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Make Ublox code more readable (#4727)

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* Simplify Ublox code

Ublox comes in a myriad of versions and settings. Presently our
configuration code does a lot of branching based on versions being
or not being present.

This patch adds version detection earlier in the piece and branches
on the set gnssModel instead to create separate setup methods for Ublox 6,
Ublox 7/8/9, and Ublox10.

Additionally, adds a macro to make the code much shorter and more
readable.

* Make trunk happy

* Make trunk happy

---------

Co-authored-by: Ben Meadors <benmmeadors@gmail.com>
This commit is contained in:
Tom Fifield 2024-09-22 23:00:32 +08:00 committed by GitHub
parent 7db98ca1da
commit 2e24d244be
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GPG Key ID: B5690EEEBB952194
3 changed files with 164 additions and 261 deletions
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410
src/gps/GPS.cpp
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@ -525,268 +525,144 @@ bool GPS::setup()
delay(250); delay(250);
_serial_gps->write("$PAIR513*3D\r\n"); // save configuration _serial_gps->write("$PAIR513*3D\r\n"); // save configuration
} else if (gnssModel == GNSS_MODEL_UBLOX6) {
clearBuffer();
SEND_UBX_PACKET(0x06, 0x02, _message_DISABLE_TXT_INFO, "Unable to disable text info messages.\n", 500);
SEND_UBX_PACKET(0x06, 0x39, _message_JAM_6_7, "Unable to enable interference resistance.\n", 500);
SEND_UBX_PACKET(0x06, 0x23, _message_NAVX5, "Unable to configure NAVX5 settings.\n", 500);
} else if (gnssModel == GNSS_MODEL_UBLOX) { // Turn off unwanted NMEA messages, set update rate
// Configure GNSS system to GPS+SBAS+GLONASS (Module may restart after this command) SEND_UBX_PACKET(0x06, 0x08, _message_1HZ, "Unable to set GPS update rate.\n", 500);
// We need set it because by default it is GPS only, and we want to use GLONASS too SEND_UBX_PACKET(0x06, 0x01, _message_GLL, "Unable to disable NMEA GLL.\n", 500);
// Also we need SBAS for better accuracy and extra features SEND_UBX_PACKET(0x06, 0x01, _message_GSA, "Unable to Enable NMEA GSA.\n", 500);
// ToDo: Dynamic configure GNSS systems depending of LoRa region SEND_UBX_PACKET(0x06, 0x01, _message_GSV, "Unable to disable NMEA GSV.\n", 500);
SEND_UBX_PACKET(0x06, 0x01, _message_VTG, "Unable to disable NMEA VTG.\n", 500);
SEND_UBX_PACKET(0x06, 0x01, _message_RMC, "Unable to enable NMEA RMC.\n", 500);
SEND_UBX_PACKET(0x06, 0x01, _message_GGA, "Unable to enable NMEA GGA.\n", 500);
if (strncmp(info.hwVersion, "000A0000", 8) != 0) { clearBuffer();
if (strncmp(info.hwVersion, "00040007", 8) != 0) { SEND_UBX_PACKET(0x06, 0x11, _message_CFG_RXM_ECO, "Unable to enable powersaving ECO mode for Neo-6.\n", 500);
// The original ublox Neo-6 is GPS only and doesn't support the UBX-CFG-GNSS message SEND_UBX_PACKET(0x06, 0x3B, _message_CFG_PM2, "Unable to enable powersaving details for GPS.\n", 500);
// Max7 seems to only support GPS *or* GLONASS SEND_UBX_PACKET(0x06, 0x01, _message_AID, "Unable to disable UBX-AID.\n", 500);
// Neo-7 is supposed to support GPS *and* GLONASS but NAKs the CFG-GNSS command to do it
// So treat all the u-blox 7 series as GPS only
// M8 can support 3 constallations at once so turn on GPS, GLONASS and Galileo (or BeiDou)
if (strncmp(info.hwVersion, "00070000", 8) == 0) { msglen = makeUBXPacket(0x06, 0x09, sizeof(_message_SAVE), _message_SAVE);
LOG_DEBUG("Setting GPS+SBAS\n"); _serial_gps->write(UBXscratch, msglen);
msglen = makeUBXPacket(0x06, 0x3e, sizeof(_message_GNSS_7), _message_GNSS_7); if (getACK(0x06, 0x09, 2000) != GNSS_RESPONSE_OK) {
_serial_gps->write(UBXscratch, msglen); LOG_WARN("Unable to save GNSS module configuration.\n");
} else { } else {
msglen = makeUBXPacket(0x06, 0x3e, sizeof(_message_GNSS_8), _message_GNSS_8); LOG_INFO("GNSS module configuration saved!\n");
_serial_gps->write(UBXscratch, msglen); }
} } else if (gnssModel == GNSS_MODEL_UBLOX7 || gnssModel == GNSS_MODEL_UBLOX8 || gnssModel == GNSS_MODEL_UBLOX9) {
if (gnssModel == GNSS_MODEL_UBLOX7) {
LOG_DEBUG("Setting GPS+SBAS\n");
msglen = makeUBXPacket(0x06, 0x3e, sizeof(_message_GNSS_7), _message_GNSS_7);
_serial_gps->write(UBXscratch, msglen);
} else { // 8,9
msglen = makeUBXPacket(0x06, 0x3e, sizeof(_message_GNSS_8), _message_GNSS_8);
_serial_gps->write(UBXscratch, msglen);
}
if (getACK(0x06, 0x3e, 800) == GNSS_RESPONSE_NAK) { if (getACK(0x06, 0x3e, 800) == GNSS_RESPONSE_NAK) {
// It's not critical if the module doesn't acknowledge this configuration. // It's not critical if the module doesn't acknowledge this configuration.
LOG_INFO("Unable to reconfigure GNSS - defaults maintained. Is this module GPS-only?\n"); LOG_INFO("Unable to reconfigure GNSS - defaults maintained. Is this module GPS-only?\n");
} else { } else {
if (strncmp(info.hwVersion, "00070000", 8) == 0) { if (gnssModel == GNSS_MODEL_UBLOX7) {
LOG_INFO("GNSS configured for GPS+SBAS. Pause for 0.75s before sending next command.\n"); LOG_INFO("GNSS configured for GPS+SBAS.\n");
} else { } else { // 8,9
LOG_INFO( LOG_INFO("GNSS configured for GPS+SBAS+GLONASS+Galileo.\n");
"GNSS configured for GPS+SBAS+GLONASS+Galileo. Pause for 0.75s before sending next command.\n");
}
// 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 ;>)
delay(1000);
}
} }
// Disable Text Info messages // Documentation say, we need wait atleast 0.5s after reconfiguration of GNSS module, before sending next
msglen = makeUBXPacket(0x06, 0x02, sizeof(_message_DISABLE_TXT_INFO), _message_DISABLE_TXT_INFO); // commands for the M8 it tends to be more... 1 sec should be enough ;>)
delay(1000);
}
// Disable Text Info messages //6,7,8,9
clearBuffer();
SEND_UBX_PACKET(0x06, 0x02, _message_DISABLE_TXT_INFO, "Unable to disable text info messages.\n", 500);
if (gnssModel == GNSS_MODEL_UBLOX8) { // 8
clearBuffer(); clearBuffer();
_serial_gps->write(UBXscratch, msglen); SEND_UBX_PACKET(0x06, 0x39, _message_JAM_8, "Unable to enable interference resistance.\n", 500);
if (getACK(0x06, 0x02, 500) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to disable text info messages.\n"); clearBuffer();
} SEND_UBX_PACKET(0x06, 0x23, _message_NAVX5_8, "Unable to configure NAVX5_8 settings.\n", 500);
// ToDo add M10 tests for below } else { // 6,7,9
if (strncmp(info.hwVersion, "00080000", 8) == 0) { SEND_UBX_PACKET(0x06, 0x39, _message_JAM_6_7, "Unable to enable interference resistance.\n", 500);
msglen = makeUBXPacket(0x06, 0x39, sizeof(_message_JAM_8), _message_JAM_8); SEND_UBX_PACKET(0x06, 0x23, _message_NAVX5, "Unable to configure NAVX5 settings.\n", 500);
}
// Turn off unwanted NMEA messages, set update rate
SEND_UBX_PACKET(0x06, 0x08, _message_1HZ, "Unable to set GPS update rate.\n", 500);
SEND_UBX_PACKET(0x06, 0x01, _message_GLL, "Unable to disable NMEA GLL.\n", 500);
SEND_UBX_PACKET(0x06, 0x01, _message_GSA, "Unable to Enable NMEA GSA.\n", 500);
SEND_UBX_PACKET(0x06, 0x01, _message_GSV, "Unable to disable NMEA GSV.\n", 500);
SEND_UBX_PACKET(0x06, 0x01, _message_VTG, "Unable to disable NMEA VTG.\n", 500);
SEND_UBX_PACKET(0x06, 0x01, _message_RMC, "Unable to enable NMEA RMC.\n", 500);
SEND_UBX_PACKET(0x06, 0x01, _message_GGA, "Unable to enable NMEA GGA.\n", 500);
if (uBloxProtocolVersion >= 18) {
clearBuffer();
SEND_UBX_PACKET(0x06, 0x86, _message_PMS, "Unable to enable powersaving for GPS.\n", 500);
SEND_UBX_PACKET(0x06, 0x3B, _message_CFG_PM2, "Unable to enable powersaving details for GPS.\n", 500);
// For M8 we want to enable NMEA vserion 4.10 so we can see the additional sats.
if (gnssModel == GNSS_MODEL_UBLOX8) {
clearBuffer(); clearBuffer();
_serial_gps->write(UBXscratch, msglen); SEND_UBX_PACKET(0x06, 0x17, _message_NMEA, "Unable to enable NMEA 4.10.\n", 500);
if (getACK(0x06, 0x39, 500) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to enable interference resistance.\n");
}
msglen = makeUBXPacket(0x06, 0x23, sizeof(_message_NAVX5_8), _message_NAVX5_8);
clearBuffer();
_serial_gps->write(UBXscratch, msglen);
if (getACK(0x06, 0x23, 500) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to configure NAVX5_8 settings.\n");
}
} else {
msglen = makeUBXPacket(0x06, 0x39, sizeof(_message_JAM_6_7), _message_JAM_6_7);
_serial_gps->write(UBXscratch, msglen);
if (getACK(0x06, 0x39, 500) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to enable interference resistance.\n");
}
msglen = makeUBXPacket(0x06, 0x23, sizeof(_message_NAVX5), _message_NAVX5);
_serial_gps->write(UBXscratch, msglen);
if (getACK(0x06, 0x23, 500) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to configure NAVX5 settings.\n");
}
}
// Turn off unwanted NMEA messages, set update rate
msglen = makeUBXPacket(0x06, 0x08, sizeof(_message_1HZ), _message_1HZ);
_serial_gps->write(UBXscratch, msglen);
if (getACK(0x06, 0x08, 500) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to set GPS update rate.\n");
}
msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_GLL), _message_GLL);
_serial_gps->write(UBXscratch, msglen);
if (getACK(0x06, 0x01, 500) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to disable NMEA GLL.\n");
}
msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_GSA), _message_GSA);
_serial_gps->write(UBXscratch, msglen);
if (getACK(0x06, 0x01, 500) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to Enable NMEA GSA.\n");
}
msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_GSV), _message_GSV);
_serial_gps->write(UBXscratch, msglen);
if (getACK(0x06, 0x01, 500) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to disable NMEA GSV.\n");
}
msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_VTG), _message_VTG);
_serial_gps->write(UBXscratch, msglen);
if (getACK(0x06, 0x01, 500) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to disable NMEA VTG.\n");
}
msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_RMC), _message_RMC);
_serial_gps->write(UBXscratch, msglen);
if (getACK(0x06, 0x01, 500) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to enable NMEA RMC.\n");
}
msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_GGA), _message_GGA);
_serial_gps->write(UBXscratch, msglen);
if (getACK(0x06, 0x01, 500) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to enable NMEA GGA.\n");
}
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");
}
}
} }
} else { } else {
// LOG_INFO("u-blox M10 hardware found.\n"); SEND_UBX_PACKET(0x06, 0x11, _message_CFG_RXM_PSM, "Unable to enable powersaving mode for GPS.\n", 500);
delay(1000); SEND_UBX_PACKET(0x06, 0x3B, _message_CFG_PM2, "Unable to enable powersaving details for GPS.\n", 500);
// 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.
} }
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.\n");
} 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, "Unable to disable NMEA messages in M10 RAM.\n", 300);
delay(750);
clearBuffer();
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_NMEA_BBR, "Unable to disable NMEA messages in M10 BBR.\n", 300);
delay(750);
clearBuffer();
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_TXT_INFO_RAM,
"Unable to disable Info messages for M10 GPS RAM.\n", 300);
delay(750);
// Next disable Info txt messages in BBR layer
clearBuffer();
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_TXT_INFO_BBR,
"Unable to disable Info messages for M10 GPS BBR.\n", 300);
delay(750);
// Do M10 configuration for Power Management.
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_PM_RAM, "Unable to enable powersaving for M10 GPS RAM.\n", 300);
delay(750);
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_PM_BBR, "Unable to enable powersaving for M10 GPS BBR.\n", 300);
delay(750);
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_ITFM_RAM, "Unable to enable Jamming detection M10 GPS RAM.\n", 300);
delay(750);
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_ITFM_BBR, "Unable to enable Jamming detection M10 GPS BBR.\n", 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, "Unable to disable SBAS M10 GPS RAM.\n", 300);
delay(750); // will cause a receiver restart so wait a bit
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_SBAS_BBR, "Unable to disable SBAS M10 GPS BBR.\n", 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, "Unable to enable messages for M10 GPS BBR.\n", 300);
delay(750);
// Next enable wanted NMEA messages in RAM layer
SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_ENABLE_NMEA_RAM, "Unable to enable messages for M10 GPS RAM.\n", 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), _message_SAVE); msglen = makeUBXPacket(0x06, 0x09, sizeof(_message_SAVE), _message_SAVE);
_serial_gps->write(UBXscratch, msglen); _serial_gps->write(UBXscratch, msglen);
if (getACK(0x06, 0x09, 2000) != GNSS_RESPONSE_OK) { if (getACK(0x06, 0x09, 2000) != GNSS_RESPONSE_OK) {
@ -949,7 +825,8 @@ void GPS::setPowerPMU(bool on)
void GPS::setPowerUBLOX(bool on, uint32_t sleepMs) void GPS::setPowerUBLOX(bool on, uint32_t sleepMs)
{ {
// Abort: if not UBLOX hardware // Abort: if not UBLOX hardware
if (gnssModel != GNSS_MODEL_UBLOX) if (!(gnssModel == GNSS_MODEL_UBLOX6 || gnssModel == GNSS_MODEL_UBLOX7 || gnssModel == GNSS_MODEL_UBLOX8 ||
gnssModel == GNSS_MODEL_UBLOX9 || gnssModel == GNSS_MODEL_UBLOX10))
return; return;
// If waking // If waking
@ -972,7 +849,7 @@ void GPS::setPowerUBLOX(bool on, uint32_t sleepMs)
} }
// Determine hardware version // Determine hardware version
if (strncmp(info.hwVersion, "000A0000", 8) != 0) { if (gnssModel == GNSS_MODEL_UBLOX10) {
// Encode the sleep time in millis into the packet // Encode the sleep time in millis into the packet
for (int i = 0; i < 4; i++) for (int i = 0; i < 4; i++)
gps->_message_PMREQ[0 + i] = sleepMs >> (i * 8); gps->_message_PMREQ[0 + i] = sleepMs >> (i * 8);
@ -1031,7 +908,9 @@ void GPS::down()
// Check whether the GPS hardware is capable of GPS_SOFTSLEEP // Check whether the GPS hardware is capable of GPS_SOFTSLEEP
// If not, fallback to GPS_HARDSLEEP instead // If not, fallback to GPS_HARDSLEEP instead
bool softsleepSupported = false; bool softsleepSupported = false;
if (gnssModel == GNSS_MODEL_UBLOX) // U-blox is supported via PMREQ // U-blox is supported via PMREQ
if (gnssModel == GNSS_MODEL_UBLOX6 || gnssModel == GNSS_MODEL_UBLOX7 || gnssModel == GNSS_MODEL_UBLOX8 ||
gnssModel == GNSS_MODEL_UBLOX9 || gnssModel == GNSS_MODEL_UBLOX10)
softsleepSupported = true; softsleepSupported = true;
#ifdef PIN_GPS_STANDBY // L76B, L76K and clones have a standby pin #ifdef PIN_GPS_STANDBY // L76B, L76K and clones have a standby pin
softsleepSupported = true; softsleepSupported = true;
@ -1106,7 +985,9 @@ int32_t GPS::runOnce()
// if we have received valid NMEA claim we are connected // if we have received valid NMEA claim we are connected
setConnected(); setConnected();
} else { } 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) &&
(gnssModel == GNSS_MODEL_UBLOX6 || gnssModel == GNSS_MODEL_UBLOX7 || gnssModel == GNSS_MODEL_UBLOX8 ||
gnssModel == GNSS_MODEL_UBLOX9 || gnssModel == GNSS_MODEL_UBLOX10)) {
// reset the GPS on next bootup // reset the GPS on next bootup
if (devicestate.did_gps_reset && scheduling.elapsedSearchMs() > 60 * 1000UL && !hasFlow()) { if (devicestate.did_gps_reset && scheduling.elapsedSearchMs() > 60 * 1000UL && !hasFlow()) {
LOG_DEBUG("GPS is not communicating, trying factory reset on next bootup.\n"); LOG_DEBUG("GPS is not communicating, trying factory reset on next bootup.\n");
@ -1335,9 +1216,9 @@ GnssModel_t GPS::probe(int serialSpeed)
strncpy((char *)buffer, &(info.extension[i][4]), sizeof(buffer)); strncpy((char *)buffer, &(info.extension[i][4]), sizeof(buffer));
// LOG_DEBUG("GetModel:%s\n", (char *)buffer); // LOG_DEBUG("GetModel:%s\n", (char *)buffer);
if (strlen((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 { } 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)) { } else if (!strncmp(info.extension[i], "PROTVER", 7)) {
char *ptr = nullptr; char *ptr = nullptr;
@ -1352,9 +1233,20 @@ 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() GPS *GPS::createGps()

8
src/gps/GPS.h
View File

@ -26,7 +26,11 @@ struct uBloxGnssModelInfo {
typedef enum { typedef enum {
GNSS_MODEL_ATGM336H, GNSS_MODEL_ATGM336H,
GNSS_MODEL_MTK, GNSS_MODEL_MTK,
GNSS_MODEL_UBLOX, GNSS_MODEL_UBLOX6,
GNSS_MODEL_UBLOX7,
GNSS_MODEL_UBLOX8,
GNSS_MODEL_UBLOX9,
GNSS_MODEL_UBLOX10,
GNSS_MODEL_UC6580, GNSS_MODEL_UC6580,
GNSS_MODEL_UNKNOWN, GNSS_MODEL_UNKNOWN,
GNSS_MODEL_MTK_L76B, GNSS_MODEL_MTK_L76B,
@ -310,4 +314,4 @@ class GPS : private concurrency::OSThread
}; };
extern GPS *gps; extern GPS *gps;
#endif // Exclude GPS #endif // Exclude GPS

7
src/gps/ubx.h
View File

@ -1,3 +1,10 @@
#define SEND_UBX_PACKET(TYPE, ID, DATA, ERRMSG, TIMEOUT) \
msglen = makeUBXPacket(TYPE, ID, sizeof(DATA), DATA); \
_serial_gps->write(UBXscratch, msglen); \
if (getACK(TYPE, ID, TIMEOUT) != GNSS_RESPONSE_OK) { \
LOG_WARN(#ERRMSG); \
}
// Power Management // Power Management
uint8_t GPS::_message_PMREQ[] PROGMEM = { uint8_t GPS::_message_PMREQ[] PROGMEM = {