commit 19d38903cf639fd979b68c3d2f3bcefc2c46c471 Author: Nigreon Date: Sun Jul 21 01:32:01 2024 +0200 Initial commit diff --git a/README.rst b/README.rst new file mode 100644 index 0000000..f46f39b --- /dev/null +++ b/README.rst @@ -0,0 +1,40 @@ +.. _uart_sample: + +UART Driver Sample +################## + +Overview +******** + +This sample demonstrates how to use the UART serial driver with a simple +echo bot. It reads data from the console and echoes the characters back after +an end of line (return key) is received. + +The polling API is used for sending data and the interrupt-driven API +for receiving, so that in theory the thread could do something else +while waiting for incoming data. + +By default, the UART peripheral that is normally used for the Zephyr shell +is used, so that almost every board should be supported. + +Building and Running +******************** + +Build and flash the sample as follows, changing ``nrf52840dk_nrf52840`` for +your board: + +.. zephyr-app-commands:: + :zephyr-app: samples/drivers/uart/echo_bot + :board: nrf52840dk_nrf52840 + :goals: build flash + :compact: + +Sample Output +============= + +.. code-block:: console + + Hello! I\'m your echo bot. + Tell me something and press enter: + # Type e.g. "Hi there!" and hit enter! + Echo: Hi there! diff --git a/boards/ebyte_e73_tbb_nrf52832.json b/boards/ebyte_e73_tbb_nrf52832.json new file mode 100644 index 0000000..a177e27 --- /dev/null +++ b/boards/ebyte_e73_tbb_nrf52832.json @@ -0,0 +1,42 @@ +{ + "build": { + "cpu": "cortex-m4", + "f_cpu": "64000000L", + "mcu": "nrf52832", + "zephyr": { + "variant": "ebyte_e73_tbb_nrf52832" + } + }, + "connectivity": [ + "bluetooth" + ], + "debug": { + "default_tools": [ + "cmsis-dap" + ], + "jlink_device": "nRF52832_xxAA", + "onboard_tools": [ + "cmsis-dap" + ], + "svd_path": "nrf52.svd" + }, + "frameworks": [ + "zephyr" + ], + "name": "Ebyte E73", + "upload": { + "maximum_ram_size": 65536, + "maximum_size": 524288, + "protocol": "cmsis-dap", + "protocols": [ + "jlink", + "nrfjprog", + "stlink", + "blackmagic", + "cmsis-dap", + "mbed" + ] + }, + "url": "https://wiki.makerdiary.com/nrf52832-mdk/", + "vendor": "Makerdiary" +} diff --git a/boards/xiao_ble.json b/boards/xiao_ble.json new file mode 100644 index 0000000..8d833a8 --- /dev/null +++ b/boards/xiao_ble.json @@ -0,0 +1,50 @@ +{ + "build": { + "arduino":{ + "ldscript": "nrf52_xxaa.ld" + }, + "core": "nRF5", + "cpu": "cortex-m4", + "f_cpu": "64000000L", + "mcu": "nrf52840", + "variant": "nRF52DK", + "zephyr": { + "variant": "xiao_ble" + } + }, + "connectivity": [ + "bluetooth" + ], + "debug": { + "default_tools": [ + "jlink" + ], + "jlink_device": "nRF52840_xxAA", + "onboard_tools": [ + "cmsis-dap", + "jlink" + ], + "svd_path": "nrf52840.svd" + }, + "frameworks": [ + "arduino", + "mbed", + "zephyr" + ], + "name": "Nordic nRF52840-DK", + "upload": { + "maximum_ram_size": 262144, + "maximum_size": 1048576, + "protocol": "jlink", + "protocols": [ + "jlink", + "nrfjprog", + "stlink", + "blackmagic", + "cmsis-dap", + "mbed" + ] + }, + "url": "https://wiki.seeedstudio.com/XIAO_BLE/", + "vendor": "Seeed Studio" +} diff --git a/compile_commands.json 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-I/home/nignux/.platformio/packages/framework-zephyr/_pio/modules/hal/nordic/nrfx/mdk -I/home/nignux/.platformio/packages/framework-zephyr/modules/hal_nordic/nrfx -I/home/nignux/.platformio/packages/framework-zephyr/_pio/modules/debug/segger/SEGGER -I/home/nignux/.platformio/packages/framework-zephyr/_pio/modules/debug/segger/Config -I/home/nignux/.platformio/packages/framework-zephyr/modules/segger src/minmea.c", + "directory": "/home/nignux/Zephyr-dev/btgps", + "file": "src/minmea.c", + "output": ".pio/build/nrf52/src/minmea.o" + } +] diff --git a/include/README b/include/README new file mode 100644 index 0000000..194dcd4 --- /dev/null +++ b/include/README @@ -0,0 +1,39 @@ + +This directory is intended for project header files. + +A header file is a file containing C declarations and macro definitions +to be shared between several project source files. You request the use of a +header file in your project source file (C, C++, etc) located in `src` folder +by including it, with the C preprocessing directive `#include'. + +```src/main.c + +#include "header.h" + +int main (void) +{ + ... +} +``` + +Including a header file produces the same results as copying the header file +into each source file that needs it. Such copying would be time-consuming +and error-prone. With a header file, the related declarations appear +in only one place. If they need to be changed, they can be changed in one +place, and programs that include the header file will automatically use the +new version when next recompiled. The header file eliminates the labor of +finding and changing all the copies as well as the risk that a failure to +find one copy will result in inconsistencies within a program. + +In C, the usual convention is to give header files names that end with `.h'. +It is most portable to use only letters, digits, dashes, and underscores in +header file names, and at most one dot. + +Read more about using header files in official GCC documentation: + +* Include Syntax +* Include Operation +* Once-Only Headers +* Computed Includes + +https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html diff --git a/lib/README b/lib/README new file mode 100644 index 0000000..6debab1 --- /dev/null +++ b/lib/README @@ -0,0 +1,46 @@ + +This directory is intended for project specific (private) libraries. +PlatformIO will compile them to static libraries and link into executable file. + +The source code of each library should be placed in a an own separate directory +("lib/your_library_name/[here are source files]"). + +For example, see a structure of the following two libraries `Foo` and `Bar`: + +|--lib +| | +| |--Bar +| | |--docs +| | |--examples +| | |--src +| | |- Bar.c +| | |- Bar.h +| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html +| | +| |--Foo +| | |- Foo.c +| | |- Foo.h +| | +| |- README --> THIS FILE +| +|- platformio.ini +|--src + |- main.c + +and a contents of `src/main.c`: +``` +#include +#include + +int main (void) +{ + ... +} + +``` + +PlatformIO Library Dependency Finder will find automatically dependent +libraries scanning project source files. + +More information about PlatformIO Library Dependency Finder +- https://docs.platformio.org/page/librarymanager/ldf.html diff --git a/platformio.ini b/platformio.ini new file mode 100644 index 0000000..98ea432 --- /dev/null +++ b/platformio.ini @@ -0,0 +1,28 @@ +; PlatformIO Project Configuration File +; +; Build options: build flags, source filter +; Upload options: custom upload port, speed and extra flags +; Library options: dependencies, extra library storages +; Advanced options: extra scripting +; +; Please visit documentation for the other options and examples +; https://docs.platformio.org/page/projectconf.html +[platformio] +default_envs = nrf52 + +[env:nrf52] +platform = nordicnrf52 +framework = zephyr +platform_packages = + platformio/framework-zephyr@^2.30400.230705 + platformio/toolchain-gccarmnoneeabi@^1.120201.221222 +#board = ebyte_e73_tbb_nrf52832 +board = xiao_ble +#build_flags = -DNRF51_S130 +#board_build.variant = CJMCU_LIS3DH +upload_protocol = custom +upload_command = echo "rtt stop; halt; program $PROJECT_DIR/$SOURCE verify reset; rtt start" | ncat localhost 4444 +monitor_port = socket://localhost:9090 +monitor_filters = + direct +monitor_speed = 115200 diff --git a/sample.yaml b/sample.yaml new file mode 100644 index 0000000..aff12e3 --- /dev/null +++ b/sample.yaml @@ -0,0 +1,9 @@ +sample: + name: UART driver sample +tests: + sample.drivers.uart: + tags: serial uart + filter: CONFIG_SERIAL and + CONFIG_UART_INTERRUPT_DRIVEN and + dt_chosen_enabled("zephyr,shell-uart") + harness: keyboard diff --git a/src/battery.c b/src/battery.c new file mode 100644 index 0000000..62707d2 --- /dev/null +++ b/src/battery.c @@ -0,0 +1,218 @@ +/* + * Copyright 2024 Marcus Alexander Tjomsaas + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include "battery.h" + +#include +#include +#include +#include +#include +#include +LOG_MODULE_REGISTER(battery); + +#define GPIO_BATTERY_CHARGE_SPEED 13 +#define GPIO_BATTERY_CHARGING_ENABLE 17 +#define GPIO_BATTERY_READ_ENABLE 14 + +static K_MUTEX_DEFINE(battery_mut); + +// Change this to a higher number for better averages +// Note that increasing this holds up the thread / ADC for longer. +#define ADC_TOTAL_SAMPLES 10 + +//-------------------------------------------------------------- +// ADC setup + +#define ADC_RESOLUTION 12 +#define ADC_CHANNEL 7 +#define ADC_PORT SAADC_CH_PSELP_PSELP_AnalogInput7 // AIN7 +#define ADC_REFERENCE ADC_REF_INTERNAL // 0.6V +#define ADC_GAIN ADC_GAIN_1_6 // ADC REFERENCE * 6 = 3.6V +#define ADC_SAMPLE_INTERVAL_US 500 // Time between each sample + +static struct adc_channel_cfg channel_7_cfg = { + .gain = ADC_GAIN, + .reference = ADC_REFERENCE, + .acquisition_time = ADC_ACQ_TIME_DEFAULT, + .channel_id = ADC_CHANNEL, +#ifdef CONFIG_ADC_NRFX_SAADC + .input_positive = ADC_PORT +#endif +}; + +static struct adc_sequence_options options = { + .extra_samplings = ADC_TOTAL_SAMPLES - 1, + .interval_us = ADC_SAMPLE_INTERVAL_US, +}; + +static int16_t sample_buffer[ADC_TOTAL_SAMPLES]; +static struct adc_sequence sequence = { + .options = &options, + .channels = BIT(ADC_CHANNEL), + .buffer = sample_buffer, + .buffer_size = sizeof(sample_buffer), + .resolution = ADC_RESOLUTION, +}; + +//-------------------------------------------------------------- + +// MCU peripherals for reading battery voltage +static const struct device *gpio_battery_dev = DEVICE_DT_GET(DT_NODELABEL(gpio0)); +static const struct device *adc_battery_dev = DEVICE_DT_GET(DT_NODELABEL(adc)); + +typedef struct +{ + uint16_t voltage; + uint8_t percentage; +} BatteryState; + +#define BATTERY_STATES_COUNT 12 +// Assuming LiPo battery. +// For better accuracy, use your battery's datasheet. +static BatteryState battery_states[BATTERY_STATES_COUNT] = { + {4200, 100}, + {4160, 99}, + {4090, 91}, + {4030, 78}, + {3890, 63}, + {3830, 53}, + {3680, 36}, + {3660, 35}, + {3480, 14}, + {3420, 11}, + {3150, 1}, // 3240 + {0000, 0} // Below safe level +}; + +//------------------------------------------------------------------------------------------ +// Public functions + +int battery_get_millivolt(uint16_t *battery_millivolt) +{ + + int ret = 0; + + // Voltage divider circuit (Should tune R1 in software if possible) + const uint16_t R1 = 1037; // Originally 1M ohm, calibrated after measuring actual voltage values. Can happen due to resistor tolerances, temperature ect.. + const uint16_t R2 = 510; // 510K ohm + + // ADC measure + uint16_t adc_vref = adc_ref_internal(adc_battery_dev); + int adc_mv = 0; + + ret |= gpio_pin_configure(gpio_battery_dev, GPIO_BATTERY_READ_ENABLE, GPIO_OUTPUT | GPIO_ACTIVE_LOW); + ret |= gpio_pin_set(gpio_battery_dev, GPIO_BATTERY_READ_ENABLE, 1); + k_msleep(100); + + k_mutex_lock(&battery_mut, K_FOREVER); + ret |= adc_read(adc_battery_dev, &sequence); + + if (ret) + { + LOG_WRN("ADC read failed (error %d)", ret); + } + + // Get average sample value. + for (uint8_t sample = 0; sample < ADC_TOTAL_SAMPLES; sample++) + { + adc_mv += sample_buffer[sample]; // ADC value, not millivolt yet. + } + adc_mv /= ADC_TOTAL_SAMPLES; + + // Convert ADC value to millivolts + ret |= adc_raw_to_millivolts(adc_vref, ADC_GAIN, ADC_RESOLUTION, &adc_mv); + + // Calculate battery voltage. + *battery_millivolt = adc_mv * ((R1 + R2) / R2); + k_mutex_unlock(&battery_mut); + ret |= gpio_pin_configure(gpio_battery_dev, GPIO_BATTERY_READ_ENABLE, GPIO_DISCONNECTED); + + LOG_INF("%d mV", *battery_millivolt); + return ret; +} + +int battery_get_percentage(uint8_t *battery_percentage, uint16_t battery_millivolt) +{ + + // Ensure voltage is within bounds + if (battery_millivolt > battery_states[0].voltage) + *battery_percentage = 100; + if (battery_millivolt < battery_states[BATTERY_STATES_COUNT - 1].voltage) + *battery_percentage = 0; + + for (uint16_t i = 0; i < BATTERY_STATES_COUNT - 1; i++) + { + // Find the two points battery_millivolt is between + if (battery_states[i].voltage >= battery_millivolt && battery_millivolt >= battery_states[i + 1].voltage) + { + // Linear interpolation + *battery_percentage = battery_states[i].percentage + + ((float)(battery_millivolt - battery_states[i].voltage) * + ((float)(battery_states[i + 1].percentage - battery_states[i].percentage) / + (float)(battery_states[i + 1].voltage - battery_states[i].voltage))); + + LOG_INF("%d %%", *battery_percentage); + return 0; + } + } + return -ESPIPE; +} + +int battery_init() +{ + int ret = 0; + + // ADC + if (!device_is_ready(adc_battery_dev)) + { + LOG_ERR("ADC device not found!"); + return -EIO; + } + + ret |= adc_channel_setup(adc_battery_dev, &channel_7_cfg); + + if (ret) + { + LOG_ERR("ADC setup failed (error %d)", ret); + return ret; + } + + // GPIO + if (!device_is_ready(gpio_battery_dev)) + { + LOG_ERR("GPIO device not found!"); + return -EIO; + } + + + ret |= gpio_pin_configure(gpio_battery_dev, GPIO_BATTERY_CHARGING_ENABLE, GPIO_DISCONNECTED); + ret |= gpio_pin_configure(gpio_battery_dev, GPIO_BATTERY_READ_ENABLE, GPIO_DISCONNECTED); + ret |= gpio_pin_configure(gpio_battery_dev, GPIO_BATTERY_CHARGE_SPEED, GPIO_DISCONNECTED); + + + if (ret) + { + LOG_ERR("GPIO configure failed!"); + return ret; + } + + LOG_INF("Initialized"); + + // Get ready for battery charging and sampling + + return ret; +} diff --git a/src/battery.h b/src/battery.h new file mode 100644 index 0000000..b04fa97 --- /dev/null +++ b/src/battery.h @@ -0,0 +1,50 @@ +/* + * Copyright 2024 Marcus Alexander Tjomsaas + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include +#include + +#ifndef __BATTERY_H__ +#define __BATTERY_H__ + +/** + * @brief Calculates the battery voltage using the ADC. + * + * @param[in] battery_millivolt Pointer to where battery voltage is stored. + * + * @retval 0 if successful. Negative errno number on error. + */ +int battery_get_millivolt(uint16_t *battery_millivolt); + +/** + * @brief Calculates the battery percentage using the battery voltage. + * + * @param[in] battery_percentage Pointer to where battery percentage is stored. + * + * @param[in] battery_millivolt Voltage used to calculate the percentage of how much energy is left in a 3.7V LiPo battery. + * + * @retval 0 if successful. Negative errno number on error. + */ +int battery_get_percentage(uint8_t *battery_percentage, uint16_t battery_millivolt); + +/** + * @brief Initialize the battery charging circuit. + * + * @retval 0 if successful. Negative errno number on error. + */ +int battery_init(void); + +#endif diff --git a/src/bme280.c b/src/bme280.c new file mode 100644 index 0000000..9b0cbbb --- /dev/null +++ b/src/bme280.c @@ -0,0 +1,76 @@ +#include +#include + +#include "bme280.h" + +#include +LOG_MODULE_REGISTER(bme280); + +const struct device *bme280; + + +#define CALIB_TEMP_VAL1 0 +#define CALIB_PRES_VAL1 1 +//#define CALIB_HUMI_VAL1 0 + +#define CALIB_TEMP_VAL2 0 +#define CALIB_PRES_VAL2 500000 +//#define CALIB_HUMI_VAL2 0 + +void init_bme280() +{ + bme280 = DEVICE_DT_GET_ANY(bosch_bme280); + + if (bme280 == NULL) { + /* No such node, or the node does not have status "okay". */ + LOG_ERR("Error: no device found.\n"); + return; + } + + if (!device_is_ready(bme280)) { + LOG_ERR("Error: Device \"%s\" is not ready; ", bme280->name); + return; + } + + LOG_WRN("Found device \"%s\"", bme280->name); +} + +void probe_bme280(bool ptemperature, bool phumidity, bool ppressure) +{ + if(ptemperature == true && ppressure == false) + { + sensor_sample_fetch_chan(bme280, SENSOR_CHAN_AMBIENT_TEMP); + //} else if(phumidity == true && ppressure == false) { + // sensor_sample_fetch_chan(bme280, SENSOR_CHAN_HUMIDITY); + } else { + sensor_sample_fetch_chan(bme280, SENSOR_CHAN_ALL); + } +} + +struct sensor_value get_temperature() +{ + struct sensor_value sval; + sensor_channel_get(bme280, SENSOR_CHAN_AMBIENT_TEMP, &sval); + sval.val1 = sval.val1 + CALIB_TEMP_VAL1; + sval.val2 = sval.val2 + CALIB_TEMP_VAL2; + return sval; +} + +struct sensor_value get_pressure() +{ + struct sensor_value sval; + sensor_channel_get(bme280, SENSOR_CHAN_PRESS, &sval); + sval.val1 = sval.val1 + CALIB_PRES_VAL1; + sval.val2 = sval.val2 + CALIB_PRES_VAL2; + return sval; +} + +/* struct sensor_value get_humidity() +{ + struct sensor_value sval; + sensor_channel_get(bme280, SENSOR_CHAN_HUMIDITY, &sval); + sval.val1 = sval.val1 + CALIB_HUMI_VAL1; + sval.val2 = sval.val2 + CALIB_HUMI_VAL2; + return sval; +} */ + diff --git a/src/bme280.h b/src/bme280.h new file mode 100644 index 0000000..b7d628f --- /dev/null +++ b/src/bme280.h @@ -0,0 +1,8 @@ +#include +#include + +void init_bme280(); +void probe_bme280(bool ptemperature, bool phumidity, bool ppressure); +struct sensor_value get_temperature(); +struct sensor_value get_pressure(); +//struct sensor_value get_humidity(); diff --git a/src/calendar.c b/src/calendar.c new file mode 100644 index 0000000..a0179c3 --- /dev/null +++ b/src/calendar.c @@ -0,0 +1,27 @@ +#include "calendar.h" + +#include +LOG_MODULE_REGISTER(calendar); + +//uint32_t timeoffset = 0xff000078; +uint32_t timeoffset = 0x00000000; + +void setTs(uint32_t ts) +{ + LOG_INF("setTs: %d", ts); + timeoffset = ts-(k_uptime_get()/1000); +} + + +uint32_t getTs() +{ + uint32_t ts = (k_uptime_get()/1000) + timeoffset; + // LOG_INF("getTs: %d", ts); + return ts; +} + +bool TsOK() +{ + return timeoffset != 0; +} + diff --git a/src/calendar.h b/src/calendar.h new file mode 100644 index 0000000..e21ec1c --- /dev/null +++ b/src/calendar.h @@ -0,0 +1,6 @@ +#include + +void setTs(uint32_t ts); +uint32_t getTs(); +bool TsOK(); + diff --git a/src/gps.c b/src/gps.c new file mode 100644 index 0000000..d71249e --- /dev/null +++ b/src/gps.c @@ -0,0 +1,440 @@ +/* + * Copyright (c) 2022 Libre Solar Technologies GmbH + * + * SPDX-License-Identifier: Apache-2.0 + */ + +#include +#include +#include + +#include +#include +#include + +//#include + +#include +LOG_MODULE_REGISTER(gps); +//LOG_MODULE_REGISTER(gps, LOG_LEVEL_DBG); + +#include "lwgps.h" +#include "gps.h" +#include "calendar.h" + +#define MY_STACK_SIZE 2048 +#define MY_PRIORITY 5 + +K_FIFO_DEFINE(fifo_gps_sat_data); +K_FIFO_DEFINE(fifo_gps_data); +K_SEM_DEFINE(gps_data_tosend, 0, 1); +K_SEM_DEFINE(gps_init_ok, 0, 1); + +/*#define RTT_BUFFER_DOWN_SIZE 512 +#define RTT_BUFFER_UP_SIZE 512 + +struct rtt_config_t { + void *up_buffer; + size_t up_size; + void *down_buffer; + size_t down_size; + uint8_t channel; +};*/ + + + +/* change this to any other UART peripheral if desired */ +#define UART_DEVICE_NODE DT_NODELABEL(uart0) + +#define MSG_SIZE 128 + +/* queue to store up to 10 messages (aligned to 4-byte boundary) */ +K_MSGQ_DEFINE(uart_msgq, MSG_SIZE, 10, 4); + +static K_SEM_DEFINE(segger_init_ok, 0, 1); + +static const struct device *const uart_dev = DEVICE_DT_GET(UART_DEVICE_NODE); + +static char nmea_sentence[MSG_SIZE]; +static int nmea_position = 0; +static bool gps_state = false; + +const unsigned char ubxNMEA[] = { 0x06, 0x17, 0x14, 0x00, 0x00, 0x41, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }; +const unsigned char ubxGNSS[] = { 0x06, 0x3E, 0x3C, 0x00, 0x00, 0x20, 0x20, 0x07, 0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01, 0x02, 0x04, 0x08, 0x00, 0x01, 0x00, 0x01, 0x01, 0x03, 0x08, 0x10, 0x00, 0x00, 0x00, 0x01, 0x01, 0x04, 0x00, 0x08, 0x00, 0x00, 0x00, 0x01, 0x03, 0x05, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x05, 0x06, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01 }; +//const unsigned char ubxPoweroff[] = { 0x02, 0x41, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00 }; +const unsigned char ubxEnablePulse[] = { 0x06, 0x31, 0x20, 0x00, 0x00, 0x01, 0x00, 0x00, 0x32, 0x00, 0x00, 0x00, 0x40, 0x42, 0x0f, 0x00, 0x40, 0x42, 0x0f, 0x00, 0x00, 0x00, 0x00, 0x00, 0xa0, 0x86, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x77, 0x00, 0x00, 0x00}; +const unsigned char ubxDisablePulse[] = { 0x06, 0x31, 0x20, 0x00, 0x00, 0x01, 0x00, 0x00, 0x32, 0x00, 0x00, 0x00, 0x40, 0x42, 0x0f, 0x00, 0x40, 0x42, 0x0f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x77, 0x00, 0x00, 0x00}; +const unsigned char GNSSStart[] = { 0x06,0x04,0x04,0x00,0x00,0x00,0x09,0x00 }; +const unsigned char GNSSStop[] = { 0x06,0x04,0x04,0x00,0x00,0x00,0x08,0x00 }; +const unsigned char enablePUBX0[] = { 0x06, 0x01, 0x08, 0x00, 0xf1, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00 }; +const unsigned char disablePUBX0[] = { 0x06, 0x01, 0x08, 0x00, 0xf1, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }; +const unsigned char enablePUBX4[] = { 0x06, 0x01, 0x08, 0x00, 0xf1, 0x04, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00 }; +const unsigned char disablePUBX4[] = { 0x06, 0x01, 0x08, 0x00, 0xf1, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }; +const unsigned char rate2Hz2Mes[] = { 0x06, 0x08, 0x06, 0x00, 0xf4, 0x02, 0x02, 0x00, 0x00, 0x00 }; +const unsigned char rate1Hz1Mes[] = { 0x06, 0x08, 0x06, 0x00, 0xe8, 0x03, 0x01, 0x00, 0x00, 0x00 }; +const unsigned char rate1Hz5Mes[] = { 0x06, 0x08, 0x06, 0x00, 0xe8, 0x03, 0x05, 0x00, 0x00, 0x00 }; + +const char disableRMC[] = "PUBX,40,RMC,0,0,0,0,0,0"; +const char disableGLL[] = "PUBX,40,GLL,0,0,0,0,0,0"; +const char disableGSV[] = "PUBX,40,GSV,0,0,0,0,0,0"; +const char disableGSA[] = "PUBX,40,GSA,0,0,0,0,0,0"; +const char disableGGA[] = "PUBX,40,GGA,0,0,0,0,0,0"; +const char disableVTG[] = "PUBX,40,VTG,0,0,0,0,0,0"; +const char disableZDA[] = "PUBX,40,ZDA,0,0,0,0,0,0"; +const char disableGNS[] = "PUBX,40,GNS,0,0,0,0,0,0"; +//const char disableGBS[] PROGMEM = "PUBX,40,GBS,0,0,0,0,0,0"; +const char disableGST[] = "PUBX,40,GST,0,0,0,0,0,0"; + +const char enableRMC[] = "PUBX,40,RMC,0,1,0,0,0,0"; +const char enableGLL[] = "PUBX,40,GLL,0,1,0,0,0,0"; +const char enableGSV[] = "PUBX,40,GSV,0,1,0,0,0,0"; +const char enableGSA[] = "PUBX,40,GSA,0,1,0,0,0,0"; +const char enableGGA[] = "PUBX,40,GGA,0,1,0,0,0,0"; +const char enableVTG[] = "PUBX,40,VTG,0,1,0,0,0,0"; +const char enableZDA[] = "PUBX,40,ZDA,0,1,0,0,0,0"; +const char enableGNS[] = "PUBX,40,GNS,0,1,0,0,0,0"; +//const char enableGBS[] PROGMEM = "PUBX,40,GBS,0,1,0,0,0,0"; +const char enableGST[] = "PUBX,40,GST,0,1,0,0,0,0\r\n"; + +/* void print_segger(char *buf) +{ + int msg_len = strlen(buf); + + for (int i = 0; i < msg_len; i++) { + //uart_poll_out(uart_dev, buf[i]); + SEGGER_RTT_Write(1,&buf[i],1); + } +} + +void print_segger_byte(char buf) +{ + SEGGER_RTT_Write(1,&buf,1); +}*/ + +void serial_cb(const struct device *dev, void *user_data) +{ + uint8_t c; + + if (!uart_irq_update(uart_dev)) { + return; + } + + if (!uart_irq_rx_ready(uart_dev)) { + return; + } + + /* read until FIFO empty */ + while (uart_fifo_read(uart_dev, &c, 1) == 1) { + if(c == '$') + { + nmea_position = 0; + nmea_sentence[nmea_position] = c; + nmea_position++; + } else if(nmea_position > 0) + { + //if((nmea_position == 1 && c != 'G') || (nmea_position == 2 && (c != 'L' && c != 'N' && c != 'P')) || (nmea_position == 6 && c!= ',')) + //{ + // nmea_position = 0; + //} + if(nmea_position < (sizeof(nmea_sentence) -1)) + { + nmea_sentence[nmea_position] = c; + nmea_position++; + if(c == '\n') + { + nmea_sentence[nmea_position] = '\0'; + k_msgq_put(&uart_msgq, &nmea_sentence, K_NO_WAIT); + nmea_position = 0; + } + } else { + printk("overflow\n"); + nmea_position = 0; + } + + } + //print_segger_byte(c); + } +} + +static char formatHex( uint8_t val ) +{ + val &= 0x0F; + return (val >= 10) ? ((val - 10) + 'A') : (val + '0'); +} + +void print_uart_byte(char buf) +{ + uart_poll_out(uart_dev, buf); +} +void print_uart(char *buf) +{ + int msg_len = strlen(buf); + + for (int i = 0; i < msg_len; i++) { + uart_poll_out(uart_dev, buf[i]); + } +} + +void print_uart_const(const char *buf) +{ + int msg_len = strlen(buf); + + print_uart_byte('$'); + uint8_t crc = 0; + for (int i = 0; i < msg_len; i++) { + print_uart_byte(buf[i]); + crc ^= buf[i]; + } + print_uart_byte('*'); + print_uart_byte(formatHex(crc>>4)); + print_uart_byte(formatHex(crc)); + print_uart_byte('\r'); + print_uart_byte('\n'); +} + +void sendUBX( const unsigned char *progmemBytes, size_t len) +{ + /*if(wakeup == true) + { + gpsPort.write( 0xFF ); + delay( 500 ); + + }*/ + print_uart_byte( 0xB5 ); // SYNC1 + print_uart_byte( 0x62 ); // SYNC2 + uint8_t a = 0, b = 0; + while (len-- > 0) { + uint8_t c = *(progmemBytes++); + a += c; + b += a; + print_uart_byte( c ); + } + + print_uart_byte( a ); // CHECKSUM A + print_uart_byte( b ); // CHECKSUM B +} // sendUBX + + +void init_gps() +{ + sendUBX(GNSSStart, sizeof(GNSSStart)); + k_msleep(100); + sendUBX(ubxNMEA, sizeof(ubxNMEA)); + k_msleep(100); + sendUBX(ubxGNSS, sizeof(ubxGNSS)); + k_msleep(100); + sendUBX(rate1Hz5Mes, sizeof(rate1Hz5Mes)); + k_msleep(100); + sendUBX(ubxDisablePulse, sizeof(ubxDisablePulse)); + k_msleep(100); + + print_uart_const(disableRMC); + k_msleep(100); + print_uart_const(disableGSV); + k_msleep(100); + print_uart_const(disableVTG); + k_msleep(100); + print_uart_const(disableGLL); + k_msleep(100); + print_uart_const(enableGGA); + k_msleep(100); + print_uart_const(enableGSA); + k_msleep(100); + sendUBX(enablePUBX0, sizeof(enablePUBX0)); + k_msleep(100); + sendUBX(enablePUBX4, sizeof(enablePUBX4)); +} + +/*void segger_read_ep(void *, void *, void *) +{ + + k_sem_take(&segger_init_ok, K_FOREVER); + + while (1) { + char tx_buf; + unsigned numbytes = 0; + do { + numbytes = SEGGER_RTT_Read(1, &tx_buf, 1); + if(numbytes > 0) + { + //print_uart("Echo: "); + //for(int i = numbytes; i < MSG_SIZE; i++) + //{ + // tx_buf[i] = '\0'; + //} + printk("Segger received %d bytes: %d\n", numbytes, tx_buf); + print_uart_byte(tx_buf); + //print_uart("\r\n"); + } + } while(numbytes > 0); + k_msleep(100); + k_yield(); + } +} + +K_THREAD_DEFINE(segger_read_tid, MY_STACK_SIZE, + segger_read_ep, NULL, NULL, NULL, + MY_PRIORITY, 0, 0); +*/ + +void stop_gps() { + sendUBX(GNSSStop, sizeof(GNSSStop)); +} + +void gpsPower(bool state) { + gps_state = state; + if(state == true) { + LOG_WRN("Start GPS"); + init_gps(); + } else { + LOG_WRN("Stop GPS"); + stop_gps(); + } +} + +void gpsBoost(bool state) { + if(state) { + sendUBX(rate1Hz1Mes, sizeof(rate1Hz1Mes)); + k_msleep(100); + } else { + sendUBX(rate1Hz5Mes, sizeof(rate1Hz5Mes)); + k_msleep(100); + } +} + +void gps_ep(void *, void *, void *) +{ + char tx_buf[MSG_SIZE]; + + lwgps_t hgps; + + /* struct rtt_config_t rtt_config; + rtt_config.up_size = RTT_BUFFER_UP_SIZE; + rtt_config.down_size = RTT_BUFFER_DOWN_SIZE; + rtt_config.up_buffer = k_malloc(RTT_BUFFER_UP_SIZE); + rtt_config.down_buffer = k_malloc(RTT_BUFFER_DOWN_SIZE); + rtt_config.channel = 1; + + SEGGER_RTT_ConfigUpBuffer(rtt_config.channel, "RTT GPS", rtt_config.up_buffer, rtt_config.up_size, SEGGER_RTT_MODE_NO_BLOCK_SKIP); + SEGGER_RTT_ConfigDownBuffer(rtt_config.channel, "RTT GPS", rtt_config.down_buffer, rtt_config.down_size, SEGGER_RTT_MODE_NO_BLOCK_SKIP); + + k_sem_give(&segger_init_ok);*/ + + if (!device_is_ready(uart_dev)) { + printk("UART device not found!"); + return; + } + + gpsPower(true); + k_msleep(250); + gpsPower(false); + + lwgps_init(&hgps); + + //k_fifo_init(&fifo_gps_sat_data); + //k_sem_init(&gps_data_tosend, 0, 2); + + /* configure interrupt and callback to receive data */ + int ret = uart_irq_callback_user_data_set(uart_dev, serial_cb, NULL); + + if (ret < 0) { + if (ret == -ENOTSUP) { + printk("Interrupt-driven UART API support not enabled\n"); + } else if (ret == -ENOSYS) { + printk("UART device does not support interrupt-driven API\n"); + } else { + printk("Error setting UART callback: %d\n", ret); + } + return; + } + uart_irq_rx_enable(uart_dev); + LOG_INF("Hello GPS"); + + k_sem_give(&gps_init_ok); + + uint8_t gnss_count = 0; + uint32_t altitude = 0; + uint8_t gps = 0; + uint8_t glonass = 0; + uint8_t galileo = 0; + /* indefinitely wait for input from the user */ + while (k_msgq_get(&uart_msgq, &tx_buf, K_FOREVER) == 0) { + //print_uart("Echo: "); + //char talkerid[3]; + //minmea_talker_id(&talkerid, tx_buf); + //LOG_INF("NMEA msg"); + if(gps_state == true) + { + LOG_DBG("NMEA Sentence: %s", tx_buf); + lwgps_process(&hgps, tx_buf, strlen(tx_buf)); + //LOG_INF("NMEA Sentence %s", hgps.p.term_str); + if(hgps.p.stat == STAT_GSA) { + + uint8_t sat_count = 0; + for(int i = 0; i < sizeof(hgps.satellites_ids); i++) + { + if(hgps.satellites_ids[i] != 0) { sat_count++; } + } + LOG_INF("systemId: %d %d", hgps.systemId, sat_count); + if(hgps.systemId == 1) { + gps = sat_count; + } else if(hgps.systemId == 2) { + glonass = sat_count; + } else if(hgps.systemId == 3) { + galileo = sat_count; + } + gnss_count++; + if(gnss_count >= 3 && (gps != 0 || glonass != 0 || galileo != 0)) { + struct gps_sat_data_t *sat_data = k_malloc(sizeof(*sat_data)); + sat_data->gps = gps; + sat_data->glonass = glonass; + sat_data->galileo = galileo; + //LOG_INF("Send Sat Data"); + k_fifo_put(&fifo_gps_sat_data, sat_data); + k_sem_give(&gps_data_tosend); + gnss_count = 0; + } + } else if(hgps.p.stat == STAT_GGA) { + altitude = (int32_t) (hgps.altitude*100); + } else if(hgps.p.stat == STAT_UBX_POSITION) { + LOG_INF("Position %d %d", hgps.latitude, hgps.longitude); + LOG_INF("Altitude: %d", altitude); + LOG_INF("DOP %d %d", hgps.dop_h, hgps.dop_v); + LOG_INF("Accuracy H:%d V:%d", hgps.acc_h, hgps.acc_v); + LOG_INF("Speed:%d Course:%d", hgps.speed, hgps.course); + if(hgps.dop_h != 999 && hgps.dop_v != 999) { + struct gps_data_t *data = k_malloc(sizeof(*data)); + data->latitude = hgps.latitude; + data->longitude = hgps.longitude; + data->altitude = altitude; + data->dop_h = hgps.dop_h; + data->dop_v = hgps.dop_v; + data->acc_h = hgps.acc_h; + data->acc_v = hgps.acc_v; + data->course = hgps.course; + data->speed = hgps.speed; + k_fifo_put(&fifo_gps_data, data); + k_sem_give(&gps_data_tosend); + } + } else if(hgps.p.stat == STAT_UBX_TIME) { + if(hgps.year >= 24) + { + struct tm current_tm; + current_tm.tm_hour = hgps.hours; + current_tm.tm_min = hgps.minutes; + current_tm.tm_sec = hgps.seconds; + current_tm.tm_mday= hgps.date; + current_tm.tm_mon = hgps.month-1; + current_tm.tm_year = hgps.year + 2000 - 1900; + setTs((uint32_t) timeutil_timegm64(¤t_tm)); + sendUBX(disablePUBX4, sizeof(disablePUBX4)); + } + } + } else if(strcmp(tx_buf, "$GNTXT,01,01,02,Stopping GNSS*52\r\n") != 0) { + gpsPower(false); + } + } +} +K_THREAD_DEFINE(gps_tid, MY_STACK_SIZE, + gps_ep, NULL, NULL, NULL, + MY_PRIORITY, 0, 0); diff --git a/src/gps.h b/src/gps.h new file mode 100644 index 0000000..defb591 --- /dev/null +++ b/src/gps.h @@ -0,0 +1,35 @@ +#ifndef APPLICATION_GPS_H_ +#define APPLICATION_GPS_H_ + +#include + +struct gps_sat_data_t { + void *fifo_reserved; + uint8_t gps; + uint8_t glonass; + uint8_t galileo; +}; + +struct gps_data_t { + void *fifo_reserved; + int32_t latitude; /*!< Latitude in units of degrees */ + int32_t longitude; /*!< Longitude in units of degrees */ + int32_t altitude; /*!< Longitude in units of degrees */ + uint16_t dop_h; /*!< Horizontal dilution of precision */ + uint16_t dop_v; /*!< Vertical dilution of precision */ + uint32_t acc_h; + uint32_t acc_v; + uint16_t speed; /*!< Ground speed in knots */ + uint16_t course; /*!< Ground coarse */ +}; + +//extern K_FIFO_DEFINE(fifo_gps_sat_data); +extern struct k_fifo fifo_gps_sat_data; +extern struct k_fifo fifo_gps_data; +extern struct k_sem gps_data_tosend; +extern struct k_sem gps_init_ok; + +void gpsPower(bool state); +void gpsBoost(bool state); + +#endif /* APPLICATION_GPS_H_ */ diff --git a/src/lwgps.c b/src/lwgps.c new file mode 100644 index 0000000..7374a65 --- /dev/null +++ b/src/lwgps.c @@ -0,0 +1,651 @@ +/** + * \file lwgps.c + * \brief GPS main file + */ + +/* + * Copyright (c) 2023 Tilen MAJERLE + * + * Permission is hereby granted, free of charge, to any person + * obtaining a copy of this software and associated documentation + * files (the "Software"), to deal in the Software without restriction, + * including without limitation the rights to use, copy, modify, merge, + * publish, distribute, sublicense, and/or sell copies of the Software, + * and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be + * included in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES + * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE + * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT + * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, + * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING + * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR + * OTHER DEALINGS IN THE SOFTWARE. + * + * This file is part of LwGPS - Lightweight GPS NMEA parser library. + * + * Author: Tilen MAJERLE + * Version: v2.1.0 + */ +#include +#include +#include +#include +#include "lwgps.h" +//#if LWESP_CFG_DISTANCE_BEARING +#include +//#endif + +#define FLT(x) ((lwgps_float_t)(x)) +#define D2R(x) FLT(FLT(x) * FLT(0.01745329251994)) /*!< Degrees to radians */ +#define R2D(x) FLT(FLT(x) * FLT(57.29577951308232)) /*!< Radians to degrees */ +#define EARTH_RADIUS FLT(6371.0) /*!< Earth radius in units of kilometers */ + +#if LWGPS_CFG_CRC +#define CRC_ADD(_gh, ch) (_gh)->p.crc_calc ^= (uint8_t)(ch) +#else +#define CRC_ADD(_gh, ch) +#endif /* LWGPS_CFG_CRC */ +#define TERM_ADD(_gh, ch) \ + do { \ + if ((_gh)->p.term_pos < (sizeof((_gh)->p.term_str) - 1)) { \ + (_gh)->p.term_str[(_gh)->p.term_pos] = (ch); \ + (_gh)->p.term_str[++(_gh)->p.term_pos] = 0; \ + } \ + } while (0) +#define TERM_NEXT(_gh) \ + do { \ + (_gh)->p.term_str[((_gh)->p.term_pos = 0)] = 0; \ + ++(_gh)->p.term_num; \ + } while (0) + +#define CIN(x) ((x) >= '0' && (x) <= '9') +#define CIHN(x) (((x) >= '0' && (x) <= '9') || ((x) >= 'a' && (x) <= 'f') || ((x) >= 'A' && (x) <= 'F')) +#define CTN(x) ((x) - '0') +#define CHTN(x) \ + (((x) >= '0' && (x) <= '9') \ + ? ((x) - '0') \ + : (((x) >= 'a' && (x) <= 'z') ? ((x) - 'a' + 10) : (((x) >= 'A' && (x) <= 'Z') ? ((x) - 'A' + 10) : 0))) + +/** + * \brief Parse number as integer + * \param[in] gh: GPS handle + * \param[in] t: Text to parse. Set to `NULL` to parse current GPS term + * \return Parsed integer + */ +static int32_t +prv_parse_number(lwgps_t* gh, const char* t) { + int32_t res = 0; + uint8_t minus; + + if (t == NULL) { + t = gh->p.term_str; + } + for (; t != NULL && *t == ' '; ++t) {} /* Strip leading spaces */ + + minus = (*t == '-' ? (++t, 1) : 0); + for (; t != NULL && CIN(*t); ++t) { + res = 10 * res + CTN(*t); + } + return minus ? -res : res; +} + +/** + * \brief Parse number as double and convert it to \ref lwgps_float_t + * \param[in] gh: GPS handle + * \param[in] t: Text to parse. Set to `NULL` to parse current GPS term + * \return Parsed double in \ref lwgps_float_t format + */ +static lwgps_float_t +prv_parse_float_number(lwgps_t* gh, const char* t) { + lwgps_float_t value = (lwgps_float_t)0, power = (lwgps_float_t)1; + int sign = 1; + + if (t == NULL) { + t = gh->p.term_str; + } + for (; t != NULL && *t == ' '; ++t) {} /* Strip leading spaces */ + + if (*t == '-') { /* Check sign */ + sign = -1; + ++t; + } + while (CIN(*t)) { /* Convert main part */ + value = value * (lwgps_float_t)10 + CTN(*t); + ++t; + } + if (*t == '.') { /* Skip the dot character */ + ++t; + } + while (CIN(*t)) { /* Get the power */ + value = value * (lwgps_float_t)10 + CTN(*t); + power *= (lwgps_float_t)10.0; + ++t; + } + return sign * value / power; +} + +/** + * \brief Parse latitude/longitude NMEA format to double + * + * NMEA output for latitude is ddmm.sss and longitude is dddmm.sss + * \param[in] gh: GPS handle + * \return Latitude/Longitude value in degrees + */ +static lwgps_float_t +prv_parse_lat_long(lwgps_t* gh) { + lwgps_float_t ll, deg, min; + + ll = prv_parse_float_number(gh, NULL); /* Parse value as double */ + deg = FLT((int)((int)ll / 100)); /* Get absolute degrees value, interested in integer part only */ + min = ll - (deg * FLT(100)); /* Get remaining part from full number, minutes */ + ll = deg + (min / FLT(60.0)); /* Calculate latitude/longitude */ + + return ll; +} + +/* static int32_t +prv_parse_lat_long_int32(lwgps_t* gh) { + + const char *t = gh->p.term_str; + + int32_t ret = 0; + bool dec_part = true; + + for(int i = strlen(t)-1; i >= 0; i--) + { + if(t[i] == '.') { + dec_part = false; + } else { + if(dec_part == true) { + ret = ret + CTN(t[i]) * ((uint32_t) pow(10.0, (strlen(t)-i-1))); + } else { + ret = ret + CTN(t[i]) * ((uint32_t) pow(10.0, (strlen(t)-i-2))); + } + } + } + + return ret; +}*/ + +/** + * \brief Parse received term + * \param[in] gh: GPS handle + * \return `1` on success, `0` otherwise + */ +static uint8_t +prv_parse_term(lwgps_t* gh) { + if (gh->p.term_num == 0) { /* Check string type */ + if (0) { +#if LWGPS_CFG_STATEMENT_GPGGA + } else if (!strncmp(gh->p.term_str, "$GPGGA", 6) || !strncmp(gh->p.term_str, "$GNGGA", 6)) { + gh->p.stat = STAT_GGA; +#endif /* LWGPS_CFG_STATEMENT_GPGGA */ +#if LWGPS_CFG_STATEMENT_GPGSA + } else if (!strncmp(gh->p.term_str, "$GPGSA", 6) || !strncmp(gh->p.term_str, "$GNGSA", 6)) { + gh->p.stat = STAT_GSA; +#endif /* LWGPS_CFG_STATEMENT_GPGSA */ +#if LWGPS_CFG_STATEMENT_GPGSV + } else if (!strncmp(gh->p.term_str, "$GPGSV", 6) || !strncmp(gh->p.term_str, "$GNGSV", 6)) { + gh->p.stat = STAT_GSV; +#endif /* LWGPS_CFG_STATEMENT_GPGSV */ +#if LWGPS_CFG_STATEMENT_GPRMC + } else if (!strncmp(gh->p.term_str, "$GPRMC", 6) || !strncmp(gh->p.term_str, "$GNRMC", 6)) { + gh->p.stat = STAT_RMC; +#endif /* LWGPS_CFG_STATEMENT_GPRMC */ +#if LWGPS_CFG_STATEMENT_PUBX + } else if (!strncmp(gh->p.term_str, "$PUBX", 5)) { + gh->p.stat = STAT_UBX; +#endif /* LWGPS_CFG_STATEMENT_PUBX */ + } else { + gh->p.stat = STAT_UNKNOWN; /* Invalid statement for library */ + } + return 1; + } + + /* Start parsing terms */ + if (gh->p.stat == STAT_UNKNOWN) { +#if LWGPS_CFG_STATEMENT_GPGGA + } else if (gh->p.stat == STAT_GGA) { /* Process GPGGA statement */ + switch (gh->p.term_num) { + case 1: /* Process UTC time */ + gh->p.data.gga.hours = 10 * CTN(gh->p.term_str[0]) + CTN(gh->p.term_str[1]); + gh->p.data.gga.minutes = 10 * CTN(gh->p.term_str[2]) + CTN(gh->p.term_str[3]); + gh->p.data.gga.seconds = 10 * CTN(gh->p.term_str[4]) + CTN(gh->p.term_str[5]); + break; + case 2: /* Latitude */ + gh->p.data.gga.latitude = prv_parse_lat_long(gh); /* Parse latitude */ + break; + case 3: /* Latitude north/south information */ + if (gh->p.term_str[0] == 'S' || gh->p.term_str[0] == 's') { + gh->p.data.gga.latitude = -gh->p.data.gga.latitude; + } + break; + case 4: /* Longitude */ + gh->p.data.gga.longitude = prv_parse_lat_long(gh); /* Parse longitude */ + break; + case 5: /* Longitude east/west information */ + if (gh->p.term_str[0] == 'W' || gh->p.term_str[0] == 'w') { + gh->p.data.gga.longitude = -gh->p.data.gga.longitude; + } + break; + case 6: /* Fix status */ gh->p.data.gga.fix = (uint8_t)prv_parse_number(gh, NULL); break; + case 7: /* Satellites in use */ gh->p.data.gga.sats_in_use = (uint8_t)prv_parse_number(gh, NULL); break; + case 9: /* Altitude */ gh->p.data.gga.altitude = prv_parse_float_number(gh, NULL); break; + case 11: /* Altitude above ellipsoid */ gh->p.data.gga.geo_sep = prv_parse_float_number(gh, NULL); break; + default: break; + } +#endif /* LWGPS_CFG_STATEMENT_GPGGA */ +#if LWGPS_CFG_STATEMENT_GPGSA + } else if (gh->p.stat == STAT_GSA) { /* Process GPGSA statement */ + switch (gh->p.term_num) { + case 2: /* Process fix mode */ gh->p.data.gsa.fix_mode = (uint8_t)prv_parse_number(gh, NULL); break; + case 15: /* Process PDOP */ gh->p.data.gsa.dop_p = prv_parse_float_number(gh, NULL); break; + case 16: /* Process HDOP */ gh->p.data.gsa.dop_h = prv_parse_float_number(gh, NULL); break; + case 17: /* Process VDOP */ gh->p.data.gsa.dop_v = prv_parse_float_number(gh, NULL); break; + case 18: /* Process systemId */ gh->p.data.gsa.systemId = (uint8_t)prv_parse_number(gh, NULL); break; + default: + /* Parse satellite IDs */ + if (gh->p.term_num >= 3 && gh->p.term_num <= 14) { + gh->p.data.gsa.satellites_ids[gh->p.term_num - 3] = (uint8_t)prv_parse_number(gh, NULL); + } + break; + } +#endif /* LWGPS_CFG_STATEMENT_GPGSA */ +#if LWGPS_CFG_STATEMENT_GPGSV + } else if (gh->p.stat == STAT_GSV) { /* Process GPGSV statement */ + switch (gh->p.term_num) { + case 2: /* Current GPGSV statement number */ + gh->p.data.gsv.stat_num = (uint8_t)prv_parse_number(gh, NULL); + break; + case 3: /* Process satellites in view */ + gh->p.data.gsv.sats_in_view = (uint8_t)prv_parse_number(gh, NULL); + break; + default: +#if LWGPS_CFG_STATEMENT_GPGSV_SAT_DET + if (gh->p.term_num >= 4 && gh->p.term_num <= 19) { /* Check current term number */ + uint8_t index, term_num = gh->p.term_num - 4; /* Normalize term number from 4-19 to 0-15 */ + uint16_t value; + + index = ((gh->p.data.gsv.stat_num - 1) << 0x02) + (term_num >> 2); /* Get array index */ + if (index < sizeof(gh->sats_in_view_desc) / sizeof(gh->sats_in_view_desc[0])) { + value = (uint16_t)prv_parse_number(gh, NULL); /* Parse number as integer */ + switch (term_num & 0x03) { + case 0: gh->sats_in_view_desc[index].num = value; break; + case 1: gh->sats_in_view_desc[index].elevation = value; break; + case 2: gh->sats_in_view_desc[index].azimuth = value; break; + case 3: gh->sats_in_view_desc[index].snr = value; break; + default: break; + } + } + } +#endif /* LWGPS_CFG_STATEMENT_GPGSV_SAT_DET */ + break; + } +#endif /* LWGPS_CFG_STATEMENT_GPGSV */ +#if LWGPS_CFG_STATEMENT_GPRMC + } else if (gh->p.stat == STAT_RMC) { /* Process GPRMC statement */ + switch (gh->p.term_num) { + case 2: /* Process valid status */ gh->p.data.rmc.is_valid = (gh->p.term_str[0] == 'A'); break; + case 7: /* Process ground speed in knots */ gh->p.data.rmc.speed = prv_parse_float_number(gh, NULL); break; + case 8: /* Process true ground coarse */ gh->p.data.rmc.course = prv_parse_float_number(gh, NULL); break; + case 9: /* Process date */ + gh->p.data.rmc.date = (uint8_t)(10 * CTN(gh->p.term_str[0]) + CTN(gh->p.term_str[1])); + gh->p.data.rmc.month = (uint8_t)(10 * CTN(gh->p.term_str[2]) + CTN(gh->p.term_str[3])); + gh->p.data.rmc.year = (uint8_t)(10 * CTN(gh->p.term_str[4]) + CTN(gh->p.term_str[5])); + break; + case 10: /* Process magnetic variation */ + gh->p.data.rmc.variation = prv_parse_float_number(gh, NULL); + break; + case 11: /* Process magnetic variation east/west */ + if (gh->p.term_str[0] == 'W' || gh->p.term_str[0] == 'w') { + gh->p.data.rmc.variation = -gh->p.data.rmc.variation; + } + break; + default: break; + } +#endif /* LWGPS_CFG_STATEMENT_GPRMC */ +#if LWGPS_CFG_STATEMENT_PUBX + } else if (gh->p.stat == STAT_UBX) { /* Disambiguate generic PUBX statement */ + if (gh->p.term_str[0] == '0' && gh->p.term_str[1] == '4') { + gh->p.stat = STAT_UBX_TIME; + } + if (gh->p.term_str[0] == '0' && gh->p.term_str[1] == '0') { + gh->p.stat = STAT_UBX_POSITION; + } +#if LWGPS_CFG_STATEMENT_PUBX_TIME + } else if (gh->p.stat == STAT_UBX_TIME) { /* Process PUBX (uBlox) TIME statement */ + switch (gh->p.term_num) { + case 2: /* Process UTC time; ignore fractions of seconds */ + gh->p.data.time.hours = 10 * CTN(gh->p.term_str[0]) + CTN(gh->p.term_str[1]); + gh->p.data.time.minutes = 10 * CTN(gh->p.term_str[2]) + CTN(gh->p.term_str[3]); + gh->p.data.time.seconds = 10 * CTN(gh->p.term_str[4]) + CTN(gh->p.term_str[5]); + break; + case 3: /* Process UTC date */ + gh->p.data.time.date = 10 * CTN(gh->p.term_str[0]) + CTN(gh->p.term_str[1]); + gh->p.data.time.month = 10 * CTN(gh->p.term_str[2]) + CTN(gh->p.term_str[3]); + gh->p.data.time.year = 10 * CTN(gh->p.term_str[4]) + CTN(gh->p.term_str[5]); + break; + case 4: /* Process UTC TimeOfWeek */ gh->p.data.time.utc_tow = prv_parse_float_number(gh, NULL); break; + case 5: /* Process UTC WeekNumber */ gh->p.data.time.utc_wk = prv_parse_number(gh, NULL); break; + case 6: /* Process UTC leap seconds */ + /* + * Accomodate a 2- or 3-digit leap second count + * a trailing 'D' means this is the firmware's default value. + */ + if (gh->p.term_str[2] == 'D' || gh->p.term_str[2] == '\0') { + gh->p.data.time.leap_sec = 10 * CTN(gh->p.term_str[0]) + CTN(gh->p.term_str[1]); + } else { + gh->p.data.time.leap_sec = + 100 * CTN(gh->p.term_str[0]) + 10 * CTN(gh->p.term_str[1]) + CTN(gh->p.term_str[2]); + } + break; + case 7: /* Process clock bias */ gh->p.data.time.clk_bias = prv_parse_number(gh, NULL); break; + case 8: /* Process clock drift */ gh->p.data.time.clk_drift = prv_parse_float_number(gh, NULL); break; + case 9: /* Process time pulse granularity */ gh->p.data.time.tp_gran = prv_parse_number(gh, NULL); break; + default: break; + } +#endif /* LWGPS_CFG_STATEMENT_PUBX_TIME */ +#if LWGPS_CFG_STATEMENT_PUBX_POSITION + } else if (gh->p.stat == STAT_UBX_POSITION) { /* Process PUBX (uBlox) POSITION statement */ + switch (gh->p.term_num) { + case 3: /* Latitude */ + gh->p.data.position.latitude = (int32_t) (prv_parse_lat_long(gh)*10000000); /* Parse latitude */ + break; + case 4: /* Latitude north/south information */ + if (gh->p.term_str[0] == 'S' || gh->p.term_str[0] == 's') { + gh->p.data.position.latitude = -gh->p.data.position.latitude; + } + break; + case 5: /* Longitude */ + gh->p.data.position.longitude = (int32_t) (prv_parse_lat_long(gh)*10000000); /* Parse longitude */ + break; + case 6: /* Longitude east/west information */ + if (gh->p.term_str[0] == 'W' || gh->p.term_str[0] == 'w') { + gh->p.data.position.longitude = -gh->p.data.position.longitude; + } + break; + case 9: /* Acc H */ gh->p.data.position.acc_h = (uint32_t) (prv_parse_float_number(gh, NULL)*100); break; + case 10: /* Acc V */ gh->p.data.position.acc_v = (uint32_t) (prv_parse_float_number(gh, NULL)*100); break; + case 11: /* Speed */ gh->p.data.position.speed = (uint16_t) (prv_parse_float_number(gh, NULL)*100000/3600); break; + case 12: /* Course */ gh->p.data.position.course = (uint16_t) (prv_parse_float_number(gh, NULL)*100); break; + case 15: /* Process HDOP */ gh->p.data.position.dop_h = (uint16_t) (prv_parse_float_number(gh, NULL)*10); break; + case 16: /* Process VDOP */ gh->p.data.position.dop_v = (uint16_t) (prv_parse_float_number(gh, NULL)*10); break; + default: break; + } +#endif /* LWGPS_CFG_STATEMENT_PUBX_POSITION */ +#endif /* LWGPS_CFG_STATEMENT_PUBX */ + } + return 1; +} + +#if LWGPS_CFG_CRC +/** + * \brief Compare calculated CRC with received CRC + * \param[in] gh: GPS handle + * \return `1` on success, `0` otherwise + */ +static uint8_t +prv_check_crc(lwgps_t* gh) { + uint8_t crc; + crc = (uint8_t)((CHTN(gh->p.term_str[0]) & 0x0F) << 0x04) + | (CHTN(gh->p.term_str[1]) & 0x0F); /* Convert received CRC from string (hex) to number */ + return gh->p.crc_calc == crc; /* They must match! */ +} +#else +#define prv_check_crc(_gh) (1) +#endif /* LWGPS_CFG_CRC */ + +/** + * \brief Copy temporary memory to user memory + * \param[in] gh: GPS handle + * \return `1` on success, `0` otherwise + */ +static uint8_t +prv_copy_from_tmp_memory(lwgps_t* gh) { + if (0) { +#if LWGPS_CFG_STATEMENT_GPGGA + } else if (gh->p.stat == STAT_GGA) { +#if !LWGPS_CFG_STATEMENT_PUBX_POSITION + gh->latitude = gh->p.data.gga.latitude; + gh->longitude = gh->p.data.gga.longitude; +#endif /* !LWGPS_CFG_STATEMENT_PUBX_POSITION */ + gh->altitude = gh->p.data.gga.altitude; + gh->geo_sep = gh->p.data.gga.geo_sep; + gh->sats_in_use = gh->p.data.gga.sats_in_use; + gh->fix = gh->p.data.gga.fix; + gh->hours = gh->p.data.gga.hours; + gh->minutes = gh->p.data.gga.minutes; + gh->seconds = gh->p.data.gga.seconds; +#endif /* LWGPS_CFG_STATEMENT_GPGGA */ +#if LWGPS_CFG_STATEMENT_GPGSA + } else if (gh->p.stat == STAT_GSA) { + gh->latitude = gh->p.data.gga.latitude; +#if !LWGPS_CFG_STATEMENT_PUBX_POSITION + gh->dop_h = gh->p.data.gsa.dop_h; + gh->dop_v = gh->p.data.gsa.dop_v; +#endif /* !LWGPS_CFG_STATEMENT_PUBX_POSITION */ + gh->dop_v = gh->p.data.gsa.dop_v; + gh->systemId = gh->p.data.gsa.systemId; + gh->fix_mode = gh->p.data.gsa.fix_mode; + memcpy(gh->satellites_ids, gh->p.data.gsa.satellites_ids, sizeof(gh->satellites_ids)); +#endif /* LWGPS_CFG_STATEMENT_GPGSA */ +#if LWGPS_CFG_STATEMENT_GPGSV + } else if (gh->p.stat == STAT_GSV) { + gh->sats_in_view = gh->p.data.gsv.sats_in_view; +#endif /* LWGPS_CFG_STATEMENT_GPGSV */ +#if LWGPS_CFG_STATEMENT_GPRMC + } else if (gh->p.stat == STAT_RMC) { + gh->course = gh->p.data.rmc.course; + gh->is_valid = gh->p.data.rmc.is_valid; + gh->speed = gh->p.data.rmc.speed; + gh->variation = gh->p.data.rmc.variation; + gh->date = gh->p.data.rmc.date; + gh->month = gh->p.data.rmc.month; + gh->year = gh->p.data.rmc.year; +#endif /* LWGPS_CFG_STATEMENT_GPRMC */ +#if LWGPS_CFG_STATEMENT_PUBX_TIME + } else if (gh->p.stat == STAT_UBX_TIME) { + gh->hours = gh->p.data.time.hours; + gh->minutes = gh->p.data.time.minutes; + gh->seconds = gh->p.data.time.seconds; + gh->date = gh->p.data.time.date; + gh->month = gh->p.data.time.month; + gh->year = gh->p.data.time.year; + gh->utc_tow = gh->p.data.time.utc_tow; + gh->utc_wk = gh->p.data.time.utc_wk; + gh->leap_sec = gh->p.data.time.leap_sec; + gh->clk_bias = gh->p.data.time.clk_bias; + gh->clk_drift = gh->p.data.time.clk_drift; + gh->tp_gran = gh->p.data.time.tp_gran; +#endif /* LWGPS_CFG_STATEMENT_PUBX_TIME */ +#if LWGPS_CFG_STATEMENT_PUBX_POSITION + } else if (gh->p.stat == STAT_UBX_POSITION) { + gh->latitude = gh->p.data.position.latitude; + gh->longitude = gh->p.data.position.longitude; + gh->dop_h = gh->p.data.position.dop_h; + gh->dop_v = gh->p.data.position.dop_v; + gh->acc_h = gh->p.data.position.acc_h; + gh->acc_v = gh->p.data.position.acc_v; + gh->speed = gh->p.data.position.speed; + gh->course = gh->p.data.position.course; +#endif /* LWGPS_CFG_STATEMENT_PUBX_POSITION */ + } + return 1; +} + +/** + * \brief Init GPS handle + * \param[in] gh: GPS handle structure + * \return `1` on success, `0` otherwise + */ +uint8_t +lwgps_init(lwgps_t* gh) { + memset(gh, 0x00, sizeof(*gh)); /* Reset structure */ + return 1; +} + +/** + * \brief Process NMEA data from GPS receiver + * \param[in] gh: GPS handle structure + * \param[in] data: Received data + * \param[in] len: Number of bytes to process + * \param[in] evt_fn: Event function to notify application layer. + * This parameter is available only if \ref LWGPS_CFG_STATUS is enabled + * \return `1` on success, `0` otherwise + */ +uint8_t +#if LWGPS_CFG_STATUS || __DOXYGEN__ +lwgps_process(lwgps_t* gh, const void* data, size_t len, lwgps_process_fn evt_fn) { +#else /* LWGPS_CFG_STATUS */ +lwgps_process(lwgps_t* gh, const void* data, size_t len) { +#endif /* !LWGPS_CFG_STATUS */ + const uint8_t* d = data; + + for (; len > 0; ++d, --len) { /* Process all bytes */ + if (*d == '$') { /* Check for beginning of NMEA line */ + memset(&gh->p, 0x00, sizeof(gh->p)); /* Reset private memory */ + TERM_ADD(gh, *d); /* Add character to term */ + } else if (*d == ',') { /* Term separator character */ + prv_parse_term(gh); /* Parse term we have currently in memory */ + CRC_ADD(gh, *d); /* Add character to CRC computation */ + TERM_NEXT(gh); /* Start with next term */ + } else if (*d == '*') { /* Start indicates end of data for CRC computation */ + prv_parse_term(gh); /* Parse term we have currently in memory */ + gh->p.star = 1; /* STAR detected */ + TERM_NEXT(gh); /* Start with next term */ + } else if (*d == '\r') { + if (prv_check_crc(gh)) { /* Check for CRC result */ + /* CRC is OK, in theory we can copy data from statements to user data */ + prv_copy_from_tmp_memory(gh); /* Copy memory from temporary to user memory */ +#if LWGPS_CFG_STATUS + if (evt_fn != NULL) { + evt_fn(gh->p.stat); + } + } else if (evt_fn != NULL) { + evt_fn(STAT_CHECKSUM_FAIL); +#endif /* LWGPS_CFG_STATUS */ + } + } else { + if (!gh->p.star) { /* Add to CRC only if star not yet detected */ + CRC_ADD(gh, *d); /* Add to CRC */ + } + TERM_ADD(gh, *d); /* Add character to term */ + } + } + return 1; +} + +#if LWESP_CFG_DISTANCE_BEARING || __DOXYGEN__ + +/** + * \brief Calculate distance and bearing between `2` latitude and longitude coordinates + * \param[in] las: Latitude start coordinate, in units of degrees + * \param[in] los: Longitude start coordinate, in units of degrees + * \param[in] lae: Latitude end coordinate, in units of degrees + * \param[in] loe: Longitude end coordinate, in units of degrees + * \param[out] d: Pointer to output distance in units of meters + * \param[out] b: Pointer to output bearing between start and end coordinate in relation to north in units of degrees + * \return `1` on success, `0` otherwise + */ +uint8_t +lwgps_distance_bearing(lwgps_float_t las, lwgps_float_t los, lwgps_float_t lae, lwgps_float_t loe, lwgps_float_t* d, + lwgps_float_t* b) { + lwgps_float_t df, dfi, a; + + if (d == NULL && b == NULL) { + return 0; + } + + /* Convert degrees to radians */ + df = D2R(lae - las); + dfi = D2R(loe - los); + las = D2R(las); + los = D2R(los); + lae = D2R(lae); + loe = D2R(loe); + + /* + * Calculate distance + * + * Calculated distance is absolute value in meters between 2 points on earth. + */ + if (d != NULL) { + /* + * a = sin(df / 2)^2 + cos(las) * cos(lae) * sin(dfi / 2)^2 + * *d = RADIUS * 2 * atan(sqrt(a) / sqrt(1 - a)) * 1000 (for meters) + */ +#if LWGPS_CFG_DOUBLE + a = FLT(sin(df * 0.5) * sin(df * 0.5) + sin(dfi * 0.5) * sin(dfi * 0.5) * cos(las) * cos(lae)); + *d = FLT(EARTH_RADIUS * 2.0 * atan2(sqrt(a), sqrt(1.0 - a)) * 1000.0); +#else /* LWGPS_CFG_DOUBLE */ + a = FLT(sinf(df * 0.5f) * sinf(df * 0.5f) + sinf(dfi * 0.5f) * sinf(dfi * 0.5f) * cosf(las) * cosf(lae)); + *d = FLT(EARTH_RADIUS * 2.0f * atan2f(sqrtf(a), sqrtf(1.0f - a)) * 1000.0f); +#endif /* !LWGPS_CFG_DOUBLE */ + } + + /* + * Calculate bearing + * + * Bearing is calculated from point 1 to point 2. + * Result will tell us in which direction (according to north) we should move, + * to reach point 2. + * + * Example: + * Bearing is 0 => move to north + * Bearing is 90 => move to east + * Bearing is 180 => move to south + * Bearing is 270 => move to west + */ + if (b != NULL) { +#if LWGPS_CFG_DOUBLE + df = FLT(sin(loe - los) * cos(lae)); + dfi = FLT(cos(las) * sin(lae) - sin(las) * cos(lae) * cos(loe - los)); + + *b = R2D(atan2(df, dfi)); /* Calculate bearing and convert to degrees */ +#else /* LWGPS_CFG_DOUBLE */ + df = FLT(sinf(loe - los) * cosf(lae)); + dfi = FLT(cosf(las) * sinf(lae) - sinf(las) * cosf(lae) * cosf(loe - los)); + + *b = R2D(atan2f(df, dfi)); /* Calculate bearing and convert to degrees */ +#endif /* !LWGPS_CFG_DOUBLE */ + if (*b < 0) { /* Check for negative angle */ + *b += FLT(360); /* Make bearing always positive */ + } + } + return 1; +} + +#endif /* LWESP_CFG_DISTANCE_BEARING || __DOXYGEN__ */ + +/** + * \brief Convert NMEA GPS speed (in knots = nautical mile per hour) to different speed format + * \param[in] sik: Speed in knots, received from GPS NMEA statement + * \param[in] ts: Target speed to convert to from knots + * \return Speed calculated from knots + */ +lwgps_float_t +lwgps_to_speed(lwgps_float_t sik, lwgps_speed_t ts) { + switch (ts) { + case LWGPS_SPEED_KPS: return FLT(sik * FLT(0.000514)); + case LWGPS_SPEED_KPH: return FLT(sik * FLT(1.852)); + case LWGPS_SPEED_MPS: return FLT(sik * FLT(0.5144)); + case LWGPS_SPEED_MPM: return FLT(sik * FLT(30.87)); + case LWGPS_SPEED_MIPS: return FLT(sik * FLT(0.0003197)); + case LWGPS_SPEED_MPH: return FLT(sik * FLT(1.151)); + case LWGPS_SPEED_FPS: return FLT(sik * FLT(1.688)); + case LWGPS_SPEED_FPM: return FLT(sik * FLT(101.3)); + case LWGPS_SPEED_MPK: return FLT(sik * FLT(32.4)); + case LWGPS_SPEED_SPK: return FLT(sik * FLT(1944.0)); + case LWGPS_SPEED_SP100M: return FLT(sik * FLT(194.4)); + case LWGPS_SPEED_MIPM: return FLT(sik * FLT(52.14)); + case LWGPS_SPEED_SPM: return FLT(sik * FLT(3128.0)); + case LWGPS_SPEED_SP100Y: return FLT(sik * FLT(177.7)); + case LWGPS_SPEED_SMPH: return FLT(sik * FLT(1.0)); + default: return 0; + } +} diff --git a/src/lwgps.h b/src/lwgps.h new file mode 100644 index 0000000..c45c1b0 --- /dev/null +++ b/src/lwgps.h @@ -0,0 +1,339 @@ +/** + * \file lwgps.h + * \brief GPS main file + */ + +/* + * Copyright (c) 2023 Tilen MAJERLE + * + * Permission is hereby granted, free of charge, to any person + * obtaining a copy of this software and associated documentation + * files (the "Software"), to deal in the Software without restriction, + * including without limitation the rights to use, copy, modify, merge, + * publish, distribute, sublicense, and/or sell copies of the Software, + * and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be + * included in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES + * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE + * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT + * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, + * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING + * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR + * OTHER DEALINGS IN THE SOFTWARE. + * + * This file is part of LwGPS - Lightweight GPS NMEA parser library. + * + * Author: Tilen MAJERLE + * Version: v2.1.0 + */ +#ifndef LWGPS_HDR_H +#define LWGPS_HDR_H + +#include +#include +#include +#include "lwgps_opt.h" + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/** + * \defgroup LWGPS Lightweight GPS NMEA parser + * \brief Lightweight GPS NMEA parser + * \{ + */ + +/** + * \brief GPS float definition, can be either `float` or `double` + * \note Check for \ref LWGPS_CFG_DOUBLE configuration + */ +#if LWGPS_CFG_DOUBLE || __DOXYGEN__ +typedef double lwgps_float_t; +#else +typedef float lwgps_float_t; +#endif + +/** + * \brief Satellite descriptor + */ +typedef struct { + uint8_t num; /*!< Satellite number */ + uint8_t elevation; /*!< Elevation value */ + uint16_t azimuth; /*!< Azimuth in degrees */ + uint8_t snr; /*!< Signal-to-noise ratio */ +} lwgps_sat_t; + +/** + * \brief ENUM of possible GPS statements parsed + */ +typedef enum { + STAT_UNKNOWN = 0, /*!< Unknown NMEA statement */ + STAT_GGA = 1, /*!< GPGGA statement */ + STAT_GSA = 2, /*!< GPGSA statement */ + STAT_GSV = 3, /*!< GPGSV statement */ + STAT_RMC = 4, /*!< GPRMC statement */ + STAT_UBX = 5, /*!< UBX statement (uBlox specific) */ + STAT_UBX_TIME = 6, /*!< UBX TIME statement (uBlox specific) */ + STAT_UBX_POSITION = 7, /*!< UBX TIME statement (uBlox specific) */ + STAT_CHECKSUM_FAIL = UINT8_MAX /*!< Special case, used when checksum fails */ +} lwgps_statement_t; + +/** + * \brief GPS main structure + */ +typedef struct { +#if LWGPS_CFG_STATEMENT_GPGGA || __DOXYGEN__ + /* Information related to GPGGA statement */ +#if !LWGPS_CFG_STATEMENT_PUBX_POSITION && !__DOXYGEN__ + lwgps_float_t latitude; /*!< Latitude in units of degrees */ + lwgps_float_t longitude; /*!< Longitude in units of degrees */ +#endif /* !LWGPS_CFG_STATEMENT_PUBX_POSITION && !__DOXYGEN__ */ + lwgps_float_t altitude; /*!< Altitude in units of meters */ + lwgps_float_t geo_sep; /*!< Geoid separation in units of meters */ + uint8_t sats_in_use; /*!< Number of satellites in use */ + uint8_t fix; /*!< Fix status. `0` = invalid, `1` = GPS fix, `2` = DGPS fix, `3` = PPS fix */ + uint8_t hours; /*!< Hours in UTC */ + uint8_t minutes; /*!< Minutes in UTC */ + uint8_t seconds; /*!< Seconds in UTC */ +#endif /* LWGPS_CFG_STATEMENT_GPGGA || __DOXYGEN__ */ + +#if LWGPS_CFG_STATEMENT_GPGSA || __DOXYGEN__ + /* Information related to GPGSA statement */ +#if !LWGPS_CFG_STATEMENT_PUBX_POSITION && !__DOXYGEN__ + lwgps_float_t dop_h; /*!< Dolution of precision, horizontal */ + lwgps_float_t dop_v; /*!< Dolution of precision, vertical */ + lwgps_float_t dop_p; /*!< Dolution of precision, position */ +#endif /* !LWGPS_CFG_STATEMENT_PUBX_POSITION && !__DOXYGEN__ */ + uint8_t systemId; + uint8_t fix_mode; /*!< Fix mode. `1` = NO fix, `2` = 2D fix, `3` = 3D fix */ + uint8_t satellites_ids[12]; /*!< List of satellite IDs in use. Valid range is `0` to `sats_in_use` */ +#endif /* LWGPS_CFG_STATEMENT_GPGSA || __DOXYGEN__ */ + +#if LWGPS_CFG_STATEMENT_GPGSV || __DOXYGEN__ + /* Information related to GPGSV statement */ + uint8_t sats_in_view; /*!< Number of satellites in view */ +#if LWGPS_CFG_STATEMENT_GPGSV_SAT_DET || __DOXYGEN__ + lwgps_sat_t sats_in_view_desc[12]; +#endif /* LWGPS_CFG_STATEMENT_GPGSV_SAT_DET || __DOXYGEN__ */ +#endif /* LWGPS_CFG_STATEMENT_GPGSV || __DOXYGEN__ */ + +#if LWGPS_CFG_STATEMENT_GPRMC || __DOXYGEN__ + /* Information related to GPRMC statement */ + uint8_t is_valid; /*!< GPS valid status */ +#if !LWGPS_CFG_STATEMENT_PUBX_POSITION && !__DOXYGEN__ + lwgps_float_t speed; /*!< Ground speed in knots */ + lwgps_float_t course; /*!< Ground coarse */ +#endif /* !LWGPS_CFG_STATEMENT_PUBX_POSITION && !__DOXYGEN__ */ + lwgps_float_t variation; /*!< Magnetic variation */ + uint8_t date; /*!< Fix date */ + uint8_t month; /*!< Fix month */ + uint8_t year; /*!< Fix year */ +#endif /* LWGPS_CFG_STATEMENT_GPRMC || __DOXYGEN__ */ + +#if !LWGPS_CFG_STATEMENT_GPGGA && !__DOXYGEN__ + /* rely on time fields from GPGGA if possible */ + uint8_t hours; + uint8_t minutes; + uint8_t seconds; +#endif /* !LWGPS_CFG_STATEMENT_GPGGA && !__DOXYGEN__ */ +#if !LWGPS_CFG_STATEMENT_GPRMC && !__DOXYGEN__ + /* rely on date fields from GPRMC if possible */ + uint8_t date; + uint8_t month; + uint8_t year; +#endif /* !LWGPS_CFG_STATEMENT_GPRMC && !__DOXYGEN__ */ +#if LWGPS_CFG_STATEMENT_PUBX_TIME || __DOXYGEN__ + /* fields only available in PUBX_TIME */ + lwgps_float_t utc_tow; /*!< UTC TimeOfWeek, eg 113851.00 */ + uint16_t utc_wk; /*!< UTC week number, continues beyond 1023 */ + uint8_t leap_sec; /*!< UTC leap seconds; UTC + leap_sec = TAI */ + uint32_t clk_bias; /*!< Receiver clock bias, eg 1930035 */ + lwgps_float_t clk_drift; /*!< Receiver clock drift, eg -2660.664 */ + uint32_t tp_gran; /*!< Time pulse granularity, eg 43 */ +#endif /* LWGPS_CFG_STATEMENT_PUBX_TIME || __DOXYGEN__ */ +#if LWGPS_CFG_STATEMENT_PUBX_POSITION || __DOXYGEN__ + int32_t latitude; /*!< Latitude in units of degrees */ + int32_t longitude; /*!< Longitude in units of degrees */ + uint16_t dop_h; /*!< Horizontal dilution of precision */ + uint16_t dop_v; /*!< Vertical dilution of precision */ + uint32_t acc_h; + uint32_t acc_v; + uint16_t speed; /*!< Ground speed in knots */ + uint16_t course; /*!< Ground coarse */ +#endif /* LWGPS_CFG_STATEMENT_PUBX_POSITION || __DOXYGEN__ */ + +#if !__DOXYGEN__ + struct { + lwgps_statement_t stat; /*!< Statement index */ + char term_str[13]; /*!< Current term in string format */ + uint8_t term_pos; /*!< Current index position in term */ + uint8_t term_num; /*!< Current term number */ + + uint8_t star; /*!< Star detected flag */ + +#if LWGPS_CFG_CRC + uint8_t crc_calc; /*!< Calculated CRC string */ +#endif /* LWGPS_CFG_CRC */ + + union { + uint8_t dummy; /*!< Dummy byte */ +#if LWGPS_CFG_STATEMENT_GPGGA + struct { + lwgps_float_t latitude; /*!< GPS latitude position in degrees */ + lwgps_float_t longitude; /*!< GPS longitude position in degrees */ + lwgps_float_t altitude; /*!< GPS altitude in meters */ + lwgps_float_t geo_sep; /*!< Geoid separation in units of meters */ + uint8_t sats_in_use; /*!< Number of satellites currently in use */ + uint8_t fix; /*!< Type of current fix, `0` = Invalid, `1` = GPS fix, `2` = Differential GPS fix */ + uint8_t hours; /*!< Current UTC hours */ + uint8_t minutes; /*!< Current UTC minutes */ + uint8_t seconds; /*!< Current UTC seconds */ + } gga; /*!< GPGGA message */ +#endif /* LWGPS_CFG_STATEMENT_GPGGA */ +#if LWGPS_CFG_STATEMENT_GPGSA + struct { + lwgps_float_t dop_h; /*!< Horizontal dilution of precision */ + lwgps_float_t dop_v; /*!< Vertical dilution of precision */ + lwgps_float_t dop_p; /*!< Position dilution of precision */ + uint8_t systemId; + uint8_t fix_mode; /*!< Fix mode, `1` = No fix, `2` = 2D fix, `3` = 3D fix */ + uint8_t satellites_ids[12]; /*!< IDs of satellites currently in use */ + } gsa; /*!< GPGSA message */ +#endif /* LWGPS_CFG_STATEMENT_GPGSA */ +#if LWGPS_CFG_STATEMENT_GPGSV + struct { + uint8_t sats_in_view; /*!< Number of stallites in view */ + uint8_t stat_num; /*!< Satellite line number during parsing GPGSV data */ + } gsv; /*!< GPGSV message */ +#endif /* LWGPS_CFG_STATEMENT_GPGSV */ +#if LWGPS_CFG_STATEMENT_GPRMC + struct { + uint8_t is_valid; /*!< Status whether GPS status is valid or not */ + uint8_t date; /*!< Current UTC date */ + uint8_t month; /*!< Current UTC month */ + uint8_t year; /*!< Current UTC year */ + lwgps_float_t speed; /*!< Current spead over the ground in knots */ + lwgps_float_t course; /*!< Current course over ground */ + lwgps_float_t variation; /*!< Current magnetic variation in degrees */ + } rmc; /*!< GPRMC message */ +#endif /* LWGPS_CFG_STATEMENT_GPRMC */ +#if LWGPS_CFG_STATEMENT_PUBX_POSITION + struct { + int32_t latitude; /*!< Latitude in units of degrees */ + int32_t longitude; /*!< Longitude in units of degrees */ + uint16_t dop_h; /*!< Horizontal dilution of precision */ + uint16_t dop_v; /*!< Vertical dilution of precision */ + uint32_t acc_h; + uint32_t acc_v; + uint16_t speed; /*!< Ground speed in knots */ + uint16_t course; /*!< Ground coarse */ + } position; /*!< PUBX TIME message */ +#endif /* LWGPS_CFG_STATEMENT_PUBX_POSITION */ +#if LWGPS_CFG_STATEMENT_PUBX_TIME + struct { + uint8_t hours; /*!< Current UTC hours */ + uint8_t minutes; /*!< Current UTC minutes */ + uint8_t seconds; /*!< Current UTC seconds */ + uint8_t date; /*!< Current UTC date */ + uint8_t month; /*!< Current UTC month */ + uint8_t year; /*!< Current UTC year */ + lwgps_float_t utc_tow; /*!< UTC TimeOfWeek, eg 113851.00 */ + uint16_t utc_wk; /*!< UTC week number, continues beyond 1023 */ + uint8_t leap_sec; /*!< UTC leap seconds; UTC + leap_sec = TAI */ + uint32_t clk_bias; /*!< Receiver clock bias, eg 1930035 */ + lwgps_float_t clk_drift; /*!< Receiver clock drift, eg -2660.664 */ + uint32_t tp_gran; /*!< Time pulse granularity, eg 43 */ + } time; /*!< PUBX TIME message */ +#endif /* LWGPS_CFG_STATEMENT_PUBX_TIME */ + } data; /*!< Union with data for each information */ + } p; /*!< Structure with private data */ +#endif /* !__DOXYGEN__ */ +} lwgps_t; + +/** + * \brief List of optional speed transformation from GPS values (in knots) + */ +typedef enum { + /* Metric values */ + LWGPS_SPEED_KPS, /*!< Kilometers per second */ + LWGPS_SPEED_KPH, /*!< Kilometers per hour */ + LWGPS_SPEED_MPS, /*!< Meters per second */ + LWGPS_SPEED_MPM, /*!< Meters per minute */ + + /* Imperial values */ + LWGPS_SPEED_MIPS, /*!< Miles per second */ + LWGPS_SPEED_MPH, /*!< Miles per hour */ + LWGPS_SPEED_FPS, /*!< Foots per second */ + LWGPS_SPEED_FPM, /*!< Foots per minute */ + + /* Optimized for runners/joggers */ + LWGPS_SPEED_MPK, /*!< Minutes per kilometer */ + LWGPS_SPEED_SPK, /*!< Seconds per kilometer */ + LWGPS_SPEED_SP100M, /*!< Seconds per 100 meters */ + LWGPS_SPEED_MIPM, /*!< Minutes per mile */ + LWGPS_SPEED_SPM, /*!< Seconds per mile */ + LWGPS_SPEED_SP100Y, /*!< Seconds per 100 yards */ + + /* Nautical values */ + LWGPS_SPEED_SMPH, /*!< Sea miles per hour */ +} lwgps_speed_t; + +#define lwgps_speed_kps LWGPS_SPEED_KPS /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */ +#define lwgps_speed_kph LWGPS_SPEED_KPH /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */ +#define lwgps_speed_mps LWGPS_SPEED_MPS /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */ +#define lwgps_speed_mpm LWGPS_SPEED_MPM /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */ +#define lwgps_speed_mips LWGPS_SPEED_MIPS /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */ +#define lwgps_speed_mph LWGPS_SPEED_MPH /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */ +#define lwgps_speed_fps LWGPS_SPEED_FPS /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */ +#define lwgps_speed_fpm LWGPS_SPEED_FPM /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */ +#define lwgps_speed_mpk LWGPS_SPEED_MPK /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */ +#define lwgps_speed_spk LWGPS_SPEED_SPK /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */ +#define lwgps_speed_sp100m LWGPS_SPEED_SP100M /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */ +#define lwgps_speed_mipm LWGPS_SPEED_MIPM /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */ +#define lwgps_speed_spm LWGPS_SPEED_SPM /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */ +#define lwgps_speed_sp100y LWGPS_SPEED_SP100Y /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */ +#define lwgps_speed_smph LWGPS_SPEED_SMPH /*!< Backward compatibility. \deprecated Use \ref lwgps_speed_t instead */ + +/** + * \brief Signature for caller-suplied callback function from gps_process + * \param[in] res: statement type of recently parsed statement + */ +typedef void (*lwgps_process_fn)(lwgps_statement_t res); + +/** + * \brief Check if current GPS data contain valid signal + * \note \ref LWGPS_CFG_STATEMENT_GPRMC must be enabled and `GPRMC` statement must be sent from GPS receiver + * \param[in] _gh: GPS handle + * \return `1` on success, `0` otherwise + */ +#if LWGPS_CFG_STATEMENT_GPRMC || __DOXYGEN__ +#define lwgps_is_valid(_gh) ((_gh)->is_valid) +#else +#define lwgps_is_valid(_gh) (0) +#endif /* LWGPS_CFG_STATEMENT_GPRMC || __DOXYGEN__ */ + +uint8_t lwgps_init(lwgps_t* gh); +#if LWGPS_CFG_STATUS || __DOXYGEN__ +uint8_t lwgps_process(lwgps_t* gh, const void* data, size_t len, lwgps_process_fn evt_fn); +#else /* LWGPS_CFG_STATUS */ +uint8_t lwgps_process(lwgps_t* gh, const void* data, size_t len); +#endif /* !LWGPS_CFG_STATUS */ +uint8_t lwgps_distance_bearing(lwgps_float_t las, lwgps_float_t los, lwgps_float_t lae, lwgps_float_t loe, + lwgps_float_t* d, lwgps_float_t* b); +lwgps_float_t lwgps_to_speed(lwgps_float_t sik, lwgps_speed_t ts); + +/** + * \} + */ + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif /* LWGPS_HDR_H */ diff --git a/src/lwgps_opt.h b/src/lwgps_opt.h new file mode 100644 index 0000000..9d9f2d9 --- /dev/null +++ b/src/lwgps_opt.h @@ -0,0 +1,199 @@ +/** + * \file lwgps_opt.h + * \brief LwGPS options + */ + +/* + * Copyright (c) 2023 Tilen MAJERLE + * + * Permission is hereby granted, free of charge, to any person + * obtaining a copy of this software and associated documentation + * files (the "Software"), to deal in the Software without restriction, + * including without limitation the rights to use, copy, modify, merge, + * publish, distribute, sublicense, and/or sell copies of the Software, + * and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be + * included in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES + * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE + * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT + * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, + * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING + * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR + * OTHER DEALINGS IN THE SOFTWARE. + * + * This file is part of LwGPS - Lightweight GPS NMEA parser library. + * + * Author: Tilen MAJERLE + * Version: $2.1.0$ + */ +#ifndef LWGPS_OPT_HDR_H +#define LWGPS_OPT_HDR_H + +/* Uncomment to ignore user options (or set macro in compiler flags) */ +/* #define LWGPS_IGNORE_USER_OPTS */ + +/* Include application options */ +//#ifndef LWGPS_IGNORE_USER_OPTS +//#include "lwgps_opts.h" +//#endif /* LWGPS_IGNORE_USER_OPTS */ + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/** + * \defgroup LWGPS_OPT Configuration + * \brief Default configuration setup + * \{ + */ + +/** + * \brief Enables `1` or disables `0` `double precision` for floating point + * values such as latitude, longitude, altitude. + * + * `double` is used as variable type when enabled, `float` when disabled. + */ +#ifndef LWGPS_CFG_DOUBLE +#define LWGPS_CFG_DOUBLE 0 +#endif + +/** + * \brief Enables `1` or disables `0` status reporting callback + * by \ref lwgps_process + * + * \note This is an extension, so not enabled by default. + */ +#ifndef LWGPS_CFG_STATUS +#define LWGPS_CFG_STATUS 0 +#endif + +/** + * \brief Enables `1` or disables `0` `GGA` statement parsing. + * + * \note This statement must be enabled to parse: + * - Latitude, Longitude, Altitude + * - Number of satellites in use, fix (no fix, GPS, DGPS), UTC time + */ +#ifndef LWGPS_CFG_STATEMENT_GPGGA +#define LWGPS_CFG_STATEMENT_GPGGA 1 +#endif + +/** + * \brief Enables `1` or disables `0` `GSA` statement parsing. + * + * \note This statement must be enabled to parse: + * - Position/Vertical/Horizontal dilution of precision + * - Fix mode (no fix, 2D, 3D fix) + * - IDs of satellites in use + */ +#ifndef LWGPS_CFG_STATEMENT_GPGSA +#define LWGPS_CFG_STATEMENT_GPGSA 1 +#endif + +/** + * \brief Enables `1` or disables `0` `RMC` statement parsing. + * + * \note This statement must be enabled to parse: + * - Validity of GPS signal + * - Ground speed in knots and coarse in degrees + * - Magnetic variation + * - UTC date + */ +#ifndef LWGPS_CFG_STATEMENT_GPRMC +#define LWGPS_CFG_STATEMENT_GPRMC 0 +#endif + +/** + * \brief Enables `1` or disables `0` `GSV` statement parsing. + * + * \note This statement must be enabled to parse: + * - Number of satellites in view + * - Optional details of each satellite in view. See \ref LWGPS_CFG_STATEMENT_GPGSV_SAT_DET + */ +#ifndef LWGPS_CFG_STATEMENT_GPGSV +#define LWGPS_CFG_STATEMENT_GPGSV 0 +#endif + +/** + * \brief Enables `1` or disables `0` detailed parsing of each + * satellite in view for `GSV` statement. + * + * \note When this feature is disabled, only number of "satellites in view" is parsed + */ +#ifndef LWGPS_CFG_STATEMENT_GPGSV_SAT_DET +#define LWGPS_CFG_STATEMENT_GPGSV_SAT_DET 0 +#endif + +/** + * \brief Enables `1` or disables `0` parsing and generation + * of PUBX (uBlox) messages + * + * PUBX are a nonstandard ublox-specific extensions, + * so disabled by default. + */ +#ifndef LWGPS_CFG_STATEMENT_PUBX +#define LWGPS_CFG_STATEMENT_PUBX 1 +#endif + +/** + * \brief Enables `1` or disables `0` parsing and generation + * of PUBX (uBlox) TIME messages. + * + * \note TIME messages can be used to obtain: + * - UTC time of week + * - UTC week number + * - Leap seconds (allows conversion to eg. TAI) + * + * This is a nonstandard ublox-specific extension, + * so disabled by default. + * + * This configure option requires LWGPS_CFG_STATEMENT_PUBX + */ +#ifndef LWGPS_CFG_STATEMENT_PUBX_TIME +#define LWGPS_CFG_STATEMENT_PUBX_TIME 1 +#endif + +#ifndef LWGPS_CFG_STATEMENT_PUBX_POSITION +#define LWGPS_CFG_STATEMENT_PUBX_POSITION 1 +#endif + +/** + * \brief Enables `1` or disables `0` CRC calculation and check + * + * \note When not enabled, CRC check is ignored + */ +#ifndef LWGPS_CFG_CRC +#define LWGPS_CFG_CRC 1 +#endif + +/** + * \brief Enables `1` or disables `0` distance and bearing calculation + * + * \note When not enabled, corresponding function is disabled + */ +#ifndef LWESP_CFG_DISTANCE_BEARING +#define LWESP_CFG_DISTANCE_BEARING 0 +#endif + +/* Guard against accidental parser breakage */ +#if LWGPS_CFG_STATEMENT_PUBX_TIME && !LWGPS_CFG_STATEMENT_PUBX +#error LWGPS_CFG_STATEMENT_PUBX must be enabled when enabling LWGPS_CFG_STATEMENT_PUBX_TIME +#endif /* LWGPS_CFG_STATEMENT_PUBX_TIME && !LWGPS_CFG_STATEMENT_PUBX */ +#if LWGPS_CFG_STATEMENT_PUBX_POSITION && !LWGPS_CFG_STATEMENT_PUBX +#error LWGPS_CFG_STATEMENT_PUBX must be enabled when enabling LWGPS_CFG_STATEMENT_PUBX_POSITION +#endif /* LWGPS_CFG_STATEMENT_PUBX_POSITION && !LWGPS_CFG_STATEMENT_PUBX */ + +/** + * \} + */ + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif /* LWGPS_OPT_HDR_H */ diff --git a/src/main.c b/src/main.c new file mode 100644 index 0000000..1b9f866 --- /dev/null +++ b/src/main.c @@ -0,0 +1,764 @@ +/* + * Copyright (c) 2022 Libre Solar Technologies GmbH + * + * SPDX-License-Identifier: Apache-2.0 + */ + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +LOG_MODULE_REGISTER(main); + +#include + +#include "gps.h" +#include "bme280.h" +#include "ruuvi.h" +#include "battery.h" + +#define STACKSIZE 2048 +#define PRIORITY 7 + +#define LED0_NODE DT_ALIAS(led0) +static const struct gpio_dt_spec led0 = GPIO_DT_SPEC_GET(LED0_NODE, gpios); +#define LED1_NODE DT_ALIAS(led1) +static const struct gpio_dt_spec led1 = GPIO_DT_SPEC_GET(LED1_NODE, gpios); +#define LED2_NODE DT_ALIAS(led2) +static const struct gpio_dt_spec led2 = GPIO_DT_SPEC_GET(LED2_NODE, gpios); + +static K_SEM_DEFINE(ble_init_ok, 0, 1); + +bool btconnected = false; +bool btfirstadv = true; + +#define BT_UUID_NUS_VAL BT_UUID_128_ENCODE(0x6E400001, 0xB5A3, 0xF393, 0xE0A9, 0xE50E24DCCA9E) +#define BT_UUID_NUS_RX_VAL BT_UUID_128_ENCODE(0x6E400002, 0xB5A3, 0xF393, 0xE0A9, 0xE50E24DCCA9E) +#define BT_UUID_NUS_TX_VAL BT_UUID_128_ENCODE(0x6E400003, 0xB5A3, 0xF393, 0xE0A9, 0xE50E24DCCA9E) +#define BT_UUID_NUS_PRESSURE_VAL BT_UUID_128_ENCODE(0x6E400004, 0xB5A3, 0xF393, 0xE0A9, 0xE50E24DCCA9E) +#define BT_UUID_NUS_TEMPERATURE_VAL BT_UUID_128_ENCODE(0x6E400005, 0xB5A3, 0xF393, 0xE0A9, 0xE50E24DCCA9E) +#define BT_UUID_LNS_LS_VAL 0x2A67 +#define BT_UUID_LNS_PQ_VAL 0x2A69 +#define BT_UUID_CUS_VAL 0x2000 +#define BT_UUID_CUS_WRITE_VAL 0x2001 +#define BT_UUID_CUS_SAT_VAL 0x2002 +#define BT_UUID_CUS_CALIBRATE_VAL 0x2003 + +static uint8_t write_cus_buf[2]; +uint8_t gpsmode = 1; + +static ssize_t read_u32(struct bt_conn *conn, const struct bt_gatt_attr *attr, + void *buf, uint16_t len, uint16_t offset); +static ssize_t read_s16(struct bt_conn *conn, const struct bt_gatt_attr *attr, + void *buf, uint16_t len, uint16_t offset); +static ssize_t on_write_rx(struct bt_conn *conn, const struct bt_gatt_attr *attr, const void *buf, uint16_t len, uint16_t offset, uint8_t flags); +static ssize_t on_read_rx(struct bt_conn *conn, const struct bt_gatt_attr *attr, void *buf, uint16_t len, uint16_t offset); +static void nus_ccc_cfg_changed(const struct bt_gatt_attr *attr, uint16_t value); +static void nus_ccc_cfg_changed2(const struct bt_gatt_attr *attr, uint16_t value); + +static uint8_t nus_rx[26]; +static uint8_t nus_tx_started; +static K_FIFO_DEFINE(fifo_btsendhisto); +struct btsendhisto_t { + void *fifo_reserved; + uint8_t type; + uint32_t from; +}; + +enum captor_type { BATTERY, TEMPERATURE, PRESSURE }; + +struct s_captor_params { + uint8_t wait_adv; + uint8_t wait_record; +}; + +struct s_captors { + uint8_t captor; + struct s_captor_params params; +}; + +struct s_captors captors_params[] = { + { TEMPERATURE, {1, 3}}, + { PRESSURE, {6, 12}}, + { BATTERY, {12, 12}}, +}; + +struct s_captors captors_state[] = { + { TEMPERATURE, {0, 0}}, + { PRESSURE, {0, 0}}, + { BATTERY, {0, 0}}, +}; + +int16_t temperature; +uint32_t pressure; + +bool findifadv(uint8_t captor) +{ + for(int i = 0; i < sizeof(captors_params) / sizeof(captors_params[0]); i++) + { + if(captors_params[i].captor == captor) + { + captors_state[i].params.wait_adv++; + if(captors_state[i].params.wait_adv == captors_params[i].params.wait_adv) + { + captors_state[i].params.wait_adv = 0; + return true; + } else { + return false; + } + } + } + return false; +} + +bool findifrecord(uint8_t captor) +{ + for(int i = 0; i < sizeof(captors_params) / sizeof(captors_params[0]); i++) + { + if(captors_params[i].captor == captor) + { + captors_state[i].params.wait_record++; + if(captors_state[i].params.wait_record == captors_params[i].params.wait_record) + { + captors_state[i].params.wait_record = 0; + return true; + } else { + return false; + } + } + } + return false; +} + +void reset_adv_state() +{ + for(int i = 0; i < sizeof(captors_state) / sizeof(captors_state[0]); i++) + { + captors_state[i].params.wait_adv = 0; + } + +} + +void temperature_notify(struct sensor_value *sval); +void pressure_notify(struct sensor_value *sval); +//void humidity_notify(struct sensor_value *sval); +void ruuvi_advertise(); + +void update_captors(bool force) +{ + LOG_INF("Update Sensors"); + bool temperature_toadv = false; + bool temperature_torecord = false; + bool pressure_toadv = false; + bool pressure_torecord = false; + bool battery_toadv = false; + bool battery_torecord = false; + + bool ppressure = false; + bool ptemperature = false; + + struct sensor_value sval; + + if(btconnected == false) + { + temperature_toadv = findifadv(TEMPERATURE); + pressure_toadv = findifadv(PRESSURE); + battery_toadv = findifadv(BATTERY); + } + if(force == false) + { + temperature_torecord = findifrecord(TEMPERATURE); + pressure_torecord = findifrecord(PRESSURE); + battery_torecord = findifrecord(BATTERY); + } + + if(temperature_torecord == true || temperature_toadv == true || force == true) + { + ptemperature = true; + } + if(pressure_torecord == true || pressure_toadv == true || force == true) + { + ppressure = true; + } + if(ptemperature == true || ppressure == true) + { + probe_bme280(ptemperature, false, ppressure); + } + + if(temperature_toadv == true || force == true) + { + LOG_INF("ADV Temperature"); + sval = get_temperature(); + if(sval.val1 != 0 || sval.val2 != 0) + { + //temperature_notify(&sval); + ruuvi_updateTemperature(&sval); + ruuvi_advertise(); + } + } + if(temperature_torecord == true && force == false) + { + LOG_INF("Record Temperature"); + sval = get_temperature(); + if(sval.val1 != 0 || sval.val2 != 0) + { + addRecord(TEMPERATURE, (sval.val1*100)+(int16_t)round(sval.val2/10000)); + } + } + if(pressure_toadv == true || force == true) + { + LOG_INF("ADV Pressure"); + sval = get_pressure(); + if(sval.val1 != 0 || sval.val2 != 0) + { + //pressure_notify(&sval); + ruuvi_updatePressure(&sval); + ruuvi_advertise(); + } + } + if(pressure_torecord == true && force == false) + { + LOG_INF("Record Pressure"); + sval = get_pressure(); + if(sval.val1 != 0 || sval.val2 != 0) + { + addRecord(PRESSURE, (sval.val1*100)+(int16_t)round(sval.val2/10000)); + } + } + if(battery_toadv == true || force == true) + { + LOG_INF("ADV Battery"); + uint16_t battery_millivolt = 0; + uint8_t battery_percentage = 0; + + battery_get_millivolt(&battery_millivolt); + battery_get_percentage(&battery_percentage, battery_millivolt); + + ruuvi_updateBattery(battery_millivolt); + ruuvi_advertise(); + + bt_bas_set_battery_level(battery_percentage); + } +} + +static void work_captors_force_handler(struct k_work *work) +{ + update_captors(true); +} +K_WORK_DEFINE(work_captors_force, work_captors_force_handler); + + +static void work_captors_handler(struct k_work *work) +{ + update_captors(false); +} +K_WORK_DEFINE(work_captors, work_captors_handler); + +void timer_captors_handler(struct k_timer *stm) +{ + k_work_submit(&work_captors); +} +K_TIMER_DEFINE(timer_captors, timer_captors_handler, NULL); + +static ssize_t on_write_cus(struct bt_conn *conn, const struct bt_gatt_attr *attr, + const void *buf, uint16_t len, uint16_t offset, uint8_t flags); + +#define BT_UUID_LNS_LS BT_UUID_DECLARE_16(BT_UUID_LNS_LS_VAL) +#define BT_UUID_LNS_PQ BT_UUID_DECLARE_16(BT_UUID_LNS_PQ_VAL) +#define BT_UUID_CUS BT_UUID_DECLARE_16(BT_UUID_CUS_VAL) +#define BT_UUID_CUS_WRITE BT_UUID_DECLARE_16(BT_UUID_CUS_WRITE_VAL) +#define BT_UUID_CUS_SAT BT_UUID_DECLARE_16(BT_UUID_CUS_SAT_VAL) +#define BT_UUID_CUS_CALIBRATE BT_UUID_DECLARE_16(BT_UUID_CUS_CALIBRATE_VAL) + + +BT_GATT_SERVICE_DEFINE(lns_svc, + BT_GATT_PRIMARY_SERVICE(BT_UUID_LNS), + BT_GATT_CHARACTERISTIC(BT_UUID_LNS_LS, + BT_GATT_CHRC_NOTIFY, + BT_GATT_PERM_NONE, + NULL, NULL, NULL), + BT_GATT_CCC(nus_ccc_cfg_changed, BT_GATT_PERM_READ | BT_GATT_PERM_WRITE), + BT_GATT_CHARACTERISTIC(BT_UUID_LNS_PQ, + BT_GATT_CHRC_NOTIFY, + BT_GATT_PERM_NONE, + NULL, NULL, NULL), + BT_GATT_CCC(nus_ccc_cfg_changed, BT_GATT_PERM_READ | BT_GATT_PERM_WRITE), + ); + +BT_GATT_SERVICE_DEFINE(cus_svc, + BT_GATT_PRIMARY_SERVICE(BT_UUID_CUS), + BT_GATT_CHARACTERISTIC(BT_UUID_CUS_WRITE, + BT_GATT_CHRC_WRITE | BT_GATT_CHRC_WRITE_WITHOUT_RESP, + BT_GATT_PERM_WRITE, + NULL, on_write_cus, &write_cus_buf), + BT_GATT_CCC(nus_ccc_cfg_changed, BT_GATT_PERM_READ | BT_GATT_PERM_WRITE), + BT_GATT_CHARACTERISTIC(BT_UUID_CUS_SAT, + BT_GATT_CHRC_NOTIFY, + BT_GATT_PERM_NONE, + NULL, NULL, NULL), + BT_GATT_CCC(nus_ccc_cfg_changed, BT_GATT_PERM_READ | BT_GATT_PERM_WRITE), + ); + + + +BT_GATT_SERVICE_DEFINE(ess_svc, + BT_GATT_PRIMARY_SERVICE(BT_UUID_ESS), + BT_GATT_CHARACTERISTIC(BT_UUID_TEMPERATURE, + BT_GATT_CHRC_READ | BT_GATT_CHRC_NOTIFY, + BT_GATT_PERM_READ, + read_s16, NULL, &temperature), + BT_GATT_CCC(nus_ccc_cfg_changed, BT_GATT_PERM_READ | BT_GATT_PERM_WRITE), + BT_GATT_CHARACTERISTIC(BT_UUID_PRESSURE, + BT_GATT_CHRC_READ | BT_GATT_CHRC_NOTIFY, + BT_GATT_PERM_READ, + read_u32, NULL, &pressure), + BT_GATT_CCC(nus_ccc_cfg_changed, BT_GATT_PERM_READ | BT_GATT_PERM_WRITE), + ); + +#define BT_UUID_NUS BT_UUID_DECLARE_128(BT_UUID_NUS_VAL) +#define BT_UUID_NUS_RX BT_UUID_DECLARE_128(BT_UUID_NUS_RX_VAL) +#define BT_UUID_NUS_TX BT_UUID_DECLARE_128(BT_UUID_NUS_TX_VAL) +#define BT_UUID_NUS_PRESSURE BT_UUID_DECLARE_128(BT_UUID_NUS_PRESSURE_VAL) +#define BT_UUID_NUS_TEMPERATURE BT_UUID_DECLARE_128(BT_UUID_NUS_TEMPERATURE_VAL) + +BT_GATT_SERVICE_DEFINE(nus_svc, + BT_GATT_PRIMARY_SERVICE(BT_UUID_NUS), + /* RX */ + BT_GATT_CHARACTERISTIC(BT_UUID_NUS_RX, + BT_GATT_CHRC_WRITE | BT_GATT_CHRC_WRITE_WITHOUT_RESP, + BT_GATT_PERM_READ | BT_GATT_PERM_WRITE, + on_read_rx, on_write_rx, &nus_rx), + /* TX */ + BT_GATT_CHARACTERISTIC(BT_UUID_NUS_TX, + BT_GATT_CHRC_NOTIFY, + BT_GATT_PERM_NONE, + NULL, NULL, NULL), + BT_GATT_CCC(nus_ccc_cfg_changed, BT_GATT_PERM_READ | BT_GATT_PERM_WRITE), + /* Pressure */ + BT_GATT_CHARACTERISTIC(BT_UUID_NUS_PRESSURE, + BT_GATT_CHRC_NOTIFY, + BT_GATT_PERM_NONE, + NULL, NULL, NULL), + BT_GATT_CCC(nus_ccc_cfg_changed2, BT_GATT_PERM_READ | BT_GATT_PERM_WRITE), + /* Temperature */ + BT_GATT_CHARACTERISTIC(BT_UUID_NUS_TEMPERATURE, + BT_GATT_CHRC_NOTIFY, + BT_GATT_PERM_NONE, + NULL, NULL, NULL), + BT_GATT_CCC(nus_ccc_cfg_changed2, BT_GATT_PERM_READ | BT_GATT_PERM_WRITE) + ); + + +static const struct bt_data sd[] = { + BT_DATA_BYTES(BT_DATA_UUID16_ALL, + BT_UUID_16_ENCODE(BT_UUID_BAS_VAL), + BT_UUID_16_ENCODE(BT_UUID_DIS_VAL), + BT_UUID_16_ENCODE(BT_UUID_ESS_VAL), + BT_UUID_16_ENCODE(BT_UUID_LNS_VAL), + BT_UUID_16_ENCODE(BT_UUID_CUS_VAL)), + BT_DATA_BYTES(BT_DATA_UUID128_ALL, + BT_UUID_NUS_VAL), +}; + +static void nus_ccc_cfg_changed2(const struct bt_gatt_attr *attr, uint16_t value) +{ + LOG_WRN("%s: handle: %d value: %d", __func__, attr->handle, value); + //nus_tx_started = (value == BT_GATT_CCC_NOTIFY) ? 1 : 0; +} + +static ssize_t read_u32(struct bt_conn *conn, const struct bt_gatt_attr *attr, + void *buf, uint16_t len, uint16_t offset) +{ + const uint32_t *u32 = attr->user_data; + uint32_t value = sys_cpu_to_le32(*u32); + + return bt_gatt_attr_read(conn, attr, buf, len, offset, &value, + sizeof(value)); +} + +static ssize_t read_s16(struct bt_conn *conn, const struct bt_gatt_attr *attr, + void *buf, uint16_t len, uint16_t offset) +{ + const int16_t *s16 = attr->user_data; + int16_t value = sys_cpu_to_le16(*s16); + + return bt_gatt_attr_read(conn, attr, buf, len, offset, &value, + sizeof(value)); +} + +static void work_notify_bme280_handler(struct k_work *work) +{ + struct sensor_value sval; + + probe_bme280(true, false, true); + LOG_INF("Notify Pressure"); + sval = get_pressure(); + if(sval.val1 != 0 || sval.val2 != 0) + { + pressure_notify(&sval); + } + LOG_INF("Notify Temperature"); + sval = get_temperature(); + if(sval.val1 != 0 || sval.val2 != 0) + { + temperature_notify(&sval); + } + +} +K_WORK_DEFINE(work_notify_bme280, work_notify_bme280_handler); + +void timer_notify_bme280_handler(struct k_timer *stm) +{ + k_work_submit(&work_notify_bme280); +} +K_TIMER_DEFINE(timer_notify_bme280, timer_notify_bme280_handler, NULL); + +static void connected(struct bt_conn *conn, uint8_t err) +{ + if (err) { + printk("Connection failed (err 0x%02x)\n", err); + } else { + printk("Connected\n"); + btconnected = true; + k_timer_start(&timer_notify_bme280, K_NO_WAIT, K_SECONDS(10)); + gpsPower(true); + } +} + +static void disconnected(struct bt_conn *conn, uint8_t reason) +{ + printk("Disconnected (reason 0x%02x)\n", reason); + btconnected = false; + k_timer_stop(&timer_notify_bme280); + reset_adv_state(); + update_captors(true); + gpsPower(false); +} + + +BT_CONN_CB_DEFINE(conn_callbacks) = { + .connected = connected, + .disconnected = disconnected, +}; + +static void auth_passkey_display(struct bt_conn *conn, unsigned int passkey) +{ + char addr[BT_ADDR_LE_STR_LEN]; + + bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr)); + + LOG_INF("Passkey for %s: %06u", addr, passkey); +} + +static void auth_cancel(struct bt_conn *conn) +{ + char addr[BT_ADDR_LE_STR_LEN]; + + bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr)); + + LOG_INF("Pairing cancelled: %s", addr); +} + +static struct bt_conn_auth_cb auth_cb_display = { + .passkey_display = auth_passkey_display, + .cancel = auth_cancel, + .pairing_confirm = NULL, + // .pairing_complete = pairing_complete, + // .pairing_failed = pairing_failed +}; + +static ssize_t on_write_rx(struct bt_conn *conn, const struct bt_gatt_attr *attr, + const void *buf, uint16_t len, uint16_t offset, uint8_t flags) +{ + uint8_t * value = attr->user_data; + + if (offset + len > sizeof(nus_rx)) { + LOG_ERR("%s: INVALID OFFSET: offset(%d) + len(%d) > sizeof(nus_rx) %d ", + __func__, offset, len, sizeof(nus_rx)); + return BT_GATT_ERR(BT_ATT_ERR_INVALID_OFFSET); + } + + memcpy(value + offset, buf, len); + + if(len == 11) + { + struct btsendhisto_t bthisto; + uint32_t ts; + ts = value[10] + (value[9] << 8) + (value[8] << 16) + (value[7] << 24); + + LOG_INF("Send histo from %d header %d %d %d", ts, value[0], value[1], value[2]); + //btsendhisto(ts, value[0]); + bthisto.from = ts; + bthisto.type = value[0]; + size_t size = sizeof(struct btsendhisto_t); + char *mem_ptr = k_malloc(size); + memcpy(mem_ptr, &bthisto, size); + //bt_gatt_notify_uuid(NULL, BT_UUID_NUS_TX, nus_svc.attrs, &bttosend, sizeof(bttosend)); + k_fifo_put(&fifo_btsendhisto, mem_ptr); + LOG_INF("End send histo"); + } + + return len; +} + +static ssize_t on_read_rx(struct bt_conn *conn, const struct bt_gatt_attr *attr, + void *buf, uint16_t len, uint16_t offset) +{ + LOG_INF("%s", __func__); + return bt_gatt_attr_read(conn, attr, buf, len, offset, &nus_rx, sizeof(nus_rx)); +} + +static void nus_ccc_cfg_changed(const struct bt_gatt_attr *attr, uint16_t value) +{ + LOG_WRN("%s: value: %d", __func__, value); + + nus_tx_started = (value == BT_GATT_CCC_NOTIFY) ? 1 : 0; +} + +void btsendhisto_thread() +{ + for (;;) { + struct btsendhisto_t *request = k_fifo_get(&fifo_btsendhisto, + K_FOREVER); + uint8_t bttosend[11]; + bttosend[0] = request->type; + bttosend[2] = 0x10; + for(int i=0;i request->from && ((request->type == 0x30 && r.type == TEMPERATURE) || (request->type == 0x32 && r.type == PRESSURE) || request->type == 0x3a)) + { + bttosend[6] = r.timestamp; + bttosend[5] = r.timestamp >> 8; + bttosend[4] = r.timestamp >> 16; + bttosend[3] = r.timestamp >> 24; + int32_t s32 = (int32_t) r.value; + if(r.type == TEMPERATURE) + { + bttosend[1] = 0x30; + } else if(r.type == PRESSURE) + { + bttosend[1] = 0x32; + s32 = s32*10; + } + bttosend[10] = s32; + bttosend[9] = s32 >> 8; + bttosend[8] = s32 >> 16; + bttosend[7] = s32 >> 24; + LOG_INF("SRec %d ts %u type %d value %d", i, r.timestamp, r.type, r.value); + bt_gatt_notify_uuid(NULL, BT_UUID_NUS_TX, nus_svc.attrs, &bttosend, sizeof(bttosend)); + k_msleep(50); + } + } + bttosend[1] = request->type; + bttosend[3] = 0xff; + bttosend[4] = 0xff; + bttosend[5] = 0xff; + bttosend[6] = 0xff; + bttosend[7] = 0xff; + bttosend[8] = 0xff; + bttosend[9] = 0xff; + bttosend[10] = 0xff; + bt_gatt_notify_uuid(NULL, BT_UUID_NUS_TX, nus_svc.attrs, &bttosend, sizeof(bttosend)); + + k_free(request); + } + +} +K_THREAD_DEFINE(btsendhisto_thread_id, STACKSIZE, btsendhisto_thread, NULL, NULL, + NULL, PRIORITY, 0, 0); + + +static ssize_t on_write_cus(struct bt_conn *conn, const struct bt_gatt_attr *attr, + const void *buf, uint16_t len, uint16_t offset, uint8_t flags) +{ + int8_t * value = attr->user_data; + + if (offset + len > sizeof(write_cus_buf)) { + LOG_ERR("%s: INVALID OFFSET: offset(%d) + len(%d) > sizeof(auth_buf) %d ", + __func__, offset, len, sizeof(write_cus_buf)); + return BT_GATT_ERR(BT_ATT_ERR_INVALID_OFFSET); + } + + memcpy(value + offset, buf, len); + + if(len == 2) + { + if(value[1] & 0x01) { + LOG_INF("Mode 1"); + gpsBoost(false); + gpsmode = 1; + } else if(value[1] & 0x02) { + LOG_INF("Mode 2"); + gpsmode = 2; + gpsBoost(true); + } else if(value[1] & 0x04) { + LOG_INF("Mode 3"); + gpsmode = 3; + gpsBoost(true); + + } + } + return len; +} + +void ruuvi_advertise() +{ + //LOG_HEXDUMP_INF(ruuvi_getPayload(), 16, "Ruuvi Payload:"); + struct bt_data ad[] = { + BT_DATA_BYTES(BT_DATA_FLAGS, (BT_LE_AD_GENERAL | BT_LE_AD_NO_BREDR)), + BT_DATA(BT_DATA_MANUFACTURER_DATA, ruuvi_getPayload(), 16), + BT_DATA(BT_DATA_NAME_COMPLETE, CONFIG_BT_DEVICE_NAME, sizeof(CONFIG_BT_DEVICE_NAME) - 1) + }; + if(btfirstadv == true) + { + bt_le_adv_start(BT_LE_ADV_PARAM(BT_LE_ADV_OPT_CONNECTABLE, BT_GAP_ADV_FAST_INT_MIN_2, BT_GAP_ADV_FAST_INT_MAX_2, NULL), ad, ARRAY_SIZE(ad), sd, ARRAY_SIZE(sd)); + btfirstadv = false; + } else { + bt_le_adv_update_data(ad, ARRAY_SIZE(ad), sd, ARRAY_SIZE(sd)); + } +} + +void temperature_notify(struct sensor_value *sval) +{ + int16_t tnotifynus, tnotifyess; + + tnotifynus = sys_cpu_to_be16((sval->val1*10)+(int16_t)round(sval->val2/100000)); + bt_gatt_notify_uuid(NULL, BT_UUID_NUS_TEMPERATURE, nus_svc.attrs, &tnotifynus, sizeof(tnotifynus)); + + temperature = (sval->val1*100)+(int16_t)round(sval->val2/10000); + tnotifyess = sys_cpu_to_le16(temperature); + bt_gatt_notify_uuid(NULL, BT_UUID_TEMPERATURE, ess_svc.attrs, &tnotifyess, sizeof(tnotifyess)); +} + +void pressure_notify(struct sensor_value *sval) +{ + uint32_t pnotifynus, pnotifyess; + + pnotifynus = sys_cpu_to_be32((sval->val1*1000)+(int16_t)round(sval->val2/1000)); + bt_gatt_notify_uuid(NULL, BT_UUID_NUS_PRESSURE, nus_svc.attrs, &pnotifynus, sizeof(pnotifynus)); + + pressure = (sval->val1*10000)+(int16_t)round(sval->val2/100); + pnotifyess = sys_cpu_to_le32(pressure); + bt_gatt_notify_uuid(NULL, BT_UUID_PRESSURE, ess_svc.attrs, &pnotifyess, sizeof(pnotifyess)); +} + +/* void humidity_notify(struct sensor_value *sval) +{ + uint16_t hnotifyess; + + humidity = (sval->val1*100)+(uint16_t)round(sval->val2/10000); + hnotifyess = sys_cpu_to_le16(humidity); + bt_gatt_notify_uuid(NULL, BT_UUID_HUMIDITY, ess_svc.attrs, &hnotifyess, sizeof(hnotifyess)); +} */ + + +void publish_bt_thread() +{ + k_sem_take(&ble_init_ok, K_FOREVER); + for (;;) { + k_sem_take(&gps_data_tosend, K_FOREVER); + while(k_fifo_is_empty(&fifo_gps_data) == 0) { + struct gps_data_t *request = k_fifo_get(&fifo_gps_data, K_NO_WAIT); + uint8_t btgpsls[20]; + memcpy(&btgpsls[0], &(request->speed), 2 ); + memcpy(&btgpsls[2], &(request->latitude), 4 ); + memcpy(&btgpsls[6], &(request->longitude), 4 ); + memcpy(&btgpsls[10], &(request->acc_h), 4 ); + memcpy(&btgpsls[14], &(request->altitude), 4 ); + memcpy(&btgpsls[18], &(request->course), 2 ); + LOG_INF("Notify GPS Data LS"); + bt_gatt_notify_uuid(NULL, BT_UUID_LNS_LS, lns_svc.attrs, &btgpsls, sizeof(btgpsls)); + if(gpsmode == 3) { + uint8_t btgpsverb[14]; + uint8_t hdop=(uint8_t) round(request->dop_h/2); + uint8_t vdop=(uint8_t) round(request->dop_v/2); + memcpy(&btgpsverb[0], &(request->acc_h), 4 ); + memcpy(&btgpsverb[4], &(request->acc_v), 4 ); + memcpy(&btgpsverb[8], &hdop, 1 ); + memcpy(&btgpsverb[9], &vdop, 1 ); + memcpy(&btgpsverb[10], &(request->altitude), 4 ); + LOG_INF("Notify GPS Data PQ"); + bt_gatt_notify_uuid(NULL, BT_UUID_LNS_PQ, lns_svc.attrs, &btgpsverb, sizeof(btgpsverb)); + } + k_free(request); + } + while(k_fifo_is_empty(&fifo_gps_sat_data) == 0) { + struct gps_sat_data_t *request = k_fifo_get(&fifo_gps_sat_data, K_NO_WAIT); + if(gpsmode == 3) { + uint8_t btgpssat[] = {request->gps, request->glonass, request->galileo}; + LOG_INF("Notify GPS Sat"); + bt_gatt_notify_uuid(NULL, BT_UUID_CUS_SAT, cus_svc.attrs, &btgpssat, sizeof(btgpssat)); + } + k_free(request); + } + } +} +K_THREAD_DEFINE(publish_bt_id, STACKSIZE, publish_bt_thread, NULL, NULL, NULL, PRIORITY, 0, 0); + +void led_init() +{ + gpio_pin_configure_dt(&led0, GPIO_OUTPUT_INACTIVE); + gpio_pin_configure_dt(&led1, GPIO_OUTPUT_INACTIVE); + gpio_pin_configure_dt(&led2, GPIO_OUTPUT_INACTIVE); +} + +void led_test() +{ + gpio_pin_toggle_dt(&led0); + k_msleep(350); + gpio_pin_toggle_dt(&led0); + gpio_pin_toggle_dt(&led1); + k_msleep(350); + gpio_pin_toggle_dt(&led1); + gpio_pin_toggle_dt(&led2); + k_msleep(350); + gpio_pin_toggle_dt(&led2); +} + +int main(void) +{ + LOG_INF("Hello main"); + + led_init(); + led_test(); + + k_sem_take(&gps_init_ok, K_FOREVER); + + int err = bt_enable(NULL); + + if (err) { + printk("Bluetooth init failed (err %d)\n", err); + return -1; + } + + unsigned int passkey = 6768; + bt_passkey_set(passkey); + bt_conn_auth_cb_register(&auth_cb_display); + + k_sem_give(&ble_init_ok); + + battery_init(); + init_bme280(); + + k_work_submit(&work_captors_force); + k_timer_start(&timer_captors, K_SECONDS(300), K_SECONDS(300)); + + + //k_msleep(7500); + //gpsPower(false); + return 0; +} diff --git a/src/main.c.save b/src/main.c.save new file mode 100644 index 0000000..c45fc85 --- /dev/null +++ b/src/main.c.save @@ -0,0 +1,546 @@ +/* + * Copyright (c) 2022 Libre Solar Technologies GmbH + * + * SPDX-License-Identifier: Apache-2.0 + */ + +#include +#include +#include + +#include +#include +#include +#include +#include +#include + + +#include + +#include + +//#include "minmea.h" +#include "lwgps.h" + +#define RTT_BUFFER_DOWN_SIZE 512 +#define RTT_BUFFER_UP_SIZE 512 + +struct rtt_config_t { + void *up_buffer; + size_t up_size; + void *down_buffer; + size_t down_size; + uint8_t channel; +}; + + +/* change this to any other UART peripheral if desired */ +#define UART_DEVICE_NODE DT_CHOSEN(zephyr_shell_uart) + +#define MSG_SIZE 128 + +/* queue to store up to 10 messages (aligned to 4-byte boundary) */ +K_MSGQ_DEFINE(uart_msgq, MSG_SIZE, 10, 4); + +static K_SEM_DEFINE(segger_init_ok, 0, 1); + +static const struct device *const uart_dev = DEVICE_DT_GET(UART_DEVICE_NODE); + +/* receive buffer used in UART ISR callback */ +static char rx_buf[MSG_SIZE]; +static int rx_buf_pos; + +static char nmea_sentence[MSG_SIZE]; +static int nmea_position = 0; + +const unsigned char ubxNMEA[] = { 0x06, 0x17, 0x14, 0x00, 0x00, 0x41, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }; +const unsigned char ubxGNSS[] = { 0x06, 0x3E, 0x3C, 0x00, 0x00, 0x20, 0x20, 0x07, 0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01, 0x02, 0x04, 0x08, 0x00, 0x01, 0x00, 0x01, 0x01, 0x03, 0x08, 0x10, 0x00, 0x00, 0x00, 0x01, 0x01, 0x04, 0x00, 0x08, 0x00, 0x00, 0x00, 0x01, 0x03, 0x05, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x05, 0x06, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01 }; +const unsigned char GNSSStart[] = { 0x06,0x04,0x04,0x00,0x00,0x00,0x09,0x00 }; +const unsigned char GNSSStop[] = { 0x06,0x04,0x04,0x00,0x00,0x00,0x08,0x00 }; +const unsigned char enablePUBX0[] = { 0x06, 0x01, 0x08, 0x00, 0xf1, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00 }; +const unsigned char disablePUBX0[] = { 0x06, 0x01, 0x08, 0x00, 0xf1, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }; + +const char disableRMC[] = "PUBX,40,RMC,0,0,0,0,0,0"; +const char disableGLL[] = "PUBX,40,GLL,0,0,0,0,0,0"; +const char disableGSV[] = "PUBX,40,GSV,0,0,0,0,0,0"; +const char disableGSA[] = "PUBX,40,GSA,0,0,0,0,0,0"; +const char disableGGA[] = "PUBX,40,GGA,0,0,0,0,0,0"; +const char disableVTG[] = "PUBX,40,VTG,0,0,0,0,0,0"; +const char disableZDA[] = "PUBX,40,ZDA,0,0,0,0,0,0"; +const char disableGNS[] = "PUBX,40,GNS,0,0,0,0,0,0"; +//const char disableGBS[] PROGMEM = "PUBX,40,GBS,0,0,0,0,0,0"; +const char disableGST[] = "PUBX,40,GST,0,0,0,0,0,0"; + +const char enableRMC[] = "PUBX,40,RMC,0,1,0,0,0,0"; +const char enableGLL[] = "PUBX,40,GLL,0,1,0,0,0,0"; +const char enableGSV[] = "PUBX,40,GSV,0,1,0,0,0,0"; +const char enableGSA[] = "PUBX,40,GSA,0,1,0,0,0,0"; +const char enableGGA[] = "PUBX,40,GGA,0,1,0,0,0,0"; +const char enableVTG[] = "PUBX,40,VTG,0,1,0,0,0,0"; +const char enableZDA[] = "PUBX,40,ZDA,0,1,0,0,0,0"; +const char enableGNS[] = "PUBX,40,GNS,0,1,0,0,0,0"; +//const char enableGBS[] PROGMEM = "PUBX,40,GBS,0,1,0,0,0,0"; +const char enableGST[] = "PUBX,40,GST,0,1,0,0,0,0\r\n"; + +bool btconnected = false; + +#define BT_UUID_NUS_VAL BT_UUID_128_ENCODE(0x6E400001, 0xB5A3, 0xF393, 0xE0A9, 0xE50E24DCCA9E) +#define BT_UUID_NUS_PRESSURE_VAL BT_UUID_128_ENCODE(0x6E400004, 0xB5A3, 0xF393, 0xE0A9, 0xE50E24DCCA9E) +#define BT_UUID_NUS_TEMPERATURE_VAL BT_UUID_128_ENCODE(0x6E400005, 0xB5A3, 0xF393, 0xE0A9, 0xE50E24DCCA9E) +#define BT_UUID_LNS_LS_VAL 0x2A67 +#define BT_UUID_LNS_PQ_VAL 0x2A69 +#define BT_UUID_CUS_VAL 0x2000 +#define BT_UUID_CUS_WRITE_VAL 0x2001 +#define BT_UUID_CUS_SAT_VAL 0x2002 +#define BT_UUID_CUS_CALIBRATE_VAL 0x2003 +#define BT_UUID_CUS_ADMIN_VAL 0x2004 + +static void nus_ccc_cfg_changed(const struct bt_gatt_attr *attr, uint16_t value); +static ssize_t read_u32(struct bt_conn *conn, const struct bt_gatt_attr *attr, + void *buf, uint16_t len, uint16_t offset); +static ssize_t read_s16(struct bt_conn *conn, const struct bt_gatt_attr *attr, + void *buf, uint16_t len, uint16_t offset); + +int16_t temperature; +uint32_t pressure; + +static const struct bt_data ad[] = { + BT_DATA_BYTES(BT_DATA_FLAGS, (BT_LE_AD_GENERAL | BT_LE_AD_NO_BREDR)), + BT_DATA_BYTES(BT_DATA_UUID16_ALL, + BT_UUID_16_ENCODE(BT_UUID_ESS_VAL), + BT_UUID_16_ENCODE(BT_UUID_LNS_VAL), + BT_UUID_16_ENCODE(BT_UUID_CUS_VAL)), + BT_DATA_BYTES(BT_DATA_UUID128_ALL, + BT_UUID_NUS_VAL), +}; + +BT_GATT_SERVICE_DEFINE(ess_svc, + BT_GATT_PRIMARY_SERVICE(BT_UUID_ESS), + BT_GATT_CHARACTERISTIC(BT_UUID_TEMPERATURE, + BT_GATT_CHRC_READ | BT_GATT_CHRC_NOTIFY, + BT_GATT_PERM_READ, + read_s16, NULL, &temperature), + BT_GATT_CCC(nus_ccc_cfg_changed, BT_GATT_PERM_READ | BT_GATT_PERM_WRITE), + BT_GATT_CHARACTERISTIC(BT_UUID_PRESSURE, + BT_GATT_CHRC_READ | BT_GATT_CHRC_NOTIFY, + BT_GATT_PERM_READ, + read_u32, NULL, &pressure), + BT_GATT_CCC(nus_ccc_cfg_changed, BT_GATT_PERM_READ | BT_GATT_PERM_WRITE), +); + +#define BT_UUID_NUS BT_UUID_DECLARE_128(BT_UUID_NUS_VAL) +#define BT_UUID_NUS_PRESSURE BT_UUID_DECLARE_128(BT_UUID_NUS_PRESSURE_VAL) +#define BT_UUID_NUS_TEMPERATURE BT_UUID_DECLARE_128(BT_UUID_NUS_TEMPERATURE_VAL) + +BT_GATT_SERVICE_DEFINE(nus_svc, + BT_GATT_PRIMARY_SERVICE(BT_UUID_NUS), + /* Pressure */ + BT_GATT_CHARACTERISTIC(BT_UUID_NUS_PRESSURE, + BT_GATT_CHRC_NOTIFY, + BT_GATT_PERM_NONE, + NULL, NULL, NULL), + BT_GATT_CCC(nus_ccc_cfg_changed, BT_GATT_PERM_READ | BT_GATT_PERM_WRITE), + /* Temperature */ + BT_GATT_CHARACTERISTIC(BT_UUID_NUS_TEMPERATURE, + BT_GATT_CHRC_NOTIFY, + BT_GATT_PERM_NONE, + NULL, NULL, NULL), + BT_GATT_CCC(nus_ccc_cfg_changed, BT_GATT_PERM_READ | BT_GATT_PERM_WRITE), +); + +#define BT_UUID_LNS_LS BT_UUID_DECLARE_16(BT_UUID_LNS_LS_VAL) +#define BT_UUID_LNS_PQ BT_UUID_DECLARE_16(BT_UUID_LNS_PQ_VAL) +#define BT_UUID_CUS BT_UUID_DECLARE_16(BT_UUID_CUS_VAL) +#define BT_UUID_CUS_WRITE BT_UUID_DECLARE_16(BT_UUID_CUS_WRITE_VAL) +#define BT_UUID_CUS_SAT BT_UUID_DECLARE_16(BT_UUID_CUS_SAT_VAL) +#define BT_UUID_CUS_CALIBRATE BT_UUID_DECLARE_16(BT_UUID_CUS_CALIBRATE_VAL) +#define BT_UUID_CUS_ADMIN BT_UUID_DECLARE_16(BT_UUID_CUS_ADMIN_VAL) + + +BT_GATT_SERVICE_DEFINE(lns_svc, + BT_GATT_PRIMARY_SERVICE(BT_UUID_LNS), + BT_GATT_CHARACTERISTIC(BT_UUID_LNS_LS, + BT_GATT_CHRC_NOTIFY, + BT_GATT_PERM_NONE, + NULL, NULL, NULL), + BT_GATT_CCC(nus_ccc_cfg_changed, BT_GATT_PERM_READ | BT_GATT_PERM_WRITE), + BT_GATT_CHARACTERISTIC(BT_UUID_LNS_PQ, + BT_GATT_CHRC_NOTIFY, + BT_GATT_PERM_NONE, + NULL, NULL, NULL), + BT_GATT_CCC(nus_ccc_cfg_changed, BT_GATT_PERM_READ | BT_GATT_PERM_WRITE), +); + +BT_GATT_SERVICE_DEFINE(cus_svc, + BT_GATT_PRIMARY_SERVICE(BT_UUID_CUS), + BT_GATT_CHARACTERISTIC(BT_UUID_CUS_WRITE, + BT_GATT_CHRC_NOTIFY, + BT_GATT_PERM_NONE, + NULL, NULL, NULL), + BT_GATT_CCC(nus_ccc_cfg_changed, BT_GATT_PERM_READ | BT_GATT_PERM_WRITE), + BT_GATT_CHARACTERISTIC(BT_UUID_CUS_SAT, + BT_GATT_CHRC_NOTIFY, + BT_GATT_PERM_NONE, + NULL, NULL, NULL), + BT_GATT_CCC(nus_ccc_cfg_changed, BT_GATT_PERM_READ | BT_GATT_PERM_WRITE), + BT_GATT_CHARACTERISTIC(BT_UUID_CUS_CALIBRATE, + BT_GATT_CHRC_NOTIFY, + BT_GATT_PERM_NONE, + NULL, NULL, NULL), + BT_GATT_CCC(nus_ccc_cfg_changed, BT_GATT_PERM_READ | BT_GATT_PERM_WRITE), + BT_GATT_CHARACTERISTIC(BT_UUID_CUS_ADMIN, + BT_GATT_CHRC_NOTIFY, + BT_GATT_PERM_NONE, + NULL, NULL, NULL), + BT_GATT_CCC(nus_ccc_cfg_changed, BT_GATT_PERM_READ | BT_GATT_PERM_WRITE), +); + +static void nus_ccc_cfg_changed(const struct bt_gatt_attr *attr, uint16_t value) +{ + //LOG_WRN("%s: value: %d", __func__, value); + //nus_tx_started = (value == BT_GATT_CCC_NOTIFY) ? 1 : 0; +} + +static ssize_t read_u32(struct bt_conn *conn, const struct bt_gatt_attr *attr, + void *buf, uint16_t len, uint16_t offset) +{ + const uint32_t *u32 = attr->user_data; + uint32_t value = sys_cpu_to_le32(*u32); + + return bt_gatt_attr_read(conn, attr, buf, len, offset, &value, + sizeof(value)); +} + +static ssize_t read_s16(struct bt_conn *conn, const struct bt_gatt_attr *attr, + void *buf, uint16_t len, uint16_t offset) +{ + const int16_t *s16 = attr->user_data; + int16_t value = sys_cpu_to_le16(*s16); + + return bt_gatt_attr_read(conn, attr, buf, len, offset, &value, + sizeof(value)); +} + + +/* + * Read characters from UART until line end is detected. Afterwards push the + * data to the message queue. + */ +void serial_cb_old(const struct device *dev, void *user_data) +{ + uint8_t c; + + if (!uart_irq_update(uart_dev)) { + return; + } + + if (!uart_irq_rx_ready(uart_dev)) { + return; + } + + /* read until FIFO empty */ + while (uart_fifo_read(uart_dev, &c, 1) == 1) { + if ((c == '\n' || c == '\r') && rx_buf_pos > 0) { + /* terminate string */ + rx_buf[rx_buf_pos] = '\0'; + + /* if queue is full, message is silently dropped */ + k_msgq_put(&uart_msgq, &rx_buf, K_NO_WAIT); + + /* reset the buffer (it was copied to the msgq) */ + rx_buf_pos = 0; + } else if (rx_buf_pos < (sizeof(rx_buf) - 1)) { + rx_buf[rx_buf_pos++] = c; + } + /* else: characters beyond buffer size are dropped */ + } +} + +void print_segger(char *buf) +{ + int msg_len = strlen(buf); + + for (int i = 0; i < msg_len; i++) { + //uart_poll_out(uart_dev, buf[i]); + SEGGER_RTT_Write(1,&buf[i],1); + } +} + +void print_segger_byte(char buf) +{ + SEGGER_RTT_Write(1,&buf,1); +} + +void serial_cb(const struct device *dev, void *user_data) +{ + uint8_t c; + + if (!uart_irq_update(uart_dev)) { + return; + } + + if (!uart_irq_rx_ready(uart_dev)) { + return; + } + + /* read until FIFO empty */ + while (uart_fifo_read(uart_dev, &c, 1) == 1) { + if(c == '$') + { + nmea_position = 0; + nmea_sentence[nmea_position] = c; + nmea_position++; + } else if(nmea_position > 0) + { + //if((nmea_position == 1 && c != 'G') || (nmea_position == 2 && (c != 'L' && c != 'N' && c != 'P')) || (nmea_position == 6 && c!= ',')) + //{ + // nmea_position = 0; + //} + if(nmea_position < (sizeof(nmea_sentence) -1)) + { + nmea_sentence[nmea_position] = c; + nmea_position++; + if(c == '\n') + { + nmea_sentence[nmea_position] = '\0'; + k_msgq_put(&uart_msgq, &nmea_sentence, K_NO_WAIT); + nmea_position = 0; + } + } else { + printk("overflow\n"); + nmea_position = 0; + } + + } + print_segger_byte(c); + } +} + +static char formatHex( uint8_t val ) +{ + val &= 0x0F; + return (val >= 10) ? ((val - 10) + 'A') : (val + '0'); +} + +void print_uart_byte(char buf) +{ + uart_poll_out(uart_dev, buf); + //SEGGER_RTT_Write(1,&buf[i],1); +} +void print_uart(char *buf) +{ + int msg_len = strlen(buf); + + for (int i = 0; i < msg_len; i++) { + uart_poll_out(uart_dev, buf[i]); + //SEGGER_RTT_Write(1,&buf[i],1); + } +} + +void print_uart_const(const char *buf) +{ + int msg_len = strlen(buf); + + print_uart_byte('$'); + uint8_t crc = 0; + for (int i = 0; i < msg_len; i++) { + print_uart_byte(buf[i]); + //printk("%c", buf[i]); + //SEGGER_RTT_Write(1,&buf[i],1); + crc ^= buf[i]; + } + print_uart_byte('*'); + print_uart_byte(formatHex(crc>>4)); + print_uart_byte(formatHex(crc)); + print_uart_byte('\r'); + print_uart_byte('\n'); +} + +void sendUBX( const unsigned char *progmemBytes, size_t len) +{ + /*if(wakeup == true) + { + gpsPort.write( 0xFF ); + delay( 500 ); + + }*/ + print_uart_byte( 0xB5 ); // SYNC1 + print_uart_byte( 0x62 ); // SYNC2 + uint8_t a = 0, b = 0; + while (len-- > 0) { + uint8_t c = *(progmemBytes++); + a += c; + b += a; + print_uart_byte( c ); + } + + print_uart_byte( a ); // CHECKSUM A + print_uart_byte( b ); // CHECKSUM B +} // sendUBX + + +void init_gps() +{ + //sendUBX(GNSSStart, sizeof(GNSSStart)); + //k_msleep(100); + sendUBX(ubxNMEA, sizeof(ubxNMEA)); + k_msleep(100); + sendUBX(ubxGNSS, sizeof(ubxGNSS)); + k_msleep(100); + + print_uart_const(disableRMC); + k_msleep(100); + print_uart_const(disableGSV); + k_msleep(100); + print_uart_const(disableVTG); + k_msleep(100); + print_uart_const(disableGLL); + k_msleep(100); + print_uart_const(enableGGA); + k_msleep(100); + print_uart_const(enableGSA); + k_msleep(100); + sendUBX(enablePUBX0, sizeof(enablePUBX0)); +} + +void segger_read_ep(void *, void *, void *) +{ + /* indefinitely wait for input from the user */ + + k_sem_take(&segger_init_ok, K_FOREVER); + + while (1) { + char tx_buf; + unsigned numbytes = SEGGER_RTT_Read(1, &tx_buf, 1); + if(numbytes > 0) + { + //print_uart("Echo: "); + /*for(int i = numbytes; i < MSG_SIZE; i++) + { + tx_buf[i] = '\0'; + }*/ + printk("Segger received %d bytes: %d\n", numbytes, tx_buf); + print_uart_byte(tx_buf); + //print_uart("\r\n"); + } + } +} +#define MY_STACK_SIZE 500 +#define MY_PRIORITY 5 + +K_THREAD_DEFINE(segger_read_tid, MY_STACK_SIZE, + segger_read_ep, NULL, NULL, NULL, + MY_PRIORITY, 0, 0); + +static void connected(struct bt_conn *conn, uint8_t err) +{ + if (err) { + printk("Connection failed (err 0x%02x)\n", err); + } else { + printk("Connected\n"); + btconnected = true; + } +} + +static void disconnected(struct bt_conn *conn, uint8_t reason) +{ + printk("Disconnected (reason 0x%02x)\n", reason); + btconnected = false; +} + +BT_CONN_CB_DEFINE(conn_callbacks) = { + .connected = connected, + .disconnected = disconnected, +}; + + +void main(void) +{ + char tx_buf[MSG_SIZE]; + + lwgps_t hgps; + + struct rtt_config_t rtt_config; + rtt_config.up_size = RTT_BUFFER_UP_SIZE; + rtt_config.down_size = RTT_BUFFER_DOWN_SIZE; + rtt_config.up_buffer = k_malloc(RTT_BUFFER_UP_SIZE); + rtt_config.down_buffer = k_malloc(RTT_BUFFER_DOWN_SIZE); + rtt_config.channel = 1; + + SEGGER_RTT_ConfigUpBuffer(rtt_config.channel, "RTT GPS", rtt_config.up_buffer, rtt_config.up_size, SEGGER_RTT_MODE_NO_BLOCK_SKIP); + SEGGER_RTT_ConfigDownBuffer(rtt_config.channel, "RTT GPS", rtt_config.down_buffer, rtt_config.down_size, SEGGER_RTT_MODE_NO_BLOCK_SKIP); + + k_sem_give(&segger_init_ok); + + if (!device_is_ready(uart_dev)) { + printk("UART device not found!"); + return; + } + + init_gps(); + + lwgps_init(&hgps); + + int err = bt_enable(NULL); + + if (err) { + printk("Bluetooth init failed (err %d)\n", err); + return; + } + + err = bt_le_adv_start(BT_LE_ADV_PARAM(BT_LE_ADV_OPT_CONNECTABLE | BT_LE_ADV_OPT_USE_NAME, BT_GAP_ADV_SLOW_INT_MIN, BT_GAP_ADV_SLOW_INT_MAX, NULL), ad, ARRAY_SIZE(ad), NULL, 0); + + /* configure interrupt and callback to receive data */ + int ret = uart_irq_callback_user_data_set(uart_dev, serial_cb, NULL); + + if (ret < 0) { + if (ret == -ENOTSUP) { + printk("Interrupt-driven UART API support not enabled\n"); + } else if (ret == -ENOSYS) { + printk("UART device does not support interrupt-driven API\n"); + } else { + printk("Error setting UART callback: %d\n", ret); + } + return; + } + uart_irq_rx_enable(uart_dev); + + //print_uart("Hello! I'm your echo bot.\r\n"); + //print_uart("Tell me something and press enter:\r\n"); + + printk("Hello SEGGER\n"); + + /* indefinitely wait for input from the user */ + while (k_msgq_get(&uart_msgq, &tx_buf, K_FOREVER) == 0) { + //print_uart("Echo: "); + //char talkerid[3]; + //minmea_talker_id(&talkerid, tx_buf); + printk("NMEA Sentence: %s", tx_buf); + lwgps_process(&hgps, tx_buf, strlen(tx_buf)); + if(hgps.p.stat == STAT_GSA) { + uint8_t sat_count = 0; + for(int i = 0; i < sizeof(hgps.satellites_ids); i++) + { + if(hgps.satellites_ids[i] != 0) { sat_count++; } + } + printk("systemId: %d %d\n", hgps.systemId, sat_count); + + } else if(hgps.p.stat == STAT_GGA) { printk("Altitude: %d\n", (int32_t) (hgps.altitude*100)); + } else if(hgps.p.stat == STAT_UBX_POSITION) { + printk("Position %d %d\n", hgps.latitude, hgps.longitude); + printk("DOP %d %d\n", hgps.dop_h, hgps.dop_v); + printk("Accuracy H:%d V:%d\n", hgps.acc_h, hgps.acc_v); + printk("Speed:%d Course:%d\n", hgps.speed, hgps.course); + } + //switch (minmea_sentence_id(tx_buf, false)) { + // case MINMEA_SENTENCE_GGA: { + //struct minmea_sentence_gga frame; + //if (minmea_parse_gga(&frame, tx_buf)) { + // printk("$xxGGA: fix quality: %d\n", frame.fix_quality); + //} + // } break; + //}; + //print_uart("\r\n"); + } +} diff --git a/src/ruuvi.c b/src/ruuvi.c new file mode 100644 index 0000000..563210e --- /dev/null +++ b/src/ruuvi.c @@ -0,0 +1,60 @@ +#include "ruuvi.h" +#include "calendar.h" + +#include +LOG_MODULE_REGISTER(ruuvi); + +struct s_database database; + +uint8_t mfg_ruuvi_data[] = { 0x99, 0x04, 0x03, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0b, 0xb8 }; + +uint8_t* ruuvi_getPayload() +{ + return mfg_ruuvi_data; +} + +void ruuvi_updateTemperature(struct sensor_value *temperature) +{ + int8_t truuvi1; + uint8_t truuvi2; + + truuvi1 = temperature->val1; + truuvi2 = (uint8_t) (temperature->val2/10000); + + mfg_ruuvi_data[4] = truuvi1; + mfg_ruuvi_data[5] = truuvi2; +} + +void ruuvi_updatePressure(struct sensor_value *pressure) +{ + + uint32_t pruuvi; + + pruuvi = (uint32_t)((pressure->val1*1000)+(pressure->val2/1000)-50000); + + mfg_ruuvi_data[7] = pruuvi; + mfg_ruuvi_data[6] = pruuvi >> 8; +} + +void ruuvi_updateBattery(uint16_t batt_mV) +{ + mfg_ruuvi_data[15] = batt_mV; + mfg_ruuvi_data[14] = batt_mV >> 8; +} + +void addRecord(uint8_t type, int16_t value) +{ + if(TsOK() == true) + { + if(database.index == SIZE_DB) { + database.index = 0; + } + database.db[database.index].type = type; + database.db[database.index].value = value; + uint32_t ts = getTs(); + database.db[database.index].timestamp = ts; + LOG_INF("Record index %d ts %u type %d value %d", database.index, ts, type, value); + database.index = database.index + 1; + } +} + diff --git a/src/ruuvi.h b/src/ruuvi.h new file mode 100644 index 0000000..eff314e --- /dev/null +++ b/src/ruuvi.h @@ -0,0 +1,28 @@ +#include +#include + +#ifndef __RUUVI_H__ +#define __RUUVI_H__ + +void addRecord(uint8_t type, int16_t value); +void ruuvi_updateTemperature(struct sensor_value *temperature); +void ruuvi_updatePressure(struct sensor_value *pressure); +void ruuvi_updateBattery(uint16_t batt_mV); +uint8_t* ruuvi_getPayload(); + +#define SIZE_DB 2160 + +struct s_record { + uint32_t timestamp; + uint8_t type; + int16_t value; +}; + +struct s_database { + uint16_t index; + struct s_record db[SIZE_DB]; +}; + +extern struct s_database database; + +#endif diff --git a/test/README b/test/README new file mode 100644 index 0000000..9b1e87b --- /dev/null +++ b/test/README @@ -0,0 +1,11 @@ + +This directory is intended for PlatformIO Test Runner and project tests. + +Unit Testing is a software testing method by which individual units of +source code, sets of one or more MCU program modules together with associated +control data, usage procedures, and operating procedures, are tested to +determine whether they are fit for use. Unit testing finds problems early +in the development cycle. + +More information about PlatformIO Unit Testing: +- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html diff --git a/zephyr/CMakeLists.txt b/zephyr/CMakeLists.txt new file mode 100644 index 0000000..a361eb3 --- /dev/null +++ b/zephyr/CMakeLists.txt @@ -0,0 +1,8 @@ +# SPDX-License-Identifier: Apache-2.0 +cmake_minimum_required(VERSION 3.20.0) + +find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE}) +project(btgps) + +FILE(GLOB app_sources ../src/*.c*) +target_sources(app PRIVATE ${app_sources}) diff --git a/zephyr/boards/blackpill_f401ce.overlay b/zephyr/boards/blackpill_f401ce.overlay new file mode 100644 index 0000000..408e6cc --- /dev/null +++ b/zephyr/boards/blackpill_f401ce.overlay @@ -0,0 +1,6 @@ +&usart1 { + pinctrl-0 = <&usart1_tx_pb6 &usart1_rx_pb7>; + pinctrl-names = "default"; + status = "okay"; + current-speed = <9600>; +}; diff --git a/zephyr/boards/ebyte_e73_tbb_nrf52832.overlay b/zephyr/boards/ebyte_e73_tbb_nrf52832.overlay new file mode 100644 index 0000000..225f6a6 --- /dev/null +++ b/zephyr/boards/ebyte_e73_tbb_nrf52832.overlay @@ -0,0 +1,55 @@ +&uart0 { + status = "okay"; + compatible = "nordic,nrf-uarte"; + current-speed = <9600>; + pinctrl-0 = <&uart0_default>; + pinctrl-1 = <&uart0_sleep>; + pinctrl-names = "default", "sleep"; +}; + +&pinctrl { + uart0_default: uart0_default { + group1 { + psels = , + , + , + ; + }; + }; + + uart0_sleep: uart0_sleep { + group1 { + psels = , + , + , + ; + low-power-enable; + }; + }; + + i2c0_default: i2c0_default { + group1 { + psels = , + ; + }; + }; + + i2c0_sleep: i2c0_sleep { + group1 { + psels = , + ; + low-power-enable; + }; + }; +}; + +&i2c0 { + status = "okay"; + pinctrl-0 = <&i2c0_default>; + pinctrl-1 = <&i2c0_sleep>; + pinctrl-names = "default", "sleep"; + bme280@76 { + compatible = "bosch,bme280"; + reg = <0x76>; + }; +}; diff --git a/zephyr/boards/xiao_ble.overlay b/zephyr/boards/xiao_ble.overlay new file mode 100644 index 0000000..ace14f4 --- /dev/null +++ b/zephyr/boards/xiao_ble.overlay @@ -0,0 +1,21 @@ +&uart0 { + compatible = "nordic,nrf-uarte"; + status = "okay"; + current-speed = <9600>; + pinctrl-0 = <&uart0_default>; + pinctrl-1 = <&uart0_sleep>; + pinctrl-names = "default", "sleep"; +}; + +&i2c1 { + compatible = "nordic,nrf-twi"; + /* Cannot be used together with spi1. */ + status = "okay"; + pinctrl-0 = <&i2c1_default>; + pinctrl-1 = <&i2c1_sleep>; + pinctrl-names = "default", "sleep"; + bme280@76 { + compatible = "bosch,bme280"; + reg = <0x76>; + }; +}; diff --git a/zephyr/prj.conf b/zephyr/prj.conf new file mode 100644 index 0000000..870aa33 --- /dev/null +++ b/zephyr/prj.conf @@ -0,0 +1,52 @@ +CONFIG_BT=y +CONFIG_BT_PERIPHERAL=y +CONFIG_BT_AUTO_DATA_LEN_UPDATE=n +CONFIG_BT_AUTO_PHY_UPDATE=n +CONFIG_BT_DEVICE_NAME="BT GPS" +CONFIG_BT_SMP=y +CONFIG_BT_SIGNING=y +CONFIG_BT_FIXED_PASSKEY=y +CONFIG_BT_SMP_SC_ONLY=y +CONFIG_BT_TINYCRYPT_ECC=y +CONFIG_BT_BAS=y +CONFIG_BT_DIS=y +CONFIG_BT_DIS_MODEL="Ruuvitag B" +CONFIG_BT_DIS_MANUF="Ruuvi" +CONFIG_BT_DIS_HW_REV=y +CONFIG_BT_DIS_HW_REV_STR="Check PCB" +CONFIG_BT_DIS_FW_REV=y +CONFIG_BT_DIS_FW_REV_STR="v3.28.12" +CONFIG_BT_DIS_PNP=n + +CONFIG_ADC=y +CONFIG_SERIAL=y +CONFIG_UART_INTERRUPT_DRIVEN=y + +CONFIG_I2C=y +CONFIG_SENSOR=y +CONFIG_BME280=y +CONFIG_BME280_PRESS_OVER_1X=y +CONFIG_BME280_HUMIDITY_OVER_1X=y +CONFIG_BME280_TEMP_OVER_1X=y +CONFIG_BME280_FILTER_OFF=y +CONFIG_BME280_MODE_FORCED=y + +#CONFIG_UART_CONSOLE=y +CONFIG_USE_SEGGER_RTT=y +CONFIG_RTT_CONSOLE=y +#CONFIG_SEGGER_RTT_BUFFER_SIZE_UP=1024 +#CONFIG_SEGGER_RTT_BUFFER_SIZE_DOWN=512 + +CONFIG_LOG=y +CONFIG_LOG_DEFAULT_LEVEL=2 +CONFIG_LOG_MAX_LEVEL=4 +CONFIG_LOG_INFO_COLOR_GREEN=y +CONFIG_LOG_BACKEND_RTT=y +CONFIG_LOG_BACKEND_UART=n +#CONFIG_STDOUT_CONSOLE=y + +#CONFIG_BOOT_DELAY=5000 + +CONFIG_HEAP_MEM_POOL_SIZE=2048 + +CONFIG_NEWLIB_LIBC=y