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firmware: expose GPS NMEA diagnostics

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nick
2026-07-17 02:21:59 -06:00
parent 07559da6c0
commit 1bf4530517
5 changed files with 15 additions and 4 deletions
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firmware/xiao-esp32c6-sensor-node/gps.cpp
+3 -1
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@@ -6,6 +6,9 @@ namespace { TinyGPSPlus parser; }
void initGps(HardwareSerial& serial) { serial.begin(GPS_BAUD, SERIAL_8N1, GPS_RX_PIN, GPS_TX_PIN); }
void updateGps(HardwareSerial& serial, GpsState& s) {
while (serial.available()) { s.lastByteMs = millis(); parser.encode(serial.read()); }
s.charactersProcessed = parser.charsProcessed();
s.sentencesPassed = parser.passedChecksum();
s.sentencesFailed = parser.failedChecksum();
s.online = s.lastByteMs && millis() - s.lastByteMs <= SENSOR_STALE_MS;
s.fix = parser.location.isValid() && parser.location.age() <= SENSOR_STALE_MS;
s.satellites = parser.satellites.isValid() ? parser.satellites.value() : 0;
@@ -16,4 +19,3 @@ void updateGps(HardwareSerial& serial, GpsState& s) {
if (parser.date.isValid()) { s.year = parser.date.year(); s.month = parser.date.month(); s.day = parser.date.day(); }
if (parser.time.isValid()) { s.hour = parser.time.hour(); s.minute = parser.time.minute(); s.second = parser.time.second(); }
}
firmware/xiao-esp32c6-sensor-node/rs485_transport.cpp
+4
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@@ -19,6 +19,10 @@ void publishSensorStatus(HardwareSerial& serial, const ImuState& imu, const GpsS
i["yaw_degrees"] = imu.yawDegrees; i["pitch_degrees"] = imu.pitchDegrees; i["roll_degrees"] = imu.rollDegrees;
JsonObject g = doc.createNestedObject("gps");
g["online"] = gps.online; g["fix"] = gps.fix; g["satellites"] = gps.satellites;
JsonObject nmea = g.createNestedObject("nmea");
nmea["characters"] = gps.charactersProcessed;
nmea["sentences_passed"] = gps.sentencesPassed;
nmea["sentences_failed"] = gps.sentencesFailed;
g["latitude"] = gps.latitude; g["longitude"] = gps.longitude; g["altitude_meters"] = gps.altitudeMeters;
g["speed_kph"] = gps.speedKph; g["course_degrees"] = gps.courseDegrees;
JsonObject utc = g.createNestedObject("utc"); utc["year"] = gps.year; utc["month"] = gps.month; utc["day"] = gps.day;
firmware/xiao-esp32c6-sensor-node/sensor_state.h
+3 -1
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@@ -16,6 +16,8 @@ struct GpsState {
double speedKph = 0, courseDegrees = 0;
uint16_t year = 0;
uint8_t month = 0, day = 0, hour = 0, minute = 0, second = 0;
uint32_t charactersProcessed = 0;
uint32_t sentencesPassed = 0;
uint32_t sentencesFailed = 0;
unsigned long lastByteMs = 0;
};