180 lines
5.2 KiB
C++
180 lines
5.2 KiB
C++
#if (HAS_GPS)
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#include "globals.h"
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#include "gpsread.h"
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// Local logging tag
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static const char TAG[] = __FILE__;
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// we use NMEA ZDA sentence field 1 for time synchronization
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// ZDA gives time for preceding pps pulse
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// downsight is that it does not have a constant offset
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// thus precision is only +/- 1 second
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TinyGPSPlus gps;
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TinyGPSCustom gpstime(gps, "GPZDA", 1); // field 1 = UTC time (hhmmss.ss)
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TinyGPSCustom gpsday(gps, "GPZDA", 2); // field 2 = day (01..31)
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TinyGPSCustom gpsmonth(gps, "GPZDA", 3); // field 3 = month (01..12)
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TinyGPSCustom gpsyear(gps, "GPZDA", 4); // field 4 = year (4-digit)
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static const String ZDA_Request = "$EIGPQ,ZDA*39\r\n";
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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 uint16_t nmea_txDelay_ms =
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(tx_Ticks(NMEA_FRAME_SIZE, GPS_SERIAL) / portTICK_PERIOD_MS);
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#else
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static uint16_t nmea_txDelay_ms = 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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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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#ifdef GPS_SERIAL
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ESP_LOGI(TAG, "Opening serial GPS");
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GPS_Serial.begin(GPS_SERIAL);
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#elif defined GPS_I2C
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ESP_LOGI(TAG, "Opening I2C GPS");
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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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if (Wire.endTransmission()) {
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ESP_LOGE(TAG, "Quectel L76 GPS chip not found");
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return 0;
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} else
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ESP_LOGI(TAG, "Quectel L76 GPS chip found");
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#endif
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return 1;
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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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/* insert user configuration here, if needed */
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#elif defined GPS_I2C
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/* insert user configuration here, if needed */
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#endif
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return rslt;
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}
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// store current GPS location data in struct
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void gps_storelocation(gpsStatus_t *gps_store) {
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if (gps.location.isUpdated() && gps.location.isValid() &&
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(gps.location.age() < 1500)) {
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gps_store->latitude = (int32_t)(gps.location.lat() * 1e6);
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gps_store->longitude = (int32_t)(gps.location.lng() * 1e6);
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gps_store->satellites = (uint8_t)gps.satellites.value();
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gps_store->hdop = (uint16_t)gps.hdop.value();
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gps_store->altitude = (int16_t)gps.altitude.meters();
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}
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}
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bool gps_hasfix() {
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// adapted from source:
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// https://github.com/hottimuc/Lora-TTNMapper-T-Beam/blob/master/fromV08/gps.cpp
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return (gps.location.isValid() && gps.location.age() < 4000 &&
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gps.hdop.isValid() && gps.hdop.value() <= 600 &&
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gps.hdop.age() < 4000 && gps.altitude.isValid() &&
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gps.altitude.age() < 4000);
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}
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// function to poll UTC time from GPS NMEA data; note: this is costly
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time_t get_gpstime(uint16_t *msec) {
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// poll NMEA ZDA sentence
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#ifdef GPS_SERIAL
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GPS_Serial.print(ZDA_Request);
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// wait for gps NMEA answer
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// vTaskDelay(tx_Ticks(NMEA_FRAME_SIZE, GPS_SERIAL));
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#elif defined GPS_I2C
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Wire.print(ZDA_Request);
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#endif
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// did we get a current date & time?
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if (gpstime.isValid()) {
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uint32_t delay_ms =
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gpstime.age() + nmea_txDelay_ms + NMEA_COMPENSATION_FACTOR;
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uint32_t zdatime = atof(gpstime.value());
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// convert UTC time from gps NMEA ZDA sentence to tm format
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struct tm gps_tm = {0};
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gps_tm.tm_sec = zdatime % 100; // second (UTC)
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gps_tm.tm_min = (zdatime / 100) % 100; // minute (UTC)
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gps_tm.tm_hour = zdatime / 10000; // hour (UTC)
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gps_tm.tm_mday = atoi(gpsday.value()); // day, 01 to 31
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gps_tm.tm_mon = atoi(gpsmonth.value()) - 1; // month, 01 to 12
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gps_tm.tm_year = atoi(gpsyear.value()) - 1900; // year, YYYY
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// convert UTC tm to time_t epoch
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gps_tm.tm_isdst = 0; // UTC has no DST
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time_t t = mkgmtime(&gps_tm);
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// add protocol delay with millisecond precision
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t += (time_t)(delay_ms / 1000);
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*msec = delay_ms % 1000; // fractional seconds
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return t;
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}
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ESP_LOGD(TAG, "no valid GPS time");
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return 0;
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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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_ASSERT((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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#ifdef 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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// (only) while device time is not set or unsynched, and we have a valid
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// GPS time, we trigger a device time update to poll time from GPS
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if ((timeSource == _unsynced || timeSource == _set) &&
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(gpstime.isUpdated() && gpstime.isValid() && gpstime.age() < 1000)) {
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calibrateTime();
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}
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} // if
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// show NMEA data in verbose mode, useful only for debugging GPS, very
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// noisy ESP_LOGV(TAG, "GPS NMEA data: passed %u / failed: %u / with fix:
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// %u",
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// gps.passedChecksum(), gps.failedChecksum(),
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// gps.sentencesWithFix());
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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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