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Merge branch 'master' into apollo

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This commit is contained in:
Thomas Göttgens
2024-11-11 16:06:48 +01:00
committed by GitHub
parent 6860717c68 eb8d38a7e9
commit b78978156e
169 changed files with 1322 additions and 1109 deletions
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140
src/gps/GPS.cpp
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@@ -156,7 +156,7 @@ uint8_t GPS::makeCASPacket(uint8_t class_id, uint8_t msg_id, uint8_t payload_siz
CASChecksum(UBXscratch, (payload_size + 10));
#if defined(GPS_DEBUG) && defined(DEBUG_PORT)
LOG_DEBUG("Constructed CAS packet: ");
LOG_DEBUG("CAS packet: ");
DEBUG_PORT.hexDump(MESHTASTIC_LOG_LEVEL_DEBUG, UBXscratch, payload_size + 10);
#endif
return (payload_size + 10);
@@ -237,7 +237,7 @@ GPS_RESPONSE GPS::getACKCas(uint8_t class_id, uint8_t msg_id, uint32_t waitMilli
// Check for an ACK-ACK for the specified class and message id
if ((msg_cls == 0x05) && (msg_msg_id == 0x01) && payload_cls == class_id && payload_msg == msg_id) {
#ifdef GPS_DEBUG
LOG_INFO("Got ACK for class %02X message %02X in %d millis.", class_id, msg_id, millis() - startTime);
LOG_INFO("Got ACK for class %02X message %02X in %dms", class_id, msg_id, millis() - startTime);
#endif
return GNSS_RESPONSE_OK;
}
@@ -245,7 +245,7 @@ GPS_RESPONSE GPS::getACKCas(uint8_t class_id, uint8_t msg_id, uint32_t waitMilli
// Check for an ACK-NACK for the specified class and message id
if ((msg_cls == 0x05) && (msg_msg_id == 0x00) && payload_cls == class_id && payload_msg == msg_id) {
#ifdef GPS_DEBUG
LOG_WARN("Got NACK for class %02X message %02X in %d millis.", class_id, msg_id, millis() - startTime);
LOG_WARN("Got NACK for class %02X message %02X in %dms", class_id, msg_id, millis() - startTime);
#endif
return GNSS_RESPONSE_NAK;
}
@@ -286,8 +286,7 @@ GPS_RESPONSE GPS::getACK(uint8_t class_id, uint8_t msg_id, uint32_t waitMillis)
while (Throttle::isWithinTimespanMs(startTime, waitMillis)) {
if (ack > 9) {
#ifdef GPS_DEBUG
LOG_DEBUG("");
LOG_INFO("Got ACK for class %02X message %02X in %d millis.", class_id, msg_id, millis() - startTime);
LOG_INFO("Got ACK for class %02X message %02X in %dms", class_id, msg_id, millis() - startTime);
#endif
return GNSS_RESPONSE_OK; // ACK received
}
@@ -397,8 +396,7 @@ int GPS::getACK(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t
} else {
// return payload length
#ifdef GPS_DEBUG
LOG_INFO("Got ACK for class %02X message %02X in %d millis.", requestedClass, requestedID,
millis() - startTime);
LOG_INFO("Got ACK for class %02X message %02X in %dms", requestedClass, requestedID, millis() - startTime);
#endif
return needRead;
}
@@ -409,7 +407,6 @@ int GPS::getACK(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t
}
}
}
// LOG_WARN("No response for class %02X message %02X", requestedClass, requestedID);
return 0;
}
@@ -427,7 +424,7 @@ bool GPS::setup()
int msglen = 0;
if (tx_gpio && gnssModel == GNSS_MODEL_UNKNOWN) {
if (probeTries < 2) {
LOG_DEBUG("Probing for GPS at %d", serialSpeeds[speedSelect]);
LOG_DEBUG("Probe for GPS at %d", serialSpeeds[speedSelect]);
gnssModel = probe(serialSpeeds[speedSelect]);
if (gnssModel == GNSS_MODEL_UNKNOWN) {
if (++speedSelect == sizeof(serialSpeeds) / sizeof(int)) {
@@ -438,19 +435,21 @@ bool GPS::setup()
}
// Rare Serial Speeds
if (probeTries == 2) {
LOG_DEBUG("Probing for GPS at %d", rareSerialSpeeds[speedSelect]);
LOG_DEBUG("Probe for GPS at %d", rareSerialSpeeds[speedSelect]);
gnssModel = probe(rareSerialSpeeds[speedSelect]);
if (gnssModel == GNSS_MODEL_UNKNOWN) {
if (++speedSelect == sizeof(rareSerialSpeeds) / sizeof(int)) {
LOG_WARN("Giving up on GPS probe and setting to %d", GPS_BAUDRATE);
LOG_WARN("Give up on GPS probe and set to %d", GPS_BAUDRATE);
return true;
}
}
}
return false;
}
if (gnssModel != GNSS_MODEL_UNKNOWN) {
setConnected();
} else {
gnssModel = GNSS_MODEL_UNKNOWN;
return false;
}
if (gnssModel == GNSS_MODEL_MTK) {
@@ -505,14 +504,14 @@ bool GPS::setup()
msglen = makeCASPacket(0x06, 0x07, sizeof(_message_CAS_CFG_NAVX_CONF), _message_CAS_CFG_NAVX_CONF);
_serial_gps->write(UBXscratch, msglen);
if (getACKCas(0x06, 0x07, 250) != GNSS_RESPONSE_OK) {
LOG_WARN("ATGM336H - Could not set Configuration");
LOG_WARN("ATGM336H: Could not set Config");
}
// Set the update frequence to 1Hz
msglen = makeCASPacket(0x06, 0x04, sizeof(_message_CAS_CFG_RATE_1HZ), _message_CAS_CFG_RATE_1HZ);
_serial_gps->write(UBXscratch, msglen);
if (getACKCas(0x06, 0x04, 250) != GNSS_RESPONSE_OK) {
LOG_WARN("ATGM336H - Could not set Update Frequency");
LOG_WARN("ATGM336H: Could not set Update Frequency");
}
// Set the NEMA output messages
@@ -524,7 +523,7 @@ bool GPS::setup()
msglen = makeCASPacket(0x06, 0x01, sizeof(cas_cfg_msg_packet), cas_cfg_msg_packet);
_serial_gps->write(UBXscratch, msglen);
if (getACKCas(0x06, 0x01, 250) != GNSS_RESPONSE_OK) {
LOG_WARN("ATGM336H - Could not enable NMEA MSG: %d", fields[i]);
LOG_WARN("ATGM336H: Could not enable NMEA MSG: %d", fields[i]);
}
}
} else if (gnssModel == GNSS_MODEL_UC6580) {
@@ -577,20 +576,20 @@ bool GPS::setup()
SEND_UBX_PACKET(0x06, 0x01, _message_GGA, "enable NMEA GGA", 500);
clearBuffer();
SEND_UBX_PACKET(0x06, 0x11, _message_CFG_RXM_ECO, "enable powersaving ECO mode for Neo-6", 500);
SEND_UBX_PACKET(0x06, 0x3B, _message_CFG_PM2, "enable powersaving details for GPS", 500);
SEND_UBX_PACKET(0x06, 0x11, _message_CFG_RXM_ECO, "enable powersave ECO mode for Neo-6", 500);
SEND_UBX_PACKET(0x06, 0x3B, _message_CFG_PM2, "enable powersave details for GPS", 500);
SEND_UBX_PACKET(0x06, 0x01, _message_AID, "disable UBX-AID", 500);
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.");
LOG_WARN("Unable to save GNSS module config");
} else {
LOG_INFO("GNSS module configuration saved!");
LOG_INFO("GNSS module config saved!");
}
} 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");
LOG_DEBUG("Set GPS+SBAS");
msglen = makeUBXPacket(0x06, 0x3e, sizeof(_message_GNSS_7), _message_GNSS_7);
_serial_gps->write(UBXscratch, msglen);
} else { // 8,9
@@ -600,12 +599,12 @@ bool GPS::setup()
if (getACK(0x06, 0x3e, 800) == GNSS_RESPONSE_NAK) {
// It's not critical if the module doesn't acknowledge this configuration.
LOG_INFO("reconfigure GNSS - defaults maintained. Is this module GPS-only?");
LOG_DEBUG("reconfigure GNSS - defaults maintained. Is this module GPS-only?");
} else {
if (gnssModel == GNSS_MODEL_UBLOX7) {
LOG_INFO("GNSS configured for GPS+SBAS.");
LOG_INFO("GPS+SBAS configured");
} else { // 8,9
LOG_INFO("GNSS configured for GPS+SBAS+GLONASS+Galileo.");
LOG_INFO("GPS+SBAS+GLONASS+Galileo configured");
}
// 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 ;>)
@@ -637,8 +636,8 @@ bool GPS::setup()
if (uBloxProtocolVersion >= 18) {
clearBuffer();
SEND_UBX_PACKET(0x06, 0x86, _message_PMS, "enable powersaving for GPS", 500);
SEND_UBX_PACKET(0x06, 0x3B, _message_CFG_PM2, "enable powersaving details for GPS", 500);
SEND_UBX_PACKET(0x06, 0x86, _message_PMS, "enable powersave for GPS", 500);
SEND_UBX_PACKET(0x06, 0x3B, _message_CFG_PM2, "enable powersave details for GPS", 500);
// For M8 we want to enable NMEA vserion 4.10 so we can see the additional sats.
if (gnssModel == GNSS_MODEL_UBLOX8) {
@@ -646,14 +645,14 @@ bool GPS::setup()
SEND_UBX_PACKET(0x06, 0x17, _message_NMEA, "enable NMEA 4.10", 500);
}
} else {
SEND_UBX_PACKET(0x06, 0x11, _message_CFG_RXM_PSM, "enable powersaving mode for GPS", 500);
SEND_UBX_PACKET(0x06, 0x3B, _message_CFG_PM2, "enable powersaving details for GPS", 500);
SEND_UBX_PACKET(0x06, 0x11, _message_CFG_RXM_PSM, "enable powersave mode for GPS", 500);
SEND_UBX_PACKET(0x06, 0x3B, _message_CFG_PM2, "enable powersave details for GPS", 500);
}
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.");
LOG_WARN("Unable to save GNSS module config");
} else {
LOG_INFO("GNSS module configuration saved!");
}
@@ -673,13 +672,13 @@ bool GPS::setup()
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_TXT_INFO_BBR, "disable Info messages for M10 GPS BBR", 300);
delay(750);
// Do M10 configuration for Power Management.
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_PM_RAM, "enable powersaving for M10 GPS RAM", 300);
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_PM_RAM, "enable powersave for M10 GPS RAM", 300);
delay(750);
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_PM_BBR, "enable powersaving for M10 GPS BBR", 300);
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_PM_BBR, "enable powersave for M10 GPS BBR", 300);
delay(750);
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_ITFM_RAM, "enable Jamming detection M10 GPS RAM", 300);
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_ITFM_RAM, "enable jam detection M10 GPS RAM", 300);
delay(750);
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_ITFM_BBR, "enable Jamming detection M10 GPS BBR", 300);
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_ITFM_BBR, "enable jam detection M10 GPS BBR", 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, "disable SBAS M10 GPS RAM", 300);
@@ -701,7 +700,7 @@ bool GPS::setup()
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.");
LOG_WARN("Unable to save GNSS module config");
} else {
LOG_INFO("GNSS module configuration saved!");
}
@@ -725,7 +724,7 @@ void GPS::setPowerState(GPSPowerState newState, uint32_t sleepTime)
// Update the stored GPSPowerstate, and create local copies
GPSPowerState oldState = powerState;
powerState = newState;
LOG_INFO("GPS power state moving from %s to %s", getGPSPowerStateString(oldState), getGPSPowerStateString(newState));
LOG_INFO("GPS power state move from %s to %s", getGPSPowerStateString(oldState), getGPSPowerStateString(newState));
#ifdef HELTEC_MESH_NODE_T114
if ((oldState == GPS_OFF || oldState == GPS_HARDSLEEP) && (newState != GPS_OFF && newState != GPS_HARDSLEEP)) {
@@ -794,8 +793,8 @@ void GPS::writePinEN(bool on)
// Write and log
enablePin->set(on);
#ifdef GPS_EXTRAVERBOSE
LOG_DEBUG("Pin EN %s", val == HIGH ? "HIGH" : "LOW");
#ifdef GPS_DEBUG
LOG_DEBUG("Pin EN %s", on == HIGH ? "HI" : "LOW");
#endif
}
@@ -816,8 +815,8 @@ void GPS::writePinStandby(bool standby)
// Write and log
pinMode(PIN_GPS_STANDBY, OUTPUT);
digitalWrite(PIN_GPS_STANDBY, val);
#ifdef GPS_EXTRAVERBOSE
LOG_DEBUG("Pin STANDBY %s", val == HIGH ? "HIGH" : "LOW");
#ifdef GPS_DEBUG
LOG_DEBUG("Pin STANDBY %s", val == HIGH ? "HI" : "LOW");
#endif
#endif
}
@@ -849,8 +848,7 @@ void GPS::setPowerPMU(bool on)
// t-beam v1.1 GNSS power channel
on ? PMU->enablePowerOutput(XPOWERS_LDO3) : PMU->disablePowerOutput(XPOWERS_LDO3);
}
#ifdef GPS_EXTRAVERBOSE
#ifdef GPS_DEBUG
LOG_DEBUG("PMU %s", on ? "on" : "off");
#endif
#endif
@@ -867,9 +865,6 @@ void GPS::setPowerUBLOX(bool on, uint32_t sleepMs)
if (on) {
gps->_serial_gps->write(0xFF);
clearBuffer(); // This often returns old data, so drop it
#ifdef GPS_EXTRAVERBOSE
LOG_DEBUG("UBLOX: wake");
#endif
}
// If putting to sleep
@@ -901,8 +896,7 @@ void GPS::setPowerUBLOX(bool on, uint32_t sleepMs)
// Send the UBX packet
gps->_serial_gps->write(gps->UBXscratch, msglen);
#ifdef GPS_EXTRAVERBOSE
#ifdef GPS_DEBUG
LOG_DEBUG("UBLOX: sleep for %dmS", sleepMs);
#endif
}
@@ -974,8 +968,7 @@ void GPS::publishUpdate()
shouldPublish = false;
// In debug logs, identify position by @timestamp:stage (stage 2 = publish)
LOG_DEBUG("publishing pos@%x:2, hasVal=%d, Sats=%d, GPSlock=%d", p.timestamp, hasValidLocation, p.sats_in_view,
hasLock());
LOG_DEBUG("Publish pos@%x:2, hasVal=%d, Sats=%d, GPSlock=%d", p.timestamp, hasValidLocation, p.sats_in_view, hasLock());
// Notify any status instances that are observing us
const meshtastic::GPSStatus status = meshtastic::GPSStatus(hasValidLocation, isConnected(), isPowerSaving(), p);
@@ -990,7 +983,7 @@ int32_t GPS::runOnce()
{
if (!GPSInitFinished) {
if (!_serial_gps || config.position.gps_mode == meshtastic_Config_PositionConfig_GpsMode_NOT_PRESENT) {
LOG_INFO("GPS set to not-present. Skipping probe.");
LOG_INFO("GPS set to not-present. Skip probe");
return disable();
}
if (!setup())
@@ -1009,6 +1002,7 @@ int32_t GPS::runOnce()
}
}
GPSInitFinished = true;
publishUpdate();
}
// Repeaters have no need for GPS
@@ -1025,7 +1019,7 @@ int32_t GPS::runOnce()
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.");
LOG_DEBUG("GPS is not found, try factory reset on next boot");
devicestate.did_gps_reset = false;
nodeDB->saveToDisk(SEGMENT_DEVICESTATE);
return disable(); // Stop the GPS thread as it can do nothing useful until next reboot.
@@ -1059,10 +1053,9 @@ int32_t GPS::runOnce()
bool tooLong = scheduling.searchedTooLong();
if (tooLong)
LOG_WARN("Couldn't publish a valid location: didn't get a GPS lock in time.");
LOG_WARN("Couldn't publish a valid location: didn't get a GPS lock in time");
// Once we get a location we no longer desperately want an update
// LOG_DEBUG("gotLoc %d, tooLong %d, gotTime %d", gotLoc, tooLong, gotTime);
if ((gotLoc && gotTime) || tooLong) {
if (tooLong) {
@@ -1128,7 +1121,7 @@ GnssModel_t GPS::probe(int serialSpeed)
_serial_gps->begin(serialSpeed);
#else
if (_serial_gps->baudRate() != serialSpeed) {
LOG_DEBUG("Setting Baud to %i", serialSpeed);
LOG_DEBUG("Set Baud to %i", serialSpeed);
_serial_gps->updateBaudRate(serialSpeed);
}
#endif
@@ -1178,7 +1171,7 @@ GnssModel_t GPS::probe(int serialSpeed)
// Check that the returned response class and message ID are correct
GPS_RESPONSE response = getACK(0x06, 0x08, 750);
if (response == GNSS_RESPONSE_NONE) {
LOG_WARN("Failed to find GNSS Module (baudrate %d)", serialSpeed);
LOG_WARN("No GNSS Module (baudrate %d)", serialSpeed);
return GNSS_MODEL_UNKNOWN;
} else if (response == GNSS_RESPONSE_FRAME_ERRORS) {
LOG_INFO("UBlox Frame Errors (baudrate %d)", serialSpeed);
@@ -1198,7 +1191,6 @@ GnssModel_t GPS::probe(int serialSpeed)
uint16_t len = getACK(buffer, sizeof(buffer), 0x0A, 0x04, 1200);
if (len) {
// LOG_DEBUG("monver reply size = %d", len);
uint16_t position = 0;
for (int i = 0; i < 30; i++) {
info.swVersion[i] = buffer[position];
@@ -1263,7 +1255,7 @@ GnssModel_t GPS::probe(int serialSpeed)
return GNSS_MODEL_UBLOX10;
}
}
LOG_WARN("Failed to find GNSS Module (baudrate %d)", serialSpeed);
LOG_WARN("No GNSS Module (baudrate %d)", serialSpeed);
return GNSS_MODEL_UNKNOWN;
}
@@ -1326,7 +1318,7 @@ GPS *GPS::createGps()
// see NMEAGPS.h
gsafixtype.begin(reader, NMEA_MSG_GXGSA, 2);
gsapdop.begin(reader, NMEA_MSG_GXGSA, 15);
LOG_DEBUG("Using " NMEA_MSG_GXGSA " for 3DFIX and PDOP");
LOG_DEBUG("Use " NMEA_MSG_GXGSA " for 3DFIX and PDOP");
#endif
// Make sure the GPS is awake before performing any init.
@@ -1347,8 +1339,8 @@ GPS *GPS::createGps()
// ESP32 has a special set of parameters vs other arduino ports
#if defined(ARCH_ESP32)
LOG_DEBUG("Using GPIO%d for GPS RX", new_gps->rx_gpio);
LOG_DEBUG("Using GPIO%d for GPS TX", new_gps->tx_gpio);
LOG_DEBUG("Use GPIO%d for GPS RX", new_gps->rx_gpio);
LOG_DEBUG("Use GPIO%d for GPS TX", new_gps->tx_gpio);
_serial_gps->begin(GPS_BAUDRATE, SERIAL_8N1, new_gps->rx_gpio, new_gps->tx_gpio);
#elif defined(ARCH_RP2040)
_serial_gps->setFIFOSize(256);
@@ -1384,26 +1376,22 @@ bool GPS::factoryReset()
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x1C, 0xA2};
_serial_gps->write(_message_reset1, sizeof(_message_reset1));
if (getACK(0x05, 0x01, 10000)) {
LOG_INFO(ACK_SUCCESS_MESSAGE);
LOG_DEBUG(ACK_SUCCESS_MESSAGE);
}
delay(100);
byte _message_reset2[] = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x1B, 0xA1};
_serial_gps->write(_message_reset2, sizeof(_message_reset2));
if (getACK(0x05, 0x01, 10000)) {
LOG_INFO(ACK_SUCCESS_MESSAGE);
LOG_DEBUG(ACK_SUCCESS_MESSAGE);
}
delay(100);
byte _message_reset3[] = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x03, 0x1D, 0xB3};
_serial_gps->write(_message_reset3, sizeof(_message_reset3));
if (getACK(0x05, 0x01, 10000)) {
LOG_INFO(ACK_SUCCESS_MESSAGE);
LOG_DEBUG(ACK_SUCCESS_MESSAGE);
}
// Reset device ram to COLDSTART state
// 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");
@@ -1515,7 +1503,7 @@ bool GPS::lookForLocation()
#ifndef TINYGPS_OPTION_NO_STATISTICS
if (reader.failedChecksum() > lastChecksumFailCount) {
LOG_WARN("%u new GPS checksum failures, for a total of %u.", reader.failedChecksum() - lastChecksumFailCount,
LOG_WARN("%u new GPS checksum failures, for a total of %u", reader.failedChecksum() - lastChecksumFailCount,
reader.failedChecksum());
lastChecksumFailCount = reader.failedChecksum();
}
@@ -1523,14 +1511,13 @@ 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", fixQual, fixType);
#endif
// check if GPS has an acceptable lock
if (!hasLock())
return false;
#ifdef GPS_EXTRAVERBOSE
#ifdef GPS_DEBUG
LOG_DEBUG("AGE: LOC=%d FIX=%d DATE=%d TIME=%d", reader.location.age(),
#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
gsafixtype.age(),
@@ -1538,7 +1525,7 @@ bool GPS::lookForLocation()
0,
#endif
reader.date.age(), reader.time.age());
#endif // GPS_EXTRAVERBOSE
#endif // GPS_DEBUG
// Is this a new point or are we re-reading the previous one?
if (!reader.location.isUpdated() && !reader.altitude.isUpdated())
@@ -1561,13 +1548,13 @@ bool GPS::lookForLocation()
// Bail out EARLY to avoid overwriting previous good data (like #857)
if (toDegInt(loc.lat) > 900000000) {
#ifdef GPS_EXTRAVERBOSE
#ifdef GPS_DEBUG
LOG_DEBUG("Bail out EARLY on LAT %i", toDegInt(loc.lat));
#endif
return false;
}
if (toDegInt(loc.lng) > 1800000000) {
#ifdef GPS_EXTRAVERBOSE
#ifdef GPS_DEBUG
LOG_DEBUG("Bail out EARLY on LNG %i", toDegInt(loc.lng));
#endif
return false;
@@ -1579,7 +1566,6 @@ bool GPS::lookForLocation()
#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
p.HDOP = reader.hdop.value();
p.PDOP = TinyGPSPlus::parseDecimal(gsapdop.value());
// LOG_DEBUG("PDOP=%d, HDOP=%d", p.PDOP, p.HDOP);
#else
// FIXME! naive PDOP emulation (assumes VDOP==HDOP)
// correct formula is PDOP = SQRT(HDOP^2 + VDOP^2)
@@ -1669,12 +1655,10 @@ bool GPS::whileActive()
}
#ifdef SERIAL_BUFFER_SIZE
if (_serial_gps->available() >= SERIAL_BUFFER_SIZE - 1) {
LOG_WARN("GPS Buffer full with %u bytes waiting. Flushing to avoid corruption.", _serial_gps->available());
LOG_WARN("GPS Buffer full with %u bytes waiting. Flush to avoid corruption", _serial_gps->available());
clearBuffer();
}
#endif
// if (_serial_gps->available() > 0)
// LOG_DEBUG("GPS Bytes Waiting: %u", _serial_gps->available());
// First consume any chars that have piled up at the receiver
while (_serial_gps->available() > 0) {
int c = _serial_gps->read();
@@ -1724,7 +1708,7 @@ void GPS::toggleGpsMode()
{
if (config.position.gps_mode == meshtastic_Config_PositionConfig_GpsMode_ENABLED) {
config.position.gps_mode = meshtastic_Config_PositionConfig_GpsMode_DISABLED;
LOG_INFO("User toggled GpsMode. Now DISABLED.");
LOG_INFO("User toggled GpsMode. Now DISABLED");
playGPSDisableBeep();
#ifdef GNSS_AIROHA
if (powerState == GPS_ACTIVE) {
@@ -1740,4 +1724,4 @@ void GPS::toggleGpsMode()
enable();
}
}
#endif // Exclude GPS
#endif // Exclude GPS

8
src/gps/GPSUpdateScheduling.cpp
View File

@@ -49,7 +49,7 @@ uint32_t GPSUpdateScheduling::msUntilNextSearch()
}
// How long have we already been searching?
// Used to abort a search in progress, if it runs unnaceptably long
// Used to abort a search in progress, if it runs unacceptably long
uint32_t GPSUpdateScheduling::elapsedSearchMs()
{
// If searching
@@ -98,7 +98,7 @@ void GPSUpdateScheduling::updateLockTimePrediction()
// Ignore the first lock-time: likely to be long, will skew data
// Second locktime: likely stable. Use to intialize the smoothing filter
// Second locktime: likely stable. Use to initialize the smoothing filter
if (searchCount == 1)
predictedMsToGetLock = lockTime;
@@ -106,9 +106,9 @@ void GPSUpdateScheduling::updateLockTimePrediction()
else if (searchCount > 1)
predictedMsToGetLock = (lockTime * weighting) + (predictedMsToGetLock * (1 - weighting));
searchCount++; // Only tracked so we can diregard initial lock-times
searchCount++; // Only tracked so we can disregard initial lock-times
LOG_DEBUG("Predicting %us to get next lock", predictedMsToGetLock / 1000);
LOG_DEBUG("Predict %us to get next lock", predictedMsToGetLock / 1000);
}
// How long do we expect to spend searching for a lock?

14
src/gps/RTC.cpp
View File

@@ -112,7 +112,7 @@ bool perhapsSetRTC(RTCQuality q, const struct timeval *tv, bool forceUpdate)
uint32_t printableEpoch = tv->tv_sec; // Print lib only supports 32 bit but time_t can be 64 bit on some platforms
#ifdef BUILD_EPOCH
if (tv->tv_sec < BUILD_EPOCH) {
LOG_WARN("Ignoring time (%ld) before build epoch (%ld)!", printableEpoch, BUILD_EPOCH);
LOG_WARN("Ignore time (%ld) before build epoch (%ld)!", printableEpoch, BUILD_EPOCH);
return false;
}
#endif
@@ -120,21 +120,21 @@ bool perhapsSetRTC(RTCQuality q, const struct timeval *tv, bool forceUpdate)
bool shouldSet;
if (forceUpdate) {
shouldSet = true;
LOG_DEBUG("Overriding current RTC quality (%s) with incoming time of RTC quality of %s", RtcName(currentQuality),
LOG_DEBUG("Override current RTC quality (%s) with incoming time of RTC quality of %s", RtcName(currentQuality),
RtcName(q));
} else if (q > currentQuality) {
shouldSet = true;
LOG_DEBUG("Upgrading time to quality %s", RtcName(q));
LOG_DEBUG("Upgrade time to quality %s", RtcName(q));
} else if (q == RTCQualityGPS) {
shouldSet = true;
LOG_DEBUG("Reapplying GPS time: %ld secs", printableEpoch);
LOG_DEBUG("Reapply GPS time: %ld secs", printableEpoch);
} else if (q == RTCQualityNTP && !Throttle::isWithinTimespanMs(lastSetMsec, (12 * 60 * 60 * 1000UL))) {
// Every 12 hrs we will slam in a new NTP or Phone GPS / NTP time, to correct for local RTC clock drift
shouldSet = true;
LOG_DEBUG("Reapplying external time to correct clock drift %ld secs", printableEpoch);
LOG_DEBUG("Reapply external time to correct clock drift %ld secs", printableEpoch);
} else {
shouldSet = false;
LOG_DEBUG("Current RTC quality: %s. Ignoring time of RTC quality of %s", RtcName(currentQuality), RtcName(q));
LOG_DEBUG("Current RTC quality: %s. Ignore time of RTC quality of %s", RtcName(currentQuality), RtcName(q));
}
if (shouldSet) {
@@ -230,7 +230,7 @@ bool perhapsSetRTC(RTCQuality q, struct tm &t)
// LOG_DEBUG("Got time from GPS month=%d, year=%d, unixtime=%ld", t.tm_mon, t.tm_year, tv.tv_sec);
if (t.tm_year < 0 || t.tm_year >= 300) {
// LOG_DEBUG("Ignoring invalid GPS month=%d, year=%d, unixtime=%ld", t.tm_mon, t.tm_year, tv.tv_sec);
// LOG_DEBUG("Ignore invalid GPS month=%d, year=%d, unixtime=%ld", t.tm_mon, t.tm_year, tv.tv_sec);
return false;
} else {
return perhapsSetRTC(q, &tv);

2
src/gps/ubx.h
View File

@@ -462,7 +462,7 @@ the PM config. Lets try without it.
PMREQ sort of works with SBAS, but the awake time is too short to re-acquire any SBAS sats.
The defination of "Got Fix" doesn't seem to include SBAS. Much more too this...
Even if it was, it can take minutes (up to 12.5),
even under good sat visability conditions to re-acquire the SBAS data.
even under good sat visibility conditions to re-acquire the SBAS data.
Another effect fo the quick transition to sleep is that no other sats will be acquired so the
sat count will tend to remain at what the initial fix was.