feat(lora+gps): Add components for gps, sx126x lora radio. Add preliminary meshtastic component (ai-generated), and update bsps to start testing

.github/workflows/build.yml

@@ -105,6 +105,8 @@ jobs:
           target: esp32s3
         - path: 'components/gfps_service/example'
           target: esp32s3
+        - path: 'components/gps/example'
+          target: esp32s3
         - path: 'components/gt911/example'
           target: esp32s3
         - path: 'components/hid-rp/example'
@@ -165,6 +167,8 @@ jobs:
           target: esp32s3
         - path: 'components/mcp23x17/example'
           target: esp32s3
+        - path: 'components/meshtastic/example'
+          target: esp32s3
         - path: 'components/mt6701/example'
           target: esp32s3
         - path: 'components/neopixel/example'
@@ -219,6 +223,8 @@ jobs:
           target: esp32s3
         - path: 'components/state_machine/example'
           target: esp32
+        - path: 'components/sx126x/example'
+          target: esp32s3
         - path: 'components/t-deck/example'
           target: esp32s3
         - path: 'components/t-dongle-s3/example'

.github/workflows/upload_components.yml

@@ -74,6 +74,7 @@ jobs:
             components/ft5x06
             components/ftp
             components/gfps_service
+            components/gps
             components/gt911
             components/hid_service
             components/hid-rp
@@ -97,6 +98,7 @@ jobs:
             components/matouch-rotary-display
             components/max1704x
             components/mcp23x17
+            components/meshtastic
             components/monitor
             components/motorgo-axis
             components/motorgo-mini
@@ -128,6 +130,7 @@ jobs:
             components/st25dv
             components/st7123touch
             components/state_machine
+            components/sx126x
             components/t_keyboard
             components/t-deck
             components/t-dongle-s3

components/gps/CMakeLists.txt

@@ -0,0 +1,5 @@
+idf_component_register(
+  INCLUDE_DIRS "include"
+  SRC_DIRS "src"
+  REQUIRES "base_component" "task" "driver" "esp_driver_uart"
+  )

components/gps/README.md

@@ -0,0 +1,25 @@
+# GPS Component
+
+[![Badge](https://components.espressif.com/components/espp/gps/badge.svg)](https://components.espressif.com/components/espp/gps)
+
+The `Gps` component provides a driver for UART-attached GNSS receivers which
+output standard NMEA-0183 sentences, such as the ATGM336H (found on the
+M5Stack Cardputer-Adv LoRa+GPS Cap) and the u-blox MIA-M10Q (found on the
+LilyGo T-Deck Plus).
+
+It contains two classes:
+
+- `espp::NmeaParser`: a platform-independent, incremental NMEA-0183 parser
+  (RMC / GGA, any talker id) with checksum validation, which maintains a
+  `espp::GpsFix` (position, altitude, speed, course, satellites, hdop, UTC
+  date/time with unix-timestamp conversion).
+- `espp::Gps`: a UART-attached wrapper which reads the NMEA stream in a
+  background task and provides the latest fix thread-safely (or via
+  callback). It also supports writing raw configuration commands to the
+  receiver.
+
+## Example
+
+The [example](./example) shows how to use the `espp::Gps` component to parse
+GNSS data, configurable (via menuconfig) for the M5Stack Cardputer-Adv
+LoRa+GPS Cap, the LilyGo T-Deck Plus, or custom hardware.

components/gps/example/CMakeLists.txt

@@ -0,0 +1,25 @@
+# The following lines of boilerplate have to be in your project's CMakeLists
+# in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.20)
+
+# NOTE: we don't use the IDF component manager for the examples in this
+# repository since the examples use the local versions of the components
+set(ENV{IDF_COMPONENT_MANAGER} "0")
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+
+# add the component directories that we want to use
+set(EXTRA_COMPONENT_DIRS
+  "../../../components/"
+)
+
+set(
+  COMPONENTS
+  "main esptool_py driver gps i2c logger task"
+  CACHE STRING
+  "List of components to include"
+  )
+
+project(gps_example)
+
+set(CMAKE_CXX_STANDARD 20)

components/gps/example/README.md

@@ -0,0 +1,26 @@
+# GPS Example
+
+This example shows how to use the `espp::Gps` component to parse NMEA data
+from a UART-attached GNSS receiver and print the resulting fixes.
+
+## How to use example
+
+### Hardware Required
+
+One of:
+
+- M5Stack Cardputer-Adv with the LoRa+GPS Cap (ATGM336H, 115200 baud)
+- LilyGo T-Deck Plus (u-blox MIA-M10Q, 9600 baud)
+- Custom hardware with a UART NMEA GNSS receiver
+
+Select the board with `idf.py menuconfig` (`Example Configuration >
+Hardware`). Note that GNSS receivers need sky view to get a fix - expect no
+fix indoors.
+
+### Build and Flash
+
+Run `idf.py -p PORT flash monitor` to build, flash and monitor the project.
+
+(To exit the serial monitor, type ``Ctrl-]``.)
+
+See the Getting Started Guide for full steps to configure and use ESP-IDF to build projects.

components/gps/example/main/CMakeLists.txt

@@ -0,0 +1,5 @@
+idf_component_register(
+  SRC_DIRS "."
+  INCLUDE_DIRS "."
+  REQUIRES gps i2c logger
+  )

components/gps/example/main/Kconfig.projbuild

@@ -0,0 +1,42 @@
+menu "Example Configuration"
+
+choice EXAMPLE_HARDWARE
+  prompt "Hardware"
+  default EXAMPLE_HARDWARE_CARDPUTER_ADV
+  help
+    Select the hardware to run this example on.
+
+config EXAMPLE_HARDWARE_CARDPUTER_ADV
+  depends on IDF_TARGET_ESP32S3
+  bool "M5Stack Cardputer-Adv + LoRa+GPS Cap (ATGM336H)"
+
+config EXAMPLE_HARDWARE_TDECK_PLUS
+  depends on IDF_TARGET_ESP32S3
+  bool "LilyGo T-Deck Plus (u-blox MIA-M10Q)"
+
+config EXAMPLE_HARDWARE_CUSTOM
+  bool "Custom"
+endchoice
+
+config EXAMPLE_GPS_RX_GPIO
+  int "GPS RX GPIO Num (connected to the receiver's TX)"
+  range 0 50
+  default 15 if EXAMPLE_HARDWARE_CARDPUTER_ADV
+  default 44 if EXAMPLE_HARDWARE_TDECK_PLUS
+  default 16 if EXAMPLE_HARDWARE_CUSTOM
+
+config EXAMPLE_GPS_TX_GPIO
+  int "GPS TX GPIO Num (connected to the receiver's RX)"
+  range 0 50
+  default 13 if EXAMPLE_HARDWARE_CARDPUTER_ADV
+  default 43 if EXAMPLE_HARDWARE_TDECK_PLUS
+  default 17 if EXAMPLE_HARDWARE_CUSTOM
+
+config EXAMPLE_GPS_BAUD_RATE
+  int "GPS baud rate"
+  range 4800 921600
+  default 115200 if EXAMPLE_HARDWARE_CARDPUTER_ADV
+  default 9600 if EXAMPLE_HARDWARE_TDECK_PLUS
+  default 9600 if EXAMPLE_HARDWARE_CUSTOM
+
+endmenu

components/gps/example/main/gps_example.cpp

@@ -0,0 +1,66 @@
+#include <chrono>
+#include <thread>
+
+#include "gps.hpp"
+#include "logger.hpp"
+
+#if CONFIG_EXAMPLE_HARDWARE_CARDPUTER_ADV
+#include "i2c.hpp"
+#endif
+
+using namespace std::chrono_literals;
+
+extern "C" void app_main(void) {
+  espp::Logger logger({.tag = "GPS Example", .level = espp::Logger::Verbosity::INFO});
+  logger.info("Starting example!");
+
+#if CONFIG_EXAMPLE_HARDWARE_CARDPUTER_ADV
+  // The Cardputer-Adv LoRa+GPS Cap (U214) gates the GPS LNA behind P1 of a
+  // PI4IOE5V6408 I2C IO expander; drive it high for better sensitivity.
+  // (P0 is the LoRa antenna switch.)
+  espp::I2c i2c({.port = I2C_NUM_0,
+                 .sda_io_num = GPIO_NUM_8,
+                 .scl_io_num = GPIO_NUM_9,
+                 .sda_pullup_en = GPIO_PULLUP_ENABLE,
+                 .scl_pullup_en = GPIO_PULLUP_ENABLE});
+  {
+    std::error_code ec;
+    auto expander = i2c.add_device<uint8_t>({.device_address = 0x43}, ec);
+    if (expander) {
+      const uint8_t init_regs[][2] = {
+          {0x03, 0x03}, // direction: P0, P1 outputs
+          {0x05, 0x03}, // output state: P0, P1 high
+          {0x07, 0x00}, // output high-impedance: disabled
+      };
+      for (const auto &reg : init_regs) {
+        expander->write(reg, 2, ec);
+      }
+    } else {
+      logger.warn("Could not configure IO expander: {}", ec.message());
+    }
+  }
+#endif
+
+  //! [gps example]
+  espp::Gps gps({.uart_port = UART_NUM_1,
+                 .tx_io_num = (gpio_num_t)CONFIG_EXAMPLE_GPS_TX_GPIO,
+                 .rx_io_num = (gpio_num_t)CONFIG_EXAMPLE_GPS_RX_GPIO,
+                 .baud_rate = CONFIG_EXAMPLE_GPS_BAUD_RATE,
+                 .on_fix =
+                     [&](const espp::GpsFix &fix) {
+                       if (fix.valid) {
+                         logger.info("Fix: {:.6f}, {:.6f} alt {:.1f} m, {} sats, hdop {:.1f}, "
+                                     "{:02}:{:02}:{:04.1f} UTC",
+                                     fix.latitude, fix.longitude, fix.altitude, fix.num_satellites,
+                                     fix.hdop, fix.hour, fix.minute, fix.second);
+                       } else {
+                         logger.info("Waiting for fix ({} sats in use)...", fix.num_satellites);
+                       }
+                     },
+                 .log_level = espp::Logger::Verbosity::INFO});
+  //! [gps example]
+
+  while (true) {
+    std::this_thread::sleep_for(10s);
+  }
+}

components/gps/example/sdkconfig.defaults

@@ -0,0 +1,11 @@
+CONFIG_IDF_TARGET="esp32s3"
+
+CONFIG_FREERTOS_HZ=1000
+
+# set compiler optimization level to -O2 (compile for performance)
+CONFIG_COMPILER_OPTIMIZATION_PERF=y
+
+# Common ESP-related
+#
+CONFIG_ESP_SYSTEM_EVENT_TASK_STACK_SIZE=4096
+CONFIG_ESP_MAIN_TASK_STACK_SIZE=16384

components/gps/idf_component.yml

@@ -0,0 +1,23 @@
+## IDF Component Manager Manifest File
+license: "MIT"
+description: "UART GNSS / GPS receiver component with NMEA-0183 parsing for ESP-IDF"
+url: "https://github.com/esp-cpp/espp/tree/main/components/gps"
+repository: "git://github.com/esp-cpp/espp.git"
+maintainers:
+  - William Emfinger <waemfinger@gmail.com>
+documentation: "https://esp-cpp.github.io/espp/wireless/gps.html"
+examples:
+  - path: example
+tags:
+  - cpp
+  - Component
+  - GPS
+  - GNSS
+  - NMEA
+  - UART
+  - Peripheral
+dependencies:
+  idf:
+    version: '>=5.0'
+  espp/base_component: '>=1.0'
+  espp/task: '>=1.0'

components/gps/include/gps.hpp

@@ -0,0 +1,105 @@
+#pragma once
+
+#include <functional>
+#include <memory>
+#include <mutex>
+#include <string>
+#include <string_view>
+
+#include <driver/gpio.h>
+#include <driver/uart.h>
+
+#include "base_component.hpp"
+#include "nmea_parser.hpp"
+#include "task.hpp"
+
+namespace espp {
+/// Driver for UART-attached GNSS receivers which output NMEA-0183 sentences,
+/// such as the ATGM336H (M5Stack Cardputer-Adv LoRa+GPS Cap) or the u-blox
+/// MIA-M10Q (LilyGo T-Deck Plus).
+///
+/// The driver installs the UART driver, then runs a task which reads the
+/// NMEA stream, parses it (see espp::NmeaParser), and maintains the latest
+/// fix, which can be retrieved thread-safely with fix() or delivered via the
+/// fix callback.
+///
+/// \section gps_example Example
+/// \snippet gps_example.cpp gps example
+class Gps : public BaseComponent {
+public:
+  /// Callback invoked whenever an RMC sentence has been parsed (i.e. once
+  /// per receiver update cycle), with the current fix.
+  typedef std::function<void(const GpsFix &fix)> fix_callback_fn;
+
+  /// Callback invoked for every valid NMEA sentence received (before
+  /// parsing), e.g. for logging or for parsing additional sentence types.
+  typedef std::function<void(std::string_view sentence)> sentence_callback_fn;
+
+  /// Configuration for the Gps driver.
+  struct Config {
+    uart_port_t uart_port = UART_NUM_1; ///< The UART port to use
+    gpio_num_t tx_io_num = GPIO_NUM_NC; ///< GPIO connected to the receiver's RX pin (for
+                                        ///< sending configuration commands); may be NC
+    gpio_num_t rx_io_num = GPIO_NUM_NC; ///< GPIO connected to the receiver's TX pin
+    uint32_t baud_rate = 9600;          ///< UART baud rate (9600 for most receivers; the
+                                        ///< M5Stack LoRa+GPS Cap ships configured for 115200)
+    size_t rx_buffer_size = 2048;       ///< UART RX ring buffer size
+    fix_callback_fn on_fix = nullptr;   ///< Optional callback invoked on each fix update
+    sentence_callback_fn on_sentence = nullptr; ///< Optional callback invoked per NMEA sentence
+    bool auto_start = true;                     ///< Whether to install the driver and start the
+                                                ///< read task on construction
+    espp::Task::BaseConfig task_config = {
+        .name = "gps",
+        .stack_size_bytes = 6 * 1024,
+    };                                                    ///< Configuration for the reader task
+    Logger::Verbosity log_level{Logger::Verbosity::WARN}; ///< Log verbosity for the driver
+  };
+
+  /// Constructor
+  /// \param config The configuration for the driver
+  explicit Gps(const Config &config);
+
+  /// Destructor - stops the task and deletes the UART driver
+  ~Gps();
+
+  /// Install the UART driver and start the reader task.
+  /// \param ec The error code to set if there is an error
+  /// \return True if started successfully
+  bool start(std::error_code &ec);
+
+  /// Stop the reader task and delete the UART driver.
+  /// \return True if stopped successfully
+  bool stop();
+
+  /// Whether the driver has been started
+  /// \return True if the driver is running
+  bool is_running() const { return running_; }
+
+  /// Get a copy of the latest fix data.
+  /// \return The latest fix
+  GpsFix fix() const;
+
+  /// Whether the receiver currently reports a valid fix
+  /// \return True if the latest RMC sentence reported a valid fix
+  bool has_fix() const;
+
+  /// Write raw data to the receiver (e.g. NMEA/PCAS/UBX configuration
+  /// commands). Requires tx_io_num to be set.
+  /// \param data The data to write
+  /// \param ec The error code to set if there is an error
+  /// \return True if the data was written
+  bool write(std::string_view data, std::error_code &ec);
+
+protected:
+  bool read_task(std::mutex &m, std::condition_variable &cv);
+  void handle_line(std::string_view line);
+
+  Config config_;
+  std::atomic<bool> running_{false};
+  bool uart_installed_{false};
+  std::unique_ptr<espp::Task> task_;
+  mutable std::mutex fix_mutex_;
+  NmeaParser parser_;
+  std::string line_buffer_;
+};
+} // namespace espp