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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