74 lines
1.9 KiB
C++
74 lines
1.9 KiB
C++
#ifdef HAS_GPS
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#include "globals.h"
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#include <Wire.h>
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// Local logging tag
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static const char TAG[] = "main";
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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 = (uint32_t)(gps.location.lat() * 1e6);
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gps_status.longitude = (uint32_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 = (uint16_t)gps.altitude.meters();
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}
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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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// initialize and, if needed, configure, GPS
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#if defined GPS_SERIAL
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HardwareSerial GPS_Serial(1);
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#elif defined GPS_QUECTEL_L76
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Wire.begin(GPS_QUECTEL_L76, 400000); // I2C connect to GPS device with 400 KHz
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#endif
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while (1) {
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if (cfg.gpsmode) {
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#if defined GPS_SERIAL
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// serial connect to GPS device
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GPS_Serial.begin(GPS_SERIAL);
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while (cfg.gpsmode) {
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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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vTaskDelay(1 / portTICK_PERIOD_MS); // reset watchdog
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}
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// after GPS function was disabled, close connect to GPS device
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GPS_Serial.end();
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#elif defined GPS_QUECTEL_L76
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Wire.beginTransmission(GPS_ADDR);
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Wire.write(0x00); // dummy write to start read
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Wire.endTransmission();
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Wire.beginTransmission(GPS_ADDR);
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while (cfg.gpsmode) {
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Wire.requestFrom(GPS_ADDR | 0x01, 32);
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while (Wire.available()) {
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gps.encode(Wire.read());
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vTaskDelay(1 / portTICK_PERIOD_MS); // polling mode: 500ms sleep
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}
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}
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// after GPS function was disabled, close connect to GPS device
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Wire.endTransmission();
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#endif // GPS Type
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}
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vTaskDelay(1 / portTICK_PERIOD_MS); // reset watchdog
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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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