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Merge branch 'master' into apollo

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This commit is contained in:
Thomas Göttgens
2024-03-18 12:03:44 +01:00
committed by GitHub
parent a7c0109349 aae49f5ecf
commit 93d7f24d74
115 changed files with 2143 additions and 568 deletions
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60
src/gps/GPS.cpp
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@@ -1,4 +1,5 @@
#include "GPS.h"
#include "Default.h"
#include "NodeDB.h"
#include "RTC.h"
#include "configuration.h"
@@ -290,6 +291,26 @@ bool GPS::setup()
// Switch to Vehicle Mode, since SoftRF enables Aviation < 2g
_serial_gps->write("$PCAS11,3*1E\r\n");
delay(250);
} else if (gnssModel == GNSS_MODEL_MTK_L76B) {
// Waveshare Pico-GPS hat uses the L76B with 9600 baud
// Initialize the L76B Chip, use GPS + GLONASS
// See note in L76_Series_GNSS_Protocol_Specification, chapter 3.29
_serial_gps->write("$PMTK353,1,1,0,0,0*2B\r\n");
// Above command will reset the GPS and takes longer before it will accept new commands
delay(1000);
// only ask for RMC and GGA (GNRMC and GNGGA)
// See note in L76_Series_GNSS_Protocol_Specification, chapter 2.1
_serial_gps->write("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n");
delay(250);
// Enable SBAS
_serial_gps->write("$PMTK301,2*2E\r\n");
delay(250);
// Enable PPS for 2D/3D fix only
_serial_gps->write("$PMTK285,3,100*3F\r\n");
delay(250);
// Switch to Fitness Mode, for running and walking purpose with low speed (<5 m/s)
_serial_gps->write("$PMTK886,1*29\r\n");
delay(250);
} else if (gnssModel == GNSS_MODEL_UC6580) {
// The Unicore UC6580 can use a lot of sat systems, enable it to
// use GPS L1 & L5 + BDS B1I & B2a + GLONASS L1 + GALILEO E1 & E5a + SBAS
@@ -475,7 +496,6 @@ bool GPS::setup()
}
}
}
} else {
// LOG_INFO("u-blox M10 hardware found.\n");
delay(1000);
@@ -625,17 +645,27 @@ void GPS::setGPSPower(bool on, bool standbyOnly, uint32_t sleepTime)
return;
}
#endif
#ifdef PIN_GPS_STANDBY // Specifically the standby pin for L76K and clones
#ifdef PIN_GPS_STANDBY // Specifically the standby pin for L76B, L76K and clones
if (on) {
LOG_INFO("Waking GPS\n");
pinMode(PIN_GPS_STANDBY, OUTPUT);
// Some PCB's use an inverse logic due to a transistor driver
// Example for this is the Pico-Waveshare Lora+GPS HAT
#ifdef PIN_GPS_STANDBY_INVERTED
digitalWrite(PIN_GPS_STANDBY, 0);
#else
digitalWrite(PIN_GPS_STANDBY, 1);
#endif
return;
} else {
LOG_INFO("GPS entering sleep\n");
// notifyGPSSleep.notifyObservers(NULL);
pinMode(PIN_GPS_STANDBY, OUTPUT);
#ifdef PIN_GPS_STANDBY_INVERTED
digitalWrite(PIN_GPS_STANDBY, 1);
#else
digitalWrite(PIN_GPS_STANDBY, 0);
#endif
return;
}
#endif
@@ -729,7 +759,7 @@ uint32_t GPS::getWakeTime() const
if (t == UINT32_MAX)
return t; // already maxint
return getConfiguredOrDefaultMs(t, default_broadcast_interval_secs);
return Default::Default::getConfiguredOrDefaultMs(t, default_broadcast_interval_secs);
}
/** Get how long we should sleep between aqusition attempts in msecs
@@ -916,7 +946,7 @@ GnssModel_t GPS::probe(int serialSpeed)
uint8_t buffer[768] = {0};
delay(100);
// Close all NMEA sentences , Only valid for MTK platform
// Close all NMEA sentences , Only valid for L76K MTK platform
_serial_gps->write("$PCAS03,0,0,0,0,0,0,0,0,0,0,,,0,0*02\r\n");
delay(20);
@@ -928,6 +958,18 @@ GnssModel_t GPS::probe(int serialSpeed)
return GNSS_MODEL_MTK;
}
// Close all NMEA sentences, valid for L76B MTK platform (Waveshare Pico GPS)
_serial_gps->write("$PMTK514,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*2E\r\n");
delay(20);
// Get version information
clearBuffer();
_serial_gps->write("$PMTK605*31\r\n");
if (getACK("Quectel-L76B", 500) == GNSS_RESPONSE_OK) {
LOG_INFO("L76B GNSS init succeeded, using L76B GNSS Module\n");
return GNSS_MODEL_MTK_L76B;
}
uint8_t cfg_rate[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x00, 0x00};
UBXChecksum(cfg_rate, sizeof(cfg_rate));
clearBuffer();
@@ -1109,7 +1151,6 @@ GPS *GPS::createGps()
LOG_DEBUG("Using GPIO%d for GPS RX\n", new_gps->rx_gpio);
LOG_DEBUG("Using GPIO%d for GPS TX\n", new_gps->tx_gpio);
_serial_gps->begin(GPS_BAUDRATE, SERIAL_8N1, new_gps->rx_gpio, new_gps->tx_gpio);
#else
_serial_gps->begin(GPS_BAUDRATE);
#endif
@@ -1168,7 +1209,16 @@ bool GPS::factoryReset()
// byte _message_CFG_RST_COLDSTART[] = {0xB5, 0x62, 0x06, 0x04, 0x04, 0x00, 0xFF, 0xB9, 0x00, 0x00, 0xC6, 0x8B};
// _serial_gps->write(_message_CFG_RST_COLDSTART, sizeof(_message_CFG_RST_COLDSTART));
// delay(1000);
} else if (gnssModel == GNSS_MODEL_MTK) {
// send the CAS10 to perform a factory restart of the device (and other device that support PCAS statements)
LOG_INFO("GNSS Factory Reset via PCAS10,3\n");
_serial_gps->write("$PCAS10,3*1F\r\n");
delay(100);
} else {
// fire this for good measure, if we have an L76B - won't harm other devices.
_serial_gps->write("$PMTK104*37\r\n");
// No PMTK_ACK for this command.
delay(100);
// send the UBLOX Factory Reset Command regardless of detect state, something is very wrong, just assume it's UBLOX.
// Factory Reset
byte _message_reset[] = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0xFF, 0xFB, 0x00, 0x00, 0x00,