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Add accuracy to GPS output, implent it for ublox

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Signed-off-by: Sara Damiano <sdamiano@stroudcenter.org>
This commit is contained in:
Sara Damiano
2020-02-13 12:01:22 -05:00
parent a584f66161
commit 46d606260f
10 changed files with 204 additions and 81 deletions
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111
src/TinyGsmClientUBLOX.h
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@@ -17,6 +17,7 @@
#include "TinyGsmBattery.tpp"
#include "TinyGsmCalling.tpp"
#include "TinyGsmGPRS.tpp"
#include "TinyGsmGPS.tpp"
#include "TinyGsmGSMLocation.tpp"
#include "TinyGsmModem.tpp"
#include "TinyGsmSMS.tpp"
@@ -47,6 +48,7 @@ class TinyGsmUBLOX
public TinyGsmCalling<TinyGsmUBLOX>,
public TinyGsmSMS<TinyGsmUBLOX>,
public TinyGsmGSMLocation<TinyGsmUBLOX>,
public TinyGsmGPS<TinyGsmUBLOX>,
public TinyGsmTime<TinyGsmUBLOX>,
public TinyGsmBattery<TinyGsmUBLOX> {
friend class TinyGsmModem<TinyGsmUBLOX>;
@@ -57,6 +59,7 @@ class TinyGsmUBLOX
friend class TinyGsmCalling<TinyGsmUBLOX>;
friend class TinyGsmSMS<TinyGsmUBLOX>;
friend class TinyGsmGSMLocation<TinyGsmUBLOX>;
friend class TinyGsmGPS<TinyGsmUBLOX>;
friend class TinyGsmTime<TinyGsmUBLOX>;
friend class TinyGsmBattery<TinyGsmUBLOX>;
@@ -163,7 +166,7 @@ class TinyGsmUBLOX
/*
* Basic functions
*/
protected:
bool initImpl(const char* pin = NULL) {
DBG(GF("### TinyGSM Version:"), TINYGSM_VERSION);
@@ -197,6 +200,7 @@ class TinyGsmUBLOX
}
}
// only difference in implementation is the warning on the wrong type
String getModemNameImpl() {
sendAT(GF("+CGMI"));
String res1;
@@ -246,7 +250,7 @@ class TinyGsmUBLOX
return waitResponse(40000L) == 1;
}
bool sleepEnableImpl(bool enable = true) TINY_GSM_ATTR_NOT_IMPLEMENTED;
bool sleepEnableImpl(bool enable = true) TINY_GSM_ATTR_NOT_AVAILABLE;
/*
* Generic network functions
@@ -365,6 +369,7 @@ class TinyGsmUBLOX
* SIM card functions
*/
protected:
// This uses "CGSN" instead of "GSN"
String getIMEIImpl() {
sendAT(GF("+CGSN"));
if (waitResponse(GF(GSM_NL)) != 1) { return ""; }
@@ -387,17 +392,40 @@ class TinyGsmUBLOX
// Can follow all template functions
/*
* Location functions
* GSM/GPS/GNSS/GLONASS Location functions
* NOTE: u-blox modules use the same function to get location data from both
* GSM tower triangulation and from dedicated GPS/GNSS/GLONASS receivers. The
* only difference in which sensor the data is requested from.
*/
protected:
String getGsmLocationRawImpl() {
bool enableGPSImpl() {
// AT+UGPS=<mode>[,<aid_mode>[,<GNSS_systems>]]
// <mode> - 0: GNSS receiver powered off, 1: on
// <aid_mode> - 0: no aiding (default)
// <GNSS_systems> - 3: GPS + SBAS (default)
sendAT(GF("+UGPS=1,0,3"));
if (waitResponse(10000L, GF(GSM_NL "+UGPS:")) != 1) { return false; }
return waitResponse(10000L) == 1;
}
bool disableGPSImpl() {
sendAT(GF("+UGPS=0"));
if (waitResponse(10000L, GF(GSM_NL "+UGPS:")) != 1) { return false; }
return waitResponse(10000L) == 1;
}
String getUbloxLocationRaw(int8_t sensor) {
// AT+ULOC=<mode>,<sensor>,<response_type>,<timeout>,<accuracy>
// <mode> - 2: single shot position
// <sensor> - 2: use cellular CellLocate® location information
// <sensor> - 0: use the last fix in the internal database and stop the GNSS
// receiver
// - 1: use the GNSS receiver for localization
// - 2: use cellular CellLocate® location information
// - 3: ?? use the combined GNSS receiver and CellLocate® service
// information ?? - Docs show using sensor 3 and it's
// documented for the +UTIME command but not for +ULOC
// <response_type> - 0: standard (single-hypothesis) response
// <timeout> - Timeout period in seconds
// <accuracy> - Target accuracy in meters (1 - 999999)
sendAT(GF("+ULOC=2,2,0,120,1"));
sendAT(GF("+ULOC=2,"), sensor, GF(",0,120,1"));
// wait for first "OK"
if (waitResponse(10000L) != 1) { return ""; }
// wait for the final result - wait full timeout time
@@ -407,21 +435,35 @@ class TinyGsmUBLOX
res.trim();
return res;
}
String getGsmLocationRawImpl() {
return getUbloxLocationRaw(2);
}
String getGPSrawImpl() {
return getUbloxLocationRaw(1);
}
bool getGsmLocationImpl(float* lat, float* lon, float* accuracy = 0,
int* year = 0, int* month = 0, int* day = 0,
int* hour = 0, int* minute = 0, int* second = 0) {
bool getUbloxLocation(int8_t sensor, float* lat, float* lon, float* speed = 0,
int* alt = 0, int* vsat = 0, int* usat = 0,
float* accuracy = 0, int* year = 0, int* month = 0,
int* day = 0, int* hour = 0, int* minute = 0,
int* second = 0) {
// AT+ULOC=<mode>,<sensor>,<response_type>,<timeout>,<accuracy>
// <mode> - 2: single shot position
// <sensor> - 2: use cellular CellLocate® location information
// - 0: use the last fix in the internal database and stop the GNSS
// receiver
// - 1: use the GNSS receiver for localization
// - 3: ?? use the combined GNSS receiver and CellLocate® service
// information ?? - Docs show using sensor 3 and it's documented
// for the +UTIME command but not for +ULOC
// <response_type> - 0: standard (single-hypothesis) response
// <timeout> - Timeout period in seconds
// <accuracy> - Target accuracy in meters (1 - 999999)
sendAT(GF("+ULOC=2,2,0,120,1"));
sendAT(GF("+ULOC=2,"), sensor, GF(",0,120,1"));
// wait for first "OK"
if (waitResponse(10000L) != 1) { return false; }
// wait for the final result - wait full timeout time
if (waitResponse(120000L, GF(GSM_NL "+UULOC:")) != 1) { return false; }
if (waitResponse(120000L, GF(GSM_NL "+UULOC: ")) != 1) { return false; }
// +UULOC: <date>, <time>, <lat>, <long>, <alt>, <uncertainty>, <speed>,
// <direction>, <vertical_acc>, <sensor_used>, <SV_used>, <antenna_status>,
@@ -463,14 +505,20 @@ class TinyGsmUBLOX
*lat = streamGetFloat(','); // Estimated latitude, in degrees
*lon = streamGetFloat(','); // Estimated longitude, in degrees
if (alt != NULL)
*alt = streamGetFloat(','); // Estimated altitude, in meters - only for
// GNSS positioning, 0 in case of CellLocate
if (accuracy != NULL) {
*accuracy = streamGetInt(',');
} // Maximum possible error, in meters (0 - 20000000)
streamSkipUntil(','); // Speed over ground m/s3
*accuracy = streamGetFloat(',');
} // Maximum possible error, in meters (0 - 20000000)
if (speed != NULL) *speed = streamGetFloat(','); // Speed over ground m/s3
streamSkipUntil(','); // Course over ground in degree (0 deg - 360 deg)
streamSkipUntil(','); // Vertical accuracy, in meters
streamSkipUntil(','); // Sensor used for the position calculation
streamSkipUntil(','); // Number of satellite used to calculate the position
if (usat != NULL)
*usat = streamGetInt(
','); // Number of satellite used to calculate the position
streamSkipUntil(','); // Antenna status
streamSkipUntil('\n'); // Jamming status
@@ -479,6 +527,19 @@ class TinyGsmUBLOX
return true;
}
bool getGsmLocationImpl(float* lat, float* lon, float* accuracy = 0,
int* year = 0, int* month = 0, int* day = 0,
int* hour = 0, int* minute = 0, int* second = 0) {
return getUbloxLocation(2, lat, lon, 0, 0, 0, 0, accuracy, year, month, day,
hour, minute, second);
};
bool getGPSImpl(float* lat, float* lon, float* speed = 0, int* alt = 0,
int* vsat = 0, int* usat = 0, float* accuracy = 0,
int* year = 0, int* month = 0, int* day = 0, int* hour = 0,
int* minute = 0, int* second = 0) {
return getUbloxLocation(1, lat, lon, speed, alt, vsat, usat, accuracy, year,
month, day, hour, minute, second);
}
/*
* Time functions
@@ -527,12 +588,13 @@ class TinyGsmUBLOX
protected:
bool modemConnect(const char* host, uint16_t port, uint8_t* mux,
bool ssl = false, int timeout_s = 120) {
uint32_t timeout_ms = ((uint32_t)timeout_s) * 1000;
uint32_t timeout_ms = ((uint32_t)timeout_s) * 1000;
uint32_t startMillis = millis();
// create a socket
sendAT(GF("+USOCR=6")); // create a socket
if (waitResponse(GF(GSM_NL "+USOCR:")) !=
1) { // reply is +USOCR: ## of socket created
return false;
}
// reply is +USOCR: ## of socket created
if (waitResponse(GF(GSM_NL "+USOCR:")) != 1) { return false; }
*mux = streamGetInt('\n');
waitResponse();
@@ -542,9 +604,12 @@ class TinyGsmUBLOX
}
// Enable NODELAY
// NOTE: No delay allows data to go out faster, at the cost of using
// additional data from your cellular plan sendAT(GF("+USOSO="), *mux,
// GF(",6,1,1")); waitResponse();
// AT+USOSO=<socket>,<level>,<opt_name>,<opt_val>[,<opt_val2>]
// <level> - 0 for IP, 6 for TCP, 65535 for socket level options
// <opt_name> TCP/1 = no delay (do not delay send to coalesce packets)
// NOTE: Enabling this may increase data plan usage
// sendAT(GF("+USOSO="), *mux, GF(",6,1,1"));
// waitResponse();
// Enable KEEPALIVE, 30 sec
// sendAT(GF("+USOSO="), *mux, GF(",6,2,30000"));
@@ -552,7 +617,7 @@ class TinyGsmUBLOX
// connect on the allocated socket
sendAT(GF("+USOCO="), *mux, ",\"", host, "\",", port);
int rsp = waitResponse(timeout_ms);
int rsp = waitResponse(timeout_ms - (millis() - startMillis));
return (1 == rsp);
}