mirror of
https://github.com/meshtastic/firmware.git
synced 2026-01-17 07:17:32 +00:00
Merge branch 'master' into apollo
# Conflicts: # arch/esp32/esp32.ini # arch/nrf52/nrf52.ini # arch/portduino/portduino.ini # arch/stm32/stm32.ini # protobufs # src/gps/GPS.cpp # src/main.cpp # src/mesh/StreamAPI.cpp # src/modules/ExternalNotificationModule.h # src/modules/NeighborInfoModule.cpp
This commit is contained in:
Thomas Göttgens
607
src/gps/GPS.cpp
607
src/gps/GPS.cpp
@@ -6,6 +6,8 @@
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#include "NodeDB.h"
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#include "PowerMon.h"
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#include "RTC.h"
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#include "Throttle.h"
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#include "meshUtils.h"
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#include "main.h" // pmu_found
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#include "sleep.h"
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@@ -26,6 +28,8 @@
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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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#elif defined(ARCH_RP2040)
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SerialUART *GPS::_serial_gps = &Serial1;
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#else
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HardwareSerial *GPS::_serial_gps = NULL;
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#endif
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@@ -58,7 +62,8 @@ const char *getGPSPowerStateString(GPSPowerState state)
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case GPS_OFF:
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return "OFF";
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default:
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assert(false); // Unhandled enum value..
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assert(false); // Unhandled enum value..
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return "FALSE"; // to make new ESP-IDF happy
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}
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}
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@@ -86,9 +91,9 @@ void GPS::CASChecksum(uint8_t *message, size_t length)
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// Iterate over the payload as a series of uint32_t's and
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// accumulate the cksum
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uint32_t const *payload = (uint32_t *)(message + 6);
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for (size_t i = 0; i < (length - 10) / 4; i++) {
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uint32_t pl = payload[i];
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uint32_t pl = 0;
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memcpy(&pl, (message + 6) + (i * sizeof(uint32_t)), sizeof(uint32_t)); // avoid pointer dereference
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cksum += pl;
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}
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@@ -166,18 +171,21 @@ GPS_RESPONSE GPS::getACK(const char *message, uint32_t waitMillis)
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b = _serial_gps->read();
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#ifdef GPS_DEBUG
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LOG_DEBUG("%02X", (char *)buffer);
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LOG_DEBUG("%c", (b >= 32 && b <= 126) ? b : '.');
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#endif
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buffer[bytesRead] = b;
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bytesRead++;
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if ((bytesRead == 767) || (b == '\r')) {
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if (strnstr((char *)buffer, message, bytesRead) != nullptr) {
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#ifdef GPS_DEBUG
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LOG_DEBUG("\r");
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LOG_DEBUG("\r\nFound: %s\r\n", message); // Log the found message
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#endif
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return GNSS_RESPONSE_OK;
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} else {
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bytesRead = 0;
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#ifdef GPS_DEBUG
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LOG_DEBUG("\r\n");
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#endif
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}
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}
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}
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@@ -201,7 +209,7 @@ GPS_RESPONSE GPS::getACKCas(uint8_t class_id, uint8_t msg_id, uint32_t waitMilli
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// ACK-NACK| 0xBA | 0xCE | 0x04 | 0x00 | 0x05 | 0x00 | 0xXX | 0xXX | 0x00 | 0x00 | 0xXX | 0xXX | 0xXX | 0xXX |
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// ACK-ACK | 0xBA | 0xCE | 0x04 | 0x00 | 0x05 | 0x01 | 0xXX | 0xXX | 0x00 | 0x00 | 0xXX | 0xXX | 0xXX | 0xXX |
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while (millis() - startTime < waitMillis) {
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while (Throttle::isWithinTimespanMs(startTime, waitMillis)) {
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if (_serial_gps->available()) {
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buffer[bufferPos++] = _serial_gps->read();
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@@ -270,7 +278,7 @@ GPS_RESPONSE GPS::getACK(uint8_t class_id, uint8_t msg_id, uint32_t waitMillis)
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buf[9] += buf[8];
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}
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while (millis() - startTime < waitMillis) {
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while (Throttle::isWithinTimespanMs(startTime, waitMillis)) {
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if (ack > 9) {
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#ifdef GPS_DEBUG
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LOG_DEBUG("\n");
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@@ -325,9 +333,9 @@ int GPS::getACK(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t
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{
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uint16_t ubxFrameCounter = 0;
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uint32_t startTime = millis();
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uint16_t needRead;
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uint16_t needRead = 0;
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while (millis() - startTime < waitMillis) {
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while (Throttle::isWithinTimespanMs(startTime, waitMillis)) {
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if (_serial_gps->available()) {
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int c = _serial_gps->read();
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switch (ubxFrameCounter) {
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@@ -398,9 +406,9 @@ 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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if (!didSerialInit) {
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int msglen = 0;
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if (tx_gpio && gnssModel == GNSS_MODEL_UNKNOWN) {
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// if GPS_BAUDRATE is specified in variant (i.e. not 9600), skip to the specified rate.
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@@ -505,283 +513,110 @@ bool GPS::setup()
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delay(250);
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_serial_gps->write("$CFGMSG,6,1,0\r\n");
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delay(250);
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} else if (gnssModel == GNSS_MODEL_AG3335) {
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} else if (IS_ONE_OF(gnssModel, GNSS_MODEL_AG3335, GNSS_MODEL_AG3352)) {
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_serial_gps->write("$PAIR066,1,0,1,0,0,1*3B"); // Enable GPS+GALILEO+NAVIC
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_serial_gps->write("$PAIR066,1,0,1,0,0,1*3B\r\n"); // Enable GPS+GALILEO+NAVIC
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// Configure NMEA (sentences will output once per fix)
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_serial_gps->write("$PAIR062,0,0*3F"); // GGA ON
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_serial_gps->write("$PAIR062,1,0*3F"); // GLL OFF
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_serial_gps->write("$PAIR062,2,1*3D"); // GSA ON
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_serial_gps->write("$PAIR062,3,0*3D"); // GSV OFF
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_serial_gps->write("$PAIR062,4,0*3B"); // RMC ON
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_serial_gps->write("$PAIR062,5,0*3B"); // VTG OFF
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_serial_gps->write("$PAIR062,6,1*39"); // ZDA ON
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_serial_gps->write("$PAIR062,0,1*3F\r\n"); // GGA ON
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_serial_gps->write("$PAIR062,1,0*3F\r\n"); // GLL OFF
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_serial_gps->write("$PAIR062,2,0*3C\r\n"); // GSA OFF
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_serial_gps->write("$PAIR062,3,0*3D\r\n"); // GSV OFF
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_serial_gps->write("$PAIR062,4,1*3B\r\n"); // RMC ON
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_serial_gps->write("$PAIR062,5,0*3B\r\n"); // VTG OFF
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_serial_gps->write("$PAIR062,6,0*38\r\n"); // ZDA ON
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delay(250);
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_serial_gps->write("$PAIR513*3D"); // save configuration
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_serial_gps->write("$PAIR513*3D\r\n"); // save configuration
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} else if (gnssModel == GNSS_MODEL_UBLOX6) {
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clearBuffer();
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SEND_UBX_PACKET(0x06, 0x02, _message_DISABLE_TXT_INFO, "disable text info messages", 500);
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SEND_UBX_PACKET(0x06, 0x39, _message_JAM_6_7, "enable interference resistance", 500);
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SEND_UBX_PACKET(0x06, 0x23, _message_NAVX5, "configure NAVX5 settings", 500);
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} else if (gnssModel == GNSS_MODEL_UBLOX) {
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// Configure GNSS system to GPS+SBAS+GLONASS (Module may restart after this command)
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// We need set it because by default it is GPS only, and we want to use GLONASS too
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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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// Turn off unwanted NMEA messages, set update rate
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SEND_UBX_PACKET(0x06, 0x08, _message_1HZ, "set GPS update rate", 500);
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SEND_UBX_PACKET(0x06, 0x01, _message_GLL, "disable NMEA GLL", 500);
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SEND_UBX_PACKET(0x06, 0x01, _message_GSA, "enable NMEA GSA", 500);
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SEND_UBX_PACKET(0x06, 0x01, _message_GSV, "disable NMEA GSV", 500);
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SEND_UBX_PACKET(0x06, 0x01, _message_VTG, "disable NMEA VTG", 500);
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SEND_UBX_PACKET(0x06, 0x01, _message_RMC, "enable NMEA RMC", 500);
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SEND_UBX_PACKET(0x06, 0x01, _message_GGA, "enable NMEA GGA", 500);
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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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clearBuffer();
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SEND_UBX_PACKET(0x06, 0x11, _message_CFG_RXM_ECO, "enable powersaving ECO mode for Neo-6", 500);
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SEND_UBX_PACKET(0x06, 0x3B, _message_CFG_PM2, "enable powersaving details for GPS", 500);
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SEND_UBX_PACKET(0x06, 0x01, _message_AID, "disable UBX-AID", 500);
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if (strncmp(info.hwVersion, "00070000", 8) == 0) {
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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_8), _message_GNSS_8);
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_serial_gps->write(UBXscratch, msglen);
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}
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msglen = makeUBXPacket(0x06, 0x09, sizeof(_message_SAVE), _message_SAVE);
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_serial_gps->write(UBXscratch, msglen);
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if (getACK(0x06, 0x09, 2000) != GNSS_RESPONSE_OK) {
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LOG_WARN("Unable to save GNSS module configuration.\n");
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} else {
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LOG_INFO("GNSS module configuration saved!\n");
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}
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} else if (IS_ONE_OF(gnssModel, GNSS_MODEL_UBLOX7, GNSS_MODEL_UBLOX8, GNSS_MODEL_UBLOX9)) {
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if (gnssModel == GNSS_MODEL_UBLOX7) {
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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 { // 8,9
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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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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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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("reconfigure GNSS - defaults maintained. Is this module GPS-only?\n");
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} else {
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if (gnssModel == GNSS_MODEL_UBLOX7) {
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LOG_INFO("GNSS configured for GPS+SBAS.\n");
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} else { // 8,9
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LOG_INFO("GNSS configured for GPS+SBAS+GLONASS+Galileo.\n");
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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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// 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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// Disable Text Info messages //6,7,8,9
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clearBuffer();
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SEND_UBX_PACKET(0x06, 0x02, _message_DISABLE_TXT_INFO, "disable text info messages", 500);
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if (gnssModel == GNSS_MODEL_UBLOX8) { // 8
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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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SEND_UBX_PACKET(0x06, 0x39, _message_JAM_8, "enable interference resistance", 500);
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clearBuffer();
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SEND_UBX_PACKET(0x06, 0x23, _message_NAVX5_8, "configure NAVX5_8 settings", 500);
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} else { // 6,7,9
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SEND_UBX_PACKET(0x06, 0x39, _message_JAM_6_7, "enable interference resistance", 500);
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SEND_UBX_PACKET(0x06, 0x23, _message_NAVX5, "configure NAVX5 settings", 500);
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}
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// Turn off unwanted NMEA messages, set update rate
|
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SEND_UBX_PACKET(0x06, 0x08, _message_1HZ, "set GPS update rate", 500);
|
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SEND_UBX_PACKET(0x06, 0x01, _message_GLL, "disable NMEA GLL", 500);
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SEND_UBX_PACKET(0x06, 0x01, _message_GSA, "enable NMEA GSA", 500);
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SEND_UBX_PACKET(0x06, 0x01, _message_GSV, "disable NMEA GSV", 500);
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SEND_UBX_PACKET(0x06, 0x01, _message_VTG, "disable NMEA VTG", 500);
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SEND_UBX_PACKET(0x06, 0x01, _message_RMC, "enable NMEA RMC", 500);
|
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SEND_UBX_PACKET(0x06, 0x01, _message_GGA, "enable NMEA GGA", 500);
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|
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if (uBloxProtocolVersion >= 18) {
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clearBuffer();
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SEND_UBX_PACKET(0x06, 0x86, _message_PMS, "enable powersaving for GPS", 500);
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SEND_UBX_PACKET(0x06, 0x3B, _message_CFG_PM2, "enable powersaving details for GPS", 500);
|
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// For M8 we want to enable NMEA vserion 4.10 so we can see the additional sats.
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if (gnssModel == GNSS_MODEL_UBLOX8) {
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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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|
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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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|
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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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}
|
||||
|
||||
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, 500) != GNSS_RESPONSE_OK) {
|
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LOG_WARN("Unable to enable NMEA GGA.\n");
|
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}
|
||||
|
||||
if (uBloxProtocolVersion >= 18) {
|
||||
msglen = makeUBXPacket(0x06, 0x86, sizeof(_message_PMS), _message_PMS);
|
||||
clearBuffer();
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x86, 500) != GNSS_RESPONSE_OK) {
|
||||
LOG_WARN("Unable to enable powersaving 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");
|
||||
}
|
||||
// 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, 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");
|
||||
}
|
||||
}
|
||||
SEND_UBX_PACKET(0x06, 0x17, _message_NMEA, "enable NMEA 4.10", 500);
|
||||
}
|
||||
} 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.
|
||||
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);
|
||||
}
|
||||
|
||||
msglen = makeUBXPacket(0x06, 0x09, sizeof(_message_SAVE), _message_SAVE);
|
||||
_serial_gps->write(UBXscratch, msglen);
|
||||
if (getACK(0x06, 0x09, 2000) != GNSS_RESPONSE_OK) {
|
||||
@@ -789,6 +624,53 @@ bool GPS::setup()
|
||||
} else {
|
||||
LOG_INFO("GNSS module configuration saved!\n");
|
||||
}
|
||||
} else if (gnssModel == GNSS_MODEL_UBLOX10) {
|
||||
delay(1000);
|
||||
clearBuffer();
|
||||
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_NMEA_RAM, "disable NMEA messages in M10 RAM", 300);
|
||||
delay(750);
|
||||
clearBuffer();
|
||||
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_NMEA_BBR, "disable NMEA messages in M10 BBR", 300);
|
||||
delay(750);
|
||||
clearBuffer();
|
||||
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_TXT_INFO_RAM, "disable Info messages for M10 GPS RAM", 300);
|
||||
delay(750);
|
||||
// Next disable Info txt messages in BBR layer
|
||||
clearBuffer();
|
||||
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);
|
||||
delay(750);
|
||||
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_PM_BBR, "enable powersaving for M10 GPS BBR", 300);
|
||||
delay(750);
|
||||
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_ITFM_RAM, "enable Jamming detection M10 GPS RAM", 300);
|
||||
delay(750);
|
||||
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_ITFM_BBR, "enable Jamming 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);
|
||||
delay(750); // will cause a receiver restart so wait a bit
|
||||
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_SBAS_BBR, "disable SBAS M10 GPS BBR", 300);
|
||||
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.
|
||||
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_ENABLE_NMEA_BBR, "enable messages for M10 GPS BBR", 300);
|
||||
delay(750);
|
||||
// Next enable wanted NMEA messages in RAM layer
|
||||
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_ENABLE_NMEA_RAM, "enable messages for M10 GPS RAM", 500);
|
||||
delay(750);
|
||||
|
||||
// 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.
|
||||
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.\n");
|
||||
} else {
|
||||
LOG_INFO("GNSS module configuration saved!\n");
|
||||
}
|
||||
}
|
||||
didSerialInit = true;
|
||||
}
|
||||
@@ -944,7 +826,7 @@ void GPS::setPowerPMU(bool on)
|
||||
void GPS::setPowerUBLOX(bool on, uint32_t sleepMs)
|
||||
{
|
||||
// Abort: if not UBLOX hardware
|
||||
if (gnssModel != GNSS_MODEL_UBLOX)
|
||||
if (!IS_ONE_OF(gnssModel, GNSS_MODEL_UBLOX6, GNSS_MODEL_UBLOX7, GNSS_MODEL_UBLOX8, GNSS_MODEL_UBLOX9, GNSS_MODEL_UBLOX10))
|
||||
return;
|
||||
|
||||
// If waking
|
||||
@@ -967,7 +849,7 @@ void GPS::setPowerUBLOX(bool on, uint32_t sleepMs)
|
||||
}
|
||||
|
||||
// Determine hardware version
|
||||
if (strncmp(info.hwVersion, "000A0000", 8) != 0) {
|
||||
if (gnssModel == GNSS_MODEL_UBLOX10) {
|
||||
// Encode the sleep time in millis into the packet
|
||||
for (int i = 0; i < 4; i++)
|
||||
gps->_message_PMREQ[0 + i] = sleepMs >> (i * 8);
|
||||
@@ -1019,33 +901,36 @@ void GPS::down()
|
||||
LOG_DEBUG("%us until next search\n", sleepTime / 1000);
|
||||
|
||||
// If update interval less than 10 seconds, no attempt to sleep
|
||||
if (updateInterval <= 10 * 1000UL)
|
||||
if (updateInterval <= 10 * 1000UL || sleepTime == 0)
|
||||
setPowerState(GPS_IDLE);
|
||||
|
||||
else {
|
||||
// Check whether the GPS hardware is capable of GPS_SOFTSLEEP
|
||||
// If not, fallback to GPS_HARDSLEEP instead
|
||||
bool softsleepSupported = false;
|
||||
if (gnssModel == GNSS_MODEL_UBLOX) // U-blox is supported via PMREQ
|
||||
// U-blox is supported via PMREQ
|
||||
if (IS_ONE_OF(gnssModel, GNSS_MODEL_UBLOX6, GNSS_MODEL_UBLOX7, GNSS_MODEL_UBLOX8, GNSS_MODEL_UBLOX9, GNSS_MODEL_UBLOX10))
|
||||
softsleepSupported = true;
|
||||
#ifdef PIN_GPS_STANDBY // L76B, L76K and clones have a standby pin
|
||||
softsleepSupported = true;
|
||||
#endif
|
||||
|
||||
// How long does gps_update_interval need to be, for GPS_HARDSLEEP to become more efficient than GPS_SOFTSLEEP?
|
||||
// Heuristic equation. A compromise manually fitted to power observations from U-blox NEO-6M and M10050
|
||||
// https://www.desmos.com/calculator/6gvjghoumr
|
||||
// This is not particularly accurate, but probably an impromevement over a single, fixed threshold
|
||||
uint32_t hardsleepThreshold = (2750 * pow(predictedSearchDuration / 1000, 1.22));
|
||||
LOG_DEBUG("gps_update_interval >= %us needed to justify hardsleep\n", hardsleepThreshold / 1000);
|
||||
|
||||
// If update interval too short: softsleep (if supported by hardware)
|
||||
if (softsleepSupported && updateInterval < hardsleepThreshold)
|
||||
setPowerState(GPS_SOFTSLEEP, sleepTime);
|
||||
if (softsleepSupported) {
|
||||
// How long does gps_update_interval need to be, for GPS_HARDSLEEP to become more efficient than GPS_SOFTSLEEP?
|
||||
// Heuristic equation. A compromise manually fitted to power observations from U-blox NEO-6M and M10050
|
||||
// https://www.desmos.com/calculator/6gvjghoumr
|
||||
// This is not particularly accurate, but probably an impromevement over a single, fixed threshold
|
||||
uint32_t hardsleepThreshold = (2750 * pow(predictedSearchDuration / 1000, 1.22));
|
||||
LOG_DEBUG("gps_update_interval >= %us needed to justify hardsleep\n", hardsleepThreshold / 1000);
|
||||
|
||||
// If update interval too short: softsleep (if supported by hardware)
|
||||
if (updateInterval < hardsleepThreshold) {
|
||||
setPowerState(GPS_SOFTSLEEP, sleepTime);
|
||||
return;
|
||||
}
|
||||
}
|
||||
// If update interval long enough (or softsleep unsupported): hardsleep instead
|
||||
else
|
||||
setPowerState(GPS_HARDSLEEP, sleepTime);
|
||||
setPowerState(GPS_HARDSLEEP, sleepTime);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1101,7 +986,9 @@ int32_t GPS::runOnce()
|
||||
// if we have received valid NMEA claim we are connected
|
||||
setConnected();
|
||||
} else {
|
||||
if ((config.position.gps_mode == meshtastic_Config_PositionConfig_GpsMode_ENABLED) && (gnssModel == GNSS_MODEL_UBLOX)) {
|
||||
if ((config.position.gps_mode == meshtastic_Config_PositionConfig_GpsMode_ENABLED) &&
|
||||
IS_ONE_OF(gnssModel, GNSS_MODEL_UBLOX6, GNSS_MODEL_UBLOX7, GNSS_MODEL_UBLOX8, GNSS_MODEL_UBLOX9,
|
||||
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.\n");
|
||||
@@ -1184,25 +1071,34 @@ int GPS::prepareDeepSleep(void *unused)
|
||||
return 0;
|
||||
}
|
||||
|
||||
const char *PROBE_MESSAGE = "Trying %s (%s)...\n";
|
||||
const char *DETECTED_MESSAGE = "%s detected, using %s Module\n";
|
||||
|
||||
#define PROBE_SIMPLE(CHIP, TOWRITE, RESPONSE, DRIVER, TIMEOUT, ...) \
|
||||
LOG_DEBUG(PROBE_MESSAGE, TOWRITE, CHIP); \
|
||||
clearBuffer(); \
|
||||
_serial_gps->write(TOWRITE "\r\n"); \
|
||||
if (getACK(RESPONSE, TIMEOUT) == GNSS_RESPONSE_OK) { \
|
||||
LOG_INFO(DETECTED_MESSAGE, CHIP, #DRIVER); \
|
||||
return DRIVER; \
|
||||
}
|
||||
|
||||
GnssModel_t GPS::probe(int serialSpeed)
|
||||
{
|
||||
#if defined(ARCH_NRF52) || defined(ARCH_PORTDUINO) || defined(ARCH_RP2040) || defined(ARCH_STM32WL) || defined(ARCH_APOLLO3)
|
||||
#if defined(ARCH_NRF52) || defined(ARCH_PORTDUINO) || defined(ARCH_STM32WL) || defined(ARCH_APOLLO3)
|
||||
_serial_gps->end();
|
||||
_serial_gps->begin(serialSpeed);
|
||||
#elif defined(ARCH_RP2040)
|
||||
_serial_gps->end();
|
||||
_serial_gps->setFIFOSize(256);
|
||||
_serial_gps->begin(serialSpeed);
|
||||
#else
|
||||
if (_serial_gps->baudRate() != serialSpeed) {
|
||||
LOG_DEBUG("Setting Baud to %i\n", serialSpeed);
|
||||
_serial_gps->updateBaudRate(serialSpeed);
|
||||
}
|
||||
#endif
|
||||
#ifdef GNSS_AIROHA
|
||||
return GNSS_MODEL_AG3335;
|
||||
#endif
|
||||
#ifdef GPS_DEBUG
|
||||
for (int i = 0; i < 20; i++) {
|
||||
getACK("$GP", 200);
|
||||
}
|
||||
#endif
|
||||
|
||||
memset(&info, 0, sizeof(struct uBloxGnssModelInfo));
|
||||
uint8_t buffer[768] = {0};
|
||||
delay(100);
|
||||
@@ -1211,70 +1107,29 @@ GnssModel_t GPS::probe(int serialSpeed)
|
||||
_serial_gps->write("$PCAS03,0,0,0,0,0,0,0,0,0,0,,,0,0*02\r\n");
|
||||
delay(20);
|
||||
|
||||
// get version information from Unicore UFirebirdII Series
|
||||
// Works for: UC6580, UM620, UM621, UM670A, UM680A, or UM681A
|
||||
_serial_gps->write("$PDTINFO\r\n");
|
||||
delay(750);
|
||||
if (getACK("UC6580", 500) == GNSS_RESPONSE_OK) {
|
||||
LOG_INFO("UC6580 detected, using UC6580 Module\n");
|
||||
return GNSS_MODEL_UC6580;
|
||||
}
|
||||
|
||||
clearBuffer();
|
||||
_serial_gps->write("$PDTINFO\r\n");
|
||||
delay(750);
|
||||
if (getACK("UM600", 500) == GNSS_RESPONSE_OK) {
|
||||
LOG_INFO("UM600 detected, using UC6580 Module\n");
|
||||
return GNSS_MODEL_UC6580;
|
||||
}
|
||||
|
||||
// Get version information for ATGM336H
|
||||
clearBuffer();
|
||||
_serial_gps->write("$PCAS06,1*1A\r\n");
|
||||
if (getACK("$GPTXT,01,01,02,HW=ATGM336H", 500) == GNSS_RESPONSE_OK) {
|
||||
LOG_INFO("ATGM336H GNSS init succeeded, using ATGM336H Module\n");
|
||||
return GNSS_MODEL_ATGM336H;
|
||||
}
|
||||
|
||||
// Unicore UFirebirdII Series: UC6580, UM620, UM621, UM670A, UM680A, or UM681A
|
||||
PROBE_SIMPLE("UC6580", "$PDTINFO", "UC6580", GNSS_MODEL_UC6580, 500);
|
||||
PROBE_SIMPLE("UM600", "$PDTINFO", "UM600", GNSS_MODEL_UC6580, 500);
|
||||
PROBE_SIMPLE("ATGM336H", "$PCAS06,1*1A", "$GPTXT,01,01,02,HW=ATGM336H", GNSS_MODEL_ATGM336H, 500);
|
||||
/* ATGM332D series (-11(GPS), -21(BDS), -31(GPS+BDS), -51(GPS+GLONASS), -71-0(GPS+BDS+GLONASS))
|
||||
based on AT6558 */
|
||||
clearBuffer();
|
||||
_serial_gps->write("$PCAS06,1*1A\r\n");
|
||||
if (getACK("$GPTXT,01,01,02,HW=ATGM332D", 500) == GNSS_RESPONSE_OK) {
|
||||
LOG_INFO("ATGM332D detected, using ATGM336H Module\n");
|
||||
return GNSS_MODEL_ATGM336H;
|
||||
}
|
||||
PROBE_SIMPLE("ATGM332D", "$PCAS06,1*1A", "$GPTXT,01,01,02,HW=ATGM332D", GNSS_MODEL_ATGM336H, 500);
|
||||
|
||||
/* Airoha (Mediatek) AG3335A/M/S, A3352Q, Quectel L89 2.0, SimCom SIM65M */
|
||||
clearBuffer();
|
||||
_serial_gps->write("PAIR020*38\r\n");
|
||||
if (getACK("$PAIR020,AG3335", 500) == GNSS_RESPONSE_OK) {
|
||||
LOG_INFO("Aioha AG3335 detected, using AG3335 Module\n");
|
||||
return GNSS_MODEL_AG3335;
|
||||
}
|
||||
// Get version information for Airoha AG3335
|
||||
clearBuffer();
|
||||
_serial_gps->write("$PMTK605*31\r\n");
|
||||
_serial_gps->write("$PAIR062,2,0*3C\r\n"); // GSA OFF to reduce volume
|
||||
_serial_gps->write("$PAIR062,3,0*3D\r\n"); // GSV OFF to reduce volume
|
||||
_serial_gps->write("$PAIR513*3D\r\n"); // save configuration
|
||||
PROBE_SIMPLE("AG3335", "$PAIR021*39", "$PAIR021,AG3335", GNSS_MODEL_AG3335, 500);
|
||||
PROBE_SIMPLE("AG3352", "$PAIR021*39", "$PAIR021,AG3352", GNSS_MODEL_AG3352, 500);
|
||||
PROBE_SIMPLE("LC86", "$PQTMVERNO*58", "$PQTMVERNO,LC86", GNSS_MODEL_AG3352, 500);
|
||||
|
||||
// Get version information
|
||||
clearBuffer();
|
||||
_serial_gps->write("$PCAS06,0*1B\r\n");
|
||||
if (getACK("$GPTXT,01,01,02,SW=", 500) == GNSS_RESPONSE_OK) {
|
||||
LOG_INFO("L76K GNSS init succeeded, using L76K GNSS Module\n");
|
||||
return GNSS_MODEL_MTK;
|
||||
}
|
||||
PROBE_SIMPLE("L76K", "$PCAS06,0*1B", "$GPTXT,01,01,02,SW=", GNSS_MODEL_MTK, 500);
|
||||
|
||||
// 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;
|
||||
}
|
||||
PROBE_SIMPLE("L76B", "$PMTK605*31", "Quectel-L76B", GNSS_MODEL_MTK_L76B, 500);
|
||||
|
||||
uint8_t cfg_rate[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x00, 0x00};
|
||||
UBXChecksum(cfg_rate, sizeof(cfg_rate));
|
||||
@@ -1301,9 +1156,13 @@ GnssModel_t GPS::probe(int serialSpeed)
|
||||
_serial_gps->write(_message_prt, sizeof(_message_prt));
|
||||
delay(500);
|
||||
serialSpeed = 9600;
|
||||
#if defined(ARCH_NRF52) || defined(ARCH_PORTDUINO) || defined(ARCH_RP2040) || defined(ARCH_STM32WL) || defined(ARCH_APOLLO3)
|
||||
#if defined(ARCH_NRF52) || defined(ARCH_PORTDUINO) || defined(ARCH_STM32WL) || defined(ARCH_APOLLO3)
|
||||
_serial_gps->end();
|
||||
_serial_gps->begin(serialSpeed);
|
||||
#elif defined(ARCH_RP2040)
|
||||
_serial_gps->end();
|
||||
_serial_gps->setFIFOSize(256);
|
||||
_serial_gps->begin(serialSpeed);
|
||||
#else
|
||||
_serial_gps->updateBaudRate(serialSpeed);
|
||||
#endif
|
||||
@@ -1361,9 +1220,9 @@ 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 probe succeeded, using UBlox %s GNSS Module\n", (char *)buffer);
|
||||
LOG_INFO("%s detected, using GNSS_MODEL_UBLOX\n", (char *)buffer);
|
||||
} else {
|
||||
LOG_INFO("UBlox GNSS probe succeeded, using UBlox GNSS Module\n");
|
||||
LOG_INFO("Generic Ublox detected, using GNSS_MODEL_UBLOX\n");
|
||||
}
|
||||
} else if (!strncmp(info.extension[i], "PROTVER", 7)) {
|
||||
char *ptr = nullptr;
|
||||
@@ -1378,9 +1237,20 @@ GnssModel_t GPS::probe(int serialSpeed)
|
||||
}
|
||||
}
|
||||
}
|
||||
if (strncmp(info.hwVersion, "00040007", 8) == 0) {
|
||||
return GNSS_MODEL_UBLOX6;
|
||||
} else if (strncmp(info.hwVersion, "00070000", 8) == 0) {
|
||||
return GNSS_MODEL_UBLOX7;
|
||||
} else if (strncmp(info.hwVersion, "00080000", 8) == 0) {
|
||||
return GNSS_MODEL_UBLOX8;
|
||||
} else if (strncmp(info.hwVersion, "00190000", 8) == 0) {
|
||||
return GNSS_MODEL_UBLOX9;
|
||||
} else if (strncmp(info.hwVersion, "000A0000", 8) == 0) {
|
||||
return GNSS_MODEL_UBLOX10;
|
||||
}
|
||||
}
|
||||
|
||||
return GNSS_MODEL_UBLOX;
|
||||
return GNSS_MODEL_UNKNOWN;
|
||||
}
|
||||
|
||||
GPS *GPS::createGps()
|
||||
@@ -1464,6 +1334,9 @@ 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);
|
||||
#elif defined(ARCH_RP2040)
|
||||
_serial_gps->setFIFOSize(256);
|
||||
_serial_gps->begin(GPS_BAUDRATE);
|
||||
#else
|
||||
_serial_gps->begin(GPS_BAUDRATE);
|
||||
#endif
|
||||
@@ -1495,21 +1368,21 @@ 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("Get ack success!\n");
|
||||
LOG_INFO(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("Get ack success!\n");
|
||||
LOG_INFO(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("Get ack success!\n");
|
||||
LOG_INFO(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};
|
||||
@@ -1551,16 +1424,15 @@ bool GPS::lookForTime()
|
||||
|
||||
#ifdef GNSS_AIROHA
|
||||
uint8_t fix = reader.fixQuality();
|
||||
uint32_t now = millis();
|
||||
if (fix > 0) {
|
||||
if (lastFixStartMsec > 0) {
|
||||
if ((now - lastFixStartMsec) < GPS_FIX_HOLD_TIME) {
|
||||
if (Throttle::isWithinTimespanMs(lastFixStartMsec, GPS_FIX_HOLD_TIME)) {
|
||||
return false;
|
||||
} else {
|
||||
clearBuffer();
|
||||
}
|
||||
} else {
|
||||
lastFixStartMsec = now;
|
||||
lastFixStartMsec = millis();
|
||||
return false;
|
||||
}
|
||||
} else {
|
||||
@@ -1575,7 +1447,7 @@ The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of s
|
||||
(midnight UTC/GMT), not counting leap seconds (in ISO 8601: 1970-01-01T00:00:00Z).
|
||||
*/
|
||||
struct tm t;
|
||||
t.tm_sec = ti.second();
|
||||
t.tm_sec = ti.second() + round(ti.age() / 1000);
|
||||
t.tm_min = ti.minute();
|
||||
t.tm_hour = ti.hour();
|
||||
t.tm_mday = d.day();
|
||||
@@ -1583,8 +1455,8 @@ The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of s
|
||||
t.tm_year = d.year() - 1900;
|
||||
t.tm_isdst = false;
|
||||
if (t.tm_mon > -1) {
|
||||
LOG_DEBUG("NMEA GPS time %02d-%02d-%02d %02d:%02d:%02d\n", d.year(), d.month(), t.tm_mday, t.tm_hour, t.tm_min,
|
||||
t.tm_sec);
|
||||
LOG_DEBUG("NMEA GPS time %02d-%02d-%02d %02d:%02d:%02d age %d\n", d.year(), d.month(), t.tm_mday, t.tm_hour, t.tm_min,
|
||||
t.tm_sec, ti.age());
|
||||
perhapsSetRTC(RTCQualityGPS, t);
|
||||
return true;
|
||||
} else
|
||||
@@ -1604,16 +1476,15 @@ bool GPS::lookForLocation()
|
||||
#ifdef GNSS_AIROHA
|
||||
if ((config.position.gps_update_interval * 1000) >= (GPS_FIX_HOLD_TIME * 2)) {
|
||||
uint8_t fix = reader.fixQuality();
|
||||
uint32_t now = millis();
|
||||
if (fix > 0) {
|
||||
if (lastFixStartMsec > 0) {
|
||||
if ((now - lastFixStartMsec) < GPS_FIX_HOLD_TIME) {
|
||||
if (Throttle::isWithinTimespanMs(lastFixStartMsec, GPS_FIX_HOLD_TIME)) {
|
||||
return false;
|
||||
} else {
|
||||
clearBuffer();
|
||||
}
|
||||
} else {
|
||||
lastFixStartMsec = now;
|
||||
lastFixStartMsec = millis();
|
||||
return false;
|
||||
}
|
||||
} else {
|
||||
|
||||
Reference in New Issue
Block a user