mirror of
https://github.com/meshtastic/firmware.git
synced 2026-01-28 20:52:02 +00:00
WIP: unify the RAK targets into one firmware (#1350)
* First steps to unify GPS Lib for RAK 1910 and RAK 12500 * Technicalities. Out with the old and build the new. * Adapt Matrix * We use 0.4.5 now * While we're at it, yank the RAK815, it's EOL * Satisfy CI - for now * - yank UBX library, talk to GPS chip with NMEA only. - more autodetect going on, this time for the Eink Display. TODO: actually do something with the scan findings. * i swear this works on windows! :-) * these are only there to make CI happy * don't update eink display if not detected. * Replace Oberon Crypt Library with modified Adafruit Library. This elimintaes the need for the sdk-nfxlib submodule. * - Revert auto screen selection (incomplete) - Revert nrF crypto engine (needs more work) - add separate defines for not-auto-selecting screen lib. * Define 2 new variants for RAK - with or without epaper * Update variants Co-authored-by: Sacha Weatherstone <sachaw100@hotmail.com> Co-authored-by: Ben Meadors <thebentern@tuta.io>
This commit is contained in:
Thomas Göttgens
GitHub
@@ -16,12 +16,6 @@ HardwareSerial *GPS::_serial_gps = &Serial1;
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HardwareSerial *GPS::_serial_gps = NULL;
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#endif
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#ifdef GPS_I2C_ADDRESS
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uint8_t GPS::i2cAddress = GPS_I2C_ADDRESS;
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#else
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uint8_t GPS::i2cAddress = 0;
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#endif
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GPS *gps;
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/// Multiple GPS instances might use the same serial port (in sequence), but we can
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@@ -325,10 +319,6 @@ int GPS::prepareDeepSleep(void *unused)
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return 0;
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}
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#ifdef GPS_TX_PIN
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#include "UBloxGPS.h"
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#endif
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#ifndef NO_GPS
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#include "NMEAGPS.h"
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#endif
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@@ -345,25 +335,9 @@ GPS *createGps()
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#else
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DEBUG_MSG("Using MSL altitude model\n");
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#endif
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// If we don't have bidirectional comms, we can't even try talking to UBLOX
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#ifdef GPS_TX_PIN
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// Init GPS - first try ublox
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UBloxGPS *ublox = new UBloxGPS();
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if (!ublox->setup()) {
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DEBUG_MSG("ERROR: No UBLOX GPS found\n");
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delete ublox;
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ublox = NULL;
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} else {
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DEBUG_MSG("Using UBLOX Mode\n");
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return ublox;
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}
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#endif
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if (GPS::_serial_gps) {
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// Some boards might have only the TX line from the GPS connected, in that case, we can't configure it at all. Just
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// assume NMEA at 9600 baud.
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DEBUG_MSG("Using NMEA Mode\n");
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GPS *new_gps = new NMEAGPS();
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new_gps->setup();
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return new_gps;
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@@ -40,9 +40,6 @@ class GPS : private concurrency::OSThread
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/** If !NULL we will use this serial port to construct our GPS */
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static HardwareSerial *_serial_gps;
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/** If !0 we will attempt to connect to the GPS over I2C */
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static uint8_t i2cAddress;
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Position p = Position_init_default;
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GPS() : concurrency::OSThread("GPS") {}
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@@ -64,11 +64,12 @@ The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of s
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t.tm_mon = d.month() - 1;
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t.tm_year = d.year() - 1900;
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t.tm_isdst = false;
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DEBUG_MSG("NMEA GPS time %d-%d-%d %d:%d:%d\n", d.year(), d.month(), t.tm_mday, t.tm_hour, t.tm_min, t.tm_sec);
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perhapsSetRTC(RTCQualityGPS, t);
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return true;
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if (t.tm_mon > -1){
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DEBUG_MSG("NMEA GPS time %d-%d-%d %d:%d:%d\n", d.year(), d.month(), t.tm_mday, t.tm_hour, t.tm_min, t.tm_sec);
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perhapsSetRTC(RTCQualityGPS, t);
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return true;
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} else
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return false;
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} else
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return false;
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}
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@@ -128,8 +129,10 @@ bool NMEAGPS::lookForLocation()
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auto loc = reader.location.value();
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// Bail out EARLY to avoid overwriting previous good data (like #857)
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if(toDegInt(loc.lat) == 0) {
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DEBUG_MSG("Ignoring bogus NMEA position\n");
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if((toDegInt(loc.lat) == 0) || (toDegInt(loc.lat) > 90)) {
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return false;
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}
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if((toDegInt(loc.lng) == 0) || (toDegInt(loc.lng) > 180)) {
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return false;
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}
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@@ -1,328 +0,0 @@
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#include "configuration.h"
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#include "UBloxGPS.h"
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#include "RTC.h"
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#include "error.h"
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#include "sleep.h"
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#include <assert.h>
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// if gps_update_interval below this value, do not powercycle the GPS
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#define UBLOX_POWEROFF_THRESHOLD 90
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#define PDOP_INVALID 9999
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// #define UBX_MODE_NMEA
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extern RadioConfig radioConfig;
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UBloxGPS::UBloxGPS() {}
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bool UBloxGPS::tryConnect()
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{
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bool c = false;
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if (_serial_gps)
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c = ublox.begin(*_serial_gps);
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if (!c && i2cAddress) {
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extern bool neo6M; // Super skanky - if we are talking to the device i2c we assume it is a neo7 on a RAK815, which
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// supports the newer API
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neo6M = true;
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c = ublox.begin(Wire, i2cAddress);
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}
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if (c)
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setConnected();
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return c;
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}
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bool UBloxGPS::setupGPS()
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{
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GPS::setupGPS();
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// uncomment to see debug info
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// ublox.enableDebugging(Serial);
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// try a second time, the ublox lib serial parsing is buggy?
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// see https://github.com/meshtastic/Meshtastic-device/issues/376
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for (int i = 0; (i < 3) && !tryConnect(); i++)
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delay(500);
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if (isConnected()) {
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#ifdef UBX_MODE_NMEA
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DEBUG_MSG("Connected to UBLOX GPS, downgrading to NMEA mode\n");
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DEBUG_MSG("- GPS errors below are related and safe to ignore\n");
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#else
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DEBUG_MSG("Connected to UBLOX GPS successfully\n");
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#endif
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if (!setUBXMode())
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RECORD_CRITICALERROR(CriticalErrorCode_UBloxInitFailed); // Don't halt the boot if saving the config fails, but do report the bug
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#ifdef UBX_MODE_NMEA
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return false;
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#else
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return true;
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#endif
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} else {
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return false;
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}
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}
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bool UBloxGPS::setUBXMode()
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{
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#ifdef UBX_MODE_NMEA
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if (_serial_gps) {
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ublox.setUART1Output(COM_TYPE_NMEA, 1000);
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}
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if (i2cAddress) {
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ublox.setI2COutput(COM_TYPE_NMEA, 1000);
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}
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return false; // pretend initialization failed to force NMEA mode
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#endif
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if (_serial_gps) {
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if (!ublox.setUART1Output(COM_TYPE_UBX, 1000)) // Use native API
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return false;
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}
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if (i2cAddress) {
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if (!ublox.setI2COutput(COM_TYPE_UBX, 1000))
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return false;
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}
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if (!ublox.setNavigationFrequency(1, 1000)) // Produce 4x/sec to keep the amount of time we stall in getPVT low
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return false;
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// ok = ublox.setAutoPVT(false); // Not implemented on NEO-6M
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// assert(ok);
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// ok = ublox.setDynamicModel(DYN_MODEL_BIKE); // probably PEDESTRIAN but just in case assume bike speeds
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// assert(ok);
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// per https://github.com/meshtastic/Meshtastic-device/issues/376 powerSaveMode might not work with the marginal
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// TTGO antennas
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// if (!ublox.powerSaveMode(true, 2000)) // use power save mode, the default timeout (1100ms seems a bit too tight)
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// return false;
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if (!ublox.saveConfiguration(3000))
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return false;
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return true;
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}
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/**
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* Reset our GPS back to factory settings
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*
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* @return true for success
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*/
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bool UBloxGPS::factoryReset()
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{
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bool ok = false;
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// It is useful to force back into factory defaults (9600baud, NMEA to test the behavior of boards that don't have
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// GPS_TX connected)
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ublox.factoryReset();
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delay(5000);
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tryConnect(); // sets isConnected
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// try a second time, the ublox lib serial parsing is buggy?
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for (int i = 0; (i < 3) && !tryConnect(); i++)
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delay(500);
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DEBUG_MSG("GPS Factory reset success=%d\n", isConnected());
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if (isConnected())
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ok = setUBXMode();
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return ok;
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}
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/** Idle processing while GPS is looking for lock */
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void UBloxGPS::whileActive()
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{
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ublox.flushPVT(); // reset ALL freshness flags first
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ublox.getT(maxWait()); // ask for new time data - hopefully ready when we come back
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// Ask for a new position fix - hopefully it will have results ready by next time
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// the order here is important, because we only check for has latitude when reading
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//ublox.getSIV(maxWait()); // redundant with getPDOP below
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ublox.getPDOP(maxWait()); // will trigger getSOL on NEO6, getP on others
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ublox.getP(maxWait()); // will trigger getPosLLH on NEO6, getP on others
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// the fixType flag will be checked and updated in lookForLocation()
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}
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/**
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* Perform any processing that should be done only while the GPS is awake and looking for a fix.
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* Override this method to check for new locations
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*
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* @return true if we've acquired a new location
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*/
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bool UBloxGPS::lookForTime()
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{
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if (ublox.moduleQueried.gpsSecond) {
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/* Convert to unix time
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The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of seconds that have elapsed since January
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1, 1970 (midnight UTC/GMT), not counting leap seconds (in ISO 8601: 1970-01-01T00:00:00Z).
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*/
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struct tm t;
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t.tm_sec = ublox.getSecond(0);
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t.tm_min = ublox.getMinute(0);
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t.tm_hour = ublox.getHour(0);
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t.tm_mday = ublox.getDay(0);
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t.tm_mon = ublox.getMonth(0) - 1;
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t.tm_year = ublox.getYear(0) - 1900;
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t.tm_isdst = false;
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perhapsSetRTC(RTCQualityGPS, t);
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return true;
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}
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return false;
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}
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/**
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* Perform any processing that should be done only while the GPS is awake and looking for a fix.
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* Override this method to check for new locations
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*
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* @return true if we've acquired a new location
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*/
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bool UBloxGPS::lookForLocation()
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{
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bool foundLocation = false;
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// check if a complete GPS solution set is available for reading
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// (some of these, like lat/lon are redundant and can be removed)
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if ( ! (ublox.moduleQueried.fixType &&
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ublox.moduleQueried.latitude &&
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ublox.moduleQueried.longitude &&
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ublox.moduleQueried.altitude &&
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ublox.moduleQueried.pDOP &&
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ublox.moduleQueried.SIV &&
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ublox.moduleQueried.gpsDay))
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{
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// Not ready? No problem! We'll try again later.
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return false;
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}
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fixType = ublox.getFixType();
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#ifdef UBLOX_EXTRAVERBOSE
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DEBUG_MSG("FixType=%d\n", fixType);
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#endif
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// check if GPS has an acceptable lock
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if (! hasLock()) {
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ublox.flushPVT(); // reset ALL freshness flags
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return false;
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}
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// read lat/lon/alt/dop data into temporary variables to avoid
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// overwriting global variables with potentially invalid data
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int32_t tmp_dop = ublox.getPDOP(0); // PDOP (an accuracy metric) is reported in 10^2 units so we have to scale down when we use it
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int32_t tmp_lat = ublox.getLatitude(0);
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int32_t tmp_lon = ublox.getLongitude(0);
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int32_t tmp_alt_msl = ublox.getAltitudeMSL(0);
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int32_t tmp_alt_hae = ublox.getAltitude(0);
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int32_t max_dop = PDOP_INVALID;
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if (radioConfig.preferences.gps_max_dop)
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max_dop = radioConfig.preferences.gps_max_dop * 100; // scaling
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// Note: heading is only currently implmented in the ublox for the 8m chipset - therefore
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// don't read it here - it will generate an ignored getPVT command on the 6ms
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// heading = ublox.getHeading(0);
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// read positional timestamp
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struct tm t;
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t.tm_sec = ublox.getSecond(0);
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t.tm_min = ublox.getMinute(0);
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t.tm_hour = ublox.getHour(0);
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t.tm_mday = ublox.getDay(0);
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t.tm_mon = ublox.getMonth(0) - 1;
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t.tm_year = ublox.getYear(0) - 1900;
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t.tm_isdst = false;
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time_t tmp_ts = mktime(&t);
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// FIXME - can opportunistically attempt to set RTC from GPS timestamp?
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// bogus lat lon is reported as 0 or 0 (can be bogus just for one)
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// Also: apparently when the GPS is initially reporting lock it can output a bogus latitude > 90 deg!
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// FIXME - NULL ISLAND is a real location on Earth!
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foundLocation = (tmp_lat != 0) && (tmp_lon != 0) &&
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(tmp_lat <= 900000000) && (tmp_lat >= -900000000) &&
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(tmp_dop < max_dop);
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// only if entire dataset is valid, update globals from temp vars
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if (foundLocation) {
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p.location_source = Position_LocSource_LOCSRC_GPS_INTERNAL;
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p.longitude_i = tmp_lon;
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p.latitude_i = tmp_lat;
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if (fixType > 2) {
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// if fix is 2d, ignore altitude data
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p.altitude = tmp_alt_msl / 1000;
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p.altitude_hae = tmp_alt_hae / 1000;
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p.alt_geoid_sep = (tmp_alt_hae - tmp_alt_msl) / 1000;
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} else {
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#ifdef GPS_EXTRAVERBOSE
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DEBUG_MSG("no altitude data (fixType=%d)\n", fixType);
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#endif
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// clean up old values in case it's a 3d-2d fix transition
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p.altitude = p.altitude_hae = p.alt_geoid_sep = 0;
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}
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p.pos_timestamp = tmp_ts;
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p.PDOP = tmp_dop;
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p.fix_type = fixType;
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p.sats_in_view = ublox.getSIV(0);
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// In debug logs, identify position by @timestamp:stage (stage 1 = birth)
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DEBUG_MSG("lookForLocation() new pos@%x:1\n", tmp_ts);
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} else {
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// INVALID solution - should never happen
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DEBUG_MSG("Invalid location lat/lon/hae/dop %d/%d/%d/%d - discarded\n",
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tmp_lat, tmp_lon, tmp_alt_hae, tmp_dop);
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}
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ublox.flushPVT(); // reset ALL freshness flags at the end
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|
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return foundLocation;
|
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}
|
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|
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bool UBloxGPS::hasLock()
|
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{
|
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if (radioConfig.preferences.gps_accept_2d)
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return (fixType >= 2 && fixType <= 4);
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else
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return (fixType >= 3 && fixType <= 4);
|
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}
|
||||
|
||||
bool UBloxGPS::whileIdle()
|
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{
|
||||
// if using i2c or serial look too see if any chars are ready
|
||||
return ublox.checkUblox(); // See if new data is available. Process bytes as they come in.
|
||||
}
|
||||
|
||||
/// If possible force the GPS into sleep/low power mode
|
||||
/// Note: ublox doesn't need a wake method, because as soon as we send chars to the GPS it will wake up
|
||||
void UBloxGPS::sleep()
|
||||
{
|
||||
if (radioConfig.preferences.gps_update_interval > UBLOX_POWEROFF_THRESHOLD) {
|
||||
// Tell GPS to power down until we send it characters on serial port (we leave vcc connected)
|
||||
ublox.powerOff();
|
||||
// setGPSPower(false);
|
||||
}
|
||||
}
|
||||
|
||||
void UBloxGPS::wake()
|
||||
{
|
||||
if (radioConfig.preferences.gps_update_interval > UBLOX_POWEROFF_THRESHOLD) {
|
||||
fixType = 0; // assume we have no fix yet
|
||||
}
|
||||
|
||||
// this is idempotent
|
||||
setGPSPower(true);
|
||||
|
||||
// Note: no delay needed because now we leave gps power on always and instead use ublox.powerOff()
|
||||
// Give time for the GPS to boot
|
||||
// delay(200);
|
||||
}
|
||||
@@ -1,72 +0,0 @@
|
||||
#pragma once
|
||||
|
||||
#include "GPS.h"
|
||||
#include "Observer.h"
|
||||
#include "SparkFun_Ublox_Arduino_Library.h"
|
||||
|
||||
/**
|
||||
* A gps class that only reads from the GPS periodically (and FIXME - eventually keeps the gps powered down except when reading)
|
||||
*
|
||||
* When new data is available it will notify observers.
|
||||
*/
|
||||
class UBloxGPS : public GPS
|
||||
{
|
||||
SFE_UBLOX_GPS ublox;
|
||||
uint8_t fixType = 0;
|
||||
|
||||
public:
|
||||
UBloxGPS();
|
||||
|
||||
/**
|
||||
* Reset our GPS back to factory settings
|
||||
*
|
||||
* @return true for success
|
||||
*/
|
||||
bool factoryReset() override;
|
||||
|
||||
protected:
|
||||
/**
|
||||
* Returns true if we succeeded
|
||||
*/
|
||||
virtual bool setupGPS() override;
|
||||
|
||||
/** Subclasses should look for serial rx characters here and feed it to their GPS parser
|
||||
*
|
||||
* Return true if we received a valid message from the GPS
|
||||
*/
|
||||
virtual bool whileIdle() override;
|
||||
|
||||
/** Idle processing while GPS is looking for lock */
|
||||
virtual void whileActive() override;
|
||||
|
||||
/**
|
||||
* Perform any processing that should be done only while the GPS is awake and looking for a fix.
|
||||
* Override this method to check for new locations
|
||||
*
|
||||
* @return true if we've acquired a time
|
||||
*/
|
||||
virtual bool lookForTime() override;
|
||||
|
||||
/**
|
||||
* Perform any processing that should be done only while the GPS is awake and looking for a fix.
|
||||
* Override this method to check for new locations
|
||||
*
|
||||
* @return true if we've acquired a new location
|
||||
*/
|
||||
virtual bool lookForLocation() override;
|
||||
virtual bool hasLock() override;
|
||||
|
||||
/// If possible force the GPS into sleep/low power mode
|
||||
virtual void sleep() override;
|
||||
virtual void wake() override;
|
||||
|
||||
private:
|
||||
/// Attempt to connect to our GPS, returns false if no gps is present
|
||||
bool tryConnect();
|
||||
|
||||
/// Switch to our desired operating mode and save the settings to flash
|
||||
/// returns true for success
|
||||
bool setUBXMode();
|
||||
|
||||
uint16_t maxWait() const { return i2cAddress ? 300 : 0; /*If using i2c we must poll with wait */ }
|
||||
};
|
||||
Reference in New Issue
Block a user