107 lines
3.5 KiB
C++
107 lines
3.5 KiB
C++
/*
|
|
* GPS.h
|
|
*
|
|
* Copyright 2017 Christopher B. Liebman
|
|
*
|
|
* 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.
|
|
*
|
|
* Created on: Feb 26, 2018
|
|
* Author: chris.l
|
|
*/
|
|
|
|
#ifndef GPS_H_
|
|
#define GPS_H_
|
|
#include "Arduino.h"
|
|
#include "MicroNMEA.h"
|
|
#include "Ticker.h"
|
|
|
|
#define REASON_SIZE 128
|
|
#define NMEA_BUFFER_SIZE 128
|
|
#define PPS_TIMING_PIN 12 // (GPIO12) if defined PPS interrupt will make high during processing
|
|
#define VALID_DELAY 120 // delay (seconds) from gps valid to valid
|
|
#define VALID_TIMER_MS 1001 // if this timer expires we invalidate!
|
|
#define NMEA_TIMER_MS 1100 // if this timer expires we mark NMEA time late
|
|
|
|
#define MICROS_PER_SEC 1000000
|
|
|
|
#define us2s(x) (((double)x)/(double)MICROS_PER_SEC) // microseconds to seconds
|
|
|
|
// simple versions - we don't worry about side effects
|
|
#define MAX(a, b) ((a) < (b) ? (b) : (a))
|
|
#define MIN(a, b) ((a) < (b) ? (a) : (b))
|
|
|
|
#if defined(PPS_TIMING_PIN)
|
|
#define PPS_TIMIMG_PIN_INIT() {digitalWrite(PPS_TIMING_PIN, LOW); pinMode(PPS_TIMING_PIN, OUTPUT);}
|
|
#define PPS_TIMING_PIN_ON() digitalWrite(PPS_TIMING_PIN, HIGH)
|
|
#define PPS_TIMING_PIN_OFF() digitalWrite(PPS_TIMING_PIN, LOW)
|
|
#else
|
|
#define PPS_TIMIMG_PIN_INIT()
|
|
#define PPS_TIMING_PIN_ON()
|
|
#define PPS_TIMING_PIN_OFF()
|
|
#endif
|
|
|
|
class GPS
|
|
{
|
|
public:
|
|
GPS(Stream& gps_serial, int pps_pin);
|
|
virtual ~GPS();
|
|
|
|
void begin();
|
|
void process();
|
|
void end();
|
|
|
|
bool isValid() { return _valid; }
|
|
bool isGPSValid() { return _gps_valid; }
|
|
uint32_t getJitter() { return _max_micros - _min_micros; }
|
|
uint32_t getValidCount() { return _valid_count; }
|
|
uint32_t getValidDelay() { return _valid_delay; }
|
|
time_t getValidSince() { return _valid_since; }
|
|
uint8_t getSatelliteCount() { return _nmea.getNumSatellites(); }
|
|
time_t getSeconds() { return _seconds; }
|
|
void getTime(struct timeval* tv);
|
|
double getDispersion();
|
|
|
|
// we don't allow copying this guy!
|
|
GPS(const GPS&) = delete;
|
|
GPS& operator=(const GPS&) = delete;
|
|
|
|
private:
|
|
Stream& _stream;
|
|
char _buffer[NMEA_BUFFER_SIZE];
|
|
MicroNMEA _nmea;
|
|
Ticker _pps_timer;
|
|
Ticker _nmea_timer;
|
|
std::function<void()> _invalidate;
|
|
std::function<void()> _nmea_timeout;
|
|
volatile time_t _seconds;
|
|
volatile uint32_t _valid_delay; // delay (seconds) from gps_valid until we thing we are valid
|
|
volatile uint32_t _valid_count; // number of times we have gone valid
|
|
volatile time_t _valid_since;
|
|
volatile uint32_t _min_micros;
|
|
volatile uint32_t _max_micros;
|
|
volatile uint32_t _last_micros;
|
|
volatile uint32_t _timeouts;
|
|
|
|
uint8_t _pps_pin;
|
|
bool _gps_valid;
|
|
volatile bool _valid;
|
|
volatile bool _nmea_late;
|
|
char _reason[REASON_SIZE];
|
|
void pps(); // interrupt handler
|
|
void timeout();
|
|
void invalidate(const char* fmt, ...);
|
|
void nmeaTimeout();
|
|
};
|
|
|
|
#endif /* GPS_H_ */
|