89 lines
2.2 KiB
C++
89 lines
2.2 KiB
C++
#include "gps.h"
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#include "settings.h"
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#include <TinyGPS.h>
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SoftwareSerial gps_begin() {
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// FUTURE: If this doesn't work as expected, we may want to find a more reliable SoftwareSerial library
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SoftwareSerial serial_gps(PIN_GPS_RX, PIN_GPS_TX);
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// Initialise the software-based serial connection to the GPS device
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serial_gps.begin(BAUD_GPS);
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return serial_gps;
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}
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GPSLocation gps_fetch() {
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// The serial connection to the GPS module
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SoftwareSerial serial_gps = gps_begin();
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// The GPS message decoder
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TinyGPS gps;
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// The struct that will hold the result
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GPSLocation result;
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Serial.print(F("[gps] Working "));
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uint32_t start = millis(), ms_last_update = millis();
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uint8_t ticks = 0;
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unsigned long fix_age = TinyGPS::GPS_INVALID_AGE;
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unsigned long chars;
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unsigned short sentences, failed_checksum;
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// We WILL discover our location - if it's the last thing we do!
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while(true) {
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gps.stats(&chars, &sentences, &failed_checksum);
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if(millis() - start > 5000 && chars < 10) {
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Serial.println(F("\n[error/gps] Init failed"));
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while(true) { delay(1); }
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}
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// Make sure there's something to read
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if(serial_gps.available() <= 0)
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continue;
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// If it failed, go around again
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if(!gps.encode(serial_gps.read()))
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continue;
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gps.f_get_position(&(result.lat), &(result.lng), &fix_age);
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// If we haven't acquired a lock yet, go around again
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if(fix_age == TinyGPS::GPS_INVALID_AGE) {
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// NOTE: It can take a rather long time to get a lock. Just wait patiently :-)
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if(millis() - ms_last_update > 500) {
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ticks++;
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Serial.print('.');
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if(ticks > 80) {
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Serial.println();
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ticks = 0;
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}
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ms_last_update = millis();
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}
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continue;
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}
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// Hooray!
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Serial.println(F("ok"));
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// gps.f_get_position pushes the values into result directly
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#ifdef SD_DEBUG_ENABLED
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int year;
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byte month, day, hour, minute, second, _hundredths;
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gps.crack_datetime(&year, &month, &day, &hour, &minute, &second, &_hundredths, &fix_age);
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snprintf(result.time, 19, "%04d-%02d-%02d %02d:%02d:%02d",
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year, month, day,
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hour, minute, second
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);
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#endif
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return result;
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}
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gps_end(serial_gps);
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}
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void gps_end(SoftwareSerial serial_gps) {
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serial_gps.end();
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}
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