mirror of
https://github.com/ByteWelder/Tactility.git
synced 2026-08-18 16:05:05 +00:00
1cb661469d
- Split up `gps-generic-module` into: - `gps-generic-module` that contains only interfaces/configs/bindings (Apache license) - `gps-meshtastic-module` that contains an implementation (GPL license) - Update `LICENSE.md` for changes, but also added clarifications - Added licenses to directories where they were missing - Changed license of some test projects from GPL to Apache.
345 lines
11 KiB
C++
345 lines
11 KiB
C++
// SPDX-License-Identifier: GPL-3.0
|
|
#include <gps/gps.h>
|
|
#include <gps_generic/gps_generic.h>
|
|
#include <gps_meshtastic/module.h>
|
|
|
|
#include <gps_generic/private/init.h>
|
|
#include <gps_generic/private/probe.h>
|
|
|
|
#include <tactility/check.h>
|
|
#include <tactility/concurrent/recursive_mutex.h>
|
|
#include <tactility/concurrent/thread.h>
|
|
#include <tactility/device.h>
|
|
#include <tactility/driver.h>
|
|
#include <tactility/drivers/uart_controller.h>
|
|
#include <tactility/error.h>
|
|
#include <tactility/log.h>
|
|
#include <tactility/module.h>
|
|
#include <tactility/time.h>
|
|
|
|
#include <minmea.h>
|
|
|
|
#include <cstdio>
|
|
#include <cstdlib> // For calloc() in PC builds
|
|
|
|
constexpr auto* TAG = "gps-meshtastic";
|
|
|
|
#define GET_CONFIG(device) (static_cast<const GpsConfig*>((device)->config))
|
|
|
|
constexpr uint32_t GPS_UART_BUFFER_SIZE = 256;
|
|
constexpr TickType_t GPS_THREAD_STOP_TIMEOUT_TICKS = pdMS_TO_TICKS(5000);
|
|
constexpr TickType_t GPS_THREAD_STOP_POLL_TICKS = pdMS_TO_TICKS(1000);
|
|
|
|
struct GpsInternal {
|
|
RecursiveMutex mutex;
|
|
Thread* thread;
|
|
volatile bool interrupt_requested;
|
|
GpsState state;
|
|
// Mirrors GpsConfig::model, but overwritten with the autodetected model once probing succeeds.
|
|
GpsModel model;
|
|
// Singly-linked list of subscribers, guarded by `mutex`.
|
|
GpsSubscription* subscribers;
|
|
};
|
|
|
|
static const char* gpsModelToString(GpsModel model) {
|
|
switch (model) {
|
|
case GPS_MODEL_AG3335:
|
|
return "AG3335";
|
|
case GPS_MODEL_AG3352:
|
|
return "AG3352";
|
|
case GPS_MODEL_ATGM336H:
|
|
return "ATGM336H";
|
|
case GPS_MODEL_LS20031:
|
|
return "LS20031";
|
|
case GPS_MODEL_MTK:
|
|
return "MTK";
|
|
case GPS_MODEL_MTK_L76B:
|
|
return "MTK L76B";
|
|
case GPS_MODEL_MTK_PA1616S:
|
|
return "MTK PA1616S";
|
|
case GPS_MODEL_UBLOX6:
|
|
return "U-blox 6";
|
|
case GPS_MODEL_UBLOX7:
|
|
return "U-blox 7";
|
|
case GPS_MODEL_UBLOX8:
|
|
return "U-blox 8";
|
|
case GPS_MODEL_UBLOX9:
|
|
return "U-blox 9";
|
|
case GPS_MODEL_UBLOX10:
|
|
return "U-blox 10";
|
|
case GPS_MODEL_UC6580:
|
|
return "UC6580";
|
|
case GPS_MODEL_UNKNOWN:
|
|
return "Auto-detect";
|
|
default:
|
|
return "Unknown";
|
|
}
|
|
}
|
|
|
|
// Pushes `event` to every current subscriber and wakes their waiting task. Safe to call from the
|
|
// GPS thread's parsing loop.
|
|
static void notify_subscribers(GpsInternal* internal, const GpsEvent& event) {
|
|
recursive_mutex_lock(&internal->mutex);
|
|
|
|
for (GpsSubscription* sub = internal->subscribers; sub != nullptr; sub = sub->next) {
|
|
sub->event = event;
|
|
sub->sequence++;
|
|
xTaskNotifyGive(sub->task);
|
|
}
|
|
|
|
recursive_mutex_unlock(&internal->mutex);
|
|
}
|
|
|
|
static void set_state(GpsInternal* internal, GpsState state) {
|
|
recursive_mutex_lock(&internal->mutex);
|
|
internal->state = state;
|
|
recursive_mutex_unlock(&internal->mutex);
|
|
}
|
|
|
|
static bool is_interrupted(GpsInternal* internal) {
|
|
recursive_mutex_lock(&internal->mutex);
|
|
bool result = internal->interrupt_requested;
|
|
recursive_mutex_unlock(&internal->mutex);
|
|
return result;
|
|
}
|
|
|
|
// region Driver lifecycle
|
|
|
|
static int32_t gps_thread_main(void* context) {
|
|
auto* device = static_cast<Device*>(context);
|
|
auto* internal = static_cast<GpsInternal*>(device_get_driver_data(device));
|
|
const auto* config = GET_CONFIG(device);
|
|
auto* uart = device_get_parent(device);
|
|
check(uart);
|
|
check(device_get_type(uart) == &UART_CONTROLLER_TYPE);
|
|
|
|
const UartConfig uart_config = {
|
|
.baud_rate = config->baud_rate,
|
|
.data_bits = UART_CONTROLLER_DATA_8_BITS,
|
|
.parity = UART_CONTROLLER_PARITY_DISABLE,
|
|
.stop_bits = UART_CONTROLLER_STOP_BITS_1
|
|
};
|
|
|
|
if (uart_controller_set_config(uart, &uart_config) != ERROR_NONE) {
|
|
LOG_E(TAG, "Failed to configure UART %s", uart->name);
|
|
set_state(internal, GpsState::GPS_STATE_ERROR);
|
|
return -1;
|
|
}
|
|
|
|
if (uart_controller_open(uart) != ERROR_NONE) {
|
|
LOG_E(TAG, "Failed to open UART %s", uart->name);
|
|
set_state(internal, GpsState::GPS_STATE_ERROR);
|
|
return -1;
|
|
}
|
|
|
|
GpsModel model = internal->model;
|
|
if (model == GpsModel::GPS_MODEL_UNKNOWN) {
|
|
model = gps_probe(uart);
|
|
if (model == GpsModel::GPS_MODEL_UNKNOWN) {
|
|
LOG_E(TAG, "Probe failed");
|
|
set_state(internal, GpsState::GPS_STATE_ERROR);
|
|
return -1;
|
|
}
|
|
recursive_mutex_lock(&internal->mutex);
|
|
internal->model = model;
|
|
recursive_mutex_unlock(&internal->mutex);
|
|
}
|
|
|
|
if (!gps_init(uart, model)) {
|
|
LOG_E(TAG, "Init failed");
|
|
set_state(internal, GpsState::GPS_STATE_ERROR);
|
|
return -1;
|
|
}
|
|
|
|
set_state(internal, GpsState::GPS_STATE_ON);
|
|
|
|
// Reference: https://gpsd.gitlab.io/gpsd/NMEA.html
|
|
uint8_t buffer[GPS_UART_BUFFER_SIZE];
|
|
while (!is_interrupted(internal)) {
|
|
size_t bytes_read = 0;
|
|
uart_controller_read_until(uart, buffer, sizeof(buffer), '\n', true, &bytes_read, pdMS_TO_TICKS(100));
|
|
|
|
// Thread might've been interrupted in the meanwhile
|
|
if (is_interrupted(internal)) {
|
|
break;
|
|
}
|
|
|
|
if (bytes_read > 0U) {
|
|
switch (minmea_sentence_id(reinterpret_cast<char*>(buffer), false)) {
|
|
case MINMEA_SENTENCE_RMC: {
|
|
GpsEvent event { .type = GPS_EVENT_MESSAGE_RMC };
|
|
if (minmea_parse_rmc(&event.data.rmc, reinterpret_cast<char*>(buffer))) {
|
|
notify_subscribers(internal, event);
|
|
} else {
|
|
LOG_E(TAG, "RMC parse error: %s", reinterpret_cast<const char*>(buffer));
|
|
}
|
|
break;
|
|
}
|
|
case MINMEA_SENTENCE_GGA: {
|
|
GpsEvent event { .type = GPS_EVENT_MESSAGE_GGA };
|
|
if (minmea_parse_gga(&event.data.gga, reinterpret_cast<char*>(buffer))) {
|
|
notify_subscribers(internal, event);
|
|
} else {
|
|
LOG_E(TAG, "GGA parse error: %s", reinterpret_cast<const char*>(buffer));
|
|
}
|
|
break;
|
|
}
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (uart_controller_close(uart) != ERROR_NONE) {
|
|
LOG_W(TAG, "Failed to close UART %s", uart->name);
|
|
}
|
|
|
|
// Wake any subscribers still awaiting an event so they don't block forever on a device that's
|
|
// going away, then drop them - stop() is about to free `internal`.
|
|
notify_subscribers(internal, GpsEvent { .type = GPS_EVENT_UNSUBSCRIBED });
|
|
recursive_mutex_lock(&internal->mutex);
|
|
internal->subscribers = nullptr;
|
|
recursive_mutex_unlock(&internal->mutex);
|
|
|
|
set_state(internal, GPS_STATE_OFF);
|
|
return 0;
|
|
}
|
|
|
|
static error_t start(Device* device) {
|
|
const auto* config = GET_CONFIG(device);
|
|
|
|
auto* internal = static_cast<GpsInternal*>(calloc(1, sizeof(GpsInternal)));
|
|
if (internal == nullptr) {
|
|
return ERROR_OUT_OF_MEMORY;
|
|
}
|
|
|
|
recursive_mutex_construct(&internal->mutex);
|
|
internal->model = config->model;
|
|
internal->state = GPS_STATE_PENDING_ON;
|
|
internal->thread = thread_alloc_full("gps", 4096, gps_thread_main, device, -1);
|
|
if (internal->thread == nullptr) {
|
|
recursive_mutex_destruct(&internal->mutex);
|
|
free(internal);
|
|
return ERROR_OUT_OF_MEMORY;
|
|
}
|
|
thread_set_priority(internal->thread, THREAD_PRIORITY_HIGH);
|
|
|
|
device_set_driver_data(device, internal);
|
|
|
|
if (thread_start(internal->thread) != ERROR_NONE) {
|
|
thread_free(internal->thread);
|
|
recursive_mutex_destruct(&internal->mutex);
|
|
free(internal);
|
|
device_set_driver_data(device, nullptr);
|
|
return ERROR_RESOURCE;
|
|
}
|
|
|
|
return ERROR_NONE;
|
|
}
|
|
|
|
static error_t stop(Device* device) {
|
|
auto* internal = static_cast<GpsInternal*>(device_get_driver_data(device));
|
|
|
|
recursive_mutex_lock(&internal->mutex);
|
|
internal->interrupt_requested = true;
|
|
internal->state = GPS_STATE_PENDING_OFF;
|
|
recursive_mutex_unlock(&internal->mutex);
|
|
|
|
if (thread_join(internal->thread, GPS_THREAD_STOP_TIMEOUT_TICKS, GPS_THREAD_STOP_POLL_TICKS) != ERROR_NONE) {
|
|
LOG_E(TAG, "GPS thread for %s did not stop in time", device->name);
|
|
return ERROR_RESOURCE_BUSY;
|
|
}
|
|
thread_free(internal->thread);
|
|
|
|
recursive_mutex_destruct(&internal->mutex);
|
|
free(internal);
|
|
device_set_driver_data(device, nullptr);
|
|
return ERROR_NONE;
|
|
}
|
|
|
|
// endregion
|
|
|
|
// region GpsApi
|
|
|
|
static error_t gps_api_event_subscribe(Device* device, GpsSubscription* sub) {
|
|
auto* internal = static_cast<GpsInternal*>(device_get_driver_data(device));
|
|
|
|
sub->task = xTaskGetCurrentTaskHandle();
|
|
sub->sequence = 0;
|
|
sub->consumed_sequence = 0;
|
|
|
|
recursive_mutex_lock(&internal->mutex);
|
|
sub->next = internal->subscribers;
|
|
internal->subscribers = sub;
|
|
recursive_mutex_unlock(&internal->mutex);
|
|
|
|
return ERROR_NONE;
|
|
}
|
|
|
|
static error_t gps_api_event_unsubscribe(Device* device, GpsSubscription* sub) {
|
|
auto* internal = static_cast<GpsInternal*>(device_get_driver_data(device));
|
|
|
|
error_t result = ERROR_NOT_FOUND;
|
|
recursive_mutex_lock(&internal->mutex);
|
|
for (GpsSubscription** link = &internal->subscribers; *link != nullptr; link = &(*link)->next) {
|
|
if (*link == sub) {
|
|
*link = sub->next;
|
|
result = ERROR_NONE;
|
|
break;
|
|
}
|
|
}
|
|
recursive_mutex_unlock(&internal->mutex);
|
|
|
|
return result;
|
|
}
|
|
|
|
static error_t gps_api_event_await(Device*, GpsSubscription* sub, TickType_t timeout) {
|
|
uint32_t old_sequence = sub->sequence;
|
|
|
|
while (sub->sequence == old_sequence) {
|
|
if (ulTaskNotifyTake(pdTRUE, timeout) == 0) {
|
|
return ERROR_TIMEOUT;
|
|
}
|
|
}
|
|
|
|
sub->consumed_sequence = sub->sequence;
|
|
return ERROR_NONE;
|
|
}
|
|
|
|
static GpsState gps_api_get_state(Device* device) {
|
|
auto* internal = static_cast<GpsInternal*>(device_get_driver_data(device));
|
|
recursive_mutex_lock(&internal->mutex);
|
|
auto state = internal->state;
|
|
recursive_mutex_unlock(&internal->mutex);
|
|
return state;
|
|
}
|
|
|
|
static error_t gps_api_get_model_name(Device* device, char* model_name, size_t buffer_size) {
|
|
const auto* config = GET_CONFIG(device);
|
|
const char* name_to_set = gpsModelToString(config->model);
|
|
snprintf(model_name, buffer_size, "%s", name_to_set);
|
|
return ERROR_NONE;
|
|
}
|
|
|
|
// endregion
|
|
|
|
static const GpsApi generic_gps_api = {
|
|
.event_subscribe = gps_api_event_subscribe,
|
|
.event_unsubscribe = gps_api_event_unsubscribe,
|
|
.event_await = gps_api_event_await,
|
|
.get_state = gps_api_get_state,
|
|
.get_model_name = gps_api_get_model_name
|
|
};
|
|
|
|
extern Module gps_generic_module;
|
|
|
|
Driver meshtastic_gps_driver = {
|
|
.name = "gps-generic",
|
|
.compatible = (const char*[]) { "tactility,gps-generic", nullptr },
|
|
.start_device = start,
|
|
.stop_device = stop,
|
|
.api = &generic_gps_api,
|
|
.device_type = &GPS_TYPE,
|
|
.owner = &gps_meshtastic_module
|
|
};
|