mirror of
https://github.com/meshtastic/firmware.git
synced 2025-12-20 09:43:03 +00:00
Merge branch 'master' into esp32-c6
This commit is contained in:
Thomas Göttgens
GitHub
430
src/gps/GPS.cpp
430
src/gps/GPS.cpp
@@ -6,6 +6,8 @@
|
||||
#include "NodeDB.h"
|
||||
#include "PowerMon.h"
|
||||
#include "RTC.h"
|
||||
#include "Throttle.h"
|
||||
#include "meshUtils.h"
|
||||
|
||||
#include "main.h" // pmu_found
|
||||
#include "sleep.h"
|
||||
@@ -207,7 +209,7 @@ GPS_RESPONSE GPS::getACKCas(uint8_t class_id, uint8_t msg_id, uint32_t waitMilli
|
||||
// ACK-NACK| 0xBA | 0xCE | 0x04 | 0x00 | 0x05 | 0x00 | 0xXX | 0xXX | 0x00 | 0x00 | 0xXX | 0xXX | 0xXX | 0xXX |
|
||||
// ACK-ACK | 0xBA | 0xCE | 0x04 | 0x00 | 0x05 | 0x01 | 0xXX | 0xXX | 0x00 | 0x00 | 0xXX | 0xXX | 0xXX | 0xXX |
|
||||
|
||||
while (millis() - startTime < waitMillis) {
|
||||
while (Throttle::isWithinTimespanMs(startTime, waitMillis)) {
|
||||
if (_serial_gps->available()) {
|
||||
buffer[bufferPos++] = _serial_gps->read();
|
||||
|
||||
@@ -276,7 +278,7 @@ GPS_RESPONSE GPS::getACK(uint8_t class_id, uint8_t msg_id, uint32_t waitMillis)
|
||||
buf[9] += buf[8];
|
||||
}
|
||||
|
||||
while (millis() - startTime < waitMillis) {
|
||||
while (Throttle::isWithinTimespanMs(startTime, waitMillis)) {
|
||||
if (ack > 9) {
|
||||
#ifdef GPS_DEBUG
|
||||
LOG_DEBUG("\n");
|
||||
@@ -333,7 +335,7 @@ int GPS::getACK(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t
|
||||
uint32_t startTime = millis();
|
||||
uint16_t needRead = 0;
|
||||
|
||||
while (millis() - startTime < waitMillis) {
|
||||
while (Throttle::isWithinTimespanMs(startTime, waitMillis)) {
|
||||
if (_serial_gps->available()) {
|
||||
int c = _serial_gps->read();
|
||||
switch (ubxFrameCounter) {
|
||||
@@ -511,7 +513,7 @@ bool GPS::setup()
|
||||
delay(250);
|
||||
_serial_gps->write("$CFGMSG,6,1,0\r\n");
|
||||
delay(250);
|
||||
} else if (gnssModel == GNSS_MODEL_AG3335 || gnssModel == GNSS_MODEL_AG3352) {
|
||||
} else if (IS_ONE_OF(gnssModel, GNSS_MODEL_AG3335, GNSS_MODEL_AG3352)) {
|
||||
|
||||
_serial_gps->write("$PAIR066,1,0,1,0,0,1*3B\r\n"); // Enable GPS+GALILEO+NAVIC
|
||||
|
||||
@@ -526,268 +528,95 @@ bool GPS::setup()
|
||||
|
||||
delay(250);
|
||||
_serial_gps->write("$PAIR513*3D\r\n"); // save configuration
|
||||
} else if (gnssModel == GNSS_MODEL_UBLOX6) {
|
||||
clearBuffer();
|
||||
SEND_UBX_PACKET(0x06, 0x02, _message_DISABLE_TXT_INFO, "Unable to disable text info messages.\n", 500);
|
||||
SEND_UBX_PACKET(0x06, 0x39, _message_JAM_6_7, "Unable to enable interference resistance.\n", 500);
|
||||
SEND_UBX_PACKET(0x06, 0x23, _message_NAVX5, "Unable to configure NAVX5 settings.\n", 500);
|
||||
|
||||
} else if (gnssModel == GNSS_MODEL_UBLOX) {
|
||||
// Configure GNSS system to GPS+SBAS+GLONASS (Module may restart after this command)
|
||||
// We need set it because by default it is GPS only, and we want to use GLONASS too
|
||||
// Also we need SBAS for better accuracy and extra features
|
||||
// ToDo: Dynamic configure GNSS systems depending of LoRa region
|
||||
// Turn off unwanted NMEA messages, set update rate
|
||||
SEND_UBX_PACKET(0x06, 0x08, _message_1HZ, "Unable to set GPS update rate.\n", 500);
|
||||
SEND_UBX_PACKET(0x06, 0x01, _message_GLL, "Unable to disable NMEA GLL.\n", 500);
|
||||
SEND_UBX_PACKET(0x06, 0x01, _message_GSA, "Unable to Enable NMEA GSA.\n", 500);
|
||||
SEND_UBX_PACKET(0x06, 0x01, _message_GSV, "Unable to disable NMEA GSV.\n", 500);
|
||||
SEND_UBX_PACKET(0x06, 0x01, _message_VTG, "Unable to disable NMEA VTG.\n", 500);
|
||||
SEND_UBX_PACKET(0x06, 0x01, _message_RMC, "Unable to enable NMEA RMC.\n", 500);
|
||||
SEND_UBX_PACKET(0x06, 0x01, _message_GGA, "Unable to enable NMEA GGA.\n", 500);
|
||||
|
||||
if (strncmp(info.hwVersion, "000A0000", 8) != 0) {
|
||||
if (strncmp(info.hwVersion, "00040007", 8) != 0) {
|
||||
// The original ublox Neo-6 is GPS only and doesn't support the UBX-CFG-GNSS message
|
||||
// Max7 seems to only support GPS *or* GLONASS
|
||||
// Neo-7 is supposed to support GPS *and* GLONASS but NAKs the CFG-GNSS command to do it
|
||||
// So treat all the u-blox 7 series as GPS only
|
||||
// M8 can support 3 constallations at once so turn on GPS, GLONASS and Galileo (or BeiDou)
|
||||
clearBuffer();
|
||||
SEND_UBX_PACKET(0x06, 0x11, _message_CFG_RXM_ECO, "Unable to enable powersaving ECO mode for Neo-6.\n", 500);
|
||||
SEND_UBX_PACKET(0x06, 0x3B, _message_CFG_PM2, "Unable to enable powersaving details for GPS.\n", 500);
|
||||
SEND_UBX_PACKET(0x06, 0x01, _message_AID, "Unable to disable UBX-AID.\n", 500);
|
||||
|
||||
if (strncmp(info.hwVersion, "00070000", 8) == 0) {
|
||||
LOG_DEBUG("Setting GPS+SBAS\n");
|
||||
msglen = makeUBXPacket(0x06, 0x3e, sizeof(_message_GNSS_7), _message_GNSS_7);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
} else {
|
||||
msglen = makeUBXPacket(0x06, 0x3e, sizeof(_message_GNSS_8), _message_GNSS_8);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
}
|
||||
msglen = makeUBXPacket(0x06, 0x09, sizeof(_message_SAVE), _message_SAVE);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x09, 2000) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to save GNSS module configuration.\n");
|
||||
} else {
|
||||
LOG_INFO("GNSS module configuration saved!\n");
|
||||
}
|
||||
} else if (IS_ONE_OF(gnssModel, GNSS_MODEL_UBLOX7, GNSS_MODEL_UBLOX8, GNSS_MODEL_UBLOX9)) {
|
||||
if (gnssModel == GNSS_MODEL_UBLOX7) {
|
||||
LOG_DEBUG("Setting GPS+SBAS\n");
|
||||
msglen = makeUBXPacket(0x06, 0x3e, sizeof(_message_GNSS_7), _message_GNSS_7);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
} else { // 8,9
|
||||
msglen = makeUBXPacket(0x06, 0x3e, sizeof(_message_GNSS_8), _message_GNSS_8);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
}
|
||||
|
||||
if (getACK(0x06, 0x3e, 800) == GNSS_RESPONSE_NAK) {
|
||||
// It's not critical if the module doesn't acknowledge this configuration.
|
||||
LOG_INFO("Unable to reconfigure GNSS - defaults maintained. Is this module GPS-only?\n");
|
||||
} else {
|
||||
if (strncmp(info.hwVersion, "00070000", 8) == 0) {
|
||||
LOG_INFO("GNSS configured for GPS+SBAS. Pause for 0.75s before sending next command.\n");
|
||||
} else {
|
||||
LOG_INFO(
|
||||
"GNSS configured for GPS+SBAS+GLONASS+Galileo. Pause for 0.75s before sending next command.\n");
|
||||
}
|
||||
// Documentation say, we need wait atleast 0.5s after reconfiguration of GNSS module, before sending next
|
||||
// commands for the M8 it tends to be more... 1 sec should be enough ;>)
|
||||
delay(1000);
|
||||
}
|
||||
if (getACK(0x06, 0x3e, 800) == GNSS_RESPONSE_NAK) {
|
||||
// It's not critical if the module doesn't acknowledge this configuration.
|
||||
LOG_INFO("Unable to reconfigure GNSS - defaults maintained. Is this module GPS-only?\n");
|
||||
} else {
|
||||
if (gnssModel == GNSS_MODEL_UBLOX7) {
|
||||
LOG_INFO("GNSS configured for GPS+SBAS.\n");
|
||||
} else { // 8,9
|
||||
LOG_INFO("GNSS configured for GPS+SBAS+GLONASS+Galileo.\n");
|
||||
}
|
||||
// Disable Text Info messages
|
||||
msglen = makeUBXPacket(0x06, 0x02, sizeof(_message_DISABLE_TXT_INFO), _message_DISABLE_TXT_INFO);
|
||||
// Documentation say, we need wait atleast 0.5s after reconfiguration of GNSS module, before sending next
|
||||
// commands for the M8 it tends to be more... 1 sec should be enough ;>)
|
||||
delay(1000);
|
||||
}
|
||||
|
||||
// Disable Text Info messages //6,7,8,9
|
||||
clearBuffer();
|
||||
SEND_UBX_PACKET(0x06, 0x02, _message_DISABLE_TXT_INFO, "Unable to disable text info messages.\n", 500);
|
||||
|
||||
if (gnssModel == GNSS_MODEL_UBLOX8) { // 8
|
||||
clearBuffer();
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x02, 500) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to disable text info messages.\n");
|
||||
}
|
||||
// ToDo add M10 tests for below
|
||||
if (strncmp(info.hwVersion, "00080000", 8) == 0) {
|
||||
msglen = makeUBXPacket(0x06, 0x39, sizeof(_message_JAM_8), _message_JAM_8);
|
||||
SEND_UBX_PACKET(0x06, 0x39, _message_JAM_8, "Unable to enable interference resistance.\n", 500);
|
||||
|
||||
clearBuffer();
|
||||
SEND_UBX_PACKET(0x06, 0x23, _message_NAVX5_8, "Unable to configure NAVX5_8 settings.\n", 500);
|
||||
} else { // 6,7,9
|
||||
SEND_UBX_PACKET(0x06, 0x39, _message_JAM_6_7, "Unable to enable interference resistance.\n", 500);
|
||||
SEND_UBX_PACKET(0x06, 0x23, _message_NAVX5, "Unable to configure NAVX5 settings.\n", 500);
|
||||
}
|
||||
// Turn off unwanted NMEA messages, set update rate
|
||||
SEND_UBX_PACKET(0x06, 0x08, _message_1HZ, "Unable to set GPS update rate.\n", 500);
|
||||
SEND_UBX_PACKET(0x06, 0x01, _message_GLL, "Unable to disable NMEA GLL.\n", 500);
|
||||
SEND_UBX_PACKET(0x06, 0x01, _message_GSA, "Unable to Enable NMEA GSA.\n", 500);
|
||||
SEND_UBX_PACKET(0x06, 0x01, _message_GSV, "Unable to disable NMEA GSV.\n", 500);
|
||||
SEND_UBX_PACKET(0x06, 0x01, _message_VTG, "Unable to disable NMEA VTG.\n", 500);
|
||||
SEND_UBX_PACKET(0x06, 0x01, _message_RMC, "Unable to enable NMEA RMC.\n", 500);
|
||||
SEND_UBX_PACKET(0x06, 0x01, _message_GGA, "Unable to enable NMEA GGA.\n", 500);
|
||||
|
||||
if (uBloxProtocolVersion >= 18) {
|
||||
clearBuffer();
|
||||
SEND_UBX_PACKET(0x06, 0x86, _message_PMS, "Unable to enable powersaving for GPS.\n", 500);
|
||||
SEND_UBX_PACKET(0x06, 0x3B, _message_CFG_PM2, "Unable to enable powersaving details for GPS.\n", 500);
|
||||
|
||||
// For M8 we want to enable NMEA vserion 4.10 so we can see the additional sats.
|
||||
if (gnssModel == GNSS_MODEL_UBLOX8) {
|
||||
clearBuffer();
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x39, 500) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to enable interference resistance.\n");
|
||||
}
|
||||
|
||||
msglen = makeUBXPacket(0x06, 0x23, sizeof(_message_NAVX5_8), _message_NAVX5_8);
|
||||
clearBuffer();
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x23, 500) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to configure NAVX5_8 settings.\n");
|
||||
}
|
||||
} else {
|
||||
msglen = makeUBXPacket(0x06, 0x39, sizeof(_message_JAM_6_7), _message_JAM_6_7);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x39, 500) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to enable interference resistance.\n");
|
||||
}
|
||||
|
||||
msglen = makeUBXPacket(0x06, 0x23, sizeof(_message_NAVX5), _message_NAVX5);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x23, 500) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to configure NAVX5 settings.\n");
|
||||
}
|
||||
}
|
||||
// Turn off unwanted NMEA messages, set update rate
|
||||
|
||||
msglen = makeUBXPacket(0x06, 0x08, sizeof(_message_1HZ), _message_1HZ);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x08, 500) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to set GPS update rate.\n");
|
||||
}
|
||||
|
||||
msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_GLL), _message_GLL);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x01, 500) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to disable NMEA GLL.\n");
|
||||
}
|
||||
|
||||
msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_GSA), _message_GSA);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x01, 500) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to Enable NMEA GSA.\n");
|
||||
}
|
||||
|
||||
msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_GSV), _message_GSV);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x01, 500) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to disable NMEA GSV.\n");
|
||||
}
|
||||
|
||||
msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_VTG), _message_VTG);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x01, 500) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to disable NMEA VTG.\n");
|
||||
}
|
||||
|
||||
msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_RMC), _message_RMC);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x01, 500) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to enable NMEA RMC.\n");
|
||||
}
|
||||
|
||||
msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_GGA), _message_GGA);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x01, 500) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to enable NMEA GGA.\n");
|
||||
}
|
||||
|
||||
if (uBloxProtocolVersion >= 18) {
|
||||
msglen = makeUBXPacket(0x06, 0x86, sizeof(_message_PMS), _message_PMS);
|
||||
clearBuffer();
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x86, 500) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to enable powersaving for GPS.\n");
|
||||
}
|
||||
msglen = makeUBXPacket(0x06, 0x3B, sizeof(_message_CFG_PM2), _message_CFG_PM2);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x3B, 500) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to enable powersaving details for GPS.\n");
|
||||
}
|
||||
// For M8 we want to enable NMEA vserion 4.10 so we can see the additional sats.
|
||||
if (strncmp(info.hwVersion, "00080000", 8) == 0) {
|
||||
msglen = makeUBXPacket(0x06, 0x17, sizeof(_message_NMEA), _message_NMEA);
|
||||
clearBuffer();
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x17, 500) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to enable NMEA 4.10.\n");
|
||||
}
|
||||
}
|
||||
} else {
|
||||
if (strncmp(info.hwVersion, "00040007", 8) == 0) { // This PSM mode is only for Neo-6
|
||||
msglen = makeUBXPacket(0x06, 0x11, 0x2, _message_CFG_RXM_ECO);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x11, 500) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to enable powersaving ECO mode for Neo-6.\n");
|
||||
}
|
||||
msglen = makeUBXPacket(0x06, 0x3B, sizeof(_message_CFG_PM2), _message_CFG_PM2);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x3B, 500) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to enable powersaving details for GPS.\n");
|
||||
}
|
||||
msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_AID), _message_AID);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x01, 500) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to disable UBX-AID.\n");
|
||||
}
|
||||
} else {
|
||||
msglen = makeUBXPacket(0x06, 0x11, 0x2, _message_CFG_RXM_PSM);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x11, 500) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to enable powersaving mode for GPS.\n");
|
||||
}
|
||||
|
||||
msglen = makeUBXPacket(0x06, 0x3B, sizeof(_message_CFG_PM2), _message_CFG_PM2);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x3B, 500) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to enable powersaving details for GPS.\n");
|
||||
}
|
||||
}
|
||||
SEND_UBX_PACKET(0x06, 0x17, _message_NMEA, "Unable to enable NMEA 4.10.\n", 500);
|
||||
}
|
||||
} else {
|
||||
// LOG_INFO("u-blox M10 hardware found.\n");
|
||||
delay(1000);
|
||||
// First disable all NMEA messages in RAM layer
|
||||
msglen = makeUBXPacket(0x06, 0x8A, sizeof(_message_VALSET_DISABLE_NMEA_RAM), _message_VALSET_DISABLE_NMEA_RAM);
|
||||
clearBuffer();
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x8A, 300) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to disable NMEA messages for M10 GPS RAM.\n");
|
||||
}
|
||||
delay(250);
|
||||
// Next disable unwanted NMEA messages in BBR layer
|
||||
msglen = makeUBXPacket(0x06, 0x8A, sizeof(_message_VALSET_DISABLE_NMEA_BBR), _message_VALSET_DISABLE_NMEA_BBR);
|
||||
clearBuffer();
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x8A, 300) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to disable NMEA messages for M10 GPS BBR.\n");
|
||||
}
|
||||
delay(250);
|
||||
// Disable Info txt messages in RAM layer
|
||||
msglen =
|
||||
makeUBXPacket(0x06, 0x8A, sizeof(_message_VALSET_DISABLE_TXT_INFO_RAM), _message_VALSET_DISABLE_TXT_INFO_RAM);
|
||||
clearBuffer();
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x8A, 300) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to disable Info messages for M10 GPS RAM.\n");
|
||||
}
|
||||
delay(250);
|
||||
// Next disable Info txt messages in BBR layer
|
||||
msglen =
|
||||
makeUBXPacket(0x06, 0x8A, sizeof(_message_VALSET_DISABLE_TXT_INFO_BBR), _message_VALSET_DISABLE_TXT_INFO_BBR);
|
||||
clearBuffer();
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x8A, 300) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to disable Info messages for M10 GPS BBR.\n");
|
||||
}
|
||||
// Do M10 configuration for Power Management.
|
||||
|
||||
msglen = makeUBXPacket(0x06, 0x8A, sizeof(_message_VALSET_PM_RAM), _message_VALSET_PM_RAM);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x8A, 300) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to enable powersaving for M10 GPS RAM.\n");
|
||||
}
|
||||
msglen = makeUBXPacket(0x06, 0x8A, sizeof(_message_VALSET_PM_BBR), _message_VALSET_PM_BBR);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x8A, 300) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to enable powersaving for M10 GPS BBR.\n");
|
||||
}
|
||||
|
||||
delay(250);
|
||||
msglen = makeUBXPacket(0x06, 0x8A, sizeof(_message_VALSET_ITFM_RAM), _message_VALSET_ITFM_RAM);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x8A, 300) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to enable Jamming detection M10 GPS RAM.\n");
|
||||
}
|
||||
msglen = makeUBXPacket(0x06, 0x8A, sizeof(_message_VALSET_ITFM_BBR), _message_VALSET_ITFM_BBR);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x8A, 300) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to enable Jamming detection M10 GPS BBR.\n");
|
||||
}
|
||||
|
||||
// Here is where the init commands should go to do further M10 initialization.
|
||||
delay(250);
|
||||
msglen = makeUBXPacket(0x06, 0x8A, sizeof(_message_VALSET_DISABLE_SBAS_RAM), _message_VALSET_DISABLE_SBAS_RAM);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x8A, 300) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to disable SBAS M10 GPS RAM.\n");
|
||||
}
|
||||
delay(750); // will cause a receiver restart so wait a bit
|
||||
msglen = makeUBXPacket(0x06, 0x8A, sizeof(_message_VALSET_DISABLE_SBAS_BBR), _message_VALSET_DISABLE_SBAS_BBR);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x8A, 300) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to disable SBAS M10 GPS BBR.\n");
|
||||
}
|
||||
delay(750); // will cause a receiver restart so wait a bit
|
||||
// Done with initialization, Now enable wanted NMEA messages in BBR layer so they will survive a periodic sleep.
|
||||
msglen = makeUBXPacket(0x06, 0x8A, sizeof(_message_VALSET_ENABLE_NMEA_BBR), _message_VALSET_ENABLE_NMEA_BBR);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x8A, 300) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to enable messages for M10 GPS BBR.\n");
|
||||
}
|
||||
delay(250);
|
||||
// Next enable wanted NMEA messages in RAM layer
|
||||
msglen = makeUBXPacket(0x06, 0x8A, sizeof(_message_VALSET_ENABLE_NMEA_RAM), _message_VALSET_ENABLE_NMEA_RAM);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x8A, 300) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to enable messages for M10 GPS RAM.\n");
|
||||
}
|
||||
// As the M10 has no flash, the best we can do to preserve the config is to set it in RAM and BBR.
|
||||
// BBR will survive a restart, and power off for a while, but modules with small backup
|
||||
// batteries or super caps will not retain the config for a long power off time.
|
||||
SEND_UBX_PACKET(0x06, 0x11, _message_CFG_RXM_PSM, "Unable to enable powersaving mode for GPS.\n", 500);
|
||||
SEND_UBX_PACKET(0x06, 0x3B, _message_CFG_PM2, "Unable to enable powersaving details for GPS.\n", 500);
|
||||
}
|
||||
|
||||
msglen = makeUBXPacket(0x06, 0x09, sizeof(_message_SAVE), _message_SAVE);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x09, 2000) != GNSS_RESPONSE_OK) {
|
||||
@@ -795,6 +624,55 @@ bool GPS::setup()
|
||||
} else {
|
||||
LOG_INFO("GNSS module configuration saved!\n");
|
||||
}
|
||||
} else if (gnssModel == GNSS_MODEL_UBLOX10) {
|
||||
delay(1000);
|
||||
clearBuffer();
|
||||
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_NMEA_RAM, "Unable to disable NMEA messages in M10 RAM.\n", 300);
|
||||
delay(750);
|
||||
clearBuffer();
|
||||
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_NMEA_BBR, "Unable to disable NMEA messages in M10 BBR.\n", 300);
|
||||
delay(750);
|
||||
clearBuffer();
|
||||
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_TXT_INFO_RAM,
|
||||
"Unable to disable Info messages for M10 GPS RAM.\n", 300);
|
||||
delay(750);
|
||||
// Next disable Info txt messages in BBR layer
|
||||
clearBuffer();
|
||||
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_TXT_INFO_BBR,
|
||||
"Unable to disable Info messages for M10 GPS BBR.\n", 300);
|
||||
delay(750);
|
||||
// Do M10 configuration for Power Management.
|
||||
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_PM_RAM, "Unable to enable powersaving for M10 GPS RAM.\n", 300);
|
||||
delay(750);
|
||||
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_PM_BBR, "Unable to enable powersaving for M10 GPS BBR.\n", 300);
|
||||
delay(750);
|
||||
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_ITFM_RAM, "Unable to enable Jamming detection M10 GPS RAM.\n", 300);
|
||||
delay(750);
|
||||
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_ITFM_BBR, "Unable to enable Jamming detection M10 GPS BBR.\n", 300);
|
||||
delay(750);
|
||||
// Here is where the init commands should go to do further M10 initialization.
|
||||
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_SBAS_RAM, "Unable to disable SBAS M10 GPS RAM.\n", 300);
|
||||
delay(750); // will cause a receiver restart so wait a bit
|
||||
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_SBAS_BBR, "Unable to disable SBAS M10 GPS BBR.\n", 300);
|
||||
delay(750); // will cause a receiver restart so wait a bit
|
||||
|
||||
// Done with initialization, Now enable wanted NMEA messages in BBR layer so they will survive a periodic sleep.
|
||||
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_ENABLE_NMEA_BBR, "Unable to enable messages for M10 GPS BBR.\n", 300);
|
||||
delay(750);
|
||||
// Next enable wanted NMEA messages in RAM layer
|
||||
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_ENABLE_NMEA_RAM, "Unable to enable messages for M10 GPS RAM.\n", 500);
|
||||
delay(750);
|
||||
|
||||
// As the M10 has no flash, the best we can do to preserve the config is to set it in RAM and BBR.
|
||||
// BBR will survive a restart, and power off for a while, but modules with small backup
|
||||
// batteries or super caps will not retain the config for a long power off time.
|
||||
msglen = makeUBXPacket(0x06, 0x09, sizeof(_message_SAVE_10), _message_SAVE_10);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x09, 2000) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to save GNSS module configuration.\n");
|
||||
} else {
|
||||
LOG_INFO("GNSS module configuration saved!\n");
|
||||
}
|
||||
}
|
||||
didSerialInit = true;
|
||||
}
|
||||
@@ -950,7 +828,7 @@ void GPS::setPowerPMU(bool on)
|
||||
void GPS::setPowerUBLOX(bool on, uint32_t sleepMs)
|
||||
{
|
||||
// Abort: if not UBLOX hardware
|
||||
if (gnssModel != GNSS_MODEL_UBLOX)
|
||||
if (!IS_ONE_OF(gnssModel, GNSS_MODEL_UBLOX6, GNSS_MODEL_UBLOX7, GNSS_MODEL_UBLOX8, GNSS_MODEL_UBLOX9, GNSS_MODEL_UBLOX10))
|
||||
return;
|
||||
|
||||
// If waking
|
||||
@@ -973,7 +851,7 @@ void GPS::setPowerUBLOX(bool on, uint32_t sleepMs)
|
||||
}
|
||||
|
||||
// Determine hardware version
|
||||
if (strncmp(info.hwVersion, "000A0000", 8) != 0) {
|
||||
if (gnssModel == GNSS_MODEL_UBLOX10) {
|
||||
// Encode the sleep time in millis into the packet
|
||||
for (int i = 0; i < 4; i++)
|
||||
gps->_message_PMREQ[0 + i] = sleepMs >> (i * 8);
|
||||
@@ -1032,7 +910,8 @@ void GPS::down()
|
||||
// Check whether the GPS hardware is capable of GPS_SOFTSLEEP
|
||||
// If not, fallback to GPS_HARDSLEEP instead
|
||||
bool softsleepSupported = false;
|
||||
if (gnssModel == GNSS_MODEL_UBLOX) // U-blox is supported via PMREQ
|
||||
// U-blox is supported via PMREQ
|
||||
if (IS_ONE_OF(gnssModel, GNSS_MODEL_UBLOX6, GNSS_MODEL_UBLOX7, GNSS_MODEL_UBLOX8, GNSS_MODEL_UBLOX9, GNSS_MODEL_UBLOX10))
|
||||
softsleepSupported = true;
|
||||
#ifdef PIN_GPS_STANDBY // L76B, L76K and clones have a standby pin
|
||||
softsleepSupported = true;
|
||||
@@ -1107,7 +986,9 @@ int32_t GPS::runOnce()
|
||||
// if we have received valid NMEA claim we are connected
|
||||
setConnected();
|
||||
} else {
|
||||
if ((config.position.gps_mode == meshtastic_Config_PositionConfig_GpsMode_ENABLED) && (gnssModel == GNSS_MODEL_UBLOX)) {
|
||||
if ((config.position.gps_mode == meshtastic_Config_PositionConfig_GpsMode_ENABLED) &&
|
||||
IS_ONE_OF(gnssModel, GNSS_MODEL_UBLOX6, GNSS_MODEL_UBLOX7, GNSS_MODEL_UBLOX8, GNSS_MODEL_UBLOX9,
|
||||
GNSS_MODEL_UBLOX10)) {
|
||||
// reset the GPS on next bootup
|
||||
if (devicestate.did_gps_reset && scheduling.elapsedSearchMs() > 60 * 1000UL && !hasFlow()) {
|
||||
LOG_DEBUG("GPS is not communicating, trying factory reset on next bootup.\n");
|
||||
@@ -1336,9 +1217,9 @@ GnssModel_t GPS::probe(int serialSpeed)
|
||||
strncpy((char *)buffer, &(info.extension[i][4]), sizeof(buffer));
|
||||
// LOG_DEBUG("GetModel:%s\n", (char *)buffer);
|
||||
if (strlen((char *)buffer)) {
|
||||
LOG_INFO("UBlox GNSS probe succeeded, using UBlox %s GNSS Module\n", (char *)buffer);
|
||||
LOG_INFO("%s detected, using GNSS_MODEL_UBLOX\n", (char *)buffer);
|
||||
} else {
|
||||
LOG_INFO("UBlox GNSS probe succeeded, using UBlox GNSS Module\n");
|
||||
LOG_INFO("Generic Ublox detected, using GNSS_MODEL_UBLOX\n");
|
||||
}
|
||||
} else if (!strncmp(info.extension[i], "PROTVER", 7)) {
|
||||
char *ptr = nullptr;
|
||||
@@ -1353,9 +1234,20 @@ GnssModel_t GPS::probe(int serialSpeed)
|
||||
}
|
||||
}
|
||||
}
|
||||
if (strncmp(info.hwVersion, "00040007", 8) == 0) {
|
||||
return GNSS_MODEL_UBLOX6;
|
||||
} else if (strncmp(info.hwVersion, "00070000", 8) == 0) {
|
||||
return GNSS_MODEL_UBLOX7;
|
||||
} else if (strncmp(info.hwVersion, "00080000", 8) == 0) {
|
||||
return GNSS_MODEL_UBLOX8;
|
||||
} else if (strncmp(info.hwVersion, "00190000", 8) == 0) {
|
||||
return GNSS_MODEL_UBLOX9;
|
||||
} else if (strncmp(info.hwVersion, "000A0000", 8) == 0) {
|
||||
return GNSS_MODEL_UBLOX10;
|
||||
}
|
||||
}
|
||||
|
||||
return GNSS_MODEL_UBLOX;
|
||||
return GNSS_MODEL_UNKNOWN;
|
||||
}
|
||||
|
||||
GPS *GPS::createGps()
|
||||
@@ -1529,16 +1421,15 @@ bool GPS::lookForTime()
|
||||
|
||||
#ifdef GNSS_AIROHA
|
||||
uint8_t fix = reader.fixQuality();
|
||||
uint32_t now = millis();
|
||||
if (fix > 0) {
|
||||
if (lastFixStartMsec > 0) {
|
||||
if ((now - lastFixStartMsec) < GPS_FIX_HOLD_TIME) {
|
||||
if (Throttle::isWithinTimespanMs(lastFixStartMsec, GPS_FIX_HOLD_TIME)) {
|
||||
return false;
|
||||
} else {
|
||||
clearBuffer();
|
||||
}
|
||||
} else {
|
||||
lastFixStartMsec = now;
|
||||
lastFixStartMsec = millis();
|
||||
return false;
|
||||
}
|
||||
} else {
|
||||
@@ -1582,16 +1473,15 @@ bool GPS::lookForLocation()
|
||||
#ifdef GNSS_AIROHA
|
||||
if ((config.position.gps_update_interval * 1000) >= (GPS_FIX_HOLD_TIME * 2)) {
|
||||
uint8_t fix = reader.fixQuality();
|
||||
uint32_t now = millis();
|
||||
if (fix > 0) {
|
||||
if (lastFixStartMsec > 0) {
|
||||
if ((now - lastFixStartMsec) < GPS_FIX_HOLD_TIME) {
|
||||
if (Throttle::isWithinTimespanMs(lastFixStartMsec, GPS_FIX_HOLD_TIME)) {
|
||||
return false;
|
||||
} else {
|
||||
clearBuffer();
|
||||
}
|
||||
} else {
|
||||
lastFixStartMsec = now;
|
||||
lastFixStartMsec = millis();
|
||||
return false;
|
||||
}
|
||||
} else {
|
||||
@@ -1821,4 +1711,4 @@ void GPS::toggleGpsMode()
|
||||
enable();
|
||||
}
|
||||
}
|
||||
#endif // Exclude GPS
|
||||
#endif // Exclude GPS
|
||||
Reference in New Issue
Block a user