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Merge pull request #406 from aubreyshomo/master
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Add nmea passthrough so you can use marauder as a gps device.
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@justcallmekoko
justcallmekoko authored Nov 27, 2023
2 parents ee6defd + 5c54137 commit a704339
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Showing 6 changed files with 310 additions and 7 deletions.
62 changes: 56 additions & 6 deletions esp32_marauder/CommandLine.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -196,15 +196,17 @@ void CommandLine::filterAccessPoints(String filter) {
}

void CommandLine::runCommand(String input) {
if (input != "")
Serial.println("#" + input);
if (input == "") return;

if(wifi_scan_obj.scanning() && wifi_scan_obj.currentScanMode == WIFI_SCAN_GPS_NMEA){
if(input != STOPSCAN_CMD) return;
}
else
return;
Serial.println("#" + input);

LinkedList<String> cmd_args = this->parseCommand(input, " ");

//// Admin commands

// Help
if (cmd_args.get(0) == HELP_CMD) {
Serial.println(HELP_HEAD);
Expand All @@ -217,6 +219,7 @@ void CommandLine::runCommand(String input) {
Serial.println(HELP_LED_CMD);
Serial.println(HELP_GPS_DATA_CMD);
Serial.println(HELP_GPS_CMD);
Serial.println(HELP_NMEA_CMD);

// WiFi sniff/scan
Serial.println(HELP_EVIL_PORTAL_CMD);
Expand Down Expand Up @@ -274,9 +277,20 @@ void CommandLine::runCommand(String input) {
// return;
//}

uint8_t old_scan_mode=wifi_scan_obj.currentScanMode;

wifi_scan_obj.StartScan(WIFI_SCAN_OFF);

Serial.println("Stopping WiFi tran/recv");
#ifdef HAS_GPS
gps_obj.disable_queue();
#endif

if(old_scan_mode == WIFI_SCAN_GPS_NMEA)
Serial.println("END OF NMEA STREAM");
else if(old_scan_mode == WIFI_SCAN_GPS_DATA)
Serial.println("Stopping GPS data updates");
else
Serial.println("Stopping WiFi tran/recv");

// If we don't do this, the text and button coordinates will be off
#ifdef HAS_SCREEN
Expand All @@ -300,6 +314,7 @@ void CommandLine::runCommand(String input) {
#ifdef HAS_GPS
if (gps_obj.getGpsModuleStatus()) {
int get_arg = this->argSearch(&cmd_args, "-g");
int nmea_arg = this->argSearch(&cmd_args, "-n");

if (get_arg != -1) {
String gps_info = cmd_args.get(get_arg + 1);
Expand All @@ -314,11 +329,46 @@ void CommandLine::runCommand(String input) {
Serial.println("Lon: " + gps_obj.getLon());
else if (gps_info == "alt")
Serial.println("Alt: " + (String)gps_obj.getAlt());
else if (gps_info == "accuracy")
Serial.println("Accuracy: " + (String)gps_obj.getAccuracy());
else if (gps_info == "date")
Serial.println("Date/Time: " + gps_obj.getDatetime());
else if (gps_info == "nmea"){
int notimp_arg = this->argSearch(&cmd_args, "-p");
int recd_arg = this->argSearch(&cmd_args, "-r");
if(notimp_arg == -1 && recd_arg == -1){
gps_obj.sendSentence(Serial, gps_obj.generateGXgga().c_str());
gps_obj.sendSentence(Serial, gps_obj.generateGXrmc().c_str());
}
else if(notimp_arg == -1)
Serial.println(gps_obj.getNmea());
else
Serial.println(gps_obj.getNmeaNotimp());
}
else
Serial.println("You did not provide a valid argument");
}
else if(nmea_arg != -1){
String nmea_type = cmd_args.get(nmea_arg + 1);

if (nmea_type == "all" || nmea_type == "gps" || nmea_type == "glonass" || nmea_type== "galileo")
gps_obj.setType(nmea_type);
else
Serial.println("You did not provide a valid argument");
}
else if(cmd_args.size()>1)
Serial.println("You did not provide a valid flag");
else
Serial.println("You did not provide an argument");
}
#endif
}
else if (cmd_args.get(0) == NMEA_CMD) {
#ifdef HAS_GPS
if (gps_obj.getGpsModuleStatus()) {
gps_obj.enable_queue();
wifi_scan_obj.currentScanMode = WIFI_SCAN_GPS_NMEA;
wifi_scan_obj.StartScan(WIFI_SCAN_GPS_NMEA, TFT_CYAN);
}
#endif
}
Expand Down
4 changes: 3 additions & 1 deletion esp32_marauder/CommandLine.h
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Original file line number Diff line number Diff line change
Expand Up @@ -47,6 +47,7 @@ const char PROGMEM LS_CMD[] = "ls";
const char PROGMEM LED_CMD[] = "led";
const char PROGMEM GPS_DATA_CMD[] = "gpsdata";
const char PROGMEM GPS_CMD[] = "gps";
const char PROGMEM NMEA_CMD[] = "nmea";

// WiFi sniff/scan
const char PROGMEM EVIL_PORTAL_CMD[] = "evilportal";
Expand Down Expand Up @@ -96,7 +97,8 @@ const char PROGMEM HELP_SETTINGS_CMD[] = "settings [-s <setting> enable/disable>
const char PROGMEM HELP_LS_CMD[] = "ls <directory>";
const char PROGMEM HELP_LED_CMD[] = "led -s <hex color>/-p <rainbow>";
const char PROGMEM HELP_GPS_DATA_CMD[] = "gpsdata";
const char PROGMEM HELP_GPS_CMD[] = "gps [-g] <fix/sat/lon/lat/alt/date>";
const char PROGMEM HELP_GPS_CMD[] = "gps [-g] <fix/sat/lon/lat/alt/date/accuracy/nmea>";
const char PROGMEM HELP_NMEA_CMD[] = "nmea";

// WiFi sniff/scan
const char PROGMEM HELP_EVIL_PORTAL_CMD[] = "evilportal [-c start [-w html.html]/sethtml <html.html>]";
Expand Down
177 changes: 177 additions & 0 deletions esp32_marauder/GpsInterface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,8 @@

#ifdef HAS_GPS

extern GpsInterface gps_obj;

char nmeaBuffer[100];

MicroNMEA nmea(nmeaBuffer, sizeof(nmeaBuffer));
Expand Down Expand Up @@ -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;
}

String 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];
snprintf(timeStr, 8, "%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];
snprintf(latStr, 12, "%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];
snprintf(lonStr, 13, "%03ld%08.5f,", lon / 1000000, ((lon % 1000000)*60) / 1000000.0);

int fixQuality = nmea.isValid() ? 1 : 0;
char fixStr[3];
snprintf(fixStr, 3, "%01d,", fixQuality);

int numSatellites = nmea.getNumSatellites();
char satStr[4];
snprintf(satStr, 4, "%02d,", numSatellites);

unsigned long hdop = nmea.getHDOP();
char hdopStr[13];
snprintf(hdopStr, 13, "%01.2f,", 2.5 * (((float)(hdop))/10));

long altitude;
if(!nmea.getAltitude(altitude)) altitude=0;
char altStr[9];
snprintf(altStr, 9, "%01.1f,", altitude/1000.0);

String message = msg_type + timeStr + latStr + latDir + ',' + lonStr + lonDir +
',' + fixStr + satStr + hdopStr + altStr + "M,,M,,";

return message;
}

String 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];
snprintf(timeStr, 8, "%02d%02d%02d,", (int)(nmea.getHour()), (int)(nmea.getMinute()), (int)(nmea.getSecond()));

char dateStr[8];
snprintf(dateStr, 8, "%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];
snprintf(latStr, 12, "%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];
snprintf(lonStr, 13, "%03ld%08.5f,", lon / 1000000, ((lon % 1000000)*60) / 1000000.0);

char speedStr[8];
snprintf(speedStr, 8, "%01.1f,", nmea.getSpeed() / 1000.0);

char courseStr[7];
snprintf(courseStr, 7, "%01.1f,", nmea.getCourse() / 1000.0);

String message = msg_type + timeStr + status + ',' + latStr + latDir + ',' +
lonStr + lonDir + ',' + speedStr + courseStr + dateStr + ',' + ',' + mode;
return message;
}

// Thanks JosephHewitt
Expand All @@ -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();

Expand Down Expand Up @@ -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
Expand Down
34 changes: 34 additions & 0 deletions esp32_marauder/GpsInterface.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,8 @@

#include "configs.h"

void gps_nmea_notimp(MicroNMEA& nmea);

class GpsInterface {
public:
void begin();
Expand All @@ -20,9 +22,36 @@ class GpsInterface {
float getAlt();
float getAccuracy();
String getDatetime();
String getNmea();
String getNmeaNotimp();

void setType(String t);

void enqueue(MicroNMEA& nmea);
LinkedList<String>* get_queue();
void flush_queue();
void new_queue();
void enable_queue();
void disable_queue();
bool queue_enabled();

void sendSentence(const char* sentence);
void sendSentence(Stream &s, const char* sentence);

String generateGXgga();
String generateGXrmc();

enum type_t {
GPSTYPE_ALL,
GPSTYPE_GPS,
GPSTYPE_GLONASS,
GPSTYPE_GALILEO
};

private:
// GPS Info
String nmea_sentence = "";
String notimp_nmea_sentence = "";
String lat = "";
String lon = "";
float altf = 0.0;
Expand All @@ -33,6 +62,11 @@ class GpsInterface {
bool good_fix = false;
uint8_t num_sats = 0;

type_t type_flag = GPSTYPE_ALL;

bool queue_enabled_flag=0;
LinkedList<String> *queue=NULL;

String dt_string_from_gps();
void setGPSInfo();
};
Expand Down
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