drivers: gnss: match: Change RMC/GGA sync from timeout to UTC

Change the synchronization of RMC and GGA NMEA messages from a
timeout to matching their UTC timestamps.

Signed-off-by: Bjarki Arge Andreasen <[email protected]>

Author: bjarki-andreasen

drivers/gnss/gnss_nmea0183_match.c

@@ -10,16 +10,22 @@
 
 #include <string.h>
 
+#include "gnss_parse.h"
 #include "gnss_nmea0183.h"
 #include "gnss_nmea0183_match.h"
 
-static bool gnss_nmea0183_match_timed_out(struct gnss_nmea0183_match_data *data)
+static int gnss_nmea0183_match_parse_utc(char **argv, uint16_t argc, uint32_t *utc)
 {
-	int64_t delta;
+	int64_t i64;
 
-	delta = k_uptime_delta(&data->timestamp);
-	data->timestamp = k_uptime_get();
-	return ((uint16_t)delta) > data->timeout_ms;
+	if ((gnss_parse_dec_to_milli(argv[1], &i64) < 0) ||
+	    (i64 < 0) ||
+	    (i64 > UINT32_MAX)) {
+		return -EINVAL;
+	}
+
+	*utc = (uint32_t)i64;
+	return 0;
 }
 
 #if CONFIG_GNSS_SATELLITES
@@ -30,50 +36,47 @@ static void gnss_nmea0183_match_reset_gsv(struct gnss_nmea0183_match_data *data)
 }
 #endif
 
-static void gnss_nmea0183_match_reset(struct gnss_nmea0183_match_data *data)
+static void gnss_nmea0183_match_publish(struct gnss_nmea0183_match_data *data)
 {
-	data->gga_received = false;
-	data->rmc_received = false;
+	if ((data->gga_utc == 0) || (data->rmc_utc == 0)) {
+		return;
+	}
+
+	if (data->gga_utc == data->rmc_utc) {
+		gnss_publish_data(data->gnss, &data->data);
+	}
 }
 
 void gnss_nmea0183_match_gga_callback(struct modem_chat *chat, char **argv, uint16_t argc,
 				      void *user_data)
 {
 	struct gnss_nmea0183_match_data *data = user_data;
 
-	if (gnss_nmea0183_match_timed_out(data)) {
-		gnss_nmea0183_match_reset(data);
-	}
-
 	if (gnss_nmea0183_parse_gga((const char **)argv, argc, &data->data) < 0) {
 		return;
 	}
 
-	data->gga_received = true;
-
-	if (data->gga_received && data->rmc_received) {
-		gnss_publish_data(data->gnss, &data->data);
+	if (gnss_nmea0183_match_parse_utc(argv, argc, &data->gga_utc) < 0) {
+		return;
 	}
+
+	gnss_nmea0183_match_publish(data);
 }
 
 void gnss_nmea0183_match_rmc_callback(struct modem_chat *chat, char **argv, uint16_t argc,
 				      void *user_data)
 {
 	struct gnss_nmea0183_match_data *data = user_data;
 
-	if (gnss_nmea0183_match_timed_out(data)) {
-		gnss_nmea0183_match_reset(data);
-	}
-
 	if (gnss_nmea0183_parse_rmc((const char **)argv, argc, &data->data) < 0) {
 		return;
 	}
 
-	data->rmc_received = true;
-
-	if (data->gga_received && data->rmc_received) {
-		gnss_publish_data(data->gnss, &data->data);
+	if (gnss_nmea0183_match_parse_utc(argv, argc, &data->rmc_utc) < 0) {
+		return;
 	}
+
+	gnss_nmea0183_match_publish(data);
 }
 
 #if CONFIG_GNSS_SATELLITES
@@ -84,10 +87,6 @@ void gnss_nmea0183_match_gsv_callback(struct modem_chat *chat, char **argv, uint
 	struct gnss_nmea0183_gsv_header header;
 	int ret;
 
-	if (gnss_nmea0183_match_timed_out(data)) {
-		gnss_nmea0183_match_reset(data);
-	}
-
 	if (gnss_nmea0183_parse_gsv_header((const char **)argv, argc, &header) < 0) {
 		return;
 	}
@@ -124,14 +123,13 @@ int gnss_nmea0183_match_init(struct gnss_nmea0183_match_data *data,
 			     const struct gnss_nmea0183_match_config *config)
 {
 	__ASSERT(data != NULL, "data argument must be provided");
-	__ASSERT(config != NULL, "data argument must be provided");
+	__ASSERT(config != NULL, "config argument must be provided");
 
 	memset(data, 0, sizeof(struct gnss_nmea0183_match_data));
 	data->gnss = config->gnss;
 #if CONFIG_GNSS_SATELLITES
 	data->satellites = config->satellites;
 	data->satellites_size = config->satellites_size;
 #endif
-	data->timeout_ms = config->timeout_ms;
 	return 0;
 }

drivers/gnss/gnss_nmea0183_match.h

@@ -49,11 +49,9 @@ struct gnss_nmea0183_match_data {
 	uint16_t satellites_size;
 	uint16_t satellites_length;
 #endif
-	int64_t timestamp;
-	uint16_t timeout_ms;
-	uint8_t gga_received : 1;
-	uint8_t rmc_received : 1;
-	uint8_t gsv_message_number : 6;
+	uint32_t gga_utc;
+	uint32_t rmc_utc;
+	uint8_t gsv_message_number;
 };
 
 /** GNSS NMEA0183 match configuration structure */
@@ -66,8 +64,6 @@ struct gnss_nmea0183_match_config {
 	/** Number of elements in buffer for parsed satellites */
 	uint16_t satellites_size;
 #endif
-	/** The maximum time from the first to the last NMEA0183 message of a fix */
-	uint16_t timeout_ms;
 };
 
 /**

drivers/gnss/gnss_nmea_generic.c

@@ -29,7 +29,6 @@ LOG_MODULE_REGISTER(gnss_nmea_generic, CONFIG_GNSS_LOG_LEVEL);
 
 struct gnss_nmea_generic_config {
 	const struct device *uart;
-	uint16_t nmea_timeout_ms;
 };
 
 struct gnss_nmea_generic_data {
@@ -83,7 +82,6 @@ static struct gnss_driver_api gnss_api = {
 
 static int gnss_nmea_generic_init_nmea0183_match(const struct device *dev)
 {
-	const struct gnss_nmea_generic_config *cfg = dev->config;
 	struct gnss_nmea_generic_data *data = dev->data;
 
 	const struct gnss_nmea0183_match_config match_config = {
@@ -92,7 +90,6 @@ static int gnss_nmea_generic_init_nmea0183_match(const struct device *dev)
 		.satellites = data->satellites,
 		.satellites_size = ARRAY_SIZE(data->satellites),
 #endif
-		.timeout_ms = cfg->nmea_timeout_ms,
 	};
 
 	return gnss_nmea0183_match_init(&data->match_data, &match_config);
@@ -163,7 +160,6 @@ static int gnss_nmea_generic_init(const struct device *dev)
 #define GNSS_NMEA_GENERIC(inst)								\
 	static struct gnss_nmea_generic_config gnss_nmea_generic_cfg_##inst = {		\
 		.uart = DEVICE_DT_GET(DT_INST_BUS(inst)),				\
-		.nmea_timeout_ms = DT_INST_PROP(inst, nmea_timeout_ms),			\
 	};										\
 											\
 	static struct gnss_nmea_generic_data gnss_nmea_generic_data_##inst;		\

drivers/gnss/gnss_quectel_lcx6g.c

@@ -649,7 +649,6 @@ static int quectel_lcx6g_init_nmea0183_match(const struct device *dev)
 		.satellites = data->satellites,
 		.satellites_size = ARRAY_SIZE(data->satellites),
 #endif
-		.timeout_ms = 50,
 	};
 
 	return gnss_nmea0183_match_init(&data->match_data, &config);

dts/bindings/gnss/gnss-nmea-generic.yaml

@@ -20,13 +20,3 @@ compatible: "gnss-nmea-generic"
 
 include:
   - uart-device.yaml
-
-properties:
-  nmea-timeout-ms:
-    type: int
-    default: 500
-    description: |
-      Synchronization timeout for NMEA sentences. The NMEA parser is expecting
-      to receive a GGA and RMC sentences within this time frame to publish a
-      location data. Set accordingly to the UART datarate and location
-      reporting frequency. Defaults to 500ms if unspecified.