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bug #376 wip - we now kill gps power when it is supposed to be asleep

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This commit is contained in:
Kevin Hester
2020-10-05 15:29:26 +08:00
parent b072eec4ac
commit 3c1c11e439
7 changed files with 69 additions and 60 deletions
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96
src/gps/UBloxGPS.cpp
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@@ -1,5 +1,6 @@
#include "UBloxGPS.h"
#include "error.h"
#include "sleep.h"
#include <assert.h>
UBloxGPS::UBloxGPS() {}
@@ -22,7 +23,7 @@ bool UBloxGPS::tryConnect()
return isConnected;
}
bool UBloxGPS::setup()
bool UBloxGPS::setupGPS()
{
if (_serial_gps) {
#ifdef GPS_RX_PIN
@@ -33,12 +34,6 @@ bool UBloxGPS::setup()
// _serial_gps.setRxBufferSize(1024); // the default is 256
}
#ifdef GPS_POWER_EN
pinMode(GPS_POWER_EN, OUTPUT);
digitalWrite(GPS_POWER_EN, 1);
delay(200); // Give time for the GPS to startup after we gave power
#endif
ublox.enableDebugging(Serial);
// try a second time, the ublox lib serial parsing is buggy?
@@ -49,15 +44,11 @@ bool UBloxGPS::setup()
if (isConnected) {
DEBUG_MSG("Connected to UBLOX GPS successfully\n");
GPS::setup();
if (!setUBXMode())
recordCriticalError(UBloxInitFailed); // Don't halt the boot if saving the config fails, but do report the bug
return true;
} else {
// Note: we do not call superclass setup in this case, because we dont want sleep observer registered
return false;
}
}
@@ -134,24 +125,28 @@ void UBloxGPS::whileActive()
*/
bool UBloxGPS::lookForTime()
{
if (fixType >= 2 && ublox.getT(maxWait())) {
/* Convert to unix time
The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of seconds that have elapsed since January
1, 1970 (midnight UTC/GMT), not counting leap seconds (in ISO 8601: 1970-01-01T00:00:00Z).
*/
struct tm t;
t.tm_sec = ublox.getSecond(0);
t.tm_min = ublox.getMinute(0);
t.tm_hour = ublox.getHour(0);
t.tm_mday = ublox.getDay(0);
t.tm_mon = ublox.getMonth(0) - 1;
t.tm_year = ublox.getYear(0) - 1900;
t.tm_isdst = false;
perhapsSetRTC(t);
return true;
} else {
return false;
if (fixType >= 2) {
if (ublox.moduleQueried.gpsSecond) {
/* Convert to unix time
The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of seconds that have elapsed since January
1, 1970 (midnight UTC/GMT), not counting leap seconds (in ISO 8601: 1970-01-01T00:00:00Z).
*/
struct tm t;
t.tm_sec = ublox.getSecond(0);
t.tm_min = ublox.getMinute(0);
t.tm_hour = ublox.getHour(0);
t.tm_mday = ublox.getDay(0);
t.tm_mon = ublox.getMonth(0) - 1;
t.tm_year = ublox.getYear(0) - 1900;
t.tm_isdst = false;
perhapsSetRTC(t);
return true;
} else {
ublox.getT(maxWait()); // ask for new time data - hopefully ready when we come back
}
}
return false;
}
/**
@@ -165,19 +160,24 @@ bool UBloxGPS::lookForLocation()
bool foundLocation = false;
// we only notify if position has changed due to a new fix
if ((fixType >= 3 && fixType <= 4) && ublox.getP(maxWait())) // rd fixes only
{
latitude = ublox.getLatitude(0);
longitude = ublox.getLongitude(0);
altitude = ublox.getAltitudeMSL(0) / 1000; // in mm convert to meters
dop = ublox.getPDOP(0); // PDOP (an accuracy metric) is reported in 10^2 units so we have to scale down when we use it
heading = ublox.getHeading(0);
numSatellites = ublox.getSIV(0);
if ((fixType >= 3 && fixType <= 4)) {
if (ublox.moduleQueried.latitude) // rd fixes only
{
latitude = ublox.getLatitude(0);
longitude = ublox.getLongitude(0);
altitude = ublox.getAltitudeMSL(0) / 1000; // in mm convert to meters
dop = ublox.getPDOP(0); // PDOP (an accuracy metric) is reported in 10^2 units so we have to scale down when we use it
heading = ublox.getHeading(0);
numSatellites = ublox.getSIV(0);
// bogus lat lon is reported as 0 or 0 (can be bogus just for one)
// Also: apparently when the GPS is initially reporting lock it can output a bogus latitude > 90 deg!
foundLocation =
(latitude != 0) && (longitude != 0) && (latitude <= 900000000 && latitude >= -900000000) && (numSatellites > 0);
// bogus lat lon is reported as 0 or 0 (can be bogus just for one)
// Also: apparently when the GPS is initially reporting lock it can output a bogus latitude > 90 deg!
foundLocation =
(latitude != 0) && (longitude != 0) && (latitude <= 900000000 && latitude >= -900000000) && (numSatellites > 0);
} else {
// Ask for a new position fix - hopefully it will have results ready by next time
ublox.getP(maxWait());
}
}
return foundLocation;
@@ -193,10 +193,14 @@ bool UBloxGPS::whileIdle()
/// 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 (isConnected) {
DEBUG_MSG("FIXME, enter low power mode\n");
// won't work on 6M
// ublox.powerOff();
}
// won't work on 6M
// ublox.powerOff();
setGPSPower(false);
}
void UBloxGPS::wake()
{
setGPSPower(true);
// Give time for the GPS to boot
delay(200);
}