GPS - Implement KAT, debugging

Author: brentru

src/Wippersnapper_demo.ino.cpp

@@ -0,0 +1,21 @@
+# 1 "/var/folders/ff/dmzflvf52tq9kzvt6g8jglxw0000gn/T/tmp19uci3gr"
+#include <Arduino.h>
+# 1 "/Users/brentrubell/Documents/Arduino/libraries/Adafruit_Wippersnapper_Arduino/src/Wippersnapper_demo.ino"
+# 11 "/Users/brentrubell/Documents/Arduino/libraries/Adafruit_Wippersnapper_Arduino/src/Wippersnapper_demo.ino"
+#include "ws_adapters.h"
+ws_adapter_wifi wipper;
+
+
+#define WS_DEBUG
+void setup();
+void loop();
+#line 17 "/Users/brentrubell/Documents/Arduino/libraries/Adafruit_Wippersnapper_Arduino/src/Wippersnapper_demo.ino"
+void setup() {
+  Serial.begin(115200);
+  while (!Serial)
+    delay(10);
+  wipper.provision();
+  wipper.connect();
+}
+
+void loop() { wipper.run(); }

src/components/gps/controller.cpp

@@ -91,6 +91,8 @@ int GPSController::NmeaBufPush(const char *new_sentence) {
   strncpy(_nmea_buff.sentences[_nmea_buff.head], new_sentence,
           MAX_LEN_NMEA_SENTENCE - 1);
   _nmea_buff.sentences[_nmea_buff.head][MAX_LEN_NMEA_SENTENCE - 1] = '\0';
+  WS_DEBUG_PRINT("[gps] Pushing NMEA sentence: ");
+  WS_DEBUG_PRINTLN(_nmea_buff.sentences[_nmea_buff.head]);
   _nmea_buff.head = next;
   return 0;
 }
@@ -128,6 +130,13 @@ void GPSController::update() {
 
   for (GPSHardware *drv : _gps_drivers) {
 
+    // Perform a keep-alive check by sending an antenna check command every 2
+    // seconds
+    if (millis() - drv->GetPrvKat() > 2000) {
+      drv->GetAdaGps()->sendCommand(CMD_MTK_CHECK_ANTENNA);
+      drv->SetPrvKat(millis());
+    }
+
     // Did read period elapse?
     ulong cur_time = millis();
     if (cur_time - drv->GetPollPeriodPrv() < drv->GetPollPeriod())
@@ -153,25 +162,31 @@ void GPSController::update() {
 
     // Let's attempt to get a sentence from the GPS module
     // Convert the NMEA update rate to milliseconds
+    // TODO: This should be stored as a member within the hardware class
     ulong update_rate = 1000 / drv->GetNmeaUpdateRate();
 
     // Read from the GPS module for update_rate milliseconds
     ulong start_time = millis();
     int read_calls = 0;
+
+    WS_DEBUG_PRINT("[gps] Reading GPS data for ");
+    WS_DEBUG_PRINT(update_rate);
+    WS_DEBUG_PRINTLN(" milliseconds...");
     while (millis() - start_time < update_rate) {
-      if (read_calls > 9) {
-        // Check if we have a new NMEA sentence
-        if (drv->GetAdaGps()->newNMEAreceived()) {
-          // If we have a new sentence, push it to the buffer and mark the
-          // received flag as false
-          // TODO: Check result of this operation actually
-          NmeaBufPush(drv->GetAdaGps()->lastNMEA());
-          read_calls = 0; // Keep reading until update_rate elapses
-        }
-        char c = drv->GetAdaGps()->read();
-        read_calls++;
+      char c = drv->GetAdaGps()->read();
+      read_calls++;
+
+      // Check if we have a new NMEA sentence
+      if (drv->GetAdaGps()->newNMEAreceived()) {
+        // If we have a new sentence, push it to the buffer
+        // TODO: Check result of this operation actually
+        WS_DEBUG_PRINTLN("[gps] New data, pushing sentence to buffer.");
+        // Push the last NMEA sentence to the buffer
+        char *last_nmea = drv->GetAdaGps()->lastNMEA();
+        NmeaBufPush(drv->GetAdaGps()->lastNMEA());
       }
     }
+    WS_DEBUG_PRINTLN("[gps] Finished reading GPS data.");
 
     // We are done reading for this period
 
@@ -184,6 +199,8 @@ void GPSController::update() {
     // Pop until we have no more sentences in the buffer
     while (NmeaBufPop(nmea_sentence) != -1) {
       // Parse the NMEA sentence
+      WS_DEBUG_PRINT("[gps] Parsing NMEA sentence: ");
+      WS_DEBUG_PRINTLN(nmea_sentence);
       if (!drv->GetAdaGps()->parse(nmea_sentence)) {
         WS_DEBUG_PRINT("[gps] ERROR: Failed to parse NMEA sentence: ");
         WS_DEBUG_PRINTLN(nmea_sentence);

src/components/gps/hardware.cpp

@@ -59,15 +59,16 @@ bool GPSHardware::Handle_GPSConfig(wippersnapper_gps_GPSConfig *gps_config) {
     for (size_t i = 0; i < gps_config->commands_count; i++) {
       WS_DEBUG_PRINT("[gps] Sending command to MediaTek GPS: ");
       WS_DEBUG_PRINTLN(gps_config->commands[i]);
-      // Send the command to the GPS module
-      _hw_serial->flush(); // Flush the serial buffer before sending
-      _ada_gps->sendCommand(gps_config->commands[i]);
-      // and wait for the corresponding response from the GPS module
+      // Build the PMTK ACK response for the command
       char msg_resp[MAX_NEMA_SENTENCE_LEN];
       if (!BuildPmtkAck(gps_config->commands[i], msg_resp)) {
         WS_DEBUG_PRINTLN("[gps] ERROR: Failed to build PMTK ACK response!");
         return false;
       }
+      // Send the command to the GPS module
+      _hw_serial->flush(); // Flush the serial buffer before sending
+      _ada_gps->sendCommand(gps_config->commands[i]);
+      // and wait for the corresponding response from the GPS module
       if (!_ada_gps->waitForSentence(msg_resp)) {
         WS_DEBUG_PRINT("[gps] ERROR: Failed to get response | cmd:");
         WS_DEBUG_PRINTLN(gps_config->commands[i]);
@@ -302,4 +303,23 @@ void GPSHardware::SetNmeaBaudRate(int nmea_baud_rate) {
  * @brief Returns the NMEA port baud rate for GPS data.
  * @returns The NMEA baud rate, in bits per second.
  */
-int GPSHardware::GetNmeaBaudRate() { return _nmea_baud_rate; }
+int GPSHardware::GetNmeaBaudRate() { return _nmea_baud_rate; }
+
+/*!
+ * @brief Sets the last time the GPS hardware was polled.
+ * @param kat_prv
+ *        The last time the GPS hardware was polled, in milliseconds.
+ */
+void GPSHardware::SetPrvKat(ulong kat_prv) {
+  if (kat_prv < 0) {
+    _kat_prv = 0;
+    return;
+  }
+  _kat_prv = kat_prv;
+}
+
+/*!
+ * @brief   Gets the last time the GPS hardware was polled.
+ * @returns The last time the GPS hardware was polled, in milliseconds.
+ */
+ulong GPSHardware::GetPrvKat() { return _kat_prv; }

src/components/gps/hardware.h

@@ -22,6 +22,7 @@
 #define CMD_MTK_QUERY_FW_RESP                                                  \
   "$PMTK705" ///< Response from querying MediaTek firmware version without the
              ///< ReleaseStr
+#define CMD_MTK_CHECK_ANTENNA "$PGCMD,33,1*6C" ///< Command to check antenna
 #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
@@ -59,6 +60,8 @@ class GPSHardware {
   void SetPollPeriodPrv(ulong poll_period_prv);
   ulong GetPollPeriod();
   ulong GetPollPeriodPrv();
+  ulong GetPrvKat();
+  void SetPrvKat(ulong kat_prv);
   void SetNmeaUpdateRate(int nmea_update_rate);
   int GetNmeaUpdateRate();
   void SetNmeaBaudRate(int nmea_baud_rate);
@@ -75,10 +78,11 @@ class GPSHardware {
   GpsDriverType _driver_type;           ///< Type of GPS driver used
   HardwareSerial *_hw_serial = nullptr; ///< HardwareSerial instance for 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 _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
   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
 };