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fix #327 always factory reset the GPS once

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This commit is contained in:
geeksville
2020-08-21 10:14:03 -07:00
parent 6a359e2124
commit d7a1cef046
4 changed files with 83 additions and 41 deletions
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82
src/gps/UBloxGPS.cpp
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@@ -52,39 +52,7 @@ bool UBloxGPS::setup()
if (isConnected) {
DEBUG_MSG("Connected to UBLOX GPS successfully\n");
bool factoryReset = false;
bool ok;
if (factoryReset) {
// It is useful to force back into factory defaults (9600baud, NEMA to test the behavior of boards that don't have
// GPS_TX connected)
ublox.factoryReset();
delay(3000);
tryConnect();
DEBUG_MSG("Factory reset success=%d\n", isConnected);
ok = ublox.saveConfiguration(3000);
assert(ok);
return false;
} else {
if (_serial_gps) {
ok = ublox.setUART1Output(COM_TYPE_UBX, 500); // Use native API
assert(ok);
}
if (i2cAddress) {
ok = ublox.setI2COutput(COM_TYPE_UBX, 500);
assert(ok);
}
ok = ublox.setNavigationFrequency(1, 500); // Produce 4x/sec to keep the amount of time we stall in getPVT low
assert(ok);
// ok = ublox.setAutoPVT(false); // Not implemented on NEO-6M
// assert(ok);
// ok = ublox.setDynamicModel(DYN_MODEL_BIKE); // probably PEDESTRIAN but just in case assume bike speeds
// assert(ok);
ok = ublox.powerSaveMode(true, 2000); // use power save mode, the default timeout (1100ms seems a bit too tight)
assert(ok);
}
ok = ublox.saveConfiguration(3000);
if (!ok)
if (!setUBXMode())
recordCriticalError(UBloxInitFailed); // Don't halt the boot if saving the config fails, but do report the bug
concurrency::PeriodicTask::setup(); // We don't start our periodic task unless we actually found the device
@@ -95,6 +63,54 @@ bool UBloxGPS::setup()
}
}
bool UBloxGPS::setUBXMode()
{
if (_serial_gps) {
if (!ublox.setUART1Output(COM_TYPE_UBX, 1000)) // Use native API
return false;
}
if (i2cAddress) {
if (!ublox.setI2COutput(COM_TYPE_UBX, 1000))
return false;
}
if (!ublox.setNavigationFrequency(1, 1000)) // Produce 4x/sec to keep the amount of time we stall in getPVT low
return false;
// ok = ublox.setAutoPVT(false); // Not implemented on NEO-6M
// assert(ok);
// ok = ublox.setDynamicModel(DYN_MODEL_BIKE); // probably PEDESTRIAN but just in case assume bike speeds
// assert(ok);
if (!ublox.powerSaveMode(true, 2000)) // use power save mode, the default timeout (1100ms seems a bit too tight)
return false;
if (!ublox.saveConfiguration(3000))
return false;
return true;
}
/**
* Reset our GPS back to factory settings
*
* @return true for success
*/
bool UBloxGPS::factoryReset()
{
bool ok = false;
// It is useful to force back into factory defaults (9600baud, NEMA to test the behavior of boards that don't have
// GPS_TX connected)
ublox.factoryReset();
delay(3000);
tryConnect(); // sets isConnected
DEBUG_MSG("GPS Factory reset success=%d\n", isConnected);
if (isConnected)
ok = setUBXMode();
return ok;
}
/// Prepare the GPS for the cpu entering deep or light sleep, expect to be gone for at least 100s of msecs
int UBloxGPS::prepareSleep(void *unused)
{