71 lines
1.7 KiB
C++
71 lines
1.7 KiB
C++
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#include "gps.h"
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SoftwareSerial swSerGps;
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TinyGPSPlus gps;
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void Init_GPS()
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{
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uint32_t baudrate;
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switch (LubeConfig.GPSBaudRate)
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{
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case BAUD_9600:
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baudrate = 9600;
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break;
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case BAUD_115200:
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baudrate = 115200;
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break;
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default:
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baudrate = 4800;
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break;
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}
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Serial.printf(PSTR("Init GPS with Baud %d\n"), baudrate);
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swSerGps.begin(baudrate, SWSERIAL_8N1, GPIO_TRIGGER, -1, false, 256);
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swSerGps.enableRx(true);
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// high speed half duplex, turn off interrupts during tx
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swSerGps.enableIntTx(false);
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swSerGps.enableTx(false);
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// swSerGps.enableTx(true);
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// swSerGps.write("Test");
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// swSerGps.enableTx(false);
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}
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uint32_t Process_GPS_WheelSpeed()
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{
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static uint32_t lastRecTimestamp;
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static uint32_t lastValidSpeedTimestamp;
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uint16_t RearWheelSpeed_kmh;
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while (swSerGps.available() > 0)
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{
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uint8_t incoming = swSerGps.read();
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if (gps.encode(incoming))
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{
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RearWheelSpeed_kmh = gps.speed.isValid() ? gps.speed.kmph() : 0;
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if (RearWheelSpeed_kmh > 0)
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{
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uint32_t RWP_millimeter_per_second = ((uint32_t)RearWheelSpeed_kmh * 1000000) / 3600;
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uint32_t timesincelast = millis() - lastValidSpeedTimestamp;
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lastValidSpeedTimestamp = millis();
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uint32_t milimeters_to_add = (RWP_millimeter_per_second * timesincelast) / 1000;
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return milimeters_to_add;
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}
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lastRecTimestamp = millis();
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}
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}
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if (millis() > lastRecTimestamp + 10000)
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{
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globals.systemStatus = sysStat_Error;
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MaintainDTC(DTC_NO_GPS_SERIAL, true);
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}
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return 0;
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}
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