e-bike-tracker/e-bike-tracker-device
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use same interface in gps as in gsm modem

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This commit is contained in:
Vladan Popovic 2022-07-20 12:33:11 +02:00
parent 63359cc4c0
commit 23ff182b65
1 changed files with 34 additions and 24 deletions
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50
src/gps.rs
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@ -8,24 +8,22 @@ use std::{
};
use esp_idf_hal::prelude::*;
use esp_idf_hal::serial;
use esp_idf_hal::gpio::*;
use esp_idf_hal::serial::{self, Rx, Tx};
use ublox::*;
use crate::modem::Msg;
use crate::serial::SerialIO;
struct Device<UART: serial::Uart> {
struct GpsModule<UART: serial::Uart> {
port: SerialIO<UART>,
parser: Parser<Vec<u8>>,
}
impl<UART: serial::Uart> Device<UART> {
pub fn new<T: Sync + Send>(port: serial::Serial<UART, Gpio12<T>, Gpio13<T>>) -> Device<UART> {
impl<UART: serial::Uart> GpsModule<UART> {
pub fn new(tx: Tx<UART>, rx: Rx<UART>) -> Self {
let parser = Parser::default();
let (tx, rx) = port.split();
Device { port: SerialIO::new(tx, rx), parser }
GpsModule { port: SerialIO::new(tx, rx), parser }
}
pub fn write_all(&mut self, data: &[u8]) -> std::io::Result<()> {
@ -39,6 +37,7 @@ impl<UART: serial::Uart> Device<UART> {
let mut local_buf = [0; 1024];
let nbytes = self.read_port(&mut local_buf)?;
if nbytes == 0 {
println!("no bytes to read :(");
break;
}
// parser.consume adds the buffer to its internal buffer, and
@ -52,7 +51,7 @@ impl<UART: serial::Uart> Device<UART> {
Ok(())
}
pub fn wait_for_ack<T: UbxPacketMeta>(&mut self, timeout: Duration) -> std::io::Result<()> {
pub fn wait_for_ack<T: UbxPacketMeta>(&mut self, timeout: Duration) -> std::io::Result<bool> {
let mut found_packet = false;
println!("LOOKING FOR ACK ...");
let start = Instant::now();
@ -64,9 +63,13 @@ impl<UART: serial::Uart> Device<UART> {
found_packet = true;
}
}
else if let PacketRef::AckNak(nak) = packet {
println!("NAK PACKET: {} {}", nak.class(), nak.msg_id());
}
})?;
}
Ok(())
println!("exiting wait_for_ack");
Ok(found_packet)
}
/// Reads the serial port, converting timeouts into "no data received"
@ -110,7 +113,8 @@ pub fn main<T: Sync + Send>(
serial_config,
)?;
let mut device = Device::new(serial);
let (tx, rx) = serial.split();
let mut device = GpsModule::new(tx, rx);
// Configure the device to talk UBX
device
@ -127,25 +131,30 @@ pub fn main<T: Sync + Send>(
reserved5: 0,
}
.into_packet_bytes(),
)
.unwrap();
)?;
device.wait_for_ack::<CfgPrtUart>(Duration::from_millis(3000)).unwrap();
println!("CfgPrtUart acked!");
// Enable the NavPosVelTime packet
// Set interval for the NavPosVelTime packet
println!("Sending set_rate_for::<NavPosVelTime> ...");
for i in 1..5 {
device
.write_all(
&CfgMsgAllPortsBuilder::set_rate_for::<NavPosVelTime>([0, 0, 1, 0, 0, 0])
&CfgMsgAllPortsBuilder::set_rate_for::<NavPosVelTime>([0, 1, 1, 0, 0, 0])
.into_packet_bytes(),
)
.unwrap();
device.wait_for_ack::<CfgMsgAllPorts>(Duration::from_millis(3000)).unwrap();
println!("CfgMsgAllPorts acked!");
println!("SENT set_rate_for::<NavPosVelTime>({}) !!!", i);
if let Ok(true) = device.wait_for_ack::<CfgMsgSinglePort>(Duration::from_millis(3000)) {
println!("Setting rate for NavPosVelTime acked! Exiting loop ...");
break
}
}
// Send a packet request for the MonVer packet
device
.write_all(&UbxPacketRequest::request_for::<MonVer>().into_packet_bytes())
.unwrap();
//device
// .write_all(&UbxPacketRequest::request_for::<MonVer>().into_packet_bytes())
// .unwrap();
// Start reading data
println!("Opened u-blox device, waiting for solutions...");
@ -181,7 +190,8 @@ pub fn main<T: Sync + Send>(
_ => {
println!("{:?}", packet);
}
})?
})?;
thread::sleep(Duration::from_millis(1000));
}
println!("exiting GPS sender loop :)");