scottp
295abb37ee
Firmware for an autonomous wave-measurement buoy (ATmega2560-based WII5 v2 board). Reads wave motion from a Sparton AHRS-M1/M2 IMU, samples GPS and battery state, and reports back over Iridium SBD satellite telemetry. Originally developed 2012-2024. This is the first public release. Code, documentation, and field-tested operating modes (Capture, Sleep, Position, ManualTest, SelfTest, LowBattery) are licensed under Apache 2.0 — see LICENSE and NOTICE. See README.md for an overview and build instructions, CONTRIBUTING.md for how to contribute, and DEPLOYMENTS.md for the field-deployment log.
395 lines
11 KiB
C++
395 lines
11 KiB
C++
// SPDX-License-Identifier: Apache-2.0
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// Copyright (c) 2012-2024 Scott Penrose <scottp@dd.com.au> and WII5 Buoy contributors
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//
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// This file is part of WII5 Buoy firmware.
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// See LICENSE for full terms.
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/**
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* @file WII5GPS.cpp
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* @brief GPS driver: NMEA parsing via TinyGPS++, time/position updates.
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*/
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/*
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WII5 GPS
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*/
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#include <Arduino.h>
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#include <WII5.h>
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#include <WII5GPS.h>
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#include <WII5Sh3dConsole.h>
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// HARDWARE begin - Just once to configure
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void WII5GPS::begin() {
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enableNmea();
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powerSetPin(POWER_GPS_PIN, POWER_GPS_ON);
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powerOff(true); // Forced off at boot
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#ifdef WII5_BUFFER_GPS
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setBuffer(wii5BufferGPS, WII5_BUFFER_GPS);
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#endif
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step = WII5GPS_OFF;
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stepWait = 0;
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running = false;
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minutes = DEFAULT_MINUTES;
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processMode = WII5SERIALPARSER_LINE;
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lastTime = 864000000; // 10 days ago
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sinceOnLast = 864000000;
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};
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// True if last GPS waas more than 12 hours ago
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bool WII5GPS::old() {
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return (lastTime > (WII5TIME_12HOUR * 1000));
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}
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void WII5GPS::off() {
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step = WII5GPS_OFF; stepWait = 0;
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stop(true);
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}
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void WII5GPS::on() {
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step = WII5GPS_ON; stepWait = 0;
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start(true);
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sinceOnLast = 0;
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}
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void WII5GPS::autoTime() {
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// Set mode to turn off after a Time, then step = OFF
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step = WII5GPS_TIME; stepWait = 0;
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start(true);
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}
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void WII5GPS::autoPos() {
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// Set mode to turn off after a position, then step = OFF
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step = WII5GPS_POS; stepWait = 0;
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start(true);
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}
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void WII5GPS::autoAccurate() {
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// Set mode to turn off after a more accurate position, then step = OFF
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step = WII5GPS_ACCURATE; stepWait = 0;
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start(true);
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}
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void WII5GPS::autoRepeat() {
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// Set mode to control GPS power on/off every N minutes to get a good time and position
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// keep step here.
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step = WII5GPS_REPEAT; stepWait = 0;
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start(true);
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}
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// start - and Stop - can be manually called but might get overwritten by modes in loop
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void WII5GPS::start(bool force) {
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if (!running || !stream || force) {
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powerOn(force);
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SerialGPS.begin(SerialGPS_Baud);
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stream = &SerialGPS;
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// waitTime = UPDATE_TIME; // Update as soon as ready
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waitTime = 0; // TODO 2024 - Change to 0 and shorter UPDATE TIME
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beginSerialManager();
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// NOTE: This requires modified TinyGPS++ now
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/* TODO 2024 Removed - how to change?
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gps->encodedCharCount = 0;
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gps->sentencesWithFixCount = 0;
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gps->failedChecksumCount = 0;
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gps->passedChecksumCount = 0;
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*/
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finished = false;
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running = true;
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lastError = WII5ERROR_UNKNOWN;
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runTime = 0;
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sinceOnLast = 0; // Kept how long even with errors
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}
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}
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// stop
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void WII5GPS::stop(bool force) {
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if (running || force) {
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stream = NULL;
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SerialGPS.end();
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endSerialManager();
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powerOff(force);
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running = false;
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}
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}
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// set and get minutes
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void WII5GPS::setMinutes(uint8_t newMinutes) {
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minutes = newMinutes;
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}
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uint8_t WII5GPS::getMinutes() {
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return minutes;
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}
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// loop
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void WII5GPS::loop() {
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if (running) {
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WII5SerialManager::loop();
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if (
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// Wait - usually 5 minutes before updating time again
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(waitTime > UPDATE_TIME)
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&& (gps->date.isValid())
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&& (gps->date.age() < 5000)
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&& (gps->time.isValid())
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&& (gps->time.age() < 5000)
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&& (gps->satellites.isValid())
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&& (gps->satellites.value() > 4) // 2024 moved back to 4 ? 2024 - Moved from 4 to 2, aka 5 satellites down to 3
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) {
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/* TODO 2024
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console.log(LOG_INFO, F("GPS: set time before %d-%d-%d %d:%d:%d"),
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gps->date.year(), gps->date.month(), gps->date.day(),
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gps->time.hour(), gps->time.minute(), gps->time.second()
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);
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*/
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console.log(LOG_INFO, F("GPS: Before setting time loop"));
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when = now();
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setTime(
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gps->time.hour(), gps->time.minute(), gps->time.second(),
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gps->date.day(), gps->date.month(), gps->date.year()
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);
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console.log(LOG_INFO, F("GPS: After setting time loop"));
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// Yay - we have a valid time - lets set this
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lastTime = 0;
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// Ignore anything less than 1 second (is there a way to do before setTime) (10 secconds)
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// TODO configurable... 10 seconds safe?
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// TODO abs - does it work with long
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//if ( ( (now() - when) > 10 ) || ( when - now() > 10) ) {
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#ifdef WII5_RTC
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wii5RTC.setRTC();
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#endif
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//}
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waitTime = 0;
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}
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}
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first = (step != stepLast);
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stepLast = step;
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switch (step) {
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// WII5GPS_OFF - Completely off, powered down, disabled.
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case WII5GPS_OFF:
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// NOTE: This is called every time, but does nothing if already stoppped. Just safety
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if (first)
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stop();
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// When to do more ?
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// - e..g no DateTime so trigger GPS
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break;
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// WII5GPS_QUIET - Turn on GPS and capture data normally, but don't print anything
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// (passthrough now separate)
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case WII5GPS_ON:
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if (first)
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start();
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break;
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case WII5GPS_TIME:
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if (first)
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start();
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// Valid and age is < 10 seconds???
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if (
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(stepWait > 5000)
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&& gps->date.isValid()
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&& (gps->date.age() < 10000)
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&& gps->time.isValid()
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&& (gps->time.age() < 10000)
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&& (gps->satellites.isValid())
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&& (gps->satellites.value() > 4) // 2024 moved from 4 to 2
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) {
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lastError = WII5ERROR_NONE;
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// Callback or other things?
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finished = true;
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lastRunTime = (uint32_t)(runTime / 1000);
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// TODO Log and Display
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step = WII5GPS_OFF; stepWait = 0;
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}
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else if (stepWait > (wii5Config.getGpsTimeout() * 1000)) {
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lastError = WII5ERROR_TIMEOUT;
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finished = true;
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lastRunTime = (uint32_t)(runTime / 1000);
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step = WII5GPS_OFF; stepWait = 0;
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}
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break;
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case WII5GPS_POS:
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if (first)
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start();
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// Valid and age is < 30 seconds???
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if (
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(stepWait > 5000)
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&& gps->location.isValid()
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&& (gps->time.age() < 20000)
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&& (gps->satellites.isValid())
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&& (gps->satellites.value() >= 4) // 2024 Keep 3 for position
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) {
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lastError = WII5ERROR_NONE;
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// Callback or other things?
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finished = true;
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lastRunTime = (uint32_t)(runTime / 1000);
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// TODO Log and Display
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step = WII5GPS_OFF; stepWait = 0;
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}
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else if (stepWait > (wii5Config.getGpsTimeout() * 1000)) {
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lastError = WII5ERROR_TIMEOUT;
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finished = true;
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lastRunTime = (uint32_t)(runTime / 1000);
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step = WII5GPS_OFF; stepWait = 0;
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}
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break;
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case WII5GPS_ACCURATE:
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if (first)
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start();
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if (
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// TODO HDOP, VDOP, TDOP - and possibly other average
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(stepWait > 5000)
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&& gps->location.isValid()
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&& (gps->date.isValid())
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&& (gps->date.age() < 5000)
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&& (gps->time.isValid())
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&& (gps->time.age() < 5000)
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&& (gps->satellites.isValid())
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&& (gps->satellites.value() >= 4) // 2024 - moved from >4 to >=4 aka 5 to 4 for accurate
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) {
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lastError = WII5ERROR_NONE;
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// Callback or other things?
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finished = true;
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lastRunTime = (uint32_t)(runTime / 1000);
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// TODO Log and Display
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console.log(LOG_INFO, F("GPS: Accurate Complete"));
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console.log(LOG_INFO, F("GPS: Before setting time accurate"));
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when = now();
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setTime(
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gps->time.hour(), gps->time.minute(), gps->time.second(),
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gps->date.day(), gps->date.month(), gps->date.year()
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);
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console.log(LOG_INFO, F("GPS: After setting time accurate"));
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lastTime = 0;
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waitTime = 0;
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step = WII5GPS_OFF; stepWait = 0;
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}
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else if (stepWait > (wii5Config.getGpsTimeout() * 1000)) {
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lastError = WII5ERROR_TIMEOUT;
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finished = true;
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lastRunTime = (uint32_t)(runTime / 1000);
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step = WII5GPS_OFF; stepWait = 0;
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}
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break;
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case WII5GPS_REPEAT:
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if (first)
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start();
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if (
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(stepWait > 60000)
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&& gps->location.isValid()
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&& (gps->time.age() < 20000)
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&& (gps->satellites.isValid())
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&& (gps->satellites.value() >= 4) // 2024 - moved from >4 to >=4
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) {
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stepWait = 0;
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// TODO Log and Display
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}
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break;
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default:
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step = WII5GPS_OFF; stepWait = 0;
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break;
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}
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return;
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}
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bool WII5GPS::isTimeValid() {
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// Less than 12 hours since we had a good lock?
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return (
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(lastTime < (WII5TIME_12HOUR * 1000))
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&& (year() >= 2019)
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// TODO EWWWW YEAH EWWW I KNOW !
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&& (year() < 2045)
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);
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}
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bool WII5GPS::ready() {
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return finished;
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}
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bool WII5GPS::isError() {
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return (lastError != WII5ERROR_NONE);
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}
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bool WII5GPS::isRunning() {
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return (step != WII5GPS_OFF);
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}
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void WII5GPS::dump(bool toConsole, Print* toOther) {
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// Error
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if (isError()) {
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snprintf_P(
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wii5BufferConsolePrint, WII5_BUFFER_CONSOLE_PRINT,
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PSTR("@Metadata,gps,error=timeout\r\n")
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);
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}
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else {
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snprintf_P(
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wii5BufferConsolePrint, WII5_BUFFER_CONSOLE_PRINT,
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PSTR("@Metadata,gps,error=none\r\n")
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);
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}
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if (toOther) toOther->print(wii5BufferConsolePrint);
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if (toConsole) console.print(wii5BufferConsolePrint);
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// Position
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snprintf_P(
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wii5BufferConsolePrint, WII5_BUFFER_CONSOLE_PRINT,
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PSTR("@Metadata,gps,position,%ld,%ld,%ld,%lu\r\n"),
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long(gps->location.lat() * GPS_POS_MULT),
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long(gps->location.lng() * GPS_POS_MULT),
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long(gps->altitude.meters() * GPS_ALT_MULT),
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gps->location.age()
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);
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if (toOther) toOther->print(wii5BufferConsolePrint);
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if (toConsole) console.print(wii5BufferConsolePrint);
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// Speed and Course
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snprintf_P(
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wii5BufferConsolePrint, WII5_BUFFER_CONSOLE_PRINT,
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PSTR("@Metadata,gps,direction,%ld,%ld,%lu\r\n"),
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long(gps->course.deg() * 100),
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long(gps->speed.kmph() * 100),
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gps->speed.age()
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);
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if (toOther) toOther->print(wii5BufferConsolePrint);
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if (toConsole) console.print(wii5BufferConsolePrint);
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// Datetime
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snprintf_P(
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wii5BufferConsolePrint, WII5_BUFFER_CONSOLE_PRINT,
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PSTR("@Metadata,gps,datetime,%04d-%02d-%02dT%02d:%02d:%02d,%lu,%lu\r\n"),
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int(gps->date.year()), int(gps->date.month()), int(gps->date.day()),
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int(gps->time.hour()), int(gps->time.minute()), int(gps->time.second()),
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gps->date.value(), gps->date.age()
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);
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if (toOther) toOther->print(wii5BufferConsolePrint);
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if (toConsole) console.print(wii5BufferConsolePrint);
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// Quality
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snprintf_P(
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wii5BufferConsolePrint, WII5_BUFFER_CONSOLE_PRINT,
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PSTR("@Metadata,gps,quality,satellites=%lu,hdop=%lu,age=%lu\r\n"),
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gps->satellites.value(), gps->hdop.value(),
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gps->date.age()
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);
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if (toOther) toOther->print(wii5BufferConsolePrint);
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if (toConsole) console.print(wii5BufferConsolePrint);
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// Stats
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snprintf_P(
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wii5BufferConsolePrint, WII5_BUFFER_CONSOLE_PRINT,
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PSTR("@Metadata,gps,stats,locktime=%lu,chars=%lu,sentences=%lu\r\n"),
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lastRunTime, gps->charsProcessed(), gps->sentencesWithFix()
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);
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if (toOther) toOther->print(wii5BufferConsolePrint);
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if (toConsole) console.print(wii5BufferConsolePrint);
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}
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WII5GPS wii5Gps;
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