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Add speed and heading info to GPS driver (#18035)

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* Add speed heading to driver

Added NAV-VELNED messages to driver, allowing speed and heading info on the main web page and JSON messages. Probably could be optimized; mostly another exercise in copy/paste

* wrap velocity code in #define USE_GPS_VELOCITY

Code space increases by 0k4, not sure about RAM (don't know how to measure). But added a struct with 320 bits, so maybe 40 bytes?

* Add documentation up top

---------

Co-authored-by: Theo Arends <11044339+arendst@users.noreply.github.com>
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pkkrusty 2023-03-25 14:37:38 +00:00 committed by GitHub
parent 1e1c536a50
commit 3daedae2da
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1 changed files with 102 additions and 7 deletions
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109
tasmota/tasmota_xsns_sensor/xsns_60_GPS.ino
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@ -48,6 +48,7 @@ Driver is tested on a NEO-6m and a Beitian-220. Series 7 should work too. This a
- Web-UI
- simplified NTP-server and UART-over-TCP/IP-bridge (virtual serial port)
- command interface
- velocity and heading information with #define USE_GPS_VELOCITY
## Usage:
The serial pins are GPS_RX and GPS_TX, no further installation steps needed. To get more debug information compile it with option "DEBUG_TASMOTA_SENSOR".
@ -129,7 +130,7 @@ const char S_JSON_UBX_COMMAND_NVALUE[] PROGMEM = "{\"" D_CMND_UBX "%s\":%d}";
const char kUBXTypes[] PROGMEM = "UBX";
#define UBX_LAT_LON_THRESHOLD 1000 // filter out some noise of local drift
#define UBX_LAT_LON_THRESHOLD 100 // filter out some noise of local drift
#define UBX_SERIAL_BUFFER_SIZE 256
#define UBX_TCP_PORT 1234
@ -153,13 +154,18 @@ const char UBLOX_INIT[] PROGMEM = {
0xB5,0x62,0x06,0x01,0x08,0x00,0x01,0x02,0x00,0x00,0x00,0x00,0x00,0x00,0x12,0xB9, //NAV-POSLLH off
0xB5,0x62,0x06,0x01,0x08,0x00,0x01,0x03,0x00,0x00,0x00,0x00,0x00,0x00,0x13,0xC0, //NAV-STATUS off
0xB5,0x62,0x06,0x01,0x08,0x00,0x01,0x21,0x00,0x00,0x00,0x00,0x00,0x00,0x31,0x92, //NAV-TIMEUTC off
#ifdef USE_GPS_VELOCITY
0xB5,0x62,0x06,0x01,0x08,0x00,0x01,0x12,0x00,0x00,0x00,0x00,0x00,0x00,0x22,0x29, //NAV-VELNED off
#endif
// Enable UBX
// 0xB5,0x62,0x06,0x01,0x08,0x00,0x01,0x07,0x00,0x01,0x00,0x00,0x00,0x00,0x18,0xE1, //NAV-PVT on
0xB5,0x62,0x06,0x01,0x08,0x00,0x01,0x02,0x00,0x01,0x00,0x00,0x00,0x00,0x13,0xBE, //NAV-POSLLH on
0xB5,0x62,0x06,0x01,0x08,0x00,0x01,0x03,0x00,0x01,0x00,0x00,0x00,0x00,0x14,0xC5, //NAV-STATUS on
0xB5,0x62,0x06,0x01,0x08,0x00,0x01,0x21,0x00,0x01,0x00,0x00,0x00,0x00,0x32,0x97, //NAV-TIMEUTC on
#ifdef USE_GPS_VELOCITY
0xB5,0x62,0x06,0x01,0x08,0x00,0x01,0x12,0x00,0x01,0x00,0x00,0x00,0x00,0x23,0x2E, //NAV-VELNED on
#endif
// Rate - we will not reset it for the moment after restart
// 0xB5,0x62,0x06,0x08,0x06,0x00,0x64,0x00,0x01,0x00,0x01,0x00,0x7A,0x12, //(10Hz)
// 0xB5,0x62,0x06,0x08,0x06,0x00,0xC8,0x00,0x01,0x00,0x01,0x00,0xDE,0x6A, //(5Hz)
@ -174,6 +180,9 @@ struct UBX_t {
const char NAV_POSLLH_HEADER[2] = { 0x01, 0x02 };
const char NAV_STATUS_HEADER[2] = { 0x01, 0x03 };
const char NAV_TIME_HEADER[2] = { 0x01, 0x21 };
#ifdef USE_GPS_VELOCITY
const char NAV_VEL_HEADER[2] = { 0x01, 0x12 };
#endif
struct entry_t {
int32_t lat; //raw sensor value
@ -238,7 +247,22 @@ struct UBX_t {
uint8_t padding:5;
} valid;
};
#ifdef USE_GPS_VELOCITY
struct NAV_VEL {
uint8_t cls;
uint8_t id;
uint16_t len;
uint32_t iTOW;
int32_t velN;
int32_t velE; //bit 0 - gpsfix valid
int32_t velD;
uint32_t speed;
uint32_t gSpeed;
int32_t heading;
uint32_t sAcc;
uint32_t cAcc;
};
#endif
struct CFG_RATE {
uint8_t cls; //0x06
uint8_t id; //0x08
@ -276,6 +300,9 @@ struct UBX_t {
NAV_POSLLH navPosllh;
NAV_STATUS navStatus;
NAV_TIME_UTC navTime;
#ifdef USE_GPS_VELOCITY
NAV_VEL navVel;
#endif
POLL_MSG pollMsg;
CFG_RATE cfgRate;
} Message;
@ -291,6 +318,9 @@ enum UBXMsgType {
MT_NAV_POSLLH,
MT_NAV_STATUS,
MT_NAV_TIME,
#ifdef USE_GPS_VELOCITY
MT_NAV_VEL,
#endif
MT_POLL
};
@ -426,6 +456,13 @@ uint32_t UBXprocessGPS()
payloadSize = sizeof(UBX_t::NAV_TIME_UTC);
DEBUG_SENSOR_LOG(PSTR("UBX: got NAV_TIME_UTC"));
}
#ifdef USE_GPS_VELOCITY
else if ( UBXcompareMsgHeader(UBX.NAV_VEL_HEADER) ) {
currentMsgType = MT_NAV_VEL;
payloadSize = sizeof(UBX_t::NAV_VEL);
DEBUG_SENSOR_LOG(PSTR("UBX: got NAV_VEL"));
}
#endif
else {
// unknown message type, bail
fpos = 0;
@ -506,7 +543,7 @@ void UBXsendRecord(uint8_t *buf)
void UBXsendFooter(void)
{
Webserver->sendContent(F("</trkseg>\n</trk>\n</gpx>"));
Webserver->sendContent(F("</trkseg>\n</trk>\n</GPX>"));
Webserver->sendContent("");
Rtc.user_time_entry = false; // we have blocked the main loop and want a new valid time
}
@ -590,8 +627,15 @@ void UBXSelectMode(uint16_t mode)
break;
case 10:
UBX.mode.runningNTP = false;
#ifdef USE_GPS_VELOCITY
UBXsendCFGLine(11); //NAV-POSLLH on
UBXsendCFGLine(12); //NAV-STATUS on
UBXsendCFGLine(14); //NAV-VELNED on
#endif
#ifndef USE_GPS_VELOCITY
UBXsendCFGLine(10); //NAV-POSLLH on
UBXsendCFGLine(11); //NAV-STATUS on
#endif
break;
case 11:
UBX.mode.forceUTCupdate = true;
@ -646,7 +690,11 @@ bool UBXHandlePOSLLH()
if (UBX.mode.runningNTP){ // after receiving pos-data at least once -> go to pure NTP-mode
UBXsendCFGLine(7); //NAV-POSLLH off
UBXsendCFGLine(8); //NAV-STATUS off
#ifdef USE_GPS_VELOCITY
UBXsendCFGLine(10); //NAV-VELNED off
#endif
}
//UBX_LAT_LON_THRESHOLD = 20 * UBX.Message.navPosllh.hAcc;
return true; // new position
} else {
DEBUG_SENSOR_LOG(PSTR("UBX: no valid position data"));
@ -654,6 +702,20 @@ bool UBXHandlePOSLLH()
return false; // no GPS-fix
}
#ifdef USE_GPS_VELOCITY
void UBXHandleVEL()
{
DEBUG_SENSOR_LOG(PSTR("UBX: iTOWvel: %u"),UBX.Message.navVel.iTOW);
if (UBX.state.gpsFix>1) {
DEBUG_SENSOR_LOG(PSTR("UBX: speed: %d"), UBX.Message.navVel.gSpeed);
DEBUG_SENSOR_LOG(PSTR("UBX: heading: %i"), UBX.Message.navVel.heading);
DEBUG_SENSOR_LOG(PSTR("UBX: spd accuracy: %i"), UBX.Message.navVel.sAcc);
DEBUG_SENSOR_LOG(PSTR("UBX: hdng accuracy: %i"), UBX.Message.navVel.cAcc);
}
}
#endif
void UBXHandleSTATUS()
{
DEBUG_SENSOR_LOG(PSTR("UBX: gpsFix: %u, valid: %u"), UBX.Message.navStatus.gpsFix, (UBX.Message.navStatus.flags)&1);
@ -667,7 +729,7 @@ void UBXHandleSTATUS()
void UBXHandleTIME()
{
DEBUG_SENSOR_LOG(PSTR("UBX: UTC-Time: %u-%u-%u %u:%u:%u"), UBX.Message.navTime.year, UBX.Message.navTime.month ,UBX.Message.navTime.day,UBX.Message.navTime.hour,UBX.Message.navTime.min,UBX.Message.navTime.sec);
if ((UBX.Message.navTime.valid.UTC == 1) && (UBX.Message.navTime.year >= 2023)) {
if ((UBX.Message.navTime.valid.UTC == 1) && (UBX.Message.navTime.year >= 2023)) {
UBX.state.timeOffset = millis(); // iTOW%1000 should be 0 here, when NTP-server is enabled and in "pure mode"
DEBUG_SENSOR_LOG(PSTR("UBX: UTC-Time is valid"));
bool resync = (Rtc.utc_time > UBX.utc_time); // Sync local time every hour
@ -744,6 +806,11 @@ void UBXLoop(void)
case MT_NAV_TIME:
UBXHandleTIME();
break;
#ifdef USE_GPS_VELOCITY
case MT_NAV_VEL:
UBXHandleVEL();
break;
#endif
default:
UBXHandleOther();
break;
@ -791,7 +858,14 @@ void UBXLoop(void)
"{s} GPS altitude {m}%s m{e}"
"{s} GPS hor. Accuracy {m}%s m{e}"
"{s} GPS vert. Accuracy {m}%s m{e}"
"{s} GPS sat-fix status {m}%s{e}";
"{s} GPS sat-fix status {m}%s{e}"
#ifdef USE_GPS_VELOCITY
"{s} GPS Speed {m}%s{e}"
"{s} GPS Heading {m}%s{e}"
"{s} GPS Heading Acc {m}%s{e}"
"{s} GPS Speed Acc {m}%s{e}"
#endif
;
const char kGPSFix0[] PROGMEM = "no fix";
const char kGPSFix1[] PROGMEM = "dead reckoning only";
@ -815,11 +889,23 @@ void UBXShow(bool json)
char alt[12];
char hAcc[12];
char vAcc[12];
#ifdef USE_GPS_VELOCITY
char spd[12];
char hdng[12];
char cAcc[12];
char sAcc[12];
#endif
dtostrfd((double)UBX.rec_buffer.values.lat/10000000.0f,7,lat);
dtostrfd((double)UBX.rec_buffer.values.lon/10000000.0f,7,lon);
dtostrfd((double)UBX.state.last_alt/1000.0f,3,alt);
dtostrfd((double)UBX.state.last_vAcc/1000.0f,3,hAcc);
dtostrfd((double)UBX.state.last_hAcc/1000.0f,3,vAcc);
#ifdef USE_GPS_VELOCITY
dtostrfd((double)UBX.Message.navVel.gSpeed/27.778f,1,spd);
dtostrfd((double)UBX.Message.navVel.heading/100000.0f,1,hdng);
dtostrfd((double)UBX.Message.navVel.cAcc/100000.0f,2,cAcc);
dtostrfd((double)UBX.Message.navVel.sAcc/100000.0f,2,sAcc);
#endif
if (json) {
ResponseAppend_P(PSTR(",\"GPS\":{"));
@ -827,7 +913,11 @@ void UBXShow(bool json)
uint32_t i = UBX.state.log_interval / 10;
ResponseAppend_P(PSTR("\"fil\":%u,\"int\":%u}"), UBX.mode.filter_noise, i);
} else {
ResponseAppend_P(PSTR("\"lat\":%s,\"lon\":%s,\"alt\":%s,\"hAcc\":%s,\"vAcc\":%s,\"fix\":\"%s\"}"), lat, lon, alt, hAcc, vAcc, kGPSFix[UBX.state.gpsFix]);
ResponseAppend_P(PSTR("\"lat\":%s,\"lon\":%s,\"alt\":%s,\"hAcc\":%s,\"vAcc\":%s,\"fix\":\"%s\""), lat, lon, alt, hAcc, vAcc, kGPSFix[UBX.state.gpsFix]);
#ifdef USE_GPS_VELOCITY
ResponseAppend_P(PSTR(,\"spd\":%s,\"hdng\":%s,\"cAcc\":%s,\"sAcc\":%s"), spd, hdng, cAcc, sAcc);
#endif
ResponseAppend_P(PSTR("}"));
}
#ifdef USE_FLOG
ResponseAppend_P(PSTR(",\"FLOG\":{\"rec\":%u,\"mode\":%u,\"sec\":%u}"), Flog->recording, Flog->mode, Flog->sectors_left);
@ -835,7 +925,12 @@ void UBXShow(bool json)
UBX.mode.send_UI_only = false;
#ifdef USE_WEBSERVER
} else {
#ifdef USE_GPS_VELOCITY
WSContentSend_PD(HTTP_SNS_GPS, lat, lon, alt, hAcc, vAcc, kGPSFix[UBX.state.gpsFix], spd, hdng, cAcc, sAcc);
#endif
#ifndef USE_GPS_VELOCITY
WSContentSend_PD(HTTP_SNS_GPS, lat, lon, alt, hAcc, vAcc, kGPSFix[UBX.state.gpsFix]);
#endif
//WSContentSend_P(UBX_GOOGLE_MAPS, lat, lon);
#ifdef DEBUG_TASMOTA_SENSOR
#ifdef USE_FLOG