Added NMEA passthrough for GPS attached to marauder to be available on serial port, such as to flipper apps that use UART GPS, as long as they do 115200.

esp32_marauder/GpsInterface.cpp

@@ -2,6 +2,8 @@
 
 #ifdef HAS_GPS
 
+extern GpsInterface gps_obj;
+
 char nmeaBuffer[100];
 
 MicroNMEA nmea(nmeaBuffer, sizeof(nmeaBuffer));
@@ -33,6 +35,170 @@ void GpsInterface::begin() {
     while (Serial2.available())
       Serial2.read();
   }
+
+  this->queue_enabled_flag=0;
+  this->queue=NULL;
+  this->new_queue();
+
+  nmea.setUnknownSentenceHandler(gps_nmea_notimp);
+}
+
+//passthrough for other objects
+void gps_nmea_notimp(MicroNMEA& nmea){
+  gps_obj.enqueue(nmea);
+}
+
+void GpsInterface::enqueue(MicroNMEA& nmea){
+  String nmea_sentence = String(nmea.getSentence());
+
+  if(nmea_sentence != ""){
+    this->notimp_nmea_sentence = nmea_sentence;
+
+    if(this->queue_enabled_flag){
+      if(!this->queue) this->new_queue();
+      this->queue->add(String(nmea_sentence));
+    }
+  }
+}
+
+void GpsInterface::enable_queue(){
+  this->flush_queue();
+  this->queue_enabled_flag=1;
+}
+
+void GpsInterface::disable_queue(){
+  this->queue_enabled_flag=0;
+  this->flush_queue();
+}
+
+bool GpsInterface::queue_enabled(){
+  return this->queue_enabled_flag;
+}
+
+LinkedList<String>* GpsInterface::get_queue(){
+  return this->queue;
+}
+
+void GpsInterface::new_queue(){
+  this->queue=new LinkedList<String>;
+}
+
+void GpsInterface::flush_queue(){
+  if(this->queue) delete this->queue;
+  this->new_queue();
+}
+
+void GpsInterface::sendSentence(const char* sentence){
+  MicroNMEA::sendSentence(Serial2, sentence);
+}
+
+void GpsInterface::sendSentence(Stream &s, const char* sentence){
+  MicroNMEA::sendSentence(s, sentence);
+}
+
+void GpsInterface::setType(String t){
+  if(t == "gps")
+    this->type_flag=GPSTYPE_GPS;
+  else if(t == "glonass")
+    this->type_flag=GPSTYPE_GLONASS;
+  else if(t == "galileo")
+    this->type_flag=GPSTYPE_GALILEO;
+  else
+    this->type_flag=GPSTYPE_ALL;
+}
+
+const char* GpsInterface::generateGXgga(){
+  String msg_type="$G";
+  if(this->type_flag == GPSTYPE_GPS)
+    msg_type+='P';
+  else if(this->type_flag == GPSTYPE_GLONASS)
+    msg_type+='L';
+  else if(this->type_flag == GPSTYPE_GALILEO)
+    msg_type+='A';
+  else
+    msg_type+='N';
+  msg_type+="GGA,";
+
+  char timeStr[8];
+  sprintf(timeStr, "%02d%02d%02d,", (int)(nmea.getHour()), (int)(nmea.getMinute()), (int)(nmea.getSecond()));
+
+  long lat = nmea.getLatitude();
+  char latDir = lat < 0 ? 'S' : 'N';
+  lat = abs(lat);
+  char latStr[12];
+  sprintf(latStr, "%02ld%08.5f,", lat / 1000000, ((lat % 1000000)*60) / 1000000.0);
+
+  long lon = nmea.getLongitude();
+  char lonDir = lon < 0 ? 'W' : 'E';
+  lon = abs(lon);
+  char lonStr[13];
+  sprintf(lonStr, "%03ld%08.5f,", lon / 1000000, ((lon % 1000000)*60) / 1000000.0);
+
+  int fixQuality = nmea.isValid() ? 1 : 0;
+  char fixStr[3];
+  sprintf(fixStr, "%01d,", fixQuality);
+
+  int numSatellites = nmea.getNumSatellites();
+  char satStr[4];
+  sprintf(satStr, "%02d,", numSatellites);
+
+  unsigned long hdop = nmea.getHDOP();
+  char hdopStr[14];
+  sprintf(hdopStr, "%01.2f,", 2.5 * (((float)(hdop))/10));
+
+  long altitude;
+  if(!nmea.getAltitude(altitude)) altitude=0;
+  char altStr[14];
+  sprintf(altStr, "%01.1f,", altitude/1000.0);
+
+  String message = msg_type + timeStr + latStr + latDir + "," + lonStr + lonDir +
+                    "," + fixStr + satStr + hdopStr + altStr + "M,,M,,";
+
+  return message.c_str();
+}
+
+const char* GpsInterface::generateGXrmc(){
+  String msg_type="$G";
+  if(this->type_flag == GPSTYPE_GPS)
+    msg_type+='P';
+  else if(this->type_flag == GPSTYPE_GLONASS)
+    msg_type+='L';
+  else if(this->type_flag == GPSTYPE_GALILEO)
+    msg_type+='A';
+  else
+    msg_type+='N';
+  msg_type+="RMC,";
+
+  char timeStr[8];
+  sprintf(timeStr, "%02d%02d%02d,", (int)(nmea.getHour()), (int)(nmea.getMinute()), (int)(nmea.getSecond()));
+
+  char dateStr[8];
+  sprintf(dateStr, "%02d%02d%02d,", (int)(nmea.getDay()), (int)(nmea.getMonth()), (int)(nmea.getYear()%100));
+
+  char status = nmea.isValid() ? 'A' : 'V';
+  char mode = nmea.isValid() ? 'A' : 'N';
+
+  long lat = nmea.getLatitude();
+  char latDir = lat < 0 ? 'S' : 'N';
+  lat = abs(lat);
+  char latStr[12];
+  sprintf(latStr, "%02ld%08.5f,", lat / 1000000, ((lat % 1000000)*60) / 1000000.0);
+
+  long lon = nmea.getLongitude();
+  char lonDir = lon < 0 ? 'W' : 'E';
+  lon = abs(lon);
+  char lonStr[13];
+  sprintf(lonStr, "%03ld%08.5f,", lon / 1000000, ((lon % 1000000)*60) / 1000000.0);
+
+  char speedStr[14];
+  sprintf(speedStr, "%01.1f,", nmea.getSpeed() / 1000.0);
+
+  char courseStr[14];
+  sprintf(courseStr, "%01.1f,", nmea.getCourse() / 1000.0);
+
+  String message = msg_type + timeStr + status + "," + latStr + latDir + "," +
+                    lonStr + lonDir + "," + speedStr + courseStr + dateStr + ",," + mode;
+  return message.c_str();
 }
 
 // Thanks JosephHewitt
@@ -56,6 +222,9 @@ String GpsInterface::dt_string_from_gps(){
 }
 
 void GpsInterface::setGPSInfo() {
+  String nmea_sentence = String(nmea.getSentence());
+  if(nmea_sentence != "") this->nmea_sentence = nmea_sentence;
+
   this->good_fix = nmea.isValid();
   this->num_sats = nmea.getNumSatellites();
 
@@ -113,6 +282,14 @@ bool GpsInterface::getGpsModuleStatus() {
   return this->gps_enabled;
 }
 
+String GpsInterface::getNmea() {
+  return this->nmea_sentence;
+}
+
+String GpsInterface::getNmeaNotimp() {
+  return this->notimp_nmea_sentence;
+}
+
 void GpsInterface::main() {
   while (Serial2.available()) {
     //Fetch the character one by one