Finished code to have data get read from a serial GPS module

This commit is contained in:
Luke Else 2023-07-14 12:23:13 +01:00
parent 443ef167c1
commit 1f8fe3020f
2 changed files with 90 additions and 4 deletions

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@ -33,6 +33,7 @@ esp-idf-sys = { version = "0.33", default-features = false }
esp-idf-hal = { version = "0.41", optional = true, default-features = false }
esp-idf-svc = { version = "0.46", optional = true, default-features = false }
embedded-svc = { version = "0.25", optional = true, default-features = false }
nmea-parser = "0.10.0"
[build-dependencies]
embuild = "0.31.2"

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@ -1,12 +1,97 @@
use esp_idf_sys as _; // If using the `binstart` feature of `esp-idf-sys`, always keep this module imported
use log::*;
use esp_idf_sys::{self as _, EspError}; // If using the `binstart` feature of `esp-idf-sys`, always keep this module imported
use esp_idf_hal::{
prelude::Peripherals,
uart,
units::Hertz,
gpio::{AnyInputPin, AnyOutputPin},
delay::BLOCK
};
use esp_idf_hal;
use nmea_parser;
use nmea_parser::gnss::FaaMode;
fn main() {
fn main() -> Result<(), EspError> {
// It is necessary to call this function once. Otherwise some patches to the runtime
// implemented by esp-idf-sys might not link properly. See https://github.com/esp-rs/esp-idf-template/issues/71
esp_idf_sys::link_patches();
// Bind the log crate to the ESP Logging facilities
esp_idf_svc::log::EspLogger::initialize_default();
info!("Hello, world!");
// Get Peripherals and sysloop ready
let peripherals = Peripherals::take().unwrap();
let pins = peripherals.pins;
// Setup UART to read serial data from GPS
let config = uart::config::Config::default().baudrate(Hertz(9_600));
let uart: uart::UartRxDriver = uart::UartRxDriver::new(
peripherals.uart1,
pins.gpio16,
None::<AnyInputPin>,
None::<AnyOutputPin>,
&config
)?;
let mut nmea_parser = nmea_parser::NmeaParser::new();
let mut latest_data = GpsData{latitude: None, longitude: None, speed: None, direction: None};
loop {
// Read buffer from UART
let mut buf: Vec<u8> = (0..uart.count()? as u8).collect();
uart.read(&mut buf[..], BLOCK)?;
std::thread::sleep(std::time::Duration::from_millis(10));
let nmea_raw = String::from_utf8(buf).unwrap_or_default();
let nmea_vec: Vec<&str> = nmea_raw.split('$').collect();
for nmea_line in nmea_vec {
// Don't try and process / parse if the string is empty
if nmea_line.is_empty() {
continue;
}
// Construct string that is in the correct format for parsing
let mut sentence = "$".to_string();
sentence.push_str(nmea_line);
let nmea = match nmea_parser.parse_sentence(sentence.as_str()) {
Ok(nmea) => nmea,
// Don't continue processin sentence if we know that it isn't supported
Err(_) => { continue; }
};
// print decoded gps data to serial
match nmea {
nmea_parser::ParsedMessage::Gll(gll) => {
println!("Latitude: {:.6?}", gll.latitude.unwrap_or_default());
println!("Longitude: {:.6?}", gll.longitude.unwrap_or_default());
println!("FAA Mode: {:?}m", gll.faa_mode.unwrap_or(nmea_parser::gnss::FaaMode::NotValid));
println!("Data Valid: {:?}", gll.data_valid.unwrap_or(false));
if gll.faa_mode.unwrap_or(FaaMode::NotValid) == FaaMode::Autonomous {
latest_data.latitude = gll.latitude;
latest_data.longitude = gll.longitude;
}
println!("\n\n");
},
nmea_parser::ParsedMessage::Gns(gns) => {
println!("Altitude: {:.2?}", gns.altitude.unwrap_or_default());
println!("Num Sat: {:?}", gns.satellite_count.unwrap_or_default());
println!("Time: {:?}", gns.timestamp.unwrap_or_default());
},
nmea_parser::ParsedMessage::Rmc(rms) => {
println!("Speed: {:.2?}mph", rms.sog_knots.unwrap_or_default() * 1.150779);
println!("Current Track: {:.2?}deg", rms.bearing.unwrap_or_default());
latest_data.speed = Some(rms.sog_knots.unwrap_or_default() * 1.150779);
latest_data.direction = rms.bearing;
},
_ => {}
}
}
}
}
/// Data structure to store all relevant data collected from the gps
struct GpsData {
latitude: Option<f64>,
longitude: Option<f64>,
speed: Option<f64>,
direction: Option<f64>
}