GPStracker/soft/nmea.c

#ifdef PC_BUILD
#include "../gps-test-tool/main.h"
#else
#include "main.h"
#endif

/*----------------------------------------------------*/
/*  Get a line received from GPS module               */
/*----------------------------------------------------*/

uint16_t get_line (		/* 0:line incomplete or timed out, >0: Number of bytes received. */
	char *buff,
	uint16_t sz_buf
)
{
	char c;
	static uint16_t i = 0;
	uint16_t ret_len;

	set_timer(recv_timeout, 1000);

	for (;;) {
		wdt_reset();
		if (FLAGS & (F_LVD | F_POWEROFF))
			return 0;	/* A brownout is detected */
		if (timer_expired(recv_timeout))
			return 0; /* timeout; continue the main loop */
		if (System.keypress) /* process user keypress */
			return 0;
		if (!uart0_test()) {
			sleep();
			continue;
		}
		c = (char)uart0_get();
		if (i == 0 && c != '$' )
			continue;	/* Find start of line */
		if (c == '\n' || c == '\r') {
			buff[i++] = '\r';
			buff[i++] = '\n';
			buff[i++] = '\0'; /* add null termination for string */
			break;	/* EOL */
		}
		buff[i++] = c;
		if (System.conf.uart_log_mode != UART_LOG_MODE_SYSTEM)
			uart1_put(c);
		if (i >= sz_buf - 3) /* keep 3 bytes for terminating character */
			i = 0;	/* Buffer overflow (abort this line) */
	}
	ret_len = i;
	i = 0;
	if (ret_len > 0 && System.conf.uart_log_mode != UART_LOG_MODE_SYSTEM) {
		uart1_put('\r');
		uart1_put('\n');
	}
	return ret_len;
}

/* Compare sentence header string */
BYTE gp_comp (const char *str1, __flash const char *str2)
{
	char c;

	do {
		c = pgm_read_byte(str2++);
	} while (c && c == *str1++);
	return c;
}

/* Per-epoch GGA/GSA/logged tracking for nmea_epoch_complete() - partial parse
 * state, not global "fully cooked" data, so kept local to this file rather
 * than on System. */
static struct {
	unsigned char gga_ok : 1;
	unsigned char gsa_ok : 1;
	unsigned char logged : 1;
} epoch;

#define FIELD_BUF_LEN	32

/* Get a column item */
static
const char* gp_col (	/* Returns pointer to the item (returns a NULL when not found) */
	const char* buf,	/* Pointer to the sentence */
	BYTE col			/* Column number (0 is the 1st item) */
) {
	BYTE c;
	static char field_buf[FIELD_BUF_LEN];
	unsigned char length = 0;

	while (col) {
		do {
			c = *buf++;
			if (c <= ' ') return NULL;
		} while (c != ',');
		col--;
	}
	while (*buf && *buf != ',' && length < FIELD_BUF_LEN-1) {
		field_buf[length++] = *buf++;
	}
	field_buf[length] = '\0';
	return field_buf;
}

unsigned int gp_val(const char *db, unsigned char count) {
	unsigned int out = 0;

	while (count--) {
		unsigned char n;
		n = *db - '0';
		if (n >= 10)
			return 0;
		out *= 10;
		out += n;
		db++;
	}
	return out;
}

#define SPEED_SAMPLE_CAP_MULT		3	/* cap any single sample at this multiple of the running average... */
#define SPEED_SAMPLE_CAP_MIN_SAMPLES	60	/* ...but only once the average actually means something, ... */
#define SPEED_SAMPLE_CAP_FLOOR_X100	2000	/* ...and never cap below this (20 km/h): the cap is a backstop against
						 * a single wild outlier, not a speed limit - persistence (below) is what
						 * lets a genuinely sustained fast segment (car/train) through. */
#define SPEED_SAMPLE_HIGH_HISTORY_LEN	7	/* consider this many of the most recent samples... */
#define SPEED_SAMPLE_HIGH_HISTORY_MASK	((1U << SPEED_SAMPLE_HIGH_HISTORY_LEN) - 1)
#define SPEED_SAMPLE_HIGH_MIN_COUNT	5	/* ...and once this many of them were above the cap, stop clamping:
						 * a single spike (e.g. the 200 km/h one-second glitch seen on a real
						 * hike) never reaches this, but a sustained fast segment does within a
						 * few seconds. */

/* Bit history of "was this raw sample above the cap" for the last
 * SPEED_SAMPLE_HIGH_HISTORY_LEN samples (bit 0: most recent). Static file
 * scope, not part of System - it's working state for the cap logic only,
 * nothing else needs it. */
static unsigned char speed_sample_high_history;

static void speed_sample_process(double speed_kmh) {
	unsigned char paused = tracking_is_paused();
	unsigned char fix_trustworthy = gps_fix_trustworthy();

	System.speed = speed_kmh+0.5;

	/* Average speed: fixed-point accumulation of instantaneous samples,
	 * excluding time spent paused, instead of dividing distance by time. */
	if (!paused && fix_trustworthy) {
		unsigned long int sample_x100 = (unsigned long int)(speed_kmh*100.0 + 0.5);
		if (System.speed_sample_count >= SPEED_SAMPLE_CAP_MIN_SAMPLES) {
			unsigned long int avg_x100 = System.speed_accum_x100 / System.speed_sample_count;
			unsigned long int cap_x100 = avg_x100 * SPEED_SAMPLE_CAP_MULT;
			unsigned char is_high;
			if (cap_x100 < SPEED_SAMPLE_CAP_FLOOR_X100)
				cap_x100 = SPEED_SAMPLE_CAP_FLOOR_X100;
			is_high = sample_x100 > cap_x100;
			speed_sample_high_history = (speed_sample_high_history << 1) | is_high;
			if (is_high && __builtin_popcount(speed_sample_high_history & SPEED_SAMPLE_HIGH_HISTORY_MASK) < SPEED_SAMPLE_HIGH_MIN_COUNT)
				sample_x100 = cap_x100; /* not (yet) persistent: clamp as a backstop against a lone spike */
		}
		System.speed_accum_x100 += sample_x100;
		System.speed_sample_count++;
	}
}

static time_t gp_rmc_parse(const char *str) {
	const char *p;
	struct tm tmc;
	double speed_knots;

	epoch.gga_ok = 0;
	epoch.gsa_ok = 0;
	epoch.logged = 0;

	p = gp_col(str, 1);		/* Get h:m:s */
	if (!p)
		return 0;
	tmc.tm_hour = gp_val(p, 2);
	tmc.tm_min = gp_val(p+2, 2);
	tmc.tm_sec = gp_val(p+4, 2);

	p = gp_col(str, 9);		/* Get y:m:d */
	if (!p)
		return 0;
	tmc.tm_mday = gp_val(p, 2);
	tmc.tm_mon = gp_val(p+2, 2) - 1;
	tmc.tm_year = gp_val(p+4, 2) + 100;

	utc = mktime(&tmc);				/* Check time validity */
	if (utc == -1)
		return 0;

	p = gp_col(str, 2);		/* Get status */
	if (!p || *p != 'A') {
		System.location_valid = LOC_INVALID;
		FLAGS &= ~F_GPSOK;
		return 0;			/* Return 0 even is time is valid (comes from module's internal RTC) */
	}

	FLAGS |= F_GPSOK;

	/* Speed over ground, from this same sentence (and the same epoch whose
	 * status field was just checked above), in knots - converted to km/h.
	 * Not VTG: some receivers omit VTG or send a shorter form of it, and RMC
	 * is the one sentence essentially every NMEA GNSS module emits. */
	p = gp_col(str, 7);
	if (p && *p) {
		xatof(&p, &speed_knots);
		speed_sample_process(speed_knots * 1.852);
	}

	return utc;
}

/* A fix is only trusted (for acceptance into gpx_process_point(), the speed
 * average, and the auto-pause speed-based unpause check) when it is valid,
 * of a known type, and reasonably accurate: a single sample from a poor fix
 * (e.g. HDOP 16 with only a few satellites) would otherwise distort the
 * whole-session average, corrupt the track with a wild position/altitude
 * outlier, or - worse - talk the auto-pause logic into resuming a stationary
 * logger. */
#define FIX_QUALITY_HDOP_MAX_X100	500	/* a fix is untrustworthy once HDOP > 5.00 */

static void gp_gga_parse(const char *str) {
	const char *p;
	double tmp, hdop;
	unsigned int hdop_x100;

	p = gp_col(str, 7); /* satellites used */
	if (!p)
		return;
	System.satellites_used = atoi(p);
	epoch.gga_ok = 1;

	if (System.satellites_used >= System.conf.min_sats) {
		System.sat_count_low = 0;
	} else {
		System.sat_count_low = 1;
	}

	/* HDOP, from this same sentence: GSA (which also reports HDOP, into
	 * System.hdop_x100) is parsed after GGA within the epoch, so its value
	 * is still last epoch's here - read GGA's own HDOP field instead. */
	p = gp_col(str, 8);
	if (!p)
		return;
	xatof(&p, &hdop);
	hdop_x100 = (unsigned int)(hdop*100.0 + 0.5);

	/* check validity */
	p = gp_col(str, 6);
	if (!p)
		return;
	if (*p == '0') {
		System.location_valid = LOC_INVALID;
		return;
	}

	/* Reject (rather than just not-promote) on a low satellite count, poor
	 * HDOP, or anything short of a 3D fix, so a bad fix can't coast on
	 * LOC_VALID left over from the last good epoch - otherwise a
	 * low-quality point (wrong position and/or altitude) would still be
	 * accepted downstream. A 2D fix in particular can't solve for altitude
	 * at all (only 3 satellites: 2 horizontal DOF + time, no vertical) and
	 * reports a held-over or drifting one instead - seen after a real
	 * reacquisition, where a 2D fix reported an altitude a few hundred
	 * meters off before enough satellites came in for a real 3D fix.
	 * System.fix_type is set by GSA, parsed after GGA within the epoch, so
	 * it's last epoch's value here - same staleness as HDOP above, but a
	 * bad 2D fix reliably spans several consecutive epochs, so a one-epoch
	 * lag isn't a practical gap here (unlike a true point fix). */
	if (!System.sat_count_low && hdop_x100 <= FIX_QUALITY_HDOP_MAX_X100
			&& System.fix_type == FIX_TYPE_3D)
		System.location_valid = LOC_VALID_NEW;
	else
		System.location_valid = LOC_INVALID;

	/* parse location */
	p = gp_col(str, 2);		/* latitude */
	if (!p)
		return;
	location.lat = gp_val(p, 2);	/* degrees */
	p += 2;
	xatof(&p, &tmp);	/* minutes */
	tmp /= 60;			/* convert minutes to degrees */
	location.lat += tmp;

	p = gp_col(str, 3);	/* N/S */
	if (!p)
		return;
	if (*p != 'N')
		location.lat = -location.lat;

	p = gp_col(str, 4);		/* longitude */
	if (!p)
		return;
	location.lon = gp_val(p, 3);	/* degrees */
	p += 3;
	xatof(&p, &tmp);	/* minutes */
	tmp /= 60;			/* convert minutes to degrees */
	location.lon += tmp;

	p = gp_col(str, 5); /* E/W */
	if (!p)
		return;
	if (*p != 'E')
		location.lon = -location.lon;

	p = gp_col(str, 6); /* fix type */
	if (!p)
		return;
	if (*p == '2')
		System.sbas = 1;
	else
		System.sbas = 0;

	p = gp_col(str, 9); /* MSL altitude */
	if (!p)
		return;
	xatof(&p, &tmp);
	location.alt = tmp;

	location.time = utc; /* parsed from RMC */
}

unsigned char gps_fix_trustworthy(void) {
	return (FLAGS & F_GPSOK) && System.fix_type != FIX_TYPE_UNKNOWN
		&& System.hdop_x100 <= FIX_QUALITY_HDOP_MAX_X100;
}

static void gp_gsa_parse(const char *str) {
	const char *p;
	double hdop;

	p = gp_col(str, 2); /* fix type: 1 no fix, 2 2D, 3 3D */
	if (p && *p == '2')
		System.fix_type = FIX_TYPE_2D;
	else if (p && *p == '3')
		System.fix_type = FIX_TYPE_3D;
	else
		System.fix_type = FIX_TYPE_UNKNOWN;

	p = gp_col(str, 16); /* HDOP */
	if (p && *p) {
		xatof(&p, &hdop);
		System.hdop_x100 = (unsigned int)(hdop*100.0 + 0.5);
	}
	epoch.gsa_ok = 1;
}

/* Returns 1 exactly once per epoch (the moment both GGA and GSA have been
 * parsed for it, whichever arrives second), so callers that need this
 * epoch's satellite count and HDOP together (e.g. logging a fix event) never
 * see a stale value left over from a previous epoch or an earlier line -
 * regardless of which order the receiver sends GGA/GSA in. */
unsigned char nmea_epoch_complete(void) {
	if (epoch.gga_ok && epoch.gsa_ok && !epoch.logged) {
		epoch.logged = 1;
		return 1;
	}
	return 0;
}

/*$PMTK355*31<CR><LF>
Return $PMTK001,355,3,1,0,0*2E “$PMTK001,355,3,GLON_Enable,BEIDOU_Enable,GALILEO_Enable”
The GLONASS search mode is enabled. */
static void pmtk001_parse(const char *str) {
	const char *p;

	/* check validity */
	p = gp_col(str, 1);
	if (strcmp_P(p, PSTR("355"))) /* not the PMTK355 reply */
		return;
	p = gp_col(str, 2);
	if (*p == '0' || *p == '1') { /* invalid / unsupported */
		System.gps_only = 1;
		xputs_P(PSTR("GPS only\r\n"));
	} else {
		System.gps_only = 0;
		xputs_P(PSTR("Multi GNSS\r\n"));
	}

	gps_initialize();
}

unsigned char nmea_checksum(const char *str) {
	unsigned char cs = 0;
	while (*str && *str != '*') {
		cs ^= *str++; /* NMEA checksum is quite primitive, but still should catch simple bitstream errors or truncated lines */
	}
	return cs;
}

time_t gps_parse(const char *str) {	/* Get all required data from NMEA sentences */
	signed int len = strlen(str)-2; /* remove final \r\n */
	const char *checksum;
	unsigned char calc_checksum, inc_checksum;
	signed int i;
	char c;

	if (len < 4)
		return 0; /* each message must contain $.*xx where . is one or more actual data characters and xx is the checksum */

	for (i = len-1; i && i >= (len-2); i--) { /* find checksum */
		if (str[i] == '*')
			break;
	}
	checksum = str+i+1; /* skip * character */
	inc_checksum = 0; /* parse hex string */
	while (*checksum && isalnum(*checksum)) {
		inc_checksum *= 16;
		c = *checksum++;
		if (c >= '0' && c <= '9') {
			inc_checksum += c - '0';
		} else if (c >= 'a' && c <= 'f') {
			inc_checksum += c - 'a' + 10;
		} else if (c >= 'A' && c <= 'F') {
			inc_checksum += c - 'A' + 10;
		} else {
			xputs_P(PSTR("Invalid NMEA: malformed checksum\r\n"));
			return 0; /* invalid checksum character */
		}
	}
	
	str++; /* drop initial $ */

	calc_checksum = nmea_checksum(str);
	if (inc_checksum != calc_checksum) {
		xputs_P(PSTR("Invalid NMEA checksum received\r\n"));
		return 0;
	}
	
	if (!gp_comp(str, PSTR("GPRMC")) || !gp_comp(str, PSTR("GNRMC")) || !gp_comp(str, PSTR("BDRMC")) || !gp_comp(str, PSTR("GARMC"))) {
		return gp_rmc_parse(str);
	}
	if (!gp_comp(str, PSTR("GPGGA")) || !gp_comp(str, PSTR("GNGGA")) || !gp_comp(str, PSTR("BDGGA")) || !gp_comp(str, PSTR("GAGGA"))) {
		gp_gga_parse(str);
		return 0;
	}
	if (!gp_comp(str, PSTR("GPGSA")) || !gp_comp(str, PSTR("GNGSA")) || !gp_comp(str, PSTR("BDGSA")) || !gp_comp(str, PSTR("GAGSA"))) {
		gp_gsa_parse(str);
		return 0;
	}
	if (!System.gps_initialized && !gp_comp(str, PSTR("PMTK011"))) {
		gps_initialize();
		return 0;
	}
	if (!gp_comp(str, PSTR("PMTK001"))) {
		pmtk001_parse(str);
		return 0;
	}
	if (!gp_comp(str, PSTR("PMTK"))) {
		/* Any other PMTK reply (e.g. PMTK705, the firmware release query
		 * response) - log it verbatim, no need for a dedicated parser. */
		log_prefix();
		xputs_P(PSTR("RX "));
		xputs(str);
		return 0;
	}
	return 0;
}

void uart0_put_wrap(int c) {
	uart0_put((char)c);
}

/* Sends the SBAS-enable/disable and GNSS-mode commands for the currently
 * configured settings. Used both as the second step of gps_initialize()'s
 * boot sequence, and directly as the settings menu's .changed callback for
 * the SBAS/GNSS-mode entries - the latter must apply the just-changed
 * setting immediately, regardless of System.gps_initialized, rather than
 * going through gps_initialize()'s boot state machine (which would instead
 * re-send the GNSS-mode query if called before the module's PMTK011 boot
 * line has been seen). */
void gps_settings_changed(void) {
	/*
	 * PMTK353: set gnss search mode (GPS/Galileo/Glonass/Beidou)
	 * PMTK313: enable SBAS
	 */
	if (get_flag(CONFFLAG_ENABLE_SBAS)) {
		xfprintf(uart0_put_wrap, PSTR("$PMTK313,1*2E\r\n"));
		xputs_P(PSTR("SBAS enable sent\r\n"));
	} else {
		xfprintf(uart0_put_wrap, PSTR("$PMTK313,0*2F\r\n"));
		xputs_P(PSTR("SBAS disable sent\r\n"));
	}
	if (!System.gps_only) {
		switch (System.conf.gnss_mode) {
			default:
			case GNSS_MODE_GPS_GLONASS_GALILEO:
				xfprintf(uart0_put_wrap, PSTR("$PMTK353,1,1,1,0,0*2A\r\n"));
				break;
			case GNSS_MODE_GPS:
				xfprintf(uart0_put_wrap, PSTR("$PMTK353,1,0,0,0,0*2A\r\n"));
				break;
			case GNSS_MODE_GPS_GALILEO:
				xfprintf(uart0_put_wrap, PSTR("$PMTK353,1,0,1,0,0*2B\r\n"));
				break;
			case GNSS_MODE_GALILEO:
				xfprintf(uart0_put_wrap, PSTR("$PMTK353,0,0,1,0,0*2A\r\n"));
				break;
			case GNSS_MODE_GPS_BEIDOU:
				xfprintf(uart0_put_wrap, PSTR("$PMTK353,1,0,0,0,1*2B\r\n"));
				break;
			case GNSS_MODE_BEIDOU:
				xfprintf(uart0_put_wrap, PSTR("$PMTK353,0,0,0,0,1*2A\r\n"));
				break;
		}
		xputs_P(PSTR("GNSS mode setting sent\r\n"));
	} else {
		System.conf.gnss_mode = GNSS_MODE_GPS;
	}
}

void gps_initialize(void) {
	/*
	 * PMTK355: query gnss search mode (will fail if only GPS is supported)
	 * PMTK605: query firmware release; the reply (PMTK705) is logged
	 *          verbatim by the generic PMTK passthrough in gps_parse()
	 */
	switch (System.gps_initialized) {
		case GPS_INIT_NOT_INITIALIZED:
			xfprintf(uart0_put_wrap, PSTR("$PMTK355*31\r\n"));
			xputs_P(PSTR("GNSS mode query sent\r\n"));
			xfprintf(uart0_put_wrap, PSTR("$PMTK605*31\r\n"));
			System.gps_initialized = GPS_INIT_QUERY_SENT;
			break;
		case GPS_INIT_QUERY_SENT:
			gps_settings_changed();
			break;
		default:
			break;
	}
}

void check_min_sat_limit(void) {
	if (System.conf.min_sats > 6 && (System.conf.gnss_mode == GNSS_MODE_GPS || System.conf.gnss_mode == GNSS_MODE_GALILEO || System.conf.gnss_mode == GNSS_MODE_BEIDOU)) {
		 /* by geometry, max visible number is 6..12 */
		 System.conf.min_sats = 6;
	}
}