mirror of
https://github.com/meshtastic/firmware.git
synced 2026-01-17 15:27:29 +00:00
Merge branch 'master' into apollo
This commit is contained in:
Thomas Göttgens
GitHub
430
src/gps/GPS.cpp
430
src/gps/GPS.cpp
@@ -16,7 +16,7 @@
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#define GPS_RESET_MODE HIGH
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#endif
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#if defined(NRF52840_XXAA) || defined(NRF52833_XXAA) || defined(ARCH_ESP32) || defined(ARCH_RASPBERRY_PI)
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#if defined(NRF52840_XXAA) || defined(NRF52833_XXAA) || defined(ARCH_ESP32) || defined(ARCH_PORTDUINO)
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HardwareSerial *GPS::_serial_gps = &Serial1;
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#else
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HardwareSerial *GPS::_serial_gps = NULL;
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@@ -251,17 +251,9 @@ int GPS::getACK(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t
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bool GPS::setup()
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{
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int msglen = 0;
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bool isProblematicGPS = false;
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if (!didSerialInit) {
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#if !defined(GPS_UC6580)
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#ifdef HAS_PMU
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// The T-Beam 1.2 has issues with the GPS
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if (HW_VENDOR == meshtastic_HardwareModel_TBEAM && PMU->getChipModel() == XPOWERS_AXP2101) {
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gnssModel = GNSS_MODEL_UBLOX;
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isProblematicGPS = true;
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}
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#endif
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#if defined(RAK4630) && defined(PIN_3V3_EN)
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// If we are using the RAK4630 and we have no other peripherals on the I2C bus or module interest in 3V3_S,
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@@ -334,125 +326,269 @@ bool GPS::setup()
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// Also we need SBAS for better accuracy and extra features
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// ToDo: Dynamic configure GNSS systems depending of LoRa region
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if (strncmp(info.hwVersion, "00040007", 8) !=
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0) { // The original ublox 6 is GPS only and doesn't support the UBX-CFG-GNSS message
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if (strncmp(info.hwVersion, "00070000", 8) == 0) { // Max7 seems to only support GPS *or* GLONASS
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LOG_DEBUG("Setting GPS+SBAS\n");
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msglen = makeUBXPacket(0x06, 0x3e, sizeof(_message_GNSS_7), _message_GNSS_7);
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_serial_gps->write(UBXscratch, msglen);
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} else {
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msglen = makeUBXPacket(0x06, 0x3e, sizeof(_message_GNSS), _message_GNSS);
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_serial_gps->write(UBXscratch, msglen);
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}
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if (strncmp(info.hwVersion, "000A0000", 8) != 0) {
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if (strncmp(info.hwVersion, "00040007", 8) != 0) {
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// The original ublox Neo-6 is GPS only and doesn't support the UBX-CFG-GNSS message
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// Max7 seems to only support GPS *or* GLONASS
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// Neo-7 is supposed to support GPS *and* GLONASS but NAKs the CFG-GNSS command to do it
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// So treat all the u-blox 7 series as GPS only
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// M8 can support 3 constallations at once so turn on GPS, GLONASS and Galileo (or BeiDou)
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if (getACK(0x06, 0x3e, 800) == GNSS_RESPONSE_NAK) {
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// It's not critical if the module doesn't acknowledge this configuration.
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LOG_INFO("Unable to reconfigure GNSS - defaults maintained. Is this module GPS-only?\n");
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} else {
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if (strncmp(info.hwVersion, "00070000", 8) == 0) {
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LOG_INFO("GNSS configured for GPS+SBAS. Pause for 0.75s before sending next command.\n");
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LOG_DEBUG("Setting GPS+SBAS\n");
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msglen = makeUBXPacket(0x06, 0x3e, sizeof(_message_GNSS_7), _message_GNSS_7);
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_serial_gps->write(UBXscratch, msglen);
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} else {
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LOG_INFO("GNSS configured for GPS+SBAS+GLONASS. Pause for 0.75s before sending next command.\n");
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msglen = makeUBXPacket(0x06, 0x3e, sizeof(_message_GNSS_8), _message_GNSS_8);
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_serial_gps->write(UBXscratch, msglen);
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}
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// Documentation say, we need wait atleast 0.5s after reconfiguration of GNSS module, before sending next
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// commands
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delay(750);
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}
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}
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msglen = makeUBXPacket(0x06, 0x39, sizeof(_message_JAM), _message_JAM);
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_serial_gps->write(UBXscratch, msglen);
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if (getACK(0x06, 0x39, 300) != GNSS_RESPONSE_OK) {
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LOG_WARN("Unable to enable interference resistance.\n");
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}
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msglen = makeUBXPacket(0x06, 0x23, sizeof(_message_NAVX5), _message_NAVX5);
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_serial_gps->write(UBXscratch, msglen);
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if (getACK(0x06, 0x23, 300) != GNSS_RESPONSE_OK) {
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LOG_WARN("Unable to configure extra settings.\n");
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}
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// ublox-M10S can be compatible with UBLOX traditional protocol, so the following sentence settings are also valid
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msglen = makeUBXPacket(0x06, 0x08, sizeof(_message_1HZ), _message_1HZ);
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_serial_gps->write(UBXscratch, msglen);
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if (getACK(0x06, 0x08, 300) != GNSS_RESPONSE_OK) {
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LOG_WARN("Unable to set GPS update rate.\n");
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}
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msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_GGL), _message_GGL);
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_serial_gps->write(UBXscratch, msglen);
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if (getACK(0x06, 0x01, 300) != GNSS_RESPONSE_OK) {
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LOG_WARN("Unable to disable NMEA GGL.\n");
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}
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msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_GSA), _message_GSA);
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_serial_gps->write(UBXscratch, msglen);
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if (getACK(0x06, 0x01, 300) != GNSS_RESPONSE_OK) {
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LOG_WARN("Unable to Enable NMEA GSA.\n");
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}
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msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_GSV), _message_GSV);
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_serial_gps->write(UBXscratch, msglen);
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if (getACK(0x06, 0x01, 300) != GNSS_RESPONSE_OK) {
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LOG_WARN("Unable to disable NMEA GSV.\n");
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}
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msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_VTG), _message_VTG);
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_serial_gps->write(UBXscratch, msglen);
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if (getACK(0x06, 0x01, 300) != GNSS_RESPONSE_OK) {
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LOG_WARN("Unable to disable NMEA VTG.\n");
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}
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msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_RMC), _message_RMC);
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_serial_gps->write(UBXscratch, msglen);
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if (getACK(0x06, 0x01, 300) != GNSS_RESPONSE_OK) {
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LOG_WARN("Unable to enable NMEA RMC.\n");
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}
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msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_GGA), _message_GGA);
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_serial_gps->write(UBXscratch, msglen);
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if (getACK(0x06, 0x01, 300) != GNSS_RESPONSE_OK) {
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LOG_WARN("Unable to enable NMEA GGA.\n");
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}
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if (uBloxProtocolVersion >= 18) {
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msglen = makeUBXPacket(0x06, 0x86, sizeof(_message_PMS), _message_PMS);
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_serial_gps->write(UBXscratch, msglen);
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if (getACK(0x06, 0x86, 300) != GNSS_RESPONSE_OK) {
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LOG_WARN("Unable to enable powersaving for GPS.\n");
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}
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} else {
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if (!(isProblematicGPS)) {
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if (strncmp(info.hwVersion, "00040007", 8) == 0) { // This PSM mode has only been tested on this hardware
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msglen = makeUBXPacket(0x06, 0x11, 0x2, _message_CFG_RXM_PSM);
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_serial_gps->write(UBXscratch, msglen);
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if (getACK(0x06, 0x11, 300) != GNSS_RESPONSE_OK) {
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LOG_WARN("Unable to enable powersaving mode for GPS.\n");
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}
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msglen = makeUBXPacket(0x06, 0x3B, 44, _message_CFG_PM2);
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_serial_gps->write(UBXscratch, msglen);
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if (getACK(0x06, 0x3B, 300) != GNSS_RESPONSE_OK) {
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LOG_WARN("Unable to enable powersaving details for GPS.\n");
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}
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if (getACK(0x06, 0x3e, 800) == GNSS_RESPONSE_NAK) {
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// It's not critical if the module doesn't acknowledge this configuration.
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LOG_INFO("Unable to reconfigure GNSS - defaults maintained. Is this module GPS-only?\n");
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} else {
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if (strncmp(info.hwVersion, "00070000", 8) == 0) {
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LOG_INFO("GNSS configured for GPS+SBAS. Pause for 0.75s before sending next command.\n");
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} else {
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LOG_INFO(
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"GNSS configured for GPS+SBAS+GLONASS+Galileo. Pause for 0.75s before sending next command.\n");
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}
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// Documentation say, we need wait atleast 0.5s after reconfiguration of GNSS module, before sending next
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// commands for the M8 it tends to be more... 1 sec should be enough ;>)
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delay(1000);
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}
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}
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// Disable Text Info messages
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msglen = makeUBXPacket(0x06, 0x02, sizeof(_message_DISABLE_TXT_INFO), _message_DISABLE_TXT_INFO);
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clearBuffer();
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_serial_gps->write(UBXscratch, msglen);
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if (getACK(0x06, 0x02, 500) != GNSS_RESPONSE_OK) {
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LOG_WARN("Unable to disable text info messages.\n");
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}
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// ToDo add M10 tests for below
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if (strncmp(info.hwVersion, "00080000", 8) == 0) {
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msglen = makeUBXPacket(0x06, 0x39, sizeof(_message_JAM_8), _message_JAM_8);
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clearBuffer();
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_serial_gps->write(UBXscratch, msglen);
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if (getACK(0x06, 0x39, 500) != GNSS_RESPONSE_OK) {
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LOG_WARN("Unable to enable interference resistance.\n");
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}
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msglen = makeUBXPacket(0x06, 0x23, sizeof(_message_NAVX5_8), _message_NAVX5_8);
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clearBuffer();
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_serial_gps->write(UBXscratch, msglen);
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if (getACK(0x06, 0x23, 500) != GNSS_RESPONSE_OK) {
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LOG_WARN("Unable to configure NAVX5_8 settings.\n");
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}
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} else {
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msglen = makeUBXPacket(0x06, 0x39, sizeof(_message_JAM_6_7), _message_JAM_6_7);
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_serial_gps->write(UBXscratch, msglen);
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if (getACK(0x06, 0x39, 500) != GNSS_RESPONSE_OK) {
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LOG_WARN("Unable to enable interference resistance.\n");
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}
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msglen = makeUBXPacket(0x06, 0x23, sizeof(_message_NAVX5), _message_NAVX5);
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_serial_gps->write(UBXscratch, msglen);
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if (getACK(0x06, 0x23, 500) != GNSS_RESPONSE_OK) {
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LOG_WARN("Unable to configure NAVX5 settings.\n");
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}
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}
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// Turn off unwanted NMEA messages, set update rate
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msglen = makeUBXPacket(0x06, 0x08, sizeof(_message_1HZ), _message_1HZ);
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_serial_gps->write(UBXscratch, msglen);
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if (getACK(0x06, 0x08, 500) != GNSS_RESPONSE_OK) {
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LOG_WARN("Unable to set GPS update rate.\n");
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}
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msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_GLL), _message_GLL);
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_serial_gps->write(UBXscratch, msglen);
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if (getACK(0x06, 0x01, 500) != GNSS_RESPONSE_OK) {
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LOG_WARN("Unable to disable NMEA GLL.\n");
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}
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msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_GSA), _message_GSA);
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_serial_gps->write(UBXscratch, msglen);
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if (getACK(0x06, 0x01, 500) != GNSS_RESPONSE_OK) {
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LOG_WARN("Unable to Enable NMEA GSA.\n");
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}
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msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_GSV), _message_GSV);
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_serial_gps->write(UBXscratch, msglen);
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if (getACK(0x06, 0x01, 500) != GNSS_RESPONSE_OK) {
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LOG_WARN("Unable to disable NMEA GSV.\n");
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}
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msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_VTG), _message_VTG);
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_serial_gps->write(UBXscratch, msglen);
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if (getACK(0x06, 0x01, 500) != GNSS_RESPONSE_OK) {
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LOG_WARN("Unable to disable NMEA VTG.\n");
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}
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msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_RMC), _message_RMC);
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_serial_gps->write(UBXscratch, msglen);
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if (getACK(0x06, 0x01, 500) != GNSS_RESPONSE_OK) {
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LOG_WARN("Unable to enable NMEA RMC.\n");
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}
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msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_GGA), _message_GGA);
|
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_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x01, 500) != GNSS_RESPONSE_OK) {
|
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LOG_WARN("Unable to enable NMEA GGA.\n");
|
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}
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|
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if (uBloxProtocolVersion >= 18) {
|
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msglen = makeUBXPacket(0x06, 0x86, sizeof(_message_PMS), _message_PMS);
|
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clearBuffer();
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_serial_gps->write(UBXscratch, msglen);
|
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if (getACK(0x06, 0x86, 500) != GNSS_RESPONSE_OK) {
|
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LOG_WARN("Unable to enable powersaving for GPS.\n");
|
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}
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msglen = makeUBXPacket(0x06, 0x3B, sizeof(_message_CFG_PM2), _message_CFG_PM2);
|
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_serial_gps->write(UBXscratch, msglen);
|
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if (getACK(0x06, 0x3B, 500) != GNSS_RESPONSE_OK) {
|
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LOG_WARN("Unable to enable powersaving details for GPS.\n");
|
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}
|
||||
// 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, 300) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to enable powersaving ECO mode for GPS.\n");
|
||||
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");
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
// The T-beam 1.2 has issues.
|
||||
if (!(isProblematicGPS)) {
|
||||
|
||||
msglen = makeUBXPacket(0x06, 0x09, sizeof(_message_SAVE), _message_SAVE);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x09, 300) != GNSS_RESPONSE_OK) {
|
||||
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 {
|
||||
// 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.
|
||||
}
|
||||
}
|
||||
didSerialInit = true;
|
||||
@@ -522,10 +658,17 @@ void GPS::setGPSPower(bool on, bool standbyOnly, uint32_t sleepTime)
|
||||
if (gnssModel == GNSS_MODEL_UBLOX) {
|
||||
uint8_t msglen;
|
||||
LOG_DEBUG("Sleep Time: %i\n", sleepTime);
|
||||
for (int i = 0; i < 4; i++) {
|
||||
gps->_message_PMREQ[0 + i] = sleepTime >> (i * 8); // Encode the sleep time in millis into the packet
|
||||
if (strncmp(info.hwVersion, "000A0000", 8) != 0) {
|
||||
for (int i = 0; i < 4; i++) {
|
||||
gps->_message_PMREQ[0 + i] = sleepTime >> (i * 8); // Encode the sleep time in millis into the packet
|
||||
}
|
||||
msglen = gps->makeUBXPacket(0x02, 0x41, sizeof(_message_PMREQ), gps->_message_PMREQ);
|
||||
} else {
|
||||
for (int i = 0; i < 4; i++) {
|
||||
gps->_message_PMREQ_10[4 + i] = sleepTime >> (i * 8); // Encode the sleep time in millis into the packet
|
||||
}
|
||||
msglen = gps->makeUBXPacket(0x02, 0x41, sizeof(_message_PMREQ_10), gps->_message_PMREQ_10);
|
||||
}
|
||||
msglen = gps->makeUBXPacket(0x02, 0x41, 0x08, gps->_message_PMREQ);
|
||||
gps->_serial_gps->write(gps->UBXscratch, msglen);
|
||||
}
|
||||
} else {
|
||||
@@ -575,15 +718,20 @@ void GPS::setAwake(bool on)
|
||||
if ((int32_t)getSleepTime() - averageLockTime >
|
||||
15 * 60 * 1000) { // 15 minutes is probably long enough to make a complete poweroff worth it.
|
||||
setGPSPower(on, false, getSleepTime() - averageLockTime);
|
||||
return;
|
||||
} else if ((int32_t)getSleepTime() - averageLockTime > 10000) { // 10 seconds is enough for standby
|
||||
#ifdef GPS_UC6580
|
||||
setGPSPower(on, false, getSleepTime() - averageLockTime);
|
||||
#else
|
||||
setGPSPower(on, true, getSleepTime() - averageLockTime);
|
||||
#endif
|
||||
} else if (averageLockTime > 20000) {
|
||||
return;
|
||||
}
|
||||
if (averageLockTime > 20000) {
|
||||
averageLockTime -= 1000; // eventually want to sleep again.
|
||||
}
|
||||
if (on)
|
||||
setGPSPower(true, true, 0); // make sure we don't have a fallthrough where GPS is stuck off
|
||||
}
|
||||
}
|
||||
|
||||
@@ -591,11 +739,12 @@ void GPS::setAwake(bool on)
|
||||
*/
|
||||
uint32_t GPS::getWakeTime() const
|
||||
{
|
||||
uint32_t t = config.position.gps_attempt_time;
|
||||
uint32_t t = config.position.position_broadcast_secs;
|
||||
|
||||
if (t == UINT32_MAX)
|
||||
return t; // already maxint
|
||||
return t * 1000;
|
||||
|
||||
return getConfiguredOrDefaultMs(t, default_broadcast_interval_secs);
|
||||
}
|
||||
|
||||
/** Get how long we should sleep between aqusition attempts in msecs
|
||||
@@ -605,7 +754,7 @@ uint32_t GPS::getSleepTime() const
|
||||
uint32_t t = config.position.gps_update_interval;
|
||||
|
||||
// We'll not need the GPS thread to wake up again after first acq. with fixed position.
|
||||
if (!config.position.gps_enabled || config.position.fixed_position)
|
||||
if (config.position.gps_mode != meshtastic_Config_PositionConfig_GpsMode_ENABLED || config.position.fixed_position)
|
||||
t = UINT32_MAX; // Sleep forever now
|
||||
|
||||
if (t == UINT32_MAX)
|
||||
@@ -626,21 +775,24 @@ void GPS::publishUpdate()
|
||||
// Notify any status instances that are observing us
|
||||
const meshtastic::GPSStatus status = meshtastic::GPSStatus(hasValidLocation, isConnected(), isPowerSaving(), p);
|
||||
newStatus.notifyObservers(&status);
|
||||
if (config.position.gps_enabled)
|
||||
if (config.position.gps_mode == meshtastic_Config_PositionConfig_GpsMode_ENABLED) {
|
||||
positionModule->handleNewPosition();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int32_t GPS::runOnce()
|
||||
{
|
||||
if (!GPSInitFinished) {
|
||||
if (!_serial_gps)
|
||||
if (!_serial_gps || config.position.gps_mode == meshtastic_Config_PositionConfig_GpsMode_NOT_PRESENT) {
|
||||
LOG_INFO("GPS set to not-present. Skipping probe.\n");
|
||||
return disable();
|
||||
}
|
||||
if (!setup())
|
||||
return 2000; // Setup failed, re-run in two seconds
|
||||
|
||||
// We have now loaded our saved preferences from flash
|
||||
if (config.position.gps_enabled == false) {
|
||||
if (config.position.gps_mode != meshtastic_Config_PositionConfig_GpsMode_ENABLED) {
|
||||
return disable();
|
||||
}
|
||||
// ONCE we will factory reset the GPS for bug #327
|
||||
@@ -663,7 +815,7 @@ int32_t GPS::runOnce()
|
||||
// if we have received valid NMEA claim we are connected
|
||||
setConnected();
|
||||
} else {
|
||||
if ((config.position.gps_enabled == 1) && (gnssModel == GNSS_MODEL_UBLOX)) {
|
||||
if ((config.position.gps_mode == meshtastic_Config_PositionConfig_GpsMode_ENABLED) && (gnssModel == GNSS_MODEL_UBLOX)) {
|
||||
// reset the GPS on next bootup
|
||||
if (devicestate.did_gps_reset && (millis() - lastWakeStartMsec > 60000) && !hasFlow()) {
|
||||
LOG_DEBUG("GPS is not communicating, trying factory reset on next bootup.\n");
|
||||
@@ -676,7 +828,8 @@ int32_t GPS::runOnce()
|
||||
// At least one GPS has a bad habit of losing its mind from time to time
|
||||
if (rebootsSeen > 2) {
|
||||
rebootsSeen = 0;
|
||||
gps->factoryReset();
|
||||
LOG_DEBUG("Would normally factoryReset()\n");
|
||||
// gps->factoryReset();
|
||||
}
|
||||
|
||||
// If we are overdue for an update, turn on the GPS and at least publish the current status
|
||||
@@ -875,9 +1028,9 @@ 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 init succeeded, using UBlox %s GNSS Module\n", (char *)buffer);
|
||||
LOG_INFO("UBlox GNSS probe succeeded, using UBlox %s GNSS Module\n", (char *)buffer);
|
||||
} else {
|
||||
LOG_INFO("UBlox GNSS init succeeded, using UBlox GNSS Module\n");
|
||||
LOG_INFO("UBlox GNSS probe succeeded, using UBlox GNSS Module\n");
|
||||
}
|
||||
} else if (!strncmp(info.extension[i], "PROTVER", 7)) {
|
||||
char *ptr = nullptr;
|
||||
@@ -902,7 +1055,7 @@ GPS *GPS::createGps()
|
||||
int8_t _rx_gpio = config.position.rx_gpio;
|
||||
int8_t _tx_gpio = config.position.tx_gpio;
|
||||
int8_t _en_gpio = config.position.gps_en_gpio;
|
||||
#if defined(HAS_GPS) && !defined(ARCH_ESP32)
|
||||
#if HAS_GPS && !defined(ARCH_ESP32)
|
||||
_rx_gpio = 1; // We only specify GPS serial ports on ESP32. Otherwise, these are just flags.
|
||||
_tx_gpio = 1;
|
||||
#endif
|
||||
@@ -918,7 +1071,7 @@ GPS *GPS::createGps()
|
||||
if (!_en_gpio)
|
||||
_en_gpio = PIN_GPS_EN;
|
||||
#endif
|
||||
#ifdef ARCH_RASPBERRY_PI
|
||||
#ifdef ARCH_PORTDUINO
|
||||
if (!settingsMap[has_gps])
|
||||
return nullptr;
|
||||
#endif
|
||||
@@ -1098,7 +1251,7 @@ bool GPS::lookForLocation()
|
||||
|
||||
#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
|
||||
fixType = atoi(gsafixtype.value()); // will set to zero if no data
|
||||
// LOG_DEBUG("FIX QUAL=%d, TYPE=%d\n", fixQual, fixType);
|
||||
// LOG_DEBUG("FIX QUAL=%d, TYPE=%d\n", fixQual, fixType);
|
||||
#endif
|
||||
|
||||
// check if GPS has an acceptable lock
|
||||
@@ -1115,6 +1268,10 @@ bool GPS::lookForLocation()
|
||||
reader.date.age(), reader.time.age());
|
||||
#endif // GPS_EXTRAVERBOSE
|
||||
|
||||
// Is this a new point or are we re-reading the previous one?
|
||||
if (!reader.location.isUpdated())
|
||||
return false;
|
||||
|
||||
// check if a complete GPS solution set is available for reading
|
||||
// tinyGPSDatum::age() also includes isValid() test
|
||||
// FIXME
|
||||
@@ -1127,10 +1284,6 @@ bool GPS::lookForLocation()
|
||||
return false;
|
||||
}
|
||||
|
||||
// Is this a new point or are we re-reading the previous one?
|
||||
if (!reader.location.isUpdated())
|
||||
return false;
|
||||
|
||||
// We know the solution is fresh and valid, so just read the data
|
||||
auto loc = reader.location.value();
|
||||
|
||||
@@ -1281,3 +1434,16 @@ int32_t GPS::disable()
|
||||
|
||||
return INT32_MAX;
|
||||
}
|
||||
|
||||
void GPS::toggleGpsMode()
|
||||
{
|
||||
if (config.position.gps_mode == meshtastic_Config_PositionConfig_GpsMode_ENABLED) {
|
||||
config.position.gps_mode = meshtastic_Config_PositionConfig_GpsMode_DISABLED;
|
||||
LOG_DEBUG("Flag set to false for gps power. GpsMode: DISABLED\n");
|
||||
disable();
|
||||
} else if (config.position.gps_mode == meshtastic_Config_PositionConfig_GpsMode_DISABLED) {
|
||||
config.position.gps_mode = meshtastic_Config_PositionConfig_GpsMode_ENABLED;
|
||||
LOG_DEBUG("Flag set to true to restore power. GpsMode: ENABLED\n");
|
||||
enable();
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user