mirror of
https://github.com/MarekZegare4/MeshCore-Solo.git
synced 2026-10-09 11:16:39 +00:00
feat(ui-lvgl): GPS screen - sky plot, signal per satellite, fix details
- Home > GPS and Settings > System > GPS details: satellites on a sky plot (filled = used in the fix, colour = C/N0), a bar per satellite with its dB-Hz, fix state with time to first fix, DOPs, position, altitude, speed, UTC and per-constellation counts; a Turn on button while GPS is off - helpers/sensors/GpsSky.h parses GSV / GSA / GGA / RMC from any talker, fed from MicroNMEALocationProvider behind -D GPS_SKYVIEW (L2 and the sim only; L1 unchanged); the sim feeds it made-up NMEA - Roadmap: GPS indoors diagnosed with it - on the USB cable the L76K tracks satellites but never decodes navigation data; on battery it gets UTC within seconds and a fix Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
This commit is contained in:
Jakub
Claude Opus 5.5
@@ -0,0 +1,213 @@
|
||||
#pragma once
|
||||
// What the GPS receiver sees, for a status screen: every satellite in view
|
||||
// (constellation, elevation, azimuth, signal) and which ones the fix uses,
|
||||
// the dilutions of precision, fix type, speed and course. Fed the same NMEA
|
||||
// characters MicroNMEA gets (which only keeps the fix itself), parsing
|
||||
// GSV / GSA / GGA / RMC from any talker (GP, GL, GA, GB/BD, GQ, GN).
|
||||
//
|
||||
// Opt-in per board (-D GPS_SKYVIEW, used by MicroNMEALocationProvider), so
|
||||
// boards without a screen for it don't carry the ~1.5 KB table.
|
||||
|
||||
#include <Arduino.h>
|
||||
#include <stdint.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
|
||||
class GpsSky {
|
||||
public:
|
||||
enum : uint8_t { SYS_GPS, SYS_GLONASS, SYS_GALILEO, SYS_BEIDOU, SYS_QZSS, SYS_SBAS, SYS_OTHER, SYS_COUNT };
|
||||
struct Sat {
|
||||
uint16_t prn;
|
||||
uint8_t sys;
|
||||
int8_t elev; // degrees, -1 = not reported
|
||||
int16_t azim; // degrees, -1 = not reported
|
||||
int8_t snr; // C/N0 in dB-Hz, -1 = not tracked
|
||||
uint32_t seen_ms; // last GSV mentioning it
|
||||
uint32_t used_ms; // last GSA listing it in the fix (0 = never)
|
||||
};
|
||||
static const int MAX_SATS = 64;
|
||||
static const uint32_t SAT_TIMEOUT_MS = 10000; // gone from GSV this long: out of view
|
||||
static const uint32_t USED_TIMEOUT_MS = 4000;
|
||||
|
||||
Sat sats[MAX_SATS];
|
||||
int count = 0;
|
||||
uint8_t fix_quality = 0; // GGA: 0 none, 1 GPS, 2 DGPS, 4/5 RTK, 6 dead reckoning
|
||||
uint8_t fix_mode = 0; // GSA: 0 unknown, 1 no fix, 2 2D, 3 3D
|
||||
uint8_t sats_used = 0; // GGA
|
||||
float pdop = 0, hdop = 0, vdop = 0; // 0 = unknown
|
||||
float alt_m = 0;
|
||||
bool alt_valid = false;
|
||||
float speed_kmh = 0, course_deg = 0;
|
||||
bool rmc_valid = false; // RMC status A
|
||||
uint8_t utc_h = 0, utc_m = 0, utc_s = 0;
|
||||
bool utc_valid = false;
|
||||
uint32_t sentences = 0, bad_sentences = 0;
|
||||
uint32_t last_ms = 0; // last good sentence
|
||||
uint32_t start_ms = 0; // first sentence since reset(): time to first fix counts from here
|
||||
uint32_t ttff_ms = 0; // 0 = no fix yet
|
||||
|
||||
// The receiver was (re)started: forget everything, restart the TTFF clock.
|
||||
void reset() {
|
||||
count = 0;
|
||||
fix_quality = fix_mode = sats_used = 0;
|
||||
pdop = hdop = vdop = 0;
|
||||
alt_valid = rmc_valid = utc_valid = false;
|
||||
start_ms = ttff_ms = 0;
|
||||
_len = 0;
|
||||
}
|
||||
|
||||
void feed(char c) {
|
||||
if (c == '$') { _len = 0; _buf[_len++] = c; return; }
|
||||
if (_len == 0) return;
|
||||
if (c == '\r' || c == '\n') { _buf[_len] = '\0'; line(); _len = 0; return; }
|
||||
if (_len < sizeof(_buf) - 1) _buf[_len++] = c;
|
||||
else _len = 0; // overlong: drop it
|
||||
}
|
||||
|
||||
bool used(const Sat& s) const { return s.used_ms && millis() - s.used_ms < USED_TIMEOUT_MS; }
|
||||
bool hasFix() const { return fix_quality > 0 || fix_mode >= 2; }
|
||||
|
||||
// Drop satellites no longer reported (call before reading the table).
|
||||
void expire() {
|
||||
uint32_t now = millis();
|
||||
int k = 0;
|
||||
for (int i = 0; i < count; i++) if (now - sats[i].seen_ms < SAT_TIMEOUT_MS) sats[k++] = sats[i];
|
||||
count = k;
|
||||
}
|
||||
|
||||
static char sysLetter(uint8_t sys) {
|
||||
static const char L[SYS_COUNT] = { 'G', 'R', 'E', 'C', 'J', 'S', '?' };
|
||||
return sys < SYS_COUNT ? L[sys] : '?';
|
||||
}
|
||||
static const char* sysName(uint8_t sys) {
|
||||
static const char* const N[SYS_COUNT] = { "GPS", "GLONASS", "Galileo", "BeiDou", "QZSS", "SBAS", "Other" };
|
||||
return sys < SYS_COUNT ? N[sys] : "Other";
|
||||
}
|
||||
|
||||
private:
|
||||
char _buf[100];
|
||||
size_t _len = 0;
|
||||
uint32_t _gsa_ms = 0;
|
||||
|
||||
static int hexVal(char c) {
|
||||
if (c >= '0' && c <= '9') return c - '0';
|
||||
if (c >= 'A' && c <= 'F') return c - 'A' + 10;
|
||||
if (c >= 'a' && c <= 'f') return c - 'a' + 10;
|
||||
return -1;
|
||||
}
|
||||
|
||||
static uint8_t talkerSys(const char* t) {
|
||||
if (t[0] == 'G' && t[1] == 'P') return SYS_GPS;
|
||||
if (t[0] == 'G' && t[1] == 'L') return SYS_GLONASS;
|
||||
if (t[0] == 'G' && t[1] == 'A') return SYS_GALILEO;
|
||||
if ((t[0] == 'G' && t[1] == 'B') || (t[0] == 'B' && t[1] == 'D')) return SYS_BEIDOU;
|
||||
if ((t[0] == 'G' && t[1] == 'Q') || (t[0] == 'Q' && t[1] == 'Z')) return SYS_QZSS;
|
||||
return SYS_OTHER; // GN: mixed, decided per PRN
|
||||
}
|
||||
// NMEA 4.1 system ID (GSA field 18).
|
||||
static uint8_t idSys(int id) {
|
||||
switch (id) {
|
||||
case 1: return SYS_GPS; case 2: return SYS_GLONASS; case 3: return SYS_GALILEO;
|
||||
case 4: return SYS_BEIDOU; case 5: return SYS_QZSS; default: return SYS_OTHER;
|
||||
}
|
||||
}
|
||||
// The classic NMEA numbering, when the talker doesn't say.
|
||||
static uint8_t prnSys(int prn) {
|
||||
if (prn >= 1 && prn <= 32) return SYS_GPS;
|
||||
if (prn >= 33 && prn <= 64) return SYS_SBAS;
|
||||
if (prn >= 65 && prn <= 96) return SYS_GLONASS;
|
||||
if (prn >= 193 && prn <= 200) return SYS_QZSS;
|
||||
if (prn >= 201 && prn <= 263) return SYS_BEIDOU;
|
||||
if (prn >= 301 && prn <= 336) return SYS_GALILEO;
|
||||
return SYS_OTHER;
|
||||
}
|
||||
|
||||
Sat* find(uint8_t sys, int prn) {
|
||||
for (int i = 0; i < count; i++) if (sats[i].prn == prn && sats[i].sys == sys) return &sats[i];
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
void line() {
|
||||
// "$TTSSS,...*CS": checksum over everything between '$' and '*'.
|
||||
char* star = strrchr(_buf, '*');
|
||||
if (!star || star - _buf < 7) { bad_sentences++; return; }
|
||||
uint8_t cs = 0;
|
||||
for (char* p = _buf + 1; p < star; p++) cs ^= (uint8_t)*p;
|
||||
int h = hexVal(star[1]), l = hexVal(star[2]);
|
||||
if (h < 0 || l < 0 || cs != (uint8_t)(h << 4 | l)) { bad_sentences++; return; }
|
||||
*star = '\0';
|
||||
|
||||
char* f[24];
|
||||
int nf = 0;
|
||||
for (char* p = _buf + 1; nf < 24;) {
|
||||
f[nf++] = p;
|
||||
char* comma = strchr(p, ',');
|
||||
if (!comma) break;
|
||||
*comma = '\0';
|
||||
p = comma + 1;
|
||||
}
|
||||
if (strlen(f[0]) != 5) { bad_sentences++; return; }
|
||||
sentences++;
|
||||
uint32_t now = millis();
|
||||
last_ms = now;
|
||||
if (!start_ms) start_ms = now ? now : 1;
|
||||
const char* type = f[0] + 2;
|
||||
uint8_t tsys = talkerSys(f[0]);
|
||||
|
||||
if (!strcmp(type, "GSV")) {
|
||||
// total, index, in view, then (prn, elevation, azimuth, snr) x up to 4 [, signal id]
|
||||
for (int g = 4; g + 3 < nf; g += 4) { // whole groups only: a lone trailing field is the signal id
|
||||
if (!f[g][0]) continue;
|
||||
int prn = atoi(f[g]);
|
||||
if (prn <= 0) continue;
|
||||
uint8_t sys = tsys == SYS_OTHER ? prnSys(prn) : (tsys == SYS_GPS && prn >= 33 && prn <= 64 ? SYS_SBAS : tsys);
|
||||
Sat* s = find(sys, prn);
|
||||
if (!s) {
|
||||
if (count >= MAX_SATS) { expire(); if (count >= MAX_SATS) continue; }
|
||||
s = &sats[count++];
|
||||
memset(s, 0, sizeof(*s));
|
||||
s->prn = (uint16_t)prn;
|
||||
s->sys = sys;
|
||||
}
|
||||
s->elev = f[g + 1][0] ? (int8_t)atoi(f[g + 1]) : -1;
|
||||
s->azim = f[g + 2][0] ? (int16_t)atoi(f[g + 2]) : -1;
|
||||
s->snr = f[g + 3][0] ? (int8_t)atoi(f[g + 3]) : -1;
|
||||
s->seen_ms = now;
|
||||
}
|
||||
} else if (!strcmp(type, "GSA")) {
|
||||
// mode, fix (1/2/3), 12 PRNs, PDOP, HDOP, VDOP [, system id]
|
||||
_gsa_ms = now;
|
||||
if (nf > 2) fix_mode = (uint8_t)atoi(f[2]);
|
||||
if (nf > 15 && f[15][0]) pdop = atof(f[15]);
|
||||
if (nf > 16 && f[16][0]) hdop = atof(f[16]);
|
||||
if (nf > 17 && f[17][0]) vdop = atof(f[17]);
|
||||
uint8_t sys = nf > 18 && f[18][0] ? idSys(atoi(f[18])) : tsys;
|
||||
for (int i = 3; i <= 14 && i < nf; i++) {
|
||||
if (!f[i][0]) continue;
|
||||
int prn = atoi(f[i]);
|
||||
Sat* s = find(sys == SYS_OTHER ? prnSys(prn) : sys, prn);
|
||||
if (!s && sys == SYS_GPS) s = find(SYS_SBAS, prn);
|
||||
if (s) s->used_ms = now;
|
||||
}
|
||||
} else if (!strcmp(type, "GGA")) {
|
||||
// time, lat, N, lon, E, quality, used, HDOP, altitude, M, ...
|
||||
if (nf > 6) fix_quality = (uint8_t)atoi(f[6]);
|
||||
if (nf > 7) sats_used = (uint8_t)atoi(f[7]);
|
||||
if (nf > 8 && f[8][0] && now - _gsa_ms > 3000) hdop = atof(f[8]); // GSA's is finer
|
||||
alt_valid = nf > 9 && f[9][0] && fix_quality > 0;
|
||||
if (alt_valid) alt_m = atof(f[9]);
|
||||
if (fix_quality > 0 && !ttff_ms) ttff_ms = now - start_ms + 1;
|
||||
} else if (!strcmp(type, "RMC")) {
|
||||
// time, status, lat, N, lon, E, speed (knots), course, date, ...
|
||||
if (nf > 1 && strlen(f[1]) >= 6) {
|
||||
utc_h = (uint8_t)((f[1][0] - '0') * 10 + f[1][1] - '0');
|
||||
utc_m = (uint8_t)((f[1][2] - '0') * 10 + f[1][3] - '0');
|
||||
utc_s = (uint8_t)((f[1][4] - '0') * 10 + f[1][5] - '0');
|
||||
utc_valid = true;
|
||||
}
|
||||
rmc_valid = nf > 2 && f[2][0] == 'A';
|
||||
speed_kmh = nf > 7 && f[7][0] ? atof(f[7]) * 1.852f : 0;
|
||||
course_deg = nf > 8 && f[8][0] ? atof(f[8]) : 0;
|
||||
}
|
||||
}
|
||||
};
|
||||
@@ -4,6 +4,9 @@
|
||||
#include <MicroNMEA.h>
|
||||
#include <RTClib.h>
|
||||
#include <helpers/RefCountedDigitalPin.h>
|
||||
#ifdef GPS_SKYVIEW
|
||||
#include "GpsSky.h"
|
||||
#endif
|
||||
|
||||
#ifndef GPS_EN
|
||||
#ifdef PIN_GPS_EN
|
||||
@@ -40,6 +43,9 @@
|
||||
class MicroNMEALocationProvider : public LocationProvider {
|
||||
char _nmeaBuffer[100];
|
||||
uint32_t _rx_chars = 0;
|
||||
#ifdef GPS_SKYVIEW
|
||||
GpsSky _sky;
|
||||
#endif
|
||||
MicroNMEA nmea;
|
||||
mesh::RTCClock* _clock;
|
||||
Stream* _gps_serial;
|
||||
@@ -77,6 +83,9 @@ public :
|
||||
}
|
||||
|
||||
void begin() override {
|
||||
#ifdef GPS_SKYVIEW
|
||||
_sky.reset(); // restarts the time-to-first-fix clock
|
||||
#endif
|
||||
claim();
|
||||
if (_pin_en != -1) {
|
||||
digitalWrite(_pin_en, GPS_EN_ACTIVE);
|
||||
@@ -126,6 +135,10 @@ public :
|
||||
// Bytes read from the receiver so far: still at 0 (or not moving) = no NMEA
|
||||
// arriving at all, as opposed to NMEA without a fix (a UI diagnostics row).
|
||||
uint32_t rxChars() const { return _rx_chars; }
|
||||
#ifdef GPS_SKYVIEW
|
||||
// Satellites in view, signal, DOPs (a GPS status screen).
|
||||
GpsSky& sky() { return _sky; }
|
||||
#endif
|
||||
long getHDOP() override { return nmea.getHDOP(); }
|
||||
bool isValid() override { return nmea.isValid(); }
|
||||
|
||||
@@ -147,6 +160,9 @@ public :
|
||||
Serial.print(c);
|
||||
#endif
|
||||
nmea.process(c);
|
||||
#ifdef GPS_SKYVIEW
|
||||
_sky.feed(c);
|
||||
#endif
|
||||
}
|
||||
|
||||
if (!isValid()) time_valid = 0;
|
||||
|
||||
Reference in New Issue
Block a user