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authorHarsh Sharma <harsh.sharma@multitech.com>2022-04-21 16:22:37 -0500
committerHarsh Sharma <harsh.sharma@multitech.com>2022-04-21 16:22:37 -0500
commit881a2ed0af92845f5cb5aee8d2762e6e0a5e7c92 (patch)
treee1b7fd3452909b0e950f1604a467298533e2a1fc /lora_pkt_fwd
parent87bca154a27269191121764568a122f79ce6499a (diff)
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Changed gps thread to use gpspipe4.0.18
Diffstat (limited to 'lora_pkt_fwd')
-rw-r--r--lora_pkt_fwd/src/lora_pkt_fwd.c174
1 files changed, 139 insertions, 35 deletions
diff --git a/lora_pkt_fwd/src/lora_pkt_fwd.c b/lora_pkt_fwd/src/lora_pkt_fwd.c
index 33d1a87..c66ed81 100644
--- a/lora_pkt_fwd/src/lora_pkt_fwd.c
+++ b/lora_pkt_fwd/src/lora_pkt_fwd.c
@@ -206,8 +206,8 @@ static double xtal_correct = 1.0;
/* GPS configuration and synchronization */
static bool use_gps = false; /* Use the GPSD stream */
static bool gps_enabled = false; /* is GPS enabled on that gateway ? */
-static struct gps_data_t gpsdata;
-static struct fixsource_t source;
+static char gps_tty_path[64] = "\0"; /* path of the TTY port GPS is connected on */
+static int gps_tty_fd = -1; /* file descriptor of the GPS TTY port */
/* GPS time reference */
static pthread_mutex_t mx_timeref = PTHREAD_MUTEX_INITIALIZER; /* control access to GPS time reference */
static bool gps_ref_valid; /* is GPS reference acceptable (ie. not too old) */
@@ -1703,7 +1703,7 @@ int main(int argc, char** argv)
/* Start GPS a.s.a.p., to allow it to lock */
if (use_gps == true) {
- int i = lgw_gps_enable(&gpsdata, &source);
+ int i = lgw_gps_enable(gps_tty_path, "ubx7", 0, &gps_tty_fd, 1);
if (i != LGW_GPS_SUCCESS) {
printf("WARNING: [main] impossible to open for GPS sync (Check GPSD)\n");
gps_enabled = false;
@@ -2093,7 +2093,7 @@ int main(int argc, char** argv)
if (gps_enabled == true) {
pthread_cancel(thrid_gps); /* don't wait for GPS thread */
- i = lgw_gps_disable(&gpsdata);
+ i = lgw_gps_disable(gps_tty_fd);
if (i == LGW_HAL_SUCCESS) {
MSG("INFO: GPS closed successfully\n");
} else {
@@ -3524,47 +3524,153 @@ void thread_jit(void) {
}
}
+
+
/* -------------------------------------------------------------------------- */
/* --- THREAD 4: PARSE GPS MESSAGE AND KEEP GATEWAY IN SYNC ----------------- */
+static void gps_process_sync(void) {
+ struct timespec gps_time;
+ struct timespec utc;
+ uint32_t trig_tstamp; /* concentrator timestamp associated with PPM pulse */
+ int i = lgw_gps_get(&utc, &gps_time, NULL, NULL);
+
+ /* get GPS time for synchronization */
+ if (i != LGW_GPS_SUCCESS) {
+ MSG("WARNING: [gps] could not get GPS time from GPS\n");
+ return;
+ }
+
+ /* get timestamp captured on PPM pulse */
+ pthread_mutex_lock(&mx_concent);
+ i = lgw_get_trigcnt(&trig_tstamp);
+ pthread_mutex_unlock(&mx_concent);
+ if (i != LGW_HAL_SUCCESS) {
+ MSG("WARNING: [gps] failed to read concentrator timestamp\n");
+ return;
+ }
+
+ /* try to update time reference with the new GPS time & timestamp */
+ pthread_mutex_lock(&mx_timeref);
+ i = lgw_gps_sync(&time_reference_gps, trig_tstamp, utc, gps_time);
+ pthread_mutex_unlock(&mx_timeref);
+ if (i != LGW_GPS_SUCCESS) {
+ MSG("WARNING: [gps] GPS out of sync, keeping previous time reference\n");
+ }
+}
+
+static void gps_process_coords(void) {
+ /* position variable */
+ struct coord_s coord;
+ struct coord_s gpserr;
+ int i = lgw_gps_get(NULL, NULL, &coord, &gpserr);
+
+ /* update gateway coordinates */
+ pthread_mutex_lock(&mx_meas_gps);
+ if (i == LGW_GPS_SUCCESS) {
+ gps_coord_valid = true;
+ meas_gps_coord = coord;
+ meas_gps_err = gpserr;
+ // TODO: report other GPS statistics (typ. signal quality & integrity)
+ } else {
+ gps_coord_valid = false;
+ }
+ pthread_mutex_unlock(&mx_meas_gps);
+}
+
void thread_gps(void) {
- while (!exit_sig && !quit_sig) {
- wait_ms(100);
- int r = gps_read (&gpsdata,0,0);
- int used=0;
- if (r!= -1 && (gpsdata.status != STATUS_NO_FIX) &&
- (gpsdata.fix.mode == MODE_2D || gpsdata.fix.mode == MODE_3D) &&
- !isnan(gpsdata.fix.latitude) &&
- !isnan(gpsdata.fix.longitude)) {
+ /* serial variables */
+ char serial_buff[128]; /* buffer to receive GPS data */
+ size_t wr_idx = 0; /* pointer to end of chars in buffer */
- pthread_mutex_lock(&mx_meas_gps);
- gps_coord_valid = true;
- meas_gps_coord.lat = gpsdata.fix.latitude;
- meas_gps_coord.lon = gpsdata.fix.longitude;
- meas_gps_coord.alt = gpsdata.fix.altitude;
- pthread_mutex_unlock(&mx_meas_gps);
+ /* variables for PPM pulse GPS synchronization */
+ enum gps_msg latest_msg; /* keep track of latest NMEA message parsed */
+
+ /* initialize some variables before loop */
+ memset(serial_buff, 0, sizeof serial_buff);
+
+ while (!exit_sig && !quit_sig) {
+ size_t rd_idx = 0;
+ size_t frame_end_idx = 0;
- uint32_t trig_tstamp; /* concentrator timestamp associated with PPM pulse */
+ /* blocking non-canonical read on serial port */
+ ssize_t nb_char = read(gps_tty_fd, serial_buff + wr_idx, LGW_GPS_MIN_MSG_SIZE);
+ if (nb_char <= 0) {
+ MSG_DEBUG(DEBUG_PKT_FWD, "WARNING: [gps] read() returned value %zd\n", nb_char);
+ continue;
+ }
+ wr_idx += (size_t)nb_char;
+
+ /*******************************************
+ * Scan buffer for UBX/NMEA sync chars and *
+ * attempt to decode frame if one is found *
+ *******************************************/
+ while (rd_idx < wr_idx) {
+ size_t frame_size = 0;
+
+ /* Scan buffer for UBX sync char */
+ if (serial_buff[rd_idx] == (char)LGW_GPS_UBX_SYNC_CHAR) {
+
+ /***********************
+ * Found UBX sync char *
+ ***********************/
+ latest_msg = lgw_parse_ubx(&serial_buff[rd_idx], (wr_idx - rd_idx), &frame_size);
+
+ if (frame_size > 0) {
+ if (latest_msg == INCOMPLETE) {
+ /* UBX header found but frame appears to be missing bytes */
+ frame_size = 0;
+ } else if (latest_msg == INVALID) {
+ /* message header received but message appears to be corrupted */
+ MSG("WARNING: [gps] could not get a valid message from GPS (no time)\n");
+ frame_size = 0;
+ } else if (latest_msg == UBX_NAV_TIMEGPS) {
+ gps_process_sync();
+ }
+ }
+ } else if (serial_buff[rd_idx] == (char)LGW_GPS_NMEA_SYNC_CHAR) {
+ /************************
+ * Found NMEA sync char *
+ ************************/
+ /* scan for NMEA end marker (LF = 0x0a) */
+ char* nmea_end_ptr = memchr(&serial_buff[rd_idx],(int)0x0a, (wr_idx - rd_idx));
+
+ if(nmea_end_ptr) {
+ /* found end marker */
+ frame_size = nmea_end_ptr - &serial_buff[rd_idx] + 1;
+ latest_msg = lgw_parse_nmea(&serial_buff[rd_idx], frame_size);
+
+ if(latest_msg == INVALID || latest_msg == UNKNOWN) {
+ /* checksum failed */
+ frame_size = 0;
+ } else if (latest_msg == NMEA_RMC) { /* Get location from RMC frames */
+ gps_process_coords();
+ }
+ }
+ }
- /* get timestamp captured on PPM pulse */
- pthread_mutex_lock(&mx_concent);
- int i = lgw_get_trigcnt(&trig_tstamp);
- pthread_mutex_unlock(&mx_concent);
- if (i != LGW_HAL_SUCCESS) {
- MSG("WARNING: [gps] failed to read concentrator timestamp\n");
- return;
+ if (frame_size > 0) {
+ /* At this point message is a checksum verified frame
+ we're processed or ignored. Remove frame from buffer */
+ rd_idx += frame_size;
+ frame_end_idx = rd_idx;
+ } else {
+ rd_idx++;
}
+ } /* ...for(rd_idx = 0... */
- /* try to update time reference with the new GPS time & timestamp */
- pthread_mutex_lock(&mx_timeref);
- lgw_gps_sync(&time_reference_gps, trig_tstamp, gpsdata.fix.time);
- pthread_mutex_unlock(&mx_timeref);
+ if (frame_end_idx) {
+ /* Frames have been processed. Remove bytes to end of last processed frame */
+ memcpy(serial_buff, &serial_buff[frame_end_idx], wr_idx - frame_end_idx);
+ wr_idx -= frame_end_idx;
+ } /* ...for(rd_idx = 0... */
- } else {
- gps_coord_valid = false;
+ /* Prevent buffer overflow */
+ if ((sizeof(serial_buff) - wr_idx) < LGW_GPS_MIN_MSG_SIZE) {
+ memcpy(serial_buff, &serial_buff[LGW_GPS_MIN_MSG_SIZE], wr_idx - LGW_GPS_MIN_MSG_SIZE);
+ wr_idx -= LGW_GPS_MIN_MSG_SIZE;
}
}
- lgw_gps_disable(&gpsdata);
MSG("\nINFO: End of GPS thread\n");
}
@@ -3703,7 +3809,6 @@ void thread_spectralscan(void) {
uint16_t retry_limit = 1500;
int freq_idx;
uint32_t freq_nb;
- int old_min = -1;
uint64_t freq_reg;
uint32_t freq;
uint8_t read_burst[RSSI_RANGE*2];
@@ -3934,7 +4039,6 @@ void thread_spectralscan(void) {
}
strcat(array_string, "\"]");
json_object_set_value(root_object, "results", json_parse_string(array_string));
- old_min = min;
pthread_mutex_lock(&mx_scan_report);
scan_ready = true;