145 lines
3.6 KiB
C++
145 lines
3.6 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 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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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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// store current GPS location data in struct
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void gps_storelocation(gpsStatus_t &gps_store) {
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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() + 1000) * 4);
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}
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// store current GPS timedate in struct
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void IRAM_ATTR gps_storetime(gpsStatus_t &gps_store) {
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if (gps.time.isUpdated() && gps.date.isValid() && (gps.time.age() < 1000)) {
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// nmea telegram serial delay compensation; not sure if we need this?
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/*
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if (gps.time.age() > nmea_txDelay_ms)
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gps_store.timedate.Second = gps.time.second() + 1;
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else
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gps_store.timedate.Second = gps.time.second();
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*/
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gps_store.timedate.Second = gps.time.second();
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gps_store.timedate.Minute = gps.time.minute();
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gps_store.timedate.Hour = gps.time.hour();
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gps_store.timedate.Day = gps.date.day();
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gps_store.timedate.Month = gps.date.month();
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gps_store.timedate.Year =
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CalendarYrToTm(gps.date.year()); // year offset from 1970 in microTime.h
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} else
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gps_store.timedate = {0};
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}
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// function to fetch current time from struct; note: this is costly
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time_t get_gpstime(gpsStatus_t value) {
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time_t t = timeIsValid(makeTime(value.timedate));
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// show NMEA data in verbose mode, useful for debugging GPS
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ESP_LOGD(
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TAG,
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"GPS time: %d | GPS NMEA data: passed %d / failed: %d / with fix: %d", t,
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gps.passedChecksum(), gps.failedChecksum(), gps.sentencesWithFix());
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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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} // gps_loop()
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#endif // HAS_GPS
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