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nmea-lib ... main

6 changed files with 109 additions and 54 deletions
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2
.cargo/config.toml
View File

@ -12,6 +12,6 @@ build-std = ["std", "panic_abort"]
[env]
# Note: these variables are not used when using pio builder (`cargo build --features pio`)
ESP_IDF_VERSION = "v5.1.1"
ESP_IDF_VERSION = "release/v5.1"
ESP_IDF_PATH_ISSUES = "warn" # or "ignore"

2
Cargo.toml
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@ -28,11 +28,11 @@ embassy = ["esp-idf-svc/embassy-sync", "esp-idf-svc/critical-section", "esp-idf-
log = { version = "0.4.17", default-features = false }
esp-idf-svc = { version = "0.47.3", default-features = false }
embedded-svc = { version = "0.25", optional = true, default-features = false }
nmea-parser = "0.10.0"
embedded-graphics = "0.8.0"
ssd1306 = "0.8.0"
display-interface = "0.4.1"
display-interface-i2c = "0.4.0"
nmea = { version = "0.6.0", default-features = false }
[build-dependencies]
embuild = "0.31.2"

3
build.rs
View File

@ -1,4 +1,5 @@
// Necessary because of this issue: https://github.com/rust-lang/cargo/issues/9641
fn main() {
fn main() -> Result<(), Box<dyn std::error::Error>> {
embuild::espidf::sysenv::output();
Ok(())
}

98
src/gps/gpsdata.rs
View File

@ -1,21 +1,32 @@
use super::GpsError;
use nmea::Nmea;
use nmea_parser;
use nmea_parser::chrono::{DateTime, Utc};
use nmea_parser::gnss::FaaMode;
/// Data structure to store all relevant data collected from the gps
#[derive(Default)]
pub struct GpsData {
pub nmea: Nmea,
/// Latitude of reported GPS location
latitude: Option<f64>,
/// Longitude of reported GPS location
longitude: Option<f64>,
/// Calculated speed from GPS reciever
speed: Option<f64>,
/// Altitude reported from GPS location
altitude: Option<f64>,
/// Timestamp of the last report
timestamp: Option<DateTime<Utc>>,
}
impl ToString for GpsData {
fn to_string(&self) -> String {
format!(
"Latitude: {:.4?} \nLongitude: {:.4?} \nSpeed: {:.1?}mph \nAltitude: {:.1?}m",
self.nmea.latitude.unwrap_or_default(),
self.nmea.longitude.unwrap_or_default(),
knots_to_mph(self.nmea.speed_over_ground.unwrap_or_default()),
self.nmea.altitude.unwrap_or_default(),
self.latitude.unwrap_or_default(),
self.longitude.unwrap_or_default(),
self.speed.unwrap_or_default(),
self.altitude.unwrap_or_default(),
)
}
}
@ -26,34 +37,85 @@ impl GpsData {
/// Takes in a reference to a buffer of raw serial data and then
/// tries to read it in as NMEA Data
pub fn update(&mut self, buf: &Vec<u8>) -> Result<(), GpsError> {
let mut nmea_parser = nmea_parser::NmeaParser::new();
// Format the nmea buffer into a usable string
let nmea_raw = String::from_utf8(buf.to_owned())
.map_err(|_| GpsError::ReadError())
.unwrap_or_default();
let nmea_vec: Vec<&str> = nmea_raw.split('$').collect();
// Split at $ and then prepend the '$' back to each string
let nmea_vec: Vec<String> = nmea_raw.split('$').map(|str| format!("${}", str)).collect();
for nmea_string in nmea_vec {
if nmea_string.is_empty() {
// Loop through each sentence and use the information to update GPS data
for nmea_line in nmea_vec {
// Don't try and process / parse if the string is empty
if nmea_line.is_empty() {
continue;
}
match self.nmea.parse(&nmea_string) {
Ok(sentence) => {
println!("Recieved GPS Packet: {}", sentence)
}
// Construct string that is in the correct format for parsing
let mut sentence = "$".to_string();
sentence.push_str(nmea_line);
Err(e) => {
eprintln!("Couldn't parse Packet: {}", e)
let nmea = match nmea_parser.parse_sentence(sentence.as_str()) {
Ok(nmea) => nmea,
// Don't continue processing a sentence if we know that it isn't supported
Err(_) => {
continue;
}
};
// print decoded gps data to serial
match nmea {
// TODO: Investigate why the GGA Packets seem to come in mangled
nmea_parser::ParsedMessage::Gga(gga) => {
// Update Altitude above ground level
self.altitude = match gga.altitude {
Some(_) => gga.altitude,
None => self.altitude,
};
}
nmea_parser::ParsedMessage::Gll(gll) => {
// FAA mode is used to determine the validity of the data in this case
if gll.faa_mode.unwrap_or(FaaMode::NotValid) == FaaMode::Autonomous {
// Only make updates to position if we have new data, do not overwrite
// stale data
match gll.latitude {
Some(_) => self.latitude = gll.latitude,
None => {}
}
match gll.longitude {
Some(_) => self.longitude = gll.longitude,
None => {}
}
match gll.timestamp {
Some(_) => self.timestamp = gll.timestamp,
None => {}
}
}
}
nmea_parser::ParsedMessage::Rmc(rms) => {
// Update Ground Speed
match rms.sog_knots {
Some(_) => {
self.speed = Some(knots_to_mph(rms.sog_knots.unwrap_or_default()))
}
None => {}
}
}
_ => {}
}
}
Ok(())
}
/// Function to get a &str of the current speed reported by the GPS module
pub fn get_speed(&self) -> Option<f64> {
self.speed
}
}
/// Function to simply convert knots to mph
pub fn knots_to_mph(knots: f32) -> f32 {
fn knots_to_mph(knots: f64) -> f64 {
knots * 1.150779
}

41
src/gps/mod.rs
View File

@ -1,10 +1,10 @@
use esp_idf_svc::hal::{
self,
delay::BLOCK,
gpio::{AnyInputPin, AnyOutputPin, InputPin},
peripheral::Peripheral,
uart::{self, Uart},
gpio::{AnyInputPin, AnyOutputPin, InputPin},
units::Hertz,
delay::BLOCK,
uart::{self, Uart},
};
use crate::error::Error;
@ -14,7 +14,7 @@ pub mod gpsdata;
#[derive(Debug)]
#[allow(unused)]
pub enum GpsError {
ParseError(),
ParseError(nmea_parser::ParseError),
UpdateError(),
ReadError(),
NoData(),
@ -23,7 +23,7 @@ pub enum GpsError {
pub struct GPS<'a> {
uart: uart::UartRxDriver<'a>,
latest: gpsdata::GpsData,
current: gpsdata::GpsData,
current: gpsdata::GpsData
}
impl<'a> GPS<'a> {
@ -33,39 +33,36 @@ impl<'a> GPS<'a> {
uart: impl Peripheral<P = impl Uart> + 'a,
gps_rx: impl Peripheral<P = impl InputPin> + 'a,
) -> Result<GPS<'a>, Error> {
// Setup UART to read serial data from GPS
// 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(
uart,
gps_rx,
None::<AnyInputPin>,
None::<AnyOutputPin>,
&config,
)
.map_err(|err| Error::EspError(err))?;
&config
).map_err(|err| Error::EspError(err))?;
// Create GPS struct
Ok(GPS {
uart,
latest: gpsdata::GpsData::default(),
current: gpsdata::GpsData::default(),
Ok(GPS {
uart,
latest: gpsdata::GpsData::default(),
current: gpsdata::GpsData::default()
})
}
pub fn poll(self: &mut GPS<'a>) -> Result<&gpsdata::GpsData, Error> {
//Read buffer from UART
let mut buf: Vec<u8> =
(0..self.uart.count().map_err(|err| Error::EspError(err))? as u8).collect();
self.uart
.read(&mut buf[..], BLOCK)
.map_err(|err| Error::EspError(err))?;
let mut buf: Vec<u8> = (
0..self.uart.count().map_err(|err| Error::EspError(err))? as u8
).collect();
self.uart.read(&mut buf[..], BLOCK).map_err(|err| Error::EspError(err))?;
//Update GPS Data Struct with the latest data fetched from UART buffer
self.latest
.update(&buf)
.map_err(|err| Error::GpsError(err))?;
self.latest.update(&buf)
.map_err(|err| Error::GpsError(err))?;
// Return the latest stored data
Ok(&self.latest)
}
}
}

17
src/main.rs
View File

@ -16,10 +16,7 @@ use error::Error;
mod appstate;
mod gps;
use gps::{
gpsdata::{knots_to_mph, GpsData},
GPS,
};
use gps::{gpsdata::GpsData, GPS};
mod display;
use display::Display;
@ -29,10 +26,8 @@ fn main() -> Result<(), Error> {
// 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_svc::sys::link_patches();
// Bind the log crate to the ESP Logging facilities
esp_idf_svc::log::EspLogger::initialize_default();
log::info!("hello");
//esp_idf_svc::log::EspLogger::initialize_default();
// Get Peripherals and sysloop ready
let peripherals = Peripherals::take().unwrap();
@ -51,7 +46,7 @@ fn main() -> Result<(), Error> {
// Setup GPIO interrupts
static FLAG: AtomicBool = AtomicBool::new(false);
let mut interrupt_button_handle = PinDriver::input(pins.gpio4).unwrap();
let mut interrupt_button_handle = PinDriver::input(pins.gpio9).unwrap();
interrupt_button_handle.set_pull(Pull::Up);
interrupt_button_handle.set_interrupt_type(InterruptType::NegEdge);
@ -61,7 +56,7 @@ fn main() -> Result<(), Error> {
interrupt_button_handle.enable_interrupt();
// Prepare components for processing
let mut gps: GPS = GPS::new(peripherals.uart1, gps_rx)?;
let mut gps: GPS = GPS::new(peripherals.uart0, gps_rx)?;
let mut display: Display<DisplaySize128x64> =
Display::new(i2c, DisplaySize128x64, DisplayRotation::Rotate0)?;
let mut _app_state = appstate::AppState::default();
@ -71,8 +66,8 @@ fn main() -> Result<(), Error> {
let text: String;
// Get the latest data from GPS module and flush to Display
text = match gps.poll() {
Ok(res) => match res.nmea.speed_over_ground {
Some(s) => format!("{:.2} MPH", knots_to_mph(s)),
Ok(res) => match res.get_speed() {
Some(s) => format!("{:.2} MPH", s),
None => NO_DATA.to_string(),
},
Err(e) => {