GPS - Begin UBX implementation

Author: brentru

platformio.ini

@@ -92,6 +92,8 @@ lib_deps =
     https://github.com/adafruit/RTClib.git
     https://github.com/bblanchon/ArduinoStreamUtils.git
     https://github.com/Sensirion/arduino-i2c-scd4x.git
+    https://github.com/sparkfun/SparkFun_u-blox_GNSS_v3.git
+    https://github.com/stevemarple/MicroNMEA.git
     adafruit/Adafruit GPS Library
 
 ; Common build environment for ESP32 platform

src/components/gps/hardware.cpp

@@ -28,15 +28,20 @@ GPSHardware::GPSHardware() {
  * @brief Destructor
  */
 GPSHardware::~GPSHardware() {
-  // Clean up GPS instance
+  _iface_type = GPS_IFACE_NONE;
+  _driver_type = GPS_DRV_NONE;
   if (_ada_gps) {
     delete _ada_gps;
     _ada_gps = nullptr;
   }
+  if (_sfe_gps) {
+    delete _sfe_gps;
+    _sfe_gps = nullptr;
+  }
 }
 
 /*!
- * @brief Reads and discards data requested by the I2C bus.
+ * @brief Helper function that reads and discards data requested by the I2C bus.
  */
 void GPSHardware::I2cReadDiscard() {
   _wire->flush();
@@ -57,20 +62,13 @@ bool GPSHardware::Handle_GPSConfig(wippersnapper_gps_GPSConfig *gps_config) {
   WS_DEBUG_PRINTLN("[gps] Handling GPSConfig message...");
   if (gps_config == nullptr)
     return false;
-  // Set the polling period for GPS data
+  // Set the module's polling period for GPS data
   SetPollPeriod(gps_config->period);
 
   // Attempt to decode the GPSConfig message
   if (_driver_type == GPS_DRV_MTK) {
     WS_DEBUG_PRINTLN("[gps] Handling GPSConfig for MediaTek driver...");
-    if (gps_config == nullptr) {
-      WS_DEBUG_PRINTLN("[gps] ERROR: No GPSConfig message found!");
-      return false;
-    }
-
     // Iterate through the command sentences and send them to the GPS module
-    // TODO: We may want to break this out into a generic function that supports
-    // MTK, Ublox, etc...
     for (size_t i = 0; i < gps_config->commands_count; i++) {
       // Build the PMTK ACK response for the command
       char msg_resp[MAX_NEMA_SENTENCE_LEN];
@@ -103,11 +101,16 @@ bool GPSHardware::Handle_GPSConfig(wippersnapper_gps_GPSConfig *gps_config) {
         return false;
       }
     }
+  } else if (_driver_type == GPS_DRV_UBLOX) {
+    WS_DEBUG_PRINTLN("[gps] Handling GPSConfig for MediaTek driver...");
+    // Iterate through the command sentences and send them to the GPS module
+    for (size_t i = 0; i < gps_config->commands_count; i++) {
+      // TODO
+    }
   } else {
     WS_DEBUG_PRINTLN("[gps] ERROR: Unsupported GPS driver type!");
     return false;
   }
-
   return true;
 }
 
@@ -159,7 +162,43 @@ bool GPSHardware::begin() {
     return false;
   }
   WS_DEBUG_PRINTLN("[gps] Module detected, ready for commands!");
+  return true;
+}
 
+/*!
+ * @brief Attempts to detect and initialize a MediaTek GPS module over I2C
+ * @returns True if a MediaTek GPS module was detected and initialized, False
+ * otherwise.
+ */
+bool GPSHardware::DetectMtkI2C(uint32_t addr) {
+  if (_addr != PA1010D_I2C_ADDRESS) {
+    WS_DEBUG_PRINTLN(
+        "[gps] ERROR: Only PA1010D i2c module is supported at this time!");
+    return false;
+  }
+  _ada_gps = new Adafruit_GPS(_wire);
+  if (!_ada_gps->begin(_addr))
+    return false;
+  _driver_type = GPS_DRV_MTK;
+  return true;
+}
+
+/*!
+ * @brief Attempts to detect and initialize a U-Blox GPS module over I2C
+ * @param addr
+ *        The I2C address of the GPS module.
+ * @returns True if a u-blox GPS module was detected and initialized, False
+ * otherwise.
+ */
+bool GPSHardware::DetectUbxI2C(uint32_t addr) {
+  if (addr != UBX_I2C_ADDRESS) {
+    WS_DEBUG_PRINTLN("[gps] ERROR: Invalid U-Blox I2C address!");
+    return false;
+  }
+  _sfe_gps = new SFE_UBLOX_GNSS();
+  if (!_sfe_gps->begin(*_wire, _addr))
+    return false;
+  _driver_type = GPS_DRV_UBLOX;
   return true;
 }
 
@@ -170,10 +209,9 @@ bool GPSHardware::begin() {
  */
 bool GPSHardware::QueryModuleType() {
   WS_DEBUG_PRINTLN("[gps] Attempting to detect GPS module type...");
-
   if (_iface_type == GPS_IFACE_UART_HW) {
     // Try to detect MediaTek GPS module
-    if (DetectMediatek()) {
+    if (DetectMtkUart()) {
       WS_DEBUG_PRINTLN("[gps] Using MediaTek GPS driver!");
       return true;
     }
@@ -195,18 +233,22 @@ bool GPSHardware::QueryModuleType() {
   } else if (_iface_type == GPS_IFACE_I2C) {
     if (_addr == PA1010D_I2C_ADDRESS) {
       WS_DEBUG_PRINT("[gps] Attempting to use PA1010D driver...");
-      // Attempt to use Adafruit_GPS I2c interface
-      _ada_gps = new Adafruit_GPS(_wire);
-      if (!_ada_gps->begin(_addr)) {
-        WS_DEBUG_PRINTLN("[gps] ERROR: Failed to initialize Mediatek!");
+      if (!DetectMtkI2C(_addr)) {
+        WS_DEBUG_PRINTLN("[gps] ERROR: Failed to init PA1010D module!");
+        return false;
+      }
+      WS_DEBUG_PRINTLN("ok!");
+      return true;
+    } else if (_addr == UBX_I2C_ADDRESS) {
+      WS_DEBUG_PRINT("[gps] Attempting to use u-blox driver...");
+      if (!DetectUbxI2C(_addr)) {
+        WS_DEBUG_PRINTLN("[gps] ERROR: Failed to init u-blox module!");
         return false;
       }
       WS_DEBUG_PRINTLN("ok!");
-      _driver_type = GPS_DRV_MTK;
       return true;
     } else {
-      WS_DEBUG_PRINTLN(
-          "[gps] ERROR: Only PA1010D i2c module is supported at this time!");
+      WS_DEBUG_PRINTLN("[gps] ERROR: Uknown I2C address provided!");
       return false;
     }
   }
@@ -219,7 +261,7 @@ bool GPSHardware::QueryModuleType() {
  * firmware version.
  * @returns True if a MediaTek GPS module was detected, False otherwise.
  */
-bool GPSHardware::DetectMediatek() {
+bool GPSHardware::DetectMtkUart() {
   if (_iface_type != GPS_IFACE_UART_HW) {
     WS_DEBUG_PRINTLN("[gps] ERROR: MediaTek GPS module only supports Hardware "
                      "Serial interface!");

src/components/gps/hardware.h

@@ -16,6 +16,8 @@
 #define WS_GPS_HARDWARE_H
 #include "Wippersnapper_V2.h"
 #include <Adafruit_GPS.h>
+#include <MicroNMEA.h>
+#include <SparkFun_u-blox_GNSS_v3.h>
 
 #define CMD_MTK_QUERY_FW                                                       \
   "$PMTK605*31" ///< Request to query MediaTek firmware version
@@ -27,6 +29,7 @@
 #define DEFAULT_MTK_NMEA_BAUD_RATE 9600 ///< Default NMEA baud rate in bits per
 #define MAX_NEMA_SENTENCE_LEN 82        ///< Maximum length of a NMEA sentence
 #define PA1010D_I2C_ADDRESS 0x10        ///< I2C address for PA1010D GPS module
+#define UBX_I2C_ADDRESS 0x42 ///< I2C address for all u-Blox GPS products
 
 class Wippersnapper_V2; ///< Forward declaration
 class UARTHardware;     ///< Forward declaration
@@ -77,19 +80,25 @@ class GPSHardware {
 
 private:
   bool QueryModuleType();
-  bool DetectMediatek();
+  bool DetectMtkUart();
+  bool DetectMtkI2C(uint32_t addr);
+  bool DetectUbxI2C(uint32_t addr);
   bool BuildPmtkAck(char *msg_cmd, char *msg_resp);
   GpsInterfaceType _iface_type;         ///< Type of interface used by GPS
-  GpsDriverType _driver_type;           ///< Type of GPS driver used
-  HardwareSerial *_hw_serial = nullptr; ///< HardwareSerial instance for GPS;
-  TwoWire *_wire = nullptr;             ///< TwoWire instance for I2C GPS
-  Adafruit_GPS *_ada_gps = nullptr;     ///< Adafruit GPS instance
-  uint32_t _addr;                       ///< I2C address for GPS device
+  GpsDriverType _driver_type;           ///< Type of GPS driver used by GPS
+  HardwareSerial *_hw_serial = nullptr; ///< Optional HardwareSerial instance
+  TwoWire *_wire = nullptr;             ///< Optional TwoWire instance
+  Adafruit_GPS *_ada_gps = nullptr;     ///< Optional Adafruit GPS instance
+  SFE_UBLOX_GNSS *_sfe_gps; ///< Optional Sparkfun u-blox GPS instance
+  uint32_t _addr;           ///< Optional i2c address
   ulong _period;     ///< Polling period for GPS data (Specified by IO), in ms
   ulong _period_prv; ///< Previous period for GPS data (Specified by IO), in ms
   ulong _kat_prv;    ///< Last time the GPS hardware was polled, in ms
   int _nmea_update_rate; ///< NMEA update rate for GPS data, in Hz
   int _nmea_baud_rate;   ///< NMEA baud rate for GPS data, in bits per second
+  MicroNMEA
+      *_micro_nmea; ///< Optional MicroNMEA instance for parsing NMEA sentences
+  char _micro_nmea_buf[100]; ///< Optional Buffer for MicroNMEA parsing
 };
 extern Wippersnapper_V2 WsV2; ///< Wippersnapper V2 instance
 #endif                        // WS_GPS_HARDWARE_H

src/protos/gps.pb.h

@@ -15,10 +15,11 @@
  Since GPS devices can output lots of data, this message allows users to select which data they want to receive
  and a resulting command string to initialize the GPS device with the selected options will be generated. */
 typedef struct _wippersnapper_gps_GPSConfig {
-    /* Baud rate is not included here as it is included in the UartAdd->UartSerialConfig message. */
-    pb_size_t commands_count;
-    char commands[16][90]; /* * List of commands to configure the GPS * */
-    int32_t period; /* * The period to poll the GPS module, in milliseconds */
+    /* NOTE:  Baud rate is not included here as it is included in the UartAdd->UartSerialConfig message. */
+    pb_size_t commands_pmtks_count;
+    char commands_pmtks[16][90]; /* * List of PMTK commands in string format. * */
+    pb_callback_t commands_ubxes; /* * List of UBX commands in bytes format. * */
+    int32_t period; /* * Desired period to poll the GPS module, in milliseconds */
 } wippersnapper_gps_GPSConfig;
 
 /* * GPSDateTime represents the date and time information from a GPRMC/GPGGA string * */
@@ -74,20 +75,21 @@ extern "C" {
 #endif
 
 /* Initializer values for message structs */
-#define wippersnapper_gps_GPSConfig_init_default {0, {"", "", "", "", "", "", "", "", "", "", "", "", "", "", "", ""}, 0}
+#define wippersnapper_gps_GPSConfig_init_default {0, {"", "", "", "", "", "", "", "", "", "", "", "", "", "", "", ""}, {{NULL}, NULL}, 0}
 #define wippersnapper_gps_GPSDateTime_init_default {0, 0, 0, 0, 0, 0, 0}
 #define wippersnapper_gps_GPSRMCResponse_init_default {false, wippersnapper_gps_GPSDateTime_init_default, "", "", "", "", "", "", ""}
 #define wippersnapper_gps_GPGGAResponse_init_default {false, wippersnapper_gps_GPSDateTime_init_default, "", "", "", "", 0, 0, "", "", ""}
 #define wippersnapper_gps_GPSEvent_init_default  {0, {wippersnapper_gps_GPSRMCResponse_init_default, wippersnapper_gps_GPSRMCResponse_init_default, wippersnapper_gps_GPSRMCResponse_init_default, wippersnapper_gps_GPSRMCResponse_init_default, wippersnapper_gps_GPSRMCResponse_init_default, wippersnapper_gps_GPSRMCResponse_init_default, wippersnapper_gps_GPSRMCResponse_init_default, wippersnapper_gps_GPSRMCResponse_init_default, wippersnapper_gps_GPSRMCResponse_init_default, wippersnapper_gps_GPSRMCResponse_init_default}, 0, {wippersnapper_gps_GPGGAResponse_init_default, wippersnapper_gps_GPGGAResponse_init_default, wippersnapper_gps_GPGGAResponse_init_default, wippersnapper_gps_GPGGAResponse_init_default, wippersnapper_gps_GPGGAResponse_init_default, wippersnapper_gps_GPGGAResponse_init_default, wippersnapper_gps_GPGGAResponse_init_default, wippersnapper_gps_GPGGAResponse_init_default, wippersnapper_gps_GPGGAResponse_init_default, wippersnapper_gps_GPGGAResponse_init_default}}
-#define wippersnapper_gps_GPSConfig_init_zero    {0, {"", "", "", "", "", "", "", "", "", "", "", "", "", "", "", ""}, 0}
+#define wippersnapper_gps_GPSConfig_init_zero    {0, {"", "", "", "", "", "", "", "", "", "", "", "", "", "", "", ""}, {{NULL}, NULL}, 0}
 #define wippersnapper_gps_GPSDateTime_init_zero  {0, 0, 0, 0, 0, 0, 0}
 #define wippersnapper_gps_GPSRMCResponse_init_zero {false, wippersnapper_gps_GPSDateTime_init_zero, "", "", "", "", "", "", ""}
 #define wippersnapper_gps_GPGGAResponse_init_zero {false, wippersnapper_gps_GPSDateTime_init_zero, "", "", "", "", 0, 0, "", "", ""}
 #define wippersnapper_gps_GPSEvent_init_zero     {0, {wippersnapper_gps_GPSRMCResponse_init_zero, wippersnapper_gps_GPSRMCResponse_init_zero, wippersnapper_gps_GPSRMCResponse_init_zero, wippersnapper_gps_GPSRMCResponse_init_zero, wippersnapper_gps_GPSRMCResponse_init_zero, wippersnapper_gps_GPSRMCResponse_init_zero, wippersnapper_gps_GPSRMCResponse_init_zero, wippersnapper_gps_GPSRMCResponse_init_zero, wippersnapper_gps_GPSRMCResponse_init_zero, wippersnapper_gps_GPSRMCResponse_init_zero}, 0, {wippersnapper_gps_GPGGAResponse_init_zero, wippersnapper_gps_GPGGAResponse_init_zero, wippersnapper_gps_GPGGAResponse_init_zero, wippersnapper_gps_GPGGAResponse_init_zero, wippersnapper_gps_GPGGAResponse_init_zero, wippersnapper_gps_GPGGAResponse_init_zero, wippersnapper_gps_GPGGAResponse_init_zero, wippersnapper_gps_GPGGAResponse_init_zero, wippersnapper_gps_GPGGAResponse_init_zero, wippersnapper_gps_GPGGAResponse_init_zero}}
 
 /* Field tags (for use in manual encoding/decoding) */
-#define wippersnapper_gps_GPSConfig_commands_tag 1
-#define wippersnapper_gps_GPSConfig_period_tag   2
+#define wippersnapper_gps_GPSConfig_commands_pmtks_tag 1
+#define wippersnapper_gps_GPSConfig_commands_ubxes_tag 2
+#define wippersnapper_gps_GPSConfig_period_tag   3
 #define wippersnapper_gps_GPSDateTime_hour_tag   1
 #define wippersnapper_gps_GPSDateTime_minute_tag 2
 #define wippersnapper_gps_GPSDateTime_seconds_tag 3
@@ -118,9 +120,10 @@ extern "C" {
 
 /* Struct field encoding specification for nanopb */
 #define wippersnapper_gps_GPSConfig_FIELDLIST(X, a) \
-X(a, STATIC,   REPEATED, STRING,   commands,          1) \
-X(a, STATIC,   SINGULAR, INT32,    period,            2)
-#define wippersnapper_gps_GPSConfig_CALLBACK NULL
+X(a, STATIC,   REPEATED, STRING,   commands_pmtks,    1) \
+X(a, CALLBACK, REPEATED, BYTES,    commands_ubxes,    2) \
+X(a, STATIC,   SINGULAR, INT32,    period,            3)
+#define wippersnapper_gps_GPSConfig_CALLBACK pb_default_field_callback
 #define wippersnapper_gps_GPSConfig_DEFAULT NULL
 
 #define wippersnapper_gps_GPSDateTime_FIELDLIST(X, a) \
@@ -184,9 +187,9 @@ extern const pb_msgdesc_t wippersnapper_gps_GPSEvent_msg;
 #define wippersnapper_gps_GPSEvent_fields &wippersnapper_gps_GPSEvent_msg
 
 /* Maximum encoded size of messages (where known) */
+/* wippersnapper_gps_GPSConfig_size depends on runtime parameters */
 #define WIPPERSNAPPER_GPS_GPS_PB_H_MAX_SIZE      wippersnapper_gps_GPSEvent_size
 #define wippersnapper_gps_GPGGAResponse_size     168
-#define wippersnapper_gps_GPSConfig_size         1467
 #define wippersnapper_gps_GPSDateTime_size       77
 #define wippersnapper_gps_GPSEvent_size          3130
 #define wippersnapper_gps_GPSRMCResponse_size    139

src/protos/i2c.pb.h

@@ -349,12 +349,14 @@ extern const pb_msgdesc_t wippersnapper_i2c_I2cDeviceOutputWrite_msg;
 #define wippersnapper_i2c_I2cBusDescriptor_size  32
 #define wippersnapper_i2c_I2cBusScan_size        42
 #define wippersnapper_i2c_I2cBusScanned_size     6242
-#define wippersnapper_i2c_I2cDeviceAddOrReplace_size 1597
 #define wippersnapper_i2c_I2cDeviceAddedOrReplaced_size 56
 #define wippersnapper_i2c_I2cDeviceDescriptor_size 50
 #define wippersnapper_i2c_I2cDeviceOutputWrite_size 569
 #define wippersnapper_i2c_I2cDeviceRemove_size   54
 #define wippersnapper_i2c_I2cDeviceRemoved_size  54
+#if defined(wippersnapper_gps_GPSConfig_size)
+#define wippersnapper_i2c_I2cDeviceAddOrReplace_size (133 + wippersnapper_gps_GPSConfig_size)
+#endif
 #if defined(wippersnapper_sensor_SensorEvent_size)
 #define wippersnapper_i2c_I2cDeviceEvent_size    (142 + 15*wippersnapper_sensor_SensorEvent_size)
 #endif

src/protos/signal.pb.h

@@ -270,13 +270,13 @@ extern const pb_msgdesc_t wippersnapper_signal_DeviceToBroker_msg;
 #define wippersnapper_signal_DeviceToBroker_fields &wippersnapper_signal_DeviceToBroker_msg
 
 /* Maximum encoded size of messages (where known) */
-#if defined(wippersnapper_digitalio_DigitalIOEvent_size) && defined(wippersnapper_digitalio_DigitalIOWrite_size) && defined(wippersnapper_uart_UartAdd_size) && defined(wippersnapper_uart_UartWrite_size)
-union wippersnapper_signal_BrokerToDevice_payload_size_union {char f12[(6 + wippersnapper_digitalio_DigitalIOEvent_size)]; char f13[(6 + wippersnapper_digitalio_DigitalIOWrite_size)]; char f80[(7 + wippersnapper_uart_UartAdd_size)]; char f82[(7 + wippersnapper_uart_UartWrite_size)]; char f0[1601];};
+#if defined(wippersnapper_digitalio_DigitalIOEvent_size) && defined(wippersnapper_digitalio_DigitalIOWrite_size) && defined(wippersnapper_uart_UartAdd_size) && defined(wippersnapper_uart_UartWrite_size) && defined(wippersnapper_i2c_I2cDeviceAddOrReplace_size)
+union wippersnapper_signal_BrokerToDevice_payload_size_union {char f12[(6 + wippersnapper_digitalio_DigitalIOEvent_size)]; char f13[(6 + wippersnapper_digitalio_DigitalIOWrite_size)]; char f80[(7 + wippersnapper_uart_UartAdd_size)]; char f82[(7 + wippersnapper_uart_UartWrite_size)]; char f91[(7 + wippersnapper_i2c_I2cDeviceAddOrReplace_size)]; char f0[573];};
 #endif
 #if defined(wippersnapper_digitalio_DigitalIOEvent_size) && defined(wippersnapper_analogio_AnalogIOEvent_size) && defined(wippersnapper_ds18x20_Ds18x20Event_size) && defined(wippersnapper_uart_UartInputEvent_size) && defined(wippersnapper_i2c_I2cDeviceEvent_size)
 union wippersnapper_signal_DeviceToBroker_payload_size_union {char f10[(6 + wippersnapper_digitalio_DigitalIOEvent_size)]; char f20[(7 + wippersnapper_analogio_AnalogIOEvent_size)]; char f80[(7 + wippersnapper_ds18x20_Ds18x20Event_size)]; char f92[(7 + wippersnapper_uart_UartInputEvent_size)]; char f113[(7 + wippersnapper_i2c_I2cDeviceEvent_size)]; char f0[6246];};
 #endif
-#if defined(wippersnapper_digitalio_DigitalIOEvent_size) && defined(wippersnapper_digitalio_DigitalIOWrite_size) && defined(wippersnapper_uart_UartAdd_size) && defined(wippersnapper_uart_UartWrite_size)
+#if defined(wippersnapper_digitalio_DigitalIOEvent_size) && defined(wippersnapper_digitalio_DigitalIOWrite_size) && defined(wippersnapper_uart_UartAdd_size) && defined(wippersnapper_uart_UartWrite_size) && defined(wippersnapper_i2c_I2cDeviceAddOrReplace_size)
 #define WIPPERSNAPPER_SIGNAL_SIGNAL_PB_H_MAX_SIZE wippersnapper_signal_BrokerToDevice_size
 #define wippersnapper_signal_BrokerToDevice_size (0 + sizeof(union wippersnapper_signal_BrokerToDevice_payload_size_union))
 #endif