 1e6);
gps_store->longitude = (int32_t)(gps.location.lng() * 1e6);
gps_store->satellites = (uint8_t)gps.satellites.value();
@ -77,34 +82,55 @@ void gps_storelocation(gpsStatus_t *gps_store) {
}
}
// store current GPS timedate in struct
void IRAM_ATTR gps_storetime(gpsStatus_t *gps_store) {
// function to fetch current time from struct; note: this is costly
time_t fetch_gpsTime(uint16_t *msec) {
if (gps.time.isUpdated() && gps.date.isValid() && (gps.time.age() < 1000)) {
time_t time_sec = 0;
gps_store->time_age = gps.time.age() + nmea_txDelay_ms;
gps_store->timedate.Second = gps.time.second();
gps_store->timedate.Minute = gps.time.minute();
gps_store->timedate.Hour = gps.time.hour();
gps_store->timedate.Day = gps.date.day();
gps_store->timedate.Month = gps.date.month();
gps_store->timedate.Year =
// poll NMEA $GPZDA sentence
#ifdef GPS_SERIAL
GPS_Serial.print(ZDA_Request);
#elif defined GPS_I2C
Wire.print(ZDA_Request);
#endif
// wait for gps NMEA answer
vTaskDelay(tx_Ticks(NMEA_FRAME_SIZE, GPS_SERIAL));
// did we get a current time?
if (gpstime.isUpdated() && gpstime.isValid()) {
tmElements_t tm;
String rawtime = gpstime.value();
uint32_t time_bcd = rawtime.toFloat() * 100;
uint32_t delay_ms = gpstime.age() + nmea_txDelay_ms;
uint8_t year =
CalendarYrToTm(gps.date.year()); // year offset from 1970 in microTime.h
} else
gps_store->timedate = {0};
ESP_LOGD(TAG, "time [bcd]: %u", time_bcd);
tm.Second = (time_bcd / 100) % 100; // second
tm.Minute = (time_bcd / 10000) % 100; // minute
tm.Hour = time_bcd / 1000000; // hour
tm.Day = gps.date.day(); // day
tm.Month = gps.date.month(); // month
tm.Year = year; // year
// add protocol delay to time with millisecond precision
time_sec = makeTime(tm) + delay_ms / 1000;
*msec = (delay_ms % 1000) ? delay_ms % 1000 : 0;
}
// function to fetch current time from struct; note: this is costly
time_t fetch_gpsTime(gpsStatus_t value, uint16_t *msec) {
*msec = 1000 - value.time_age;
time_t t = timeIsValid(makeTime(value.timedate));
ESP_LOGD(TAG, "GPS time: %d | time age: %d", t, value.time_age);
return t;
return timeIsValid(time_sec);
} // fetch_gpsTime()
time_t fetch_gpsTime(void) {
uint16_t msec;
return fetch_gpsTime(&msec);
}
// GPS serial feed FreeRTos Task
void gps_loop(void *pvParameters) {
@ -113,7 +139,7 @@ void gps_loop(void *pvParameters) {
while (1) {
if (cfg.payloadmask && GPS_DATA) {
#if defined GPS_SERIAL
#ifdef GPS_SERIAL
// feed GPS decoder with serial NMEA data from GPS device
while (GPS_Serial.available()) {
gps.encode(GPS_Serial.read());
@ -128,7 +154,7 @@ void gps_loop(void *pvParameters) {
} // if
// show NMEA data in verbose mode, useful for debugging GPS
ESP_LOGV(TAG, "GPS NMEA data: passed %d / failed: %d / with fix: %d",
ESP_LOGV(TAG, "GPS NMEA data: passed %u / failed: %u / with fix: %u",
gps.passedChecksum(), gps.failedChecksum(),
gps.sentencesWithFix());

2
src/main.cpp
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@ -421,7 +421,7 @@ void setup() {
// initialize gps time
#if (HAS_GPS)
gps_storetime(&gps_status);
fetch_gpsTime();
#endif
#if (defined HAS_IF482 || defined HAS_DCF77)

1
src/rcommand.cpp
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@ -253,6 +253,7 @@ void get_status(uint8_t val[]) {
void get_gps(uint8_t val[]) {
ESP_LOGI(TAG, "Remote command: get gps status");
#if (HAS_GPS)
gpsStatus_t gps_status;
gps_storelocation(&gps_status);
payload.reset();
payload.addGPS(gps_status);

1
src/senddata.cpp
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@ -87,6 +87,7 @@ void sendCounter() {
case GPS_DATA:
// send GPS position only if we have a fix
if (gps.location.isValid()) {
gpsStatus_t gps_status;
gps_storelocation(&gps_status);
payload.reset();
payload.addGPS(gps_status);

7
src/timekeeper.cpp
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@ -30,7 +30,7 @@ void calibrateTime(void) {
#if (HAS_GPS)
// fetch recent time from last NMEA record
t = fetch_gpsTime(gps_status, &t_msec);
t = fetch_gpsTime(&t_msec);
if (t) {
timeSource = _gps;
goto finish;
@ -124,11 +124,6 @@ void IRAM_ATTR CLOCKIRQ(void) {
SyncToPPS(); // advance systime, see microTime.h
// store recent gps time
#if (HAS_GPS)
gps_storetime(&gps_status);
#endif
// advance wall clock, if we have
#if (defined HAS_IF482 || defined HAS_DCF77)
xTaskNotifyFromISR(ClockTask, uint32_t(now()), eSetBits,

19
src/timesync.cpp
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@ -211,22 +211,22 @@ int recv_timesync_ans(uint8_t seq_no, uint8_t buf[], uint8_t buf_len) {
void IRAM_ATTR setMyTime(uint32_t t_sec, uint16_t t_msec,
timesource_t mytimesource) {
time_t time_to_set = (time_t)(t_sec);
time_t time_to_set = (time_t)(t_sec + t_msec / 1000);
if (timeIsValid(time_to_set)) {
ESP_LOGD(TAG, "[%0.3f] UTC epoch time: %d.%03d sec", millis() / 1000.0,
time_to_set, t_msec);
// wait until top of second with millisecond precision
if (t_msec) {
vTaskDelay(pdMS_TO_TICKS(1000 - t_msec));
if (t_msec % 1000) {
time_to_set++;
vTaskDelay(pdMS_TO_TICKS(1000 - t_msec % 1000));
}
// if we got a timesource, set RTC time and calibrate RTC_INT pulse on top of
// second
ESP_LOGD(TAG, "[%0.3f] UTC epoch time: %d.%03d sec", millis() / 1000.0,
time_to_set, t_msec % 1000);
// if we got a timesource, set RTC time and RTC_INT pulse on top of second
#ifdef HAS_RTC
if (mytimesource != _rtc)
if ((mytimesource == _gps) || (mytimesource == _lora))
set_rtctime(time_to_set);
#endif
@ -234,6 +234,7 @@ void IRAM_ATTR setMyTime(uint32_t t_sec, uint16_t t_msec,
#if (!defined GPS_INT && !defined RTC_INT)
timerWrite(ppsIRQ, 0); // reset pps timer
CLOCKIRQ(); // fire clock pps, this advances time 1 sec
time_to_set--;
#endif
setTime(time_to_set); // set the time on top of second
@ -249,8 +250,8 @@ void IRAM_ATTR setMyTime(uint32_t t_sec, uint16_t t_msec,
}
}
void timesync_init() {
// create task for timeserver handshake processing, called from main.cpp
void timesync_init() {
xTaskCreatePinnedToCore(process_timesync_req, // task function
"timesync_req", // name of task
2048, // stack size of task