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WIP on #124

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This commit is contained in:
geeksville
2020-05-04 17:39:57 -07:00
parent 101eef5495
commit c2be6c4068
9 changed files with 129 additions and 36 deletions
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50
src/gps/UBloxGPS.cpp
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@@ -9,8 +9,6 @@ UBloxGPS::UBloxGPS() : PeriodicTask()
bool UBloxGPS::setup()
{
PeriodicTask::setup();
#ifdef GPS_RX_PIN
_serial_gps.begin(GPS_BAUDRATE, SERIAL_8N1, GPS_RX_PIN, GPS_TX_PIN);
#else
@@ -30,18 +28,18 @@ bool UBloxGPS::setup()
if (isConnected) {
DEBUG_MSG("Connected to UBLOX GPS successfully\n");
bool factoryReset = false;
bool factoryReset = true;
bool ok;
if (factoryReset) {
// It is useful to force back into factory defaults (9600baud, NEMA to test the behavior of boards that don't have
// GPS_TX connected)
ublox.factoryReset();
delay(2000);
delay(3000);
isConnected = ublox.begin(_serial_gps);
DEBUG_MSG("Factory reset success=%d\n", isConnected);
if (isConnected) {
ublox.assumeAutoPVT(true, true); // Just parse NEMA for now
}
ok = ublox.saveConfiguration(3000);
assert(ok);
return false;
} else {
ok = ublox.setUART1Output(COM_TYPE_UBX, 500); // Use native API
assert(ok);
@@ -57,12 +55,10 @@ bool UBloxGPS::setup()
ok = ublox.saveConfiguration(3000);
assert(ok);
PeriodicTask::setup(); // We don't start our periodic task unless we actually found the device
return true;
} else {
// Some boards might have only the TX line from the GPS connected, in that case, we can't configure it at all. Just
// assume NEMA at 9600 baud.
DEBUG_MSG("ERROR: No bidirectional GPS found, hoping that it still might work\n");
return false;
}
}
@@ -80,26 +76,24 @@ void UBloxGPS::doTask()
{
uint8_t fixtype = 3; // If we are only using the RX pin, assume we have a 3d fix
if (isConnected) {
// Consume all characters that have arrived
assert(isConnected);
// getPVT automatically calls checkUblox
ublox.checkUblox(); // See if new data is available. Process bytes as they come in.
// Consume all characters that have arrived
// If we don't have a fix (a quick check), don't try waiting for a solution)
// Hmmm my fix type reading returns zeros for fix, which doesn't seem correct, because it is still sptting out positions
// turn off for now
// fixtype = ublox.getFixType();
DEBUG_MSG("fix type %d\n", fixtype);
}
// getPVT automatically calls checkUblox
ublox.checkUblox(); // See if new data is available. Process bytes as they come in.
// If we don't have a fix (a quick check), don't try waiting for a solution)
// Hmmm my fix type reading returns zeros for fix, which doesn't seem correct, because it is still sptting out positions
// turn off for now
// fixtype = ublox.getFixType();
DEBUG_MSG("fix type %d\n", fixtype);
// DEBUG_MSG("sec %d\n", ublox.getSecond());
// DEBUG_MSG("lat %d\n", ublox.getLatitude());
// any fix that has time
if (ublox.getT()) {
struct timeval tv;
/* 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).
@@ -112,15 +106,7 @@ The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of s
t.tm_mon = ublox.getMonth() - 1;
t.tm_year = ublox.getYear() - 1900;
t.tm_isdst = false;
time_t res = mktime(&t);
tv.tv_sec = res;
tv.tv_usec = 0; // time.centisecond() * (10 / 1000);
DEBUG_MSG("Got time from GPS month=%d, year=%d, unixtime=%ld\n", t.tm_mon, t.tm_year, tv.tv_sec);
if (t.tm_year < 0 || t.tm_year >= 300)
DEBUG_MSG("Ignoring invalid GPS time\n");
else
perhapsSetRTC(&tv);
perhapsSetRTC(t);
}
if ((fixtype >= 3 && fixtype <= 4) && ublox.getP()) // rd fixes only