105 lines
3.4 KiB
C++
105 lines
3.4 KiB
C++
/*
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* GPS.h
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*
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* Copyright 2017 Christopher B. Liebman
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* Created on: Feb 26, 2018
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* Author: chris.l
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*/
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#ifndef GPS_H_
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#define GPS_H_
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#include "Arduino.h"
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#include "MicroNMEA.h"
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#include "Ticker.h"
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#define REASON_SIZE 128
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#define NMEA_BUFFER_SIZE 128
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#define PPS_TIMING_PIN 12 // (GPIO12) if defined PPS interrupt will make high during processing
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#define VALID_DELAY 120 // delay (seconds) from gps valid to valid
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#define VALID_TIMER_MS 1001 // if this timer expires we invalidate!
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#define NMEA_TIMER_MS 1100 // if this timer expires we mark NMEA time late
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#define MICROS_PER_SEC 1000000
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#define us2s(x) (((double)x)/(double)MICROS_PER_SEC) // microseconds to seconds
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// simple versions - we don't worry about side effects
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#define MAX(a, b) ((a) < (b) ? (b) : (a))
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#define MIN(a, b) ((a) < (b) ? (a) : (b))
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#if defined(PPS_TIMING_PIN)
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#define PPS_TIMIMG_PIN_INIT() {digitalWrite(PPS_TIMING_PIN, LOW); pinMode(PPS_TIMING_PIN, OUTPUT);}
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#define PPS_TIMING_PIN_ON() digitalWrite(PPS_TIMING_PIN, HIGH)
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#define PPS_TIMING_PIN_OFF() digitalWrite(PPS_TIMING_PIN, LOW)
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#else
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#define PPS_TIMIMG_PIN_INIT()
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#define PPS_TIMING_PIN_ON()
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#define PPS_TIMING_PIN_OFF()
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#endif
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class GPS
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{
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public:
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GPS(Stream& gps_serial, int pps_pin);
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virtual ~GPS();
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void begin();
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void process();
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void end();
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bool isValid() { return _valid; }
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bool isGPSValid() { return _gps_valid; }
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uint32_t getJitter() { return _max_micros - _min_micros; }
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uint32_t getValidCount() { return _valid_count; }
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uint32_t getValidDelay() { return _valid_delay; }
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uint8_t getSatelliteCount() { return _nmea.getNumSatellites(); }
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time_t getSeconds() { return _seconds; }
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void getTime(struct timeval* tv);
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double getDispersion();
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// we don't allow copying this guy!
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GPS(const GPS&) = delete;
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GPS& operator=(const GPS&) = delete;
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private:
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Stream& _stream;
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char _buffer[NMEA_BUFFER_SIZE];
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MicroNMEA _nmea;
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Ticker _pps_timer;
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Ticker _nmea_timer;
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std::function<void()> _invalidate;
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std::function<void()> _nmea_timeout;
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volatile time_t _seconds;
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volatile uint32_t _valid_delay; // delay (seconds) from gps_valid until we thing we are valid
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volatile uint32_t _valid_count; // number of times we have gone valid
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volatile uint32_t _min_micros;
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volatile uint32_t _max_micros;
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volatile uint32_t _last_micros;
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volatile uint32_t _timeouts;
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uint8_t _pps_pin;
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bool _gps_valid;
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volatile bool _valid;
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volatile bool _nmea_late;
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char _reason[REASON_SIZE];
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void pps(); // interrupt handler
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void timeout();
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void invalidate(const char* fmt, ...);
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void nmeaTimeout();
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};
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#endif /* GPS_H_ */
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