GPS - I2C integration, Handle_GPSConfig not working yet

Author: brentru

src/components/gps/controller.cpp

@@ -36,6 +36,41 @@ GPSController::~GPSController() {
   }
 }
 
+/*!
+ * @brief Adds an I2C GPS hardware instance to the controller.
+ * @param wire Pointer to the TwoWire instance for I2C communication.
+ * @param i2c_addr I2C address of the GPS device.
+ * @param gps_config Pointer to the GPS configuration message.
+ * @return True if the GPS was added successfully, false otherwise.
+ */
+bool GPSController::AddGPS(TwoWire *wire, uint32_t i2c_addr,
+                           wippersnapper_gps_GPSConfig *gps_config) {
+  GPSHardware *gps_hw = new GPSHardware();
+
+  if (!gps_hw->SetInterface(wire)) {
+    WS_DEBUG_PRINTLN("[gps] ERROR: Failed to set module interface!");
+    delete gps_hw;
+    return false;
+  }
+
+  gps_hw->SetI2CAddress(i2c_addr);
+  if (!gps_hw->begin()) {
+    WS_DEBUG_PRINTLN("[gps] ERROR: Failed to initialize module!");
+    delete gps_hw;
+    return false;
+  }
+
+  if (!gps_hw->Handle_GPSConfig(gps_config)) {
+    WS_DEBUG_PRINTLN("[gps] ERROR: Configuration failed!");
+    delete gps_hw;
+    return false;
+  }
+
+  _gps_drivers.push_back(gps_hw);
+  WS_DEBUG_PRINTLN("[gps] GPS hardware added successfully!");
+  return true;
+}
+
 /*!
  * @brief Adds a GPS hardware instance to the controller.
  * @param serial Pointer to the HardwareSerial instance for GPS communication.
@@ -47,7 +82,7 @@ bool GPSController::AddGPS(HardwareSerial *serial,
   GPSHardware *gps_hw = new GPSHardware();
 
   if (!gps_hw->SetInterface(serial)) {
-    WS_DEBUG_PRINTLN("[gps] ERROR: Failed to set GPS interface!");
+    WS_DEBUG_PRINTLN("[gps] ERROR: Failed to set GPS UART interface!");
     delete gps_hw;
     return false;
   }

src/components/gps/controller.h

@@ -42,6 +42,8 @@ class GPSController {
   GPSController();
   ~GPSController();
   bool AddGPS(HardwareSerial *serial, wippersnapper_gps_GPSConfig *gps_config);
+  bool AddGPS(TwoWire *wire, uint32_t i2c_addr,
+              wippersnapper_gps_GPSConfig *gps_config);
   void update();
 
 private:

src/components/gps/hardware.cpp

@@ -20,6 +20,8 @@
 GPSHardware::GPSHardware() {
   _iface_type = GPS_IFACE_NONE;
   _driver_type = GPS_DRV_NONE;
+  _nmea_baud_rate = DEFAULT_MTK_NMEA_BAUD_RATE;
+  _nmea_update_rate = DEFAULT_MTK_NMEA_UPDATE_RATE;
 }
 
 /*!
@@ -96,22 +98,36 @@ bool GPSHardware::Handle_GPSConfig(wippersnapper_gps_GPSConfig *gps_config) {
 bool GPSHardware::SetInterface(HardwareSerial *serial) {
   if (serial == nullptr)
     return false;
-  // Set the hardware serial interface
+  // Configure the hardware serial interface
   _hw_serial = serial;
   _iface_type = GPS_IFACE_UART_HW;
   return true;
 }
 
+/*!
+ * @brief Sets a TwoWire (I2C) interface for the GPS controller.
+ * @param wire
+ *        Points to a TwoWire instance.
+ * @returns True if the interface was set successfully, False otherwise.
+ */
+bool GPSHardware::SetInterface(TwoWire *wire) {
+  if (wire == nullptr)
+    return false;
+  // Configure the I2C interface
+  _wire = wire;
+  _iface_type = GPS_IFACE_I2C;
+  return true;
+}
+
 /*!
  * @brief Attempts to initialize the GPS device based on the configured
  * interface type.
  * @returns True if the GPS device was initialized successfully, False
  * otherwise.
  */
 bool GPSHardware::begin() {
-  // Validate if the interface type is set
   if (_iface_type == GPS_IFACE_NONE) {
-    WS_DEBUG_PRINTLN("[gps] ERROR: No interface type configured!");
+    WS_DEBUG_PRINTLN("[gps] ERROR: No interface configured for GPS!");
     return false;
   }
 
@@ -120,9 +136,8 @@ bool GPSHardware::begin() {
     WS_DEBUG_PRINTLN("[gps] ERROR: Failed to query GPS module type!");
     return false;
   }
+  WS_DEBUG_PRINTLN("[gps] Module detected, ready for commands!");
 
-  WS_DEBUG_PRINTLN(
-      "[gps] GPS module type detected successfully and ready for commands!");
   return true;
 }
 
@@ -132,32 +147,48 @@ bool GPSHardware::begin() {
  * @returns True if the driver type was detected successfully, False otherwise.
  */
 bool GPSHardware::QueryModuleType() {
-  // Validate if the interface is set
-  if (_iface_type == GPS_IFACE_NONE) {
-    WS_DEBUG_PRINTLN("[gps] ERROR: No interface configured for GPS!");
-    return false;
-  }
   WS_DEBUG_PRINTLN("[gps] Attempting to detect GPS module type...");
 
-  // Try to detect MediaTek GPS module
-  if (DetectMediatek()) {
-    WS_DEBUG_PRINTLN("[gps] Using MediaTek GPS driver!");
-    return true;
-  }
-
-  WS_DEBUG_PRINTLN("[gps] Failed to detect MTK GPS, attempting to detect "
-                   "u-blox GPS module...");
-  // TODO: Implement u-blox detection here
-  // if (DetectUblox()) {
-  //   return true;
-  // }
+  if (_iface_type == GPS_IFACE_UART_HW) {
+    // Try to detect MediaTek GPS module
+    if (DetectMediatek()) {
+      WS_DEBUG_PRINTLN("[gps] Using MediaTek GPS driver!");
+      return true;
+    }
 
-  WS_DEBUG_PRINTLN("[gps] ERROR: Failed to detect GPS driver type, attempting "
-                   "to use generic driver!");
-  // TODO: Implement generic NMEA GPS driver detection
+    WS_DEBUG_PRINTLN("[gps] Failed to detect MTK GPS, attempting to detect "
+                     "u-blox GPS module...");
+    // TODO: Implement u-blox detection here
+    // if (DetectUblox()) {
+    //   return true;
+    // }
+
+    WS_DEBUG_PRINTLN(
+        "[gps] ERROR: Failed to detect GPS driver type, attempting "
+        "to use generic driver!");
+    // TODO: Implement generic NMEA GPS driver detection
+
+    // No responses from the GPS module over the defined iface, so we bail out
+    WS_DEBUG_PRINTLN("[gps] ERROR: No GPS driver type detected!");
+  } 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(_hw_serial);
+      if (!_ada_gps->begin(_addr)) {
+        WS_DEBUG_PRINTLN("[gps] ERROR: Failed to initialize Mediatek!");
+        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!");
+      return false;
+    }
+  }
 
-  // No responses from the GPS module over the defined iface, so we bail out
-  WS_DEBUG_PRINTLN("[gps] ERROR: No GPS driver type detected!");
   return false;
 }
 
@@ -212,17 +243,12 @@ bool GPSHardware::DetectMediatek() {
   }
 
   // Attempt to use Adafruit_GPS
-  if (_ada_gps != nullptr) {
-    delete _ada_gps; // Clean up previous instance if it exists
-  }
   _ada_gps = new Adafruit_GPS(_hw_serial);
   if (!_ada_gps->begin(_hw_serial->baudRate())) {
     WS_DEBUG_PRINTLN("[gps] ERROR: Failed to initialize Mediatek!");
     return false;
   }
   _driver_type = GPS_DRV_MTK;
-  _nmea_baud_rate = DEFAULT_MTK_NMEA_BAUD_RATE;
-  _nmea_update_rate = DEFAULT_MTK_NMEA_UPDATE_RATE;
   return true;
 }
 
@@ -313,6 +339,13 @@ void GPSHardware::SetNmeaBaudRate(int nmea_baud_rate) {
  */
 int GPSHardware::GetNmeaBaudRate() { return _nmea_baud_rate; }
 
+/*!
+ * @brief Sets the I2C address for a GPS.
+ * @param i2c_address
+ *       The I2C address to set for the GPS device.
+ */
+void GPSHardware::SetI2CAddress(uint32_t i2c_address) { _addr = i2c_address; }
+
 /*!
  * @brief Sets the last time the GPS hardware was polled.
  * @param kat_prv

src/components/gps/hardware.h

@@ -26,6 +26,7 @@
 #define DEFAULT_MTK_NMEA_UPDATE_RATE 1  ///< Default NMEA update rate in Hz
 #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
 
 class Wippersnapper_V2; ///< Forward declaration
 class UARTHardware;     ///< Forward declaration
@@ -56,6 +57,7 @@ class GPSHardware {
   ~GPSHardware();
   bool begin();
   bool SetInterface(HardwareSerial *serial);
+  bool SetInterface(TwoWire *wire);
   void SetPollPeriod(ulong poll_period);
   void SetPollPeriodPrv(ulong poll_period_prv);
   ulong GetPollPeriod();
@@ -66,7 +68,7 @@ class GPSHardware {
   int GetNmeaUpdateRate();
   void SetNmeaBaudRate(int nmea_baud_rate);
   int GetNmeaBaudRate();
-  // TODO: Add SetInterface(I2C *_i2c_hardware) for I2C support here!
+  void SetI2CAddress(uint32_t i2c_address);
   bool Handle_GPSConfig(wippersnapper_gps_GPSConfig *gps_config);
   Adafruit_GPS *GetAdaGps();
   GpsDriverType GetDriverType();
@@ -78,12 +80,12 @@ class GPSHardware {
   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
-  ulong _period;     ///< Polling period for GPS data (Specified by IO), in
-                     ///< milliseconds
-  ulong _period_prv; ///< Previous period for GPS data (Specified by IO), in
-                     ///< milliseconds
-  ulong _kat_prv;    ///< Last time the GPS hardware was polled, in milliseconds
+  uint32_t _addr;                       ///< I2C address for GPS device
+  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
 };

src/components/i2c/controller.cpp

@@ -881,7 +881,7 @@ bool I2cController::Handle_I2cDeviceAddOrReplace(pb_istream_t *stream) {
   bool is_output = _i2c_model->GetI2cDeviceAddOrReplaceMsg()->is_output;
 
   // Is this a i2c GPS?
-  bool is_gps = _i2c_model->GetI2cDeviceAddOrReplaceMsg()->has_gps_config;
+  bool is_gps = _i2c_model->GetI2cDeviceAddOrReplaceMsg()->is_gps;
 
   // TODO [Online]: Handle Replace messages by implementing the Remove handler
   // first...then proceed to adding a new device
@@ -954,14 +954,9 @@ bool I2cController::Handle_I2cDeviceAddOrReplace(pb_istream_t *stream) {
   bool did_init = false;
   drvBase *drv = nullptr;
   drvOutputBase *drv_out = nullptr;
-  if (!is_output) {
-    drv = CreateI2cSensorDrv(device_name, bus,
-                             device_descriptor.i2c_device_address,
-                             device_descriptor.i2c_mux_channel, device_status);
-    if (drv != nullptr) {
-      did_init = true;
-    }
-  } else {
+  GPSController *drv_uart_gps = nullptr;
+
+  if (is_output) {
     WS_DEBUG_PRINT("[i2c] Creating an I2C output driver...");
     drv_out = CreateI2cOutputDrv(
         device_name, bus, device_descriptor.i2c_device_address,
@@ -970,10 +965,30 @@ bool I2cController::Handle_I2cDeviceAddOrReplace(pb_istream_t *stream) {
       did_init = true;
     }
     WS_DEBUG_PRINTLN("OK!");
+  } else if (is_gps) {
+    WS_DEBUG_PRINT("[i2c] Creating a GPS driver...");
+    // TODO: You were here!
+    // bool GPSController::AddGPS(TwoWire *wire, uint32_t i2c_addr, wippersnapper_gps_GPSConfig *gps_config) {
+    if (!WsV2._gps_controller->AddGPS(bus, device_descriptor.i2c_device_address, &_i2c_model->GetI2cDeviceAddOrReplaceMsg()->gps_config)) {
+      did_init = false;
+      WS_DEBUG_PRINTLN("FAILURE!");
+    } else {
+      did_init = true;
+      WS_DEBUG_PRINTLN("OK!");
+      // TODO: We are doing an early-out here and should publish back to IO!
+      return true;
+    }
+  } else {
+    drv = CreateI2cSensorDrv(device_name, bus,
+                             device_descriptor.i2c_device_address,
+                             device_descriptor.i2c_mux_channel, device_status);
+    if (drv != nullptr) {
+      did_init = true;
+    }
   }
 
   if (!did_init) {
-    WS_DEBUG_PRINTLN("[i2c] ERROR: I2C driver type not found or unsupported!");
+    WS_DEBUG_PRINTLN("[i2c] ERROR: I2C driver failed to initialize!");
     if (WsV2._sdCardV2->isModeOffline()) {
       WsV2.haltErrorV2("[i2c] Driver failed to initialize!\n\tDid you set "
                        "the correct value for i2cDeviceName?\n\tDid you set "