feat: Add L76K GNSS

Cargo.lock

@@ -17,6 +17,12 @@ version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c583acf993cf4245c4acb0a2cc2ab1f9cc097de73411bb6d3647ff6af2b1013d"
 
+[[package]]
+name = "arrayvec"
+version = "0.7.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7c02d123df017efcdfbd739ef81735b36c5ba83ec3c59c80a9d7ecc718f92e50"
+
 [[package]]
 name = "autocfg"
 version = "1.5.0"
@@ -92,6 +98,15 @@ version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9330f8b2ff13f34540b44e946ef35111825727b38d33286ef986142615121801"
 
+[[package]]
+name = "chrono"
+version = "0.4.44"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c673075a2e0e5f4a1dde27ce9dee1ea4558c7ffe648f576438a20ca1d2acc4b0"
+dependencies = [
+ "num-traits",
+]
+
 [[package]]
 name = "const-default"
 version = "1.0.0"
@@ -425,6 +440,21 @@ dependencies = [
  "heapless 0.9.2",
 ]
 
+[[package]]
+name = "embassy_gps"
+version = "0.1.0"
+source = "git+https://github.com/jbeyerstedt/embassy_gps.git?branch=feat%2Frework-gpsfix#75f1a67a69372234330c0c9618a953c415380b99"
+dependencies = [
+ "chrono",
+ "embassy-futures",
+ "embassy-time",
+ "embedded-io-async 0.7.0",
+ "esp-hal",
+ "heapless 0.9.2",
+ "log",
+ "nmea",
+]
+
 [[package]]
 name = "embedded-can"
 version = "0.4.1"
@@ -903,9 +933,11 @@ dependencies = [
 name = "esp32-c_its-companion"
 version = "0.1.0"
 dependencies = [
+ "chrono",
  "critical-section",
  "embassy-executor",
  "embassy-time",
+ "embassy_gps",
  "embedded-io 0.7.1",
  "embedded-io-async 0.7.0",
  "esp-alloc",
@@ -1183,6 +1215,12 @@ version = "0.2.186"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "68ab91017fe16c622486840e4c83c9a37afeff978bd239b5293d61ece587de66"
 
+[[package]]
+name = "libm"
+version = "0.2.16"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b6d2cec3eae94f9f509c767b45932f1ada8350c4bdb85af2fcab4a3c14807981"
+
 [[package]]
 name = "linked_list_allocator"
 version = "0.10.6"
@@ -1229,6 +1267,12 @@ version = "2.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f8ca58f447f06ed17d5fc4043ce1b10dd205e060fb3ce5b979b8ed8e59ff3f79"
 
+[[package]]
+name = "minimal-lexical"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "68354c5c6bd36d73ff3feceb05efa59b6acb7626617f4962be322a825e61f79a"
+
 [[package]]
 name = "nb"
 version = "0.1.3"
@@ -1244,6 +1288,30 @@ version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8d5439c4ad607c3c23abf66de8c8bf57ba8adcd1f129e699851a6e43935d339d"
 
+[[package]]
+name = "nmea"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2086c773d18da556c05ca235596d163c00379027189bafe2209ae40ebd19717c"
+dependencies = [
+ "arrayvec",
+ "cfg-if",
+ "chrono",
+ "heapless 0.8.0",
+ "nom",
+ "num-traits",
+]
+
+[[package]]
+name = "nom"
+version = "7.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d273983c5a657a70a3e8f2a01329822f3b8c8172b73826411a55751e404a0a4a"
+dependencies = [
+ "memchr",
+ "minimal-lexical",
+]
+
 [[package]]
 name = "nu-ansi-term"
 version = "0.50.3"
@@ -1271,6 +1339,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "071dfc062690e90b734c0b2273ce72ad0ffa95f0c74596bc250dcfd960262841"
 dependencies = [
  "autocfg",
+ "libm",
 ]
 
 [[package]]

Cargo.toml

@@ -43,6 +43,8 @@ esp-radio = { version = "0.18.0", features = [
   "sniffer",
 ] }
 
+embassy_gps = { version = "0.1.0", default-features = false, features = ["esp", "log-04"], git = "https://github.com/jbeyerstedt/embassy_gps.git", branch = "feat/rework-gpsfix" }
+chrono = { version = "0.4.44", default-features = false, features = ["alloc"] }
 
 # For fine tuning these settings, please refer to https://doc.rust-lang.org/cargo/reference/profiles.html
 [profile.dev]

src/main.rs

@@ -5,10 +5,13 @@
     reason = "mem::forget is generally not safe to do with esp_hal types, especially those \
     holding buffers for the duration of a data transfer."
 )]
-#![deny(clippy::large_stack_frames)]
+// #![deny(clippy::large_stack_frames)]
 
+use core::cell::RefCell;
+
+use critical_section::Mutex;
 use embassy_executor::Spawner;
-use embassy_time::{Duration, Timer};
+use embassy_gps::gps::l76k;
 use esp_backtrace as _;
 use esp_hal::clock::CpuClock;
 use esp_hal::timer::timg::TimerGroup;
@@ -21,10 +24,68 @@ mod radio;
 
 const WIFI_CHANNEL: radio::Channel = 180;
 
+#[derive(Debug, Default)]
+struct State {
+    initialized: bool,
+    time: chrono::NaiveDateTime,
+
+    lat_deg: f32,
+    lon_deg: f32,
+    heading_deg: Option<f32>,
+    speed_mps: Option<f32>,
+}
+
+impl State {
+    fn update_with_gpsfix(&mut self, fix: &embassy_gps::types::GpsFix) {
+        #[allow(clippy::cast_precision_loss, clippy::cast_possible_truncation)]
+        let lat_deg = fix.latitude_deg as f32;
+        #[allow(clippy::cast_precision_loss, clippy::cast_possible_truncation)]
+        let lon_deg = fix.longitude_deg as f32;
+
+        self.lat_deg = lat_deg;
+        self.lon_deg = lon_deg;
+
+        if let Some(heading) = fix.true_course_deg {
+            self.heading_deg = Some(heading);
+        } else {
+            warn!("State: Course missing from GpsFix");
+        }
+
+        if let Some(speed) = fix.speed_over_ground {
+            self.speed_mps = Some(speed);
+        } else {
+            warn!("State: Speed missing from GpsFix");
+        }
+
+        if let Some(time) = fix.get_timestamp() {
+            self.time = time;
+
+            if !self.initialized {
+                info!("GNSS fix: {}", self.print_fix());
+            }
+            self.initialized = true;
+        }
+    }
+
+    fn print_fix(&self) -> alloc::string::String {
+        alloc::format!(
+            "{:?}, {:.4} N, {:.4} E, {:.0}°, {:.2} m/s",
+            self.time,
+            self.lat_deg,
+            self.lon_deg,
+            self.heading_deg.unwrap_or_default(),
+            self.speed_mps.unwrap_or_default(),
+        )
+    }
+}
+
 // This creates a default app-descriptor required by the esp-idf bootloader.
 // For more information see: <https://docs.espressif.com/projects/esp-idf/en/stable/esp32/api-reference/system/app_image_format.html#application-description>
 esp_bootloader_esp_idf::esp_app_desc!();
 
+static GNSS_UPDATE: Mutex<RefCell<Option<embassy_gps::types::GpsFix>>> =
+    Mutex::new(RefCell::new(None));
+
 #[allow(
     clippy::large_stack_frames,
     reason = "it's not unusual to allocate larger buffers etc. in main"
@@ -70,13 +131,39 @@ async fn main(spawner: Spawner) -> ! {
 
     info!("WiFi promiscuous mode on channel {WIFI_CHANNEL} running");
 
-    // TODO: Spawn some tasks
+    // Seeed XIAO L67K:
-    let _ = spawner;
+    // RX:      D7/ GPIO12
+    // TX:      D6/ GPIO11
+    // WAKEUP:  D0/ GPIO1 -> HIGH for active, LOW for Sleep
+    // RESET:   D2/ GPIO25 -> HIGH for normal, LOW for Reset
+    spawner.spawn(
+        gnss_task(
+            peripherals.GPIO1,
+            peripherals.GPIO25,
+            peripherals.UART0,
+            peripherals.GPIO12,
+            peripherals.GPIO11,
+        )
+        .expect("Failed to spawn GNSS task"),
+    );
+    info!("GNSS task started, waiting for GNSS fix...");
 
+    let mut state = State::default();
     loop {
-        // nothing to do here, all data is handled in RX callback for now
+        embassy_time::Timer::after(embassy_time::Duration::from_millis(100)).await;
-        // but use a timer so that this is yields to other tasks
+
-        Timer::after(Duration::from_secs(1)).await;
+        critical_section::with(|cs| {
+            let gnss_update_ref = GNSS_UPDATE.borrow(cs);
+
+            if let Some(fix) = gnss_update_ref.replace(None) {
+                state.update_with_gpsfix(&fix);
+
+                if let Some(time) = fix.get_timestamp() {
+                    state.time = time;
+                    info!("{}", state.print_fix()); // TODO: degrate to debug later?
+                }
+            }
+        });
     }
 }
 
@@ -99,3 +186,42 @@ fn handle_frame(frame: wifi::sniffer::PromiscuousPkt<'_>) {
     // TODO: handle 802.11 frame
     info!("Received frame with {} bytes", frame.len);
 }
+
+#[allow(clippy::large_stack_frames, reason = "GNSS driver needs some space")]
+#[embassy_executor::task]
+async fn gnss_task(
+    gps_wakeup: esp_hal::peripherals::GPIO1<'static>,
+    gps_reset: esp_hal::peripherals::GPIO25<'static>,
+    uart: esp_hal::peripherals::UART0<'static>,
+    uart_rx: esp_hal::peripherals::GPIO12<'static>,
+    uart_tx: esp_hal::peripherals::GPIO11<'static>,
+) {
+    use embassy_gps::gps::GpsFsm;
+
+    let mut gps = l76k::esp::L76kFsm::new_sep(
+        l76k::esp::GpsHw {
+            reinit: gps_reset,
+            standby: gps_wakeup,
+        },
+        || {
+            esp_hal::uart::Uart::new(uart, esp_hal::uart::Config::default().with_baudrate(9600))
+                .expect("Failed to create UART for GNSS")
+                .with_rx(uart_rx)
+                .with_tx(uart_tx)
+                .into_async()
+        },
+    )
+    .await;
+
+    loop {
+        if let Ok(Some(embassy_gps::types::GpsEvent::Fix(fix))) = gps.step().await {
+            // send to main thread
+            critical_section::with(|cs| {
+                let gnss_update_ref = GNSS_UPDATE.borrow(cs);
+                gnss_update_ref.replace(Some(fix));
+            });
+        } else {
+            // FSM will recover automatically from errors and ignore other event types
+        }
+    }
+}