114 lines
3.1 KiB
C++
114 lines
3.1 KiB
C++
#ifdef HAS_GPS
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#include "globals.h"
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// Local logging tag
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static const char TAG[] = "main";
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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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#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 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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// 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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// helper function to convert gps date/time into time_t
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time_t tmConvert_t(uint16_t YYYY, uint8_t MM, uint8_t DD, uint8_t hh,
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uint8_t mm, uint8_t ss) {
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tmElements_t tm;
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tm.Year = YYYY - 1970; // note year argument is offset from 1970 in time.h
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tm.Month = MM;
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tm.Day = DD;
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tm.Hour = hh;
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tm.Minute = mm;
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tm.Second = ss;
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return makeTime(tm);
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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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// never call now() in this function, this would cause a recursion!
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time_t t = 0;
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if ((gps.time.age() < 1500) && (gps.time.isValid())) {
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t = tmConvert_t(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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ESP_LOGD(TAG, "GPS time: %d/%d/%d %d:%d:%d", year(t), month(t), day(t),
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hour(t), minute(t), second(t));
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} else {
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ESP_LOGW(TAG, "GPS has no confident time");
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}
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return 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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vTaskDelete(GpsTask); // shoud never be reached
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} // gps_loop()
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#endif // HAS_GPS
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