From ee1525ee74819f87daf125a755a20e0b2816a0e2 Mon Sep 17 00:00:00 2001
From: Alex Mikhalev <alexmikhalevalex@gmail.com>
Date: Wed, 2 Jan 2019 19:45:44 -0700
Subject: [PATCH] add beginning of gps code plus other tweaks

---
 main/u8g2_esp32_hal.c |  2 +-
 main/ugv_main.c       | 67 +++++++++++++++++++++++++++++++++++++++----
 2 files changed, 63 insertions(+), 6 deletions(-)

diff --git a/main/u8g2_esp32_hal.c b/main/u8g2_esp32_hal.c
index 39ae2f4..e5111f8 100644
--- a/main/u8g2_esp32_hal.c
+++ b/main/u8g2_esp32_hal.c
@@ -10,7 +10,7 @@
 #include "u8g2_esp32_hal.h"
 
 static const char *       TAG            = "u8g2_hal";
-static const unsigned int I2C_TIMEOUT_MS = 10;
+static const unsigned int I2C_TIMEOUT_MS = 100;
 
 static spi_device_handle_t handle_spi;      // SPI handle.
 static i2c_cmd_handle_t    handle_i2c;      // I2C handle.
diff --git a/main/ugv_main.c b/main/ugv_main.c
index 09670fb..57ac4ab 100644
--- a/main/ugv_main.c
+++ b/main/ugv_main.c
@@ -12,11 +12,8 @@
 
 const char *TAG = "uas-ugv";
 
-// U8G2_SSD1306_128X64_NONAME_F_HW_I2C u8g2(U8G2_R0, 16, 15, 4);
 u8g2_t u8g2;
 
-// SPIClass lora_spi(VSPI);
-
 #define LORA_SCK 5
 #define LORA_MISO 19
 #define LORA_MOSI 27
@@ -56,9 +53,69 @@ void setup_oled(void) {
   u8g2_SetPowerSave(&u8g2, false);
 }
 
+#define GPS_UART UART_NUM_1
+
+const size_t GPS_BUF_SIZE = 1024;
+
+const char NMEA_OUTPUT_RMCGGA[] =
+    "$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n";
+const char NMEA_SET_UPDATE_1HZ[] = "$PMTK220,1000*1F\r\n";
+const char NMEA_Q_RELEASE[]      = "$PMTK605*31\r\n";
+
+static void gps_task(void *arg) {
+  ESP_LOGI(TAG, "gps_task start");
+  uint8_t * data = malloc(GPS_BUF_SIZE);
+  size_t    read_bytes;
+  esp_err_t ret;
+  uart_write_bytes(GPS_UART, NMEA_OUTPUT_RMCGGA, sizeof(NMEA_OUTPUT_RMCGGA));
+  ret = uart_wait_tx_done(GPS_UART, 1000);
+  ESP_LOGI(TAG, "sent output rmc and gga: %d", ret);
+  uart_write_bytes(GPS_UART, NMEA_SET_UPDATE_1HZ, sizeof(NMEA_SET_UPDATE_1HZ));
+  ret = uart_wait_tx_done(GPS_UART, 1000);
+  ESP_LOGI(TAG, "sent update 1hz: %d", ret);
+  vTaskDelay(pdMS_TO_TICKS(100));
+  uart_write_bytes(GPS_UART, NMEA_Q_RELEASE, sizeof(NMEA_Q_RELEASE));
+  ret = uart_wait_tx_done(GPS_UART, 1000);
+  ESP_LOGI(TAG, "sent q release: %d", ret);
+  while (true) {
+    read_bytes =
+        uart_read_bytes(GPS_UART, data, GPS_BUF_SIZE, pdMS_TO_TICKS(100));
+    if (read_bytes > 0) {
+      ESP_LOGI(TAG, "gps data: %.*s", read_bytes, data);
+    }
+  }
+}
+
+void setup_gps(void) {
+  uart_config_t gps_uart_config;
+  // gps_uart_config.baud_rate = 9600;
+  gps_uart_config.baud_rate           = 57600;
+  gps_uart_config.data_bits           = UART_DATA_8_BITS;
+  gps_uart_config.parity              = UART_PARITY_DISABLE;
+  gps_uart_config.stop_bits           = UART_STOP_BITS_1;
+  gps_uart_config.flow_ctrl           = UART_HW_FLOWCTRL_DISABLE;
+  gps_uart_config.rx_flow_ctrl_thresh = 122;
+  gps_uart_config.use_ref_tick        = false;
+  ret = uart_param_config(GPS_UART, &gps_uart_config);
+  if (ret != ESP_OK) {
+    ESP_LOGE(TAG, "uart_param_config: %d", ret);
+    return;
+  }
+  uart_set_pin(GPS_UART, 17, 23, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
+  ret = uart_driver_install(GPS_UART, 1024, 0, 8, NULL, 0);
+  if (ret != ESP_OK) {
+    ESP_LOGE(TAG, "uart_driver_install: %d", ret);
+    return;
+  }
+  ESP_LOGI(TAG, "gps uart configured");
+  xTaskCreate(&gps_task, "gps_task", 2 * 1024, NULL, 1, NULL);
+}
+
 void setup(void) {
   ESP_LOGI(TAG, "setup");
+  esp_err_t ret;
 
+  setup_gps();
   setup_oled();
 
   sx127x_config_t lora_config  = SX127X_CONFIG_DEFAULT;
@@ -68,7 +125,7 @@ void setup(void) {
   lora_config.sync_word        = 0x34;
   lora_config.crc              = SX127X_CRC_ENABLED;
 
-  esp_err_t ret = sx127x_init(&lora_config, &lora);
+  ret = sx127x_init(&lora_config, &lora);
   if (ret != ESP_OK) {
     const char *err_name = esp_err_to_name(ret);
     ESP_LOGE(TAG, "LoRa init failed: %s", err_name);
@@ -91,7 +148,7 @@ void setup(void) {
 void loraTask(void *params) {
   char         tx_buf[20];
   const size_t tx_buf_len   = (sizeof(tx_buf) / sizeof(tx_buf[0]));
-  TickType_t   send_period  = pdMS_TO_TICKS(1000);
+  TickType_t   send_period  = pdMS_TO_TICKS(2000);
   TickType_t   current_time = xTaskGetTickCount();
   TickType_t   next_send    = current_time + send_period;
   while (true) {