298 lines
11 KiB
C
298 lines
11 KiB
C
#include "gps_sync.h"
|
|
#include "driver/gpio.h"
|
|
#include "driver/uart.h"
|
|
#include "esp_timer.h"
|
|
#include "esp_log.h"
|
|
#include "esp_rom_sys.h"
|
|
#include <string.h>
|
|
#include <time.h>
|
|
#include <stdarg.h>
|
|
#include <stdio.h>
|
|
#include <assert.h>
|
|
#include <inttypes.h>
|
|
|
|
static const char *TAG = "GPS_SYNC";
|
|
|
|
#define GPS_BAUD_RATE 9600
|
|
#define UART_BUF_SIZE 1024
|
|
|
|
// --- GLOBAL STATE ---
|
|
static uart_port_t gps_uart_num = UART_NUM_1;
|
|
static int64_t monotonic_offset_us = 0;
|
|
static volatile int64_t last_pps_monotonic = 0;
|
|
static volatile time_t next_pps_gps_second = 0;
|
|
static bool gps_has_fix = false;
|
|
static bool use_gps_for_logs = false;
|
|
static SemaphoreHandle_t sync_mutex;
|
|
static volatile bool force_sync_update = true;
|
|
|
|
// PPS interrupt
|
|
static void IRAM_ATTR pps_isr_handler(void* arg) {
|
|
static bool onetime = true;
|
|
last_pps_monotonic = esp_timer_get_time();
|
|
if (onetime) {
|
|
esp_rom_printf("PPS connected!\n");
|
|
onetime = false;
|
|
}
|
|
}
|
|
|
|
// Parse GPS time from NMEA
|
|
static bool parse_gprmc(const char* nmea, struct tm* tm_out, bool* valid) {
|
|
if (strncmp(nmea, "$GPRMC", 6) != 0 && strncmp(nmea, "$GNRMC", 6) != 0) return false;
|
|
char *p = strchr(nmea, ',');
|
|
if (!p) return false;
|
|
p++;
|
|
int hour, min, sec;
|
|
if (sscanf(p, "%2d%2d%2d", &hour, &min, &sec) != 3) return false;
|
|
p = strchr(p, ',');
|
|
if (!p) return false;
|
|
p++;
|
|
*valid = (*p == 'A');
|
|
for (int i = 0; i < 7; i++) {
|
|
p = strchr(p, ',');
|
|
if (!p) return false;
|
|
p++;
|
|
}
|
|
int day, month, year;
|
|
if (sscanf(p, "%2d%2d%2d", &day, &month, &year) != 3) return false;
|
|
year += (year < 80) ? 2000 : 1900;
|
|
tm_out->tm_sec = sec;
|
|
tm_out->tm_min = min;
|
|
tm_out->tm_hour = hour;
|
|
tm_out->tm_mday = day;
|
|
tm_out->tm_mon = month - 1;
|
|
tm_out->tm_year = year - 1900;
|
|
tm_out->tm_isdst = 0;
|
|
return true;
|
|
}
|
|
|
|
void gps_force_next_update(void) {
|
|
force_sync_update = true;
|
|
ESP_LOGW(TAG, "Requesting forced GPS sync update");
|
|
}
|
|
|
|
static void gps_task(void* arg) {
|
|
uint8_t d_buf[64];
|
|
char line[128];
|
|
int pos = 0;
|
|
static int log_counter = 0;
|
|
|
|
while (1) {
|
|
int len = uart_read_bytes(gps_uart_num, d_buf, sizeof(d_buf), pdMS_TO_TICKS(100));
|
|
|
|
if (len > 0) {
|
|
for (int i = 0; i < len; i++) {
|
|
uint8_t data = d_buf[i];
|
|
if (data == '\n') {
|
|
line[pos] = '\0';
|
|
struct tm gps_tm;
|
|
bool valid;
|
|
if (parse_gprmc(line, &gps_tm, &valid)) {
|
|
if (valid) {
|
|
time_t gps_time = mktime(&gps_tm);
|
|
xSemaphoreTake(sync_mutex, portMAX_DELAY);
|
|
next_pps_gps_second = gps_time + 1;
|
|
xSemaphoreGive(sync_mutex);
|
|
vTaskDelay(pdMS_TO_TICKS(300));
|
|
xSemaphoreTake(sync_mutex, portMAX_DELAY);
|
|
if (last_pps_monotonic > 0) {
|
|
int64_t gps_us = (int64_t)next_pps_gps_second * 1000000LL;
|
|
int64_t new_offset = gps_us - last_pps_monotonic;
|
|
if (monotonic_offset_us == 0 || force_sync_update) {
|
|
monotonic_offset_us = new_offset;
|
|
if (force_sync_update) {
|
|
ESP_LOGW(TAG, "GPS sync SNAP: Offset forced to %" PRIi64 " us", monotonic_offset_us);
|
|
force_sync_update = false;
|
|
log_counter = 0;
|
|
}
|
|
} else {
|
|
monotonic_offset_us = (monotonic_offset_us * 9 + new_offset) / 10;
|
|
}
|
|
gps_has_fix = true;
|
|
if (log_counter == 0) {
|
|
ESP_LOGI(TAG, "GPS sync: %04d-%02d-%02d %02d:%02d:%02d, offset=%" PRIi64 " us",
|
|
gps_tm.tm_year + 1900, gps_tm.tm_mon + 1, gps_tm.tm_mday,
|
|
gps_tm.tm_hour, gps_tm.tm_min, gps_tm.tm_sec,
|
|
monotonic_offset_us);
|
|
log_counter = 60;
|
|
}
|
|
log_counter--;
|
|
}
|
|
xSemaphoreGive(sync_mutex);
|
|
} else {
|
|
gps_has_fix = false;
|
|
}
|
|
}
|
|
pos = 0;
|
|
} else if (pos < sizeof(line) - 1) {
|
|
line[pos++] = data;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void gps_sync_init(const gps_sync_config_t *config, bool use_gps_log_timestamps) {
|
|
ESP_LOGI(TAG, "Checking for GPS PPS signal on GPIO %d...", config->pps_pin);
|
|
|
|
// 1. Configure PPS pin as Input to sense signal
|
|
gpio_config_t pps_conf = {
|
|
.pin_bit_mask = (1ULL << config->pps_pin),
|
|
.mode = GPIO_MODE_INPUT,
|
|
.pull_up_en = GPIO_PULLUP_DISABLE,
|
|
.pull_down_en = GPIO_PULLDOWN_DISABLE, // High-Z to detect active driving
|
|
.intr_type = GPIO_INTR_DISABLE
|
|
};
|
|
ESP_ERROR_CHECK(gpio_config(&pps_conf));
|
|
|
|
// 2. Poll for ~3 seconds to detect ANY edge transition
|
|
bool pps_detected = false;
|
|
int start_level = gpio_get_level(config->pps_pin);
|
|
|
|
// Poll loop: 3000 iterations * 1ms = 3 seconds
|
|
for (int i = 0; i < 3000; i++) {
|
|
int current_level = gpio_get_level(config->pps_pin);
|
|
if (current_level != start_level) {
|
|
pps_detected = true;
|
|
break; // Signal found!
|
|
}
|
|
vTaskDelay(pdMS_TO_TICKS(1));
|
|
}
|
|
|
|
if (!pps_detected) {
|
|
printf("GPS PPS not found over GPIO with pin number %d\n", config->pps_pin);
|
|
ESP_LOGW(TAG, "GPS initialization aborted due to lack of PPS signal.");
|
|
return; // ABORT INITIALIZATION
|
|
}
|
|
|
|
ESP_LOGI(TAG, "PPS signal detected! Initializing GPS subsystem...");
|
|
|
|
// 3. Proceed with Full Initialization
|
|
gps_uart_num = config->uart_port;
|
|
use_gps_for_logs = use_gps_log_timestamps;
|
|
|
|
gps_force_next_update();
|
|
|
|
if (use_gps_log_timestamps) {
|
|
ESP_LOGI(TAG, "ESP_LOG timestamps: GPS time in seconds.milliseconds format");
|
|
esp_log_set_vprintf(gps_log_vprintf);
|
|
}
|
|
|
|
sync_mutex = xSemaphoreCreateMutex();
|
|
|
|
uart_config_t uart_config = {
|
|
.baud_rate = GPS_BAUD_RATE,
|
|
.data_bits = UART_DATA_8_BITS,
|
|
.parity = UART_PARITY_DISABLE,
|
|
.stop_bits = UART_STOP_BITS_1,
|
|
.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
|
|
.source_clk = UART_SCLK_DEFAULT,
|
|
};
|
|
|
|
ESP_ERROR_CHECK(uart_driver_install(config->uart_port, UART_BUF_SIZE, 0, 0, NULL, 0));
|
|
ESP_ERROR_CHECK(uart_param_config(config->uart_port, &uart_config));
|
|
|
|
ESP_ERROR_CHECK(uart_set_pin(config->uart_port,
|
|
config->tx_pin,
|
|
config->rx_pin,
|
|
UART_PIN_NO_CHANGE,
|
|
UART_PIN_NO_CHANGE));
|
|
|
|
// Re-configure PPS for Interrupts (Posedge)
|
|
gpio_config_t io_conf = {
|
|
.intr_type = GPIO_INTR_POSEDGE,
|
|
.mode = GPIO_MODE_INPUT,
|
|
.pin_bit_mask = (1ULL << config->pps_pin),
|
|
.pull_up_en = GPIO_PULLUP_ENABLE,
|
|
.pull_down_en = GPIO_PULLDOWN_DISABLE,
|
|
};
|
|
ESP_ERROR_CHECK(gpio_config(&io_conf));
|
|
|
|
gpio_install_isr_service(0);
|
|
ESP_ERROR_CHECK(gpio_isr_handler_add(config->pps_pin, pps_isr_handler, NULL));
|
|
|
|
xTaskCreate(gps_task, "gps_task", 4096, NULL, 5, NULL);
|
|
|
|
ESP_LOGI(TAG, "GPS sync initialized (UART=%d, RX=%d, TX=%d, PPS=%d)",
|
|
config->uart_port, config->rx_pin, config->tx_pin, config->pps_pin);
|
|
}
|
|
|
|
gps_timestamp_t gps_get_timestamp(void) {
|
|
gps_timestamp_t ts;
|
|
clock_gettime(CLOCK_MONOTONIC, &ts.mono_ts);
|
|
xSemaphoreTake(sync_mutex, portMAX_DELAY);
|
|
ts.monotonic_us = (int64_t)ts.mono_ts.tv_sec * 1000000LL + ts.mono_ts.tv_nsec / 1000;
|
|
ts.monotonic_ms = ts.monotonic_us / 1000;
|
|
ts.gps_us = ts.monotonic_us + monotonic_offset_us;
|
|
ts.gps_ms = ts.gps_us / 1000;
|
|
ts.synced = gps_has_fix;
|
|
xSemaphoreGive(sync_mutex);
|
|
return ts;
|
|
}
|
|
|
|
int64_t gps_get_monotonic_ms(void) {
|
|
struct timespec ts;
|
|
clock_gettime(CLOCK_MONOTONIC, &ts);
|
|
return (int64_t)ts.tv_sec * 1000LL + ts.tv_nsec / 1000000;
|
|
}
|
|
|
|
bool gps_is_synced(void) {
|
|
return gps_has_fix;
|
|
}
|
|
|
|
// ---------------- LOGGING SYSTEM INTERCEPTION ----------------
|
|
|
|
uint32_t gps_log_timestamp(void) {
|
|
return (uint32_t)(esp_timer_get_time() / 1000ULL);
|
|
}
|
|
|
|
int gps_log_vprintf(const char *fmt, va_list args) {
|
|
static char buffer[512];
|
|
int ret = vsnprintf(buffer, sizeof(buffer), fmt, args);
|
|
assert(ret >= 0);
|
|
|
|
if (use_gps_for_logs) {
|
|
char *timestamp_start = NULL;
|
|
for (int i = 0; buffer[i] != '\0' && i < sizeof(buffer) - 20; i++) {
|
|
if ((buffer[i] == 'I' || buffer[i] == 'W' || buffer[i] == 'E' ||
|
|
buffer[i] == 'D' || buffer[i] == 'V') &&
|
|
buffer[i+1] == ' ' && buffer[i+2] == '(') {
|
|
timestamp_start = &buffer[i+3];
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (timestamp_start) {
|
|
char *timestamp_end = strchr(timestamp_start, ')');
|
|
if (timestamp_end) {
|
|
uint32_t monotonic_log_ms = 0;
|
|
if (sscanf(timestamp_start, "%lu", &monotonic_log_ms) == 1) {
|
|
char reformatted[512];
|
|
size_t prefix_len = timestamp_start - buffer;
|
|
memcpy(reformatted, buffer, prefix_len);
|
|
int decimal_len = 0;
|
|
|
|
if (gps_has_fix) {
|
|
int64_t log_mono_us = (int64_t)monotonic_log_ms * 1000;
|
|
int64_t log_gps_us = log_mono_us + monotonic_offset_us;
|
|
uint64_t gps_sec = log_gps_us / 1000000;
|
|
uint32_t gps_ms = (log_gps_us % 1000000) / 1000;
|
|
decimal_len = snprintf(reformatted + prefix_len,
|
|
sizeof(reformatted) - prefix_len,
|
|
"+%" PRIu64 ".%03lu", gps_sec, gps_ms);
|
|
} else {
|
|
uint32_t sec = monotonic_log_ms / 1000;
|
|
uint32_t ms = monotonic_log_ms % 1000;
|
|
decimal_len = snprintf(reformatted + prefix_len,
|
|
sizeof(reformatted) - prefix_len,
|
|
"*%lu.%03lu", sec, ms);
|
|
}
|
|
strcpy(reformatted + prefix_len + decimal_len, timestamp_end);
|
|
return printf("%s", reformatted);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
return printf("%s", buffer);
|
|
}
|