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Add check for GPS Frame Errors message

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This commit is contained in:
Jonathan Bennett 2023-09-02 04:25:18 -05:00
parent 5d6f0ea6c4
commit 1a178c7d33
2 changed files with 48 additions and 25 deletions
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62
src/gps/GPS.cpp
View File

@ -47,7 +47,7 @@ void GPS::UBXChecksum(byte *message, size_t length)
message[length - 1] = CK_B;
}
bool GPS::getACK(const char *message, int waitMillis)
GPS_RESPONSE GPS::getACK(const char *message, int waitMillis)
{
uint8_t buffer[768] = {0};
uint8_t b;
@ -60,23 +60,25 @@ bool GPS::getACK(const char *message, int waitMillis)
bytesRead++;
if ((bytesRead == 768) || (b == '\r')) {
if (strnstr((char *)buffer, message, bytesRead) != nullptr) {
return true;
return GNSS_RESPONSE_OK;
} else {
bytesRead = 0;
}
}
}
}
return false;
return GNSS_RESPONSE_NONE;
}
bool GPS::getACK(uint8_t class_id, uint8_t msg_id, int waitMillis)
GPS_RESPONSE GPS::getACK(uint8_t class_id, uint8_t msg_id, int waitMillis)
{
uint8_t b;
uint8_t ack = 0;
const uint8_t ackP[2] = {class_id, msg_id};
uint8_t buf[10] = {0xB5, 0x62, 0x05, 0x01, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00};
unsigned long startTime = millis();
const char frame_errors[] = "More than 100 frame errors";
int sCounter = 0;
for (int j = 2; j < 6; j++) {
buf[8] += buf[j];
@ -92,23 +94,33 @@ bool GPS::getACK(uint8_t class_id, uint8_t msg_id, int waitMillis)
while (millis() - startTime < waitMillis) {
if (ack > 9) {
// LOG_INFO("Got ACK for class %02X message %02X in %d millis.\n", class_id, msg_id, millis() - startTime);
return true; // ACK received
return GNSS_RESPONSE_OK; // ACK received
}
if (_serial_gps->available()) {
b = _serial_gps->read();
if (b == frame_errors[sCounter]) {
sCounter++;
if (sCounter == 26) {
return GNSS_RESPONSE_FRAME_ERRORS;
}
} else {
sCounter = 0;
}
// LOG_DEBUG("%02X", b);
if (b == buf[ack]) {
ack++;
} else {
ack = 0; // Reset the acknowledgement counter
if (buf[3] == 0x00) { // UBX-ACK-NAK message
LOG_WARN("Got NAK for class %02X message %02X\n", class_id, msg_id);
return false; // NAK received
return GNSS_RESPONSE_NAK; // NAK received
}
}
}
}
// LOG_WARN("No response for class %02X message %02X\n", class_id, msg_id);
return false; // No response received within timeout
// LOG_DEBUG("\n");
return GNSS_RESPONSE_NONE; // No response received within timeout
}
/**
@ -292,7 +304,7 @@ bool GPS::setupGPS()
// Send the message to the module
_serial_gps->write(_message_GNSS, sizeof(_message_GNSS));
if (!getACK(0x06, 0x3e, 300)) {
if (getACK(0x06, 0x3e, 300) != GNSS_RESPONSE_OK) {
// It's not critical if the module doesn't acknowledge this configuration.
// The module should operate adequately with its factory or previously saved settings.
// It appears that there is a firmware bug in some GPS modules: When an attempt is made
@ -332,7 +344,7 @@ bool GPS::setupGPS()
// Send the message to the module
_serial_gps->write(_message_JAM, sizeof(_message_JAM));
if (!getACK(0x06, 0x39, 300)) {
if (getACK(0x06, 0x39, 300) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to enable interference resistance.\n");
}
@ -377,7 +389,7 @@ bool GPS::setupGPS()
// Send the message to the module
_serial_gps->write(_message_NAVX5, sizeof(_message_NAVX5));
if (!getACK(0x06, 0x23, 300)) {
if (getACK(0x06, 0x23, 300) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to configure extra settings.\n");
}
@ -403,7 +415,7 @@ bool GPS::setupGPS()
// Send the message to the module
_serial_gps->write(_message_1Hz, sizeof(_message_1Hz));
if (!getACK(0x06, 0x08, 300)) {
if (getACK(0x06, 0x08, 300) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to set GPS update rate.\n");
}
@ -426,7 +438,7 @@ bool GPS::setupGPS()
// Send the message to the module
_serial_gps->write(_message_GGL, sizeof(_message_GGL));
if (!getACK(0x06, 0x01, 300)) {
if (getACK(0x06, 0x01, 300) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to disable NMEA GGL.\n");
}
@ -444,7 +456,7 @@ bool GPS::setupGPS()
};
UBXChecksum(_message_GSA, sizeof(_message_GSA));
_serial_gps->write(_message_GSA, sizeof(_message_GSA));
if (!getACK(0x06, 0x01, 300)) {
if (getACK(0x06, 0x01, 300) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to Enable NMEA GSA.\n");
}
@ -461,7 +473,7 @@ bool GPS::setupGPS()
};
UBXChecksum(_message_GSV, sizeof(_message_GSV));
_serial_gps->write(_message_GSV, sizeof(_message_GSV));
if (!getACK(0x06, 0x01, 300)) {
if (getACK(0x06, 0x01, 300) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to disable NMEA GSV.\n");
}
@ -479,7 +491,7 @@ bool GPS::setupGPS()
};
UBXChecksum(_message_VTG, sizeof(_message_VTG));
_serial_gps->write(_message_VTG, sizeof(_message_VTG));
if (!getACK(0x06, 0x01, 300)) {
if (getACK(0x06, 0x01, 300) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to disable NMEA VTG.\n");
}
@ -496,7 +508,7 @@ bool GPS::setupGPS()
};
UBXChecksum(_message_RMC, sizeof(_message_RMC));
_serial_gps->write(_message_RMC, sizeof(_message_RMC));
if (!getACK(0x06, 0x01, 300)) {
if (getACK(0x06, 0x01, 300) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to enable NMEA RMC.\n");
}
@ -513,7 +525,7 @@ bool GPS::setupGPS()
};
UBXChecksum(_message_GGA, sizeof(_message_GGA));
_serial_gps->write(_message_GGA, sizeof(_message_GGA));
if (!getACK(0x06, 0x01, 300)) {
if (getACK(0x06, 0x01, 300) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to enable NMEA GGA.\n");
}
@ -546,7 +558,7 @@ bool GPS::setupGPS()
// Send the message to the module
_serial_gps->write(UBX_CFG_PMS, sizeof(UBX_CFG_PMS));
if (!getACK(0x06, 0x86, 300)) {
if (getACK(0x06, 0x86, 300) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to enable powersaving for GPS.\n");
}
@ -568,7 +580,7 @@ bool GPS::setupGPS()
// Send the message to the module
_serial_gps->write(_message_SAVE, sizeof(_message_SAVE));
if (!getACK(0x06, 0x09, 300)) {
if (getACK(0x06, 0x09, 300) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to save GNSS module configuration.\n");
} else {
LOG_INFO("GNSS module configuration saved!\n");
@ -883,21 +895,25 @@ GnssModel_t GPS::probe(int serialSpeed)
// Get version information
clearBuffer();
_serial_gps->write("$PCAS06,0*1B\r\n");
if (getACK("$GPTXT,01,01,02,SW=", 500)) {
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;
}
uint8_t cfg_rate[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x00, 0x00};
UBXChecksum(cfg_rate, sizeof(cfg_rate));
clearBuffer();
// clearBuffer();
_serial_gps->write(cfg_rate, sizeof(cfg_rate));
// Check that the returned response class and message ID are correct
if (!getACK(0x06, 0x08, 500)) {
GPS_RESPONSE response = getACK(0x06, 0x08, 750);
if (response == GNSS_RESPONSE_NONE) {
LOG_WARN("Failed to find UBlox & MTK GNSS Module using baudrate %d\n", serialSpeed);
return GNSS_MODEL_UNKNOWN;
}
} else if (response == GNSS_RESPONSE_FRAME_ERRORS) {
LOG_INFO("UBlox Frame Errors using baudrate %d\n", serialSpeed);
} else if (response == GNSS_RESPONSE_OK) {
LOG_INFO("Found a UBlox Module using baudrate %d\n", serialSpeed);
}
// tips: NMEA Only should not be set here, otherwise initializing Ublox gnss module again after
// setting will not output command messages in UART1, resulting in unrecognized module information

11
src/gps/GPS.h
View File

@ -18,6 +18,13 @@ typedef enum {
GNSS_MODEL_UNKNOWN,
} GnssModel_t;
typedef enum {
GNSS_RESPONSE_NONE,
GNSS_RESPONSE_NAK,
GNSS_RESPONSE_FRAME_ERRORS,
GNSS_RESPONSE_OK,
} GPS_RESPONSE;
// Generate a string representation of DOP
const char *getDOPString(uint32_t dop);
@ -173,8 +180,8 @@ class GPS : private concurrency::OSThread
GnssModel_t probe(int serialSpeed);
int getACK(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t requestedID, int waitMillis);
bool getACK(uint8_t c, uint8_t i, int waitMillis);
bool getACK(const char *message, int waitMillis);
GPS_RESPONSE getACK(uint8_t c, uint8_t i, int waitMillis);
GPS_RESPONSE getACK(const char *message, int waitMillis);
// delay counter to allow more sats before fixed position stops GPS thread
uint8_t fixeddelayCtr = 0;