167 lines
4.4 KiB
C++
167 lines
4.4 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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// we use NMEA $GPZDA sentence field 1 for time synchronization
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// $GPZDA gives time for preceding pps pulse, but does not has a constant offset
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TinyGPSPlus gps;
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TinyGPSCustom gpstime(gps, "GPZDA", 1); // field 1 = UTC time
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static const String ZDA_Request = "$EIGPQ,ZDA*39\r\n";
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gpsStatus_t gps_status = {0};
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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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#ifdef 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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/* 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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// function to fetch current time from struct; note: this is costly
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time_t fetch_gpsTime(uint16_t *msec) {
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time_t time_sec = 0;
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// poll NMEA $GPZDA 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 time?
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if (gpstime.isUpdated() && gpstime.isValid()) {
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tmElements_t tm;
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String rawtime = gpstime.value();
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uint32_t time_bcd = rawtime.toFloat() * 100;
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uint32_t delay_ms =
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gpstime.age() + nmea_txDelay_ms + NMEA_COMPENSATION_FACTOR;
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uint8_t year =
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CalendarYrToTm(gps.date.year()); // year offset from 1970 in microTime.h
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ESP_LOGD(TAG, "time [bcd]: %u", time_bcd);
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tm.Second = (time_bcd / 100) % 100; // second
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tm.Minute = (time_bcd / 10000) % 100; // minute
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tm.Hour = time_bcd / 1000000; // hour
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tm.Day = gps.date.day(); // day
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tm.Month = gps.date.month(); // month
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tm.Year = year; // year
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// add protocol delay to time with millisecond precision
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time_sec = makeTime(tm) + delay_ms / 1000;
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*msec = (delay_ms % 1000) ? delay_ms % 1000 : 0;
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}
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return timeIsValid(time_sec);
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} // fetch_gpsTime()
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time_t fetch_gpsTime(void) {
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uint16_t msec;
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return fetch_gpsTime(&msec);
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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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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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} // if
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// show NMEA data in verbose mode, useful for debugging GPS
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ESP_LOGV(TAG, "GPS NMEA data: passed %u / failed: %u / with fix: %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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