135 lines
3.3 KiB
C++
135 lines
3.3 KiB
C++
#if (HAS_GPS)
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#include "globals.h"
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// Local logging tag
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static const char TAG[] = __FILE__;
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TinyGPSPlus gps;
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gpsStatus_t gps_status;
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TaskHandle_t GpsTask;
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#ifdef GPS_SERIAL
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HardwareSerial GPS_Serial(1); // use UART #1
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static TickType_t gps_txDelay = tx_Ticks(NMEA_FRAME_SIZE, GPS_SERIAL);
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#else
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static TickType_t gps_txDelay = 0;
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#endif
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// initialize and configure GPS
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int gps_init(void) {
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int ret = 1;
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if (!gps_config()) {
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ESP_LOGE(TAG, "GPS chip initializiation error");
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return 0;
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}
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#if defined GPS_SERIAL
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GPS_Serial.begin(GPS_SERIAL);
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ESP_LOGI(TAG, "Using serial GPS");
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#elif defined GPS_I2C
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Wire.begin(GPS_I2C, 400000); // I2C connect to GPS device with 400 KHz
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Wire.beginTransmission(GPS_ADDR);
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Wire.write(0x00); // dummy write
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ret = Wire.endTransmission(); // check if chip is seen on i2c bus
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if (ret) {
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ESP_LOGE(TAG,
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"Quectel L76 GPS chip not found on i2c bus, bus error %d. "
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"Stopping GPS-Task.",
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ret);
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ret = 0;
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} else {
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ESP_LOGI(TAG, "Quectel L76 GPS chip found");
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}
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#endif
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return ret;
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} // gps_init()
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// detect gps chipset type and configure it with device specific settings
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int gps_config() {
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int rslt = 1; // success
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#if defined GPS_SERIAL
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/* to come */
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#elif defined GPS_I2C
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/* to come */
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#endif
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return rslt;
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}
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// read GPS data and cast to global struct
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void gps_read() {
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gps_status.latitude = (int32_t)(gps.location.lat() * 1e6);
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gps_status.longitude = (int32_t)(gps.location.lng() * 1e6);
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gps_status.satellites = (uint8_t)gps.satellites.value();
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gps_status.hdop = (uint16_t)gps.hdop.value();
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gps_status.altitude = (int16_t)gps.altitude.meters();
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// show NMEA data in debug mode, useful for debugging GPS
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ESP_LOGD(TAG, "GPS NMEA data: passed %d / failed: %d / with fix: %d",
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gps.passedChecksum(), gps.failedChecksum(), gps.sentencesWithFix());
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}
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// function to fetch current time from gps
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time_t get_gpstime(void) {
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// set time to wait for arrive next recent NMEA time record
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static const uint32_t gpsDelay_ms = 1000 - gps_txDelay / portTICK_PERIOD_MS;
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time_t t = 0;
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uint32_t time_age = gps.time.age();
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if ((time_age < gpsDelay_ms) && gps.time.isValid() && gps.date.isValid() &&
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gps.time.isUpdated()) {
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t = tmConvert(gps.date.year(), gps.date.month(), gps.date.day(),
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gps.time.hour(), gps.time.minute(), gps.time.second());
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if (time_age < (gpsDelay_ms / 2))
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t--;
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ESP_LOGD(TAG, "GPS time age: %dms", time_age);
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#ifndef GPS_INT
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// wait until top of second with millisecond precision
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vTaskDelay(pdMS_TO_TICKS(1000 - time_age) - gps_txDelay);
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#endif
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}
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return timeIsValid(t);
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} // get_gpstime()
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// GPS serial feed FreeRTos Task
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void gps_loop(void *pvParameters) {
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configASSERT(((uint32_t)pvParameters) == 1); // FreeRTOS check
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while (1) {
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if (cfg.payloadmask && GPS_DATA) {
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#if defined GPS_SERIAL
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// feed GPS decoder with serial NMEA data from GPS device
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while (GPS_Serial.available()) {
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gps.encode(GPS_Serial.read());
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}
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#elif defined GPS_I2C
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Wire.requestFrom(GPS_ADDR, 32); // caution: this is a blocking call
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while (Wire.available()) {
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gps.encode(Wire.read());
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delay(2); // 2ms delay according L76 datasheet
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}
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#endif
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} // if
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delay(2); // yield to CPU
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} // end of infinite loop
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} // gps_loop()
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#endif // HAS_GPS
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