GPSChip.h

/*NB_REVISION*/
 
/*NB_COPYRIGHT*/
 
#pragma once
 
#include <init.h>
#include <nbrtos.h>
#include <sys/types.h>
#include <system.h>
#include <serial.h>
#include <iosys.h>
#include <sim.h>
#include <nbtime.h>
#include <pins.h>
#include <udp.h>
#include <ethervars.h>
 
#include "GPSEnum.h"
#include "GPSTime.h"
#include "GPSLocation.h"
#include "GPSSat.h"
#include "IEEE1588Timer.h"
 
#define GPS_SER_NUM     SER_PORT_LPUART8
#define PIN_GPS_UART_TX 70
#define PIN_GPS_UART_RX 69
#define PIN_GPS_RST     40
#define PIN_GPS_PPS1    41
#define PIN_GPS_PPS2    85
 
// Constants for PPS synchronization
#define NMEA_PPS_WINDOW_NS (800000000u)    // accept */- 0.8 s
 
class GPSChip
{
   public:
    GPSChip();
    ~GPSChip();
    void init();
    void start();
    void stop();
    void reset();
    void DecodeGSV(char *pGPSData);
    void DecodeGSA(char *pGPSData);
    void DecodeRMC(char *pGPSData);
    void DecodeGGA(char *pGPSData);
    void ProcessUbloxMsg(char * ublox_buffer);
    void SendUbloxMsg(uint8_t msg_class, uint8_t msg_id, uint8_t * payload, uint16_t payload_len);
    void WriteRawData(const uint8_t *data, size_t length);
 
    // Timer attachment for PPS synchronization
    void attachTimer(IEEE1588Timer *t) { timer = t; }
 
    // Time conversion utility
    time_t getRMCTimeValue(const char *time, const char *date);
 
    GPSTime time;
    GPSLocation location;
    GPSSatTracker satTracker;
 
    float hdop;
    int satellitesUsed;
 
    GPSFixQuality fixQuality;
 
    // CFG-VALGET response handling
    static const int CFG_RESPONSE_BUF_SIZE = 4096;
    uint8_t cfgResponseBuf[CFG_RESPONSE_BUF_SIZE];
    volatile uint16_t cfgResponseLen;
    OS_SEM cfgResponseSem;
    volatile bool cfgResponseReady;
 
    bool SendCfgValGet(uint8_t layer, uint16_t position, const uint32_t *keys, int numKeys);
    bool SendCfgValSet(uint8_t layers, const uint8_t *cfgData, int cfgDataLen);
    bool WaitCfgResponse(int timeoutTicks = 2 * TICKS_PER_SECOND);
 
   private:
    bool isInitialized;
    int gpsSerialPort;
    uint32_t GPSTaskStack[USER_TASK_STK_SIZE / 2];
 
    // IEEE1588Timer integration for PPS synchronization
    IEEE1588Timer *timer;   // Optional PPS timer
 
    // From ProcessGps state (lines 141-147 in main.cpp)
    uint32_t start_tt;
    uint32_t start_captime;
    char gpsbuffer[2048];
 
    // RMC time cache (from lines 82-83 in main.cpp)
    char cached_date[7];
    time_t cached_time_t;
 
    void readLoop();
    static void staticreadLoop(void *p);
};