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GPS rework phase 2 updates for M8 and stub for M10 (#3166)

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* Portduino multiple logging levels

* Fixes based on GPSFan work

* Fix derped logic

* Correct size field for AID message

* Reformat to add comments, beginning of GPS rework

* Update PM2 message for Neo-6

* Correct ECO mode logic as ECO mode is only for Neo-6

* Cleanup ubx.h add a few more comments

* GPS rework, changes for M8 and stub for M10

---------

Co-authored-by: Jonathan Bennett <jbennett@incomsystems.biz>
Co-authored-by: Ben Meadors <benmmeadors@gmail.com>
This commit is contained in:
Ken McGuire 2024-02-05 08:02:30 -07:00 committed by GitHub
parent 7db02ad722
commit 4c55d5d9e4
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GPG Key ID: B5690EEEBB952194
3 changed files with 230 additions and 132 deletions
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74
src/gps/GPS.cpp
View File

@ -326,14 +326,20 @@ bool GPS::setup()
// Also we need SBAS for better accuracy and extra features // Also we need SBAS for better accuracy and extra features
// ToDo: Dynamic configure GNSS systems depending of LoRa region // ToDo: Dynamic configure GNSS systems depending of LoRa region
if (strncmp(info.hwVersion, "00040007", 8) != if (strncmp(info.hwVersion, "000A0000", 8) != 0) {
0) { // The original ublox 6 is GPS only and doesn't support the UBX-CFG-GNSS message if (strncmp(info.hwVersion, "00040007", 8) != 0) {
if (strncmp(info.hwVersion, "00070000", 8) == 0) { // Max7 seems to only support GPS *or* GLONASS // The original ublox Neo-6 is GPS only and doesn't support the UBX-CFG-GNSS message
// Max7 seems to only support GPS *or* GLONASS
// 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) {
LOG_DEBUG("Setting GPS+SBAS\n"); LOG_DEBUG("Setting GPS+SBAS\n");
msglen = makeUBXPacket(0x06, 0x3e, sizeof(_message_GNSS_7), _message_GNSS_7); msglen = makeUBXPacket(0x06, 0x3e, sizeof(_message_GNSS_7), _message_GNSS_7);
_serial_gps->write(UBXscratch, msglen); _serial_gps->write(UBXscratch, msglen);
} else { } else {
msglen = makeUBXPacket(0x06, 0x3e, sizeof(_message_GNSS), _message_GNSS); msglen = makeUBXPacket(0x06, 0x3e, sizeof(_message_GNSS_8), _message_GNSS_8);
_serial_gps->write(UBXscratch, msglen); _serial_gps->write(UBXscratch, msglen);
} }
@ -344,15 +350,29 @@ bool GPS::setup()
if (strncmp(info.hwVersion, "00070000", 8) == 0) { if (strncmp(info.hwVersion, "00070000", 8) == 0) {
LOG_INFO("GNSS configured for GPS+SBAS. Pause for 0.75s before sending next command.\n"); LOG_INFO("GNSS configured for GPS+SBAS. Pause for 0.75s before sending next command.\n");
} else { } else {
LOG_INFO("GNSS configured for GPS+SBAS+GLONASS. Pause for 0.75s before sending next command.\n"); LOG_INFO(
"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 // Documentation say, we need wait atleast 0.5s after reconfiguration of GNSS module, before sending next
// commands // commands for the M8 it tends to be more... 1 sec should be enough ;>)
delay(750); delay(1000);
} }
} }
// ToDo add M10 tests for below
msglen = makeUBXPacket(0x06, 0x39, sizeof(_message_JAM), _message_JAM); if (strncmp(info.hwVersion, "00080000", 8) == 0) {
msglen = makeUBXPacket(0x06, 0x39, sizeof(_message_JAM_8), _message_JAM_8);
_serial_gps->write(UBXscratch, msglen);
if (getACK(0x06, 0x39, 300) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to enable interference resistance.\n");
}
clearBuffer();
msglen = makeUBXPacket(0x06, 0x23, sizeof(_message_NAVX5_8), _message_NAVX5_8);
_serial_gps->write(UBXscratch, msglen);
if (getACK(0x06, 0x23, 300) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to configure extra settings.\n");
}
} else {
msglen = makeUBXPacket(0x06, 0x39, sizeof(_message_JAM_6_7), _message_JAM_6_7);
_serial_gps->write(UBXscratch, msglen); _serial_gps->write(UBXscratch, msglen);
if (getACK(0x06, 0x39, 300) != GNSS_RESPONSE_OK) { if (getACK(0x06, 0x39, 300) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to enable interference resistance.\n"); LOG_WARN("Unable to enable interference resistance.\n");
@ -363,19 +383,19 @@ bool GPS::setup()
if (getACK(0x06, 0x23, 300) != GNSS_RESPONSE_OK) { if (getACK(0x06, 0x23, 300) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to configure extra settings.\n"); LOG_WARN("Unable to configure extra settings.\n");
} }
}
// ublox-M10S can be compatible with UBLOX traditional protocol, so the following sentence settings are also valid // ublox-M10S can be compatible with UBLOX traditional protocol, so the following sentence settings are also valid
msglen = makeUBXPacket(0x06, 0x08, sizeof(_message_1HZ), _message_1HZ); msglen = makeUBXPacket(0x06, 0x08, sizeof(_message_1HZ), _message_1HZ);
_serial_gps->write(UBXscratch, msglen); _serial_gps->write(UBXscratch, msglen);
if (getACK(0x06, 0x08, 300) != GNSS_RESPONSE_OK) { if (getACK(0x06, 0x08, 400) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to set GPS update rate.\n"); LOG_WARN("Unable to set GPS update rate.\n");
} }
msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_GLL), _message_GLL); msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_GLL), _message_GLL);
_serial_gps->write(UBXscratch, msglen); _serial_gps->write(UBXscratch, msglen);
if (getACK(0x06, 0x01, 300) != GNSS_RESPONSE_OK) { if (getACK(0x06, 0x01, 300) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to disable NMEA GGL.\n"); LOG_WARN("Unable to disable NMEA GLL.\n");
} }
msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_GSA), _message_GSA); msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_GSA), _message_GSA);
@ -407,19 +427,22 @@ bool GPS::setup()
if (getACK(0x06, 0x01, 300) != GNSS_RESPONSE_OK) { if (getACK(0x06, 0x01, 300) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to enable NMEA GGA.\n"); LOG_WARN("Unable to enable NMEA GGA.\n");
} }
clearBuffer();
msglen = makeUBXPacket(0x06, 0x01, sizeof(_message_AID), _message_AID);
_serial_gps->write(UBXscratch, msglen);
if (getACK(0x06, 0x01, 300) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to disable UBX-AID.\n");
}
if (uBloxProtocolVersion >= 18) { if (uBloxProtocolVersion >= 18) {
msglen = makeUBXPacket(0x06, 0x86, sizeof(_message_PMS), _message_PMS); msglen = makeUBXPacket(0x06, 0x86, sizeof(_message_PMS), _message_PMS);
_serial_gps->write(UBXscratch, msglen); _serial_gps->write(UBXscratch, msglen);
if (getACK(0x06, 0x86, 300) != GNSS_RESPONSE_OK) { if (getACK(0x06, 0x86, 300) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to enable powersaving for GPS.\n"); LOG_WARN("Unable to enable powersaving 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);
_serial_gps->write(UBXscratch, msglen);
if (getACK(0x06, 0x17, 400) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to enable NMEA 4.10.\n");
}
}
} else { } else {
if (strncmp(info.hwVersion, "00040007", 8) == 0) { // This PSM mode is only for Neo-6 if (strncmp(info.hwVersion, "00040007", 8) == 0) { // This PSM mode is only for Neo-6
msglen = makeUBXPacket(0x06, 0x11, 0x2, _message_CFG_RXM_ECO); msglen = makeUBXPacket(0x06, 0x11, 0x2, _message_CFG_RXM_ECO);
@ -432,6 +455,11 @@ bool GPS::setup()
if (getACK(0x06, 0x3B, 300) != GNSS_RESPONSE_OK) { if (getACK(0x06, 0x3B, 300) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to enable powersaving details for GPS.\n"); 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, 300) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to disable UBX-AID.\n");
}
} else { } else {
msglen = makeUBXPacket(0x06, 0x11, 0x2, _message_CFG_RXM_PSM); msglen = makeUBXPacket(0x06, 0x11, 0x2, _message_CFG_RXM_PSM);
_serial_gps->write(UBXscratch, msglen); _serial_gps->write(UBXscratch, msglen);
@ -440,6 +468,7 @@ bool GPS::setup()
} }
} }
} }
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) {
@ -447,6 +476,9 @@ bool GPS::setup()
} else { } else {
LOG_INFO("GNSS module configuration saved!\n"); LOG_INFO("GNSS module configuration saved!\n");
} }
} else {
LOG_INFO("u-blox M10 hardware found, using defaults for now\n");
}
} }
didSerialInit = true; didSerialInit = true;
} }
@ -878,9 +910,9 @@ 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 init succeeded, using UBlox %s GNSS Module\n", (char *)buffer); LOG_INFO("UBlox GNSS probe succeeded, using UBlox %s GNSS Module\n", (char *)buffer);
} else { } else {
LOG_INFO("UBlox GNSS init succeeded, using UBlox GNSS Module\n"); LOG_INFO("UBlox GNSS probe succeeded, using UBlox GNSS Module\n");
} }
} else if (!strncmp(info.extension[i], "PROTVER", 7)) { } else if (!strncmp(info.extension[i], "PROTVER", 7)) {
char *ptr = nullptr; char *ptr = nullptr;

8
src/gps/GPS.h
View File

@ -95,13 +95,17 @@ class GPS : private concurrency::OSThread
static HardwareSerial *_serial_gps; static HardwareSerial *_serial_gps;
static uint8_t _message_PMREQ[]; static uint8_t _message_PMREQ[];
static uint8_t _message_PMREQ_10[];
static const uint8_t _message_CFG_RXM_PSM[]; static const uint8_t _message_CFG_RXM_PSM[];
static const uint8_t _message_CFG_RXM_ECO[]; static const uint8_t _message_CFG_RXM_ECO[];
static const uint8_t _message_CFG_PM2[]; static const uint8_t _message_CFG_PM2[];
static const uint8_t _message_GNSS_7[]; static const uint8_t _message_GNSS_7[];
static const uint8_t _message_GNSS[]; static const uint8_t _message_GNSS_8[];
static const uint8_t _message_JAM[]; static const uint8_t _message_JAM_6_7[];
static const uint8_t _message_JAM_8[];
static const uint8_t _message_NAVX5[]; static const uint8_t _message_NAVX5[];
static const uint8_t _message_NAVX5_8[];
static const uint8_t _message_NMEA[];
static const uint8_t _message_1HZ[]; static const uint8_t _message_1HZ[];
static const uint8_t _message_GLL[]; static const uint8_t _message_GLL[];
static const uint8_t _message_GSA[]; static const uint8_t _message_GSA[];

86
src/gps/ubx.h
View File

@ -2,7 +2,15 @@ uint8_t GPS::_message_PMREQ[] PROGMEM = {
0x00, 0x00, // 4 bytes duration of request task 0x00, 0x00, // 4 bytes duration of request task
0x00, 0x00, // (milliseconds) 0x00, 0x00, // (milliseconds)
0x02, 0x00, // Task flag bitfield 0x02, 0x00, // Task flag bitfield
0x00, 0x00 // byte index 1 = sleep mode 0x00, 0x00, // byte index 1 = sleep mode
};
uint8_t GPS::_message_PMREQ_10[] PROGMEM = {
0x00, 0x00, // 4 bytes duration of request task
0x00, 0x00, // (milliseconds)
0x02, 0x00, // Task flag bitfield
0x00, 0x00, // byte index 1 = sleep mode
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 // wakeupSources
}; };
const uint8_t GPS::_message_CFG_RXM_PSM[] PROGMEM = { const uint8_t GPS::_message_CFG_RXM_PSM[] PROGMEM = {
@ -21,7 +29,7 @@ const uint8_t GPS::_message_CFG_PM2[] PROGMEM = {
0x00, // Reserved 1, set to 0x06 by u-Center 0x00, // Reserved 1, set to 0x06 by u-Center
0x00, // Reserved 2 0x00, // Reserved 2
0x00, // Reserved 1 0x00, // Reserved 1
0x00, 0x11, 0x03, 0x00, // flags-> cyclic mode, wait for normal fix ok, do not wake to update RTC or EPH, doNotEnterOff, 0x00, 0x11, 0x03, 0x00, // flags-> cyclic mode, wait for normal fix ok, do not wake to update RTC, doNotEnterOff,
// LimitPeakCurrent // LimitPeakCurrent
0xE8, 0x03, 0x00, 0x00, // update period 1000 ms 0xE8, 0x03, 0x00, 0x00, // update period 1000 ms
0x10, 0x27, 0x00, 0x00, // search period 10s 0x10, 0x27, 0x00, 0x00, // search period 10s
@ -54,24 +62,52 @@ const uint8_t GPS::_message_GNSS_7[] = {
// to overwrite a saved state with identical values, no ACK/NAK is received, contrary to // to overwrite a saved state with identical values, no ACK/NAK is received, contrary to
// what is specified in the Ublox documentation. // what is specified in the Ublox documentation.
// There is also a possibility that the module may be GPS-only. // There is also a possibility that the module may be GPS-only.
const uint8_t GPS::_message_GNSS[] = {
// For M8 GPS, GLONASS, Galileo, SBAS, QZSS
const uint8_t GPS::_message_GNSS_8[] = {
0x00, // msgVer (0 for this version) 0x00, // msgVer (0 for this version)
0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0) 0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0)
0xff, // numTrkChUse (max number of channels to use, 0xff = max available) 0xff, // numTrkChUse (max number of channels to use, 0xff = max available)
0x03, // numConfigBlocks (number of GNSS systems), most modules support maximum 3 GNSS systems 0x05, // numConfigBlocks (number of GNSS systems)
// GNSS config format: gnssId, resTrkCh, maxTrkCh, reserved1, flags // GNSS config format: gnssId, resTrkCh, maxTrkCh, reserved1, flags
0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, // GPS 0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, // GPS
0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01, // SBAS 0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01, // SBAS
0x06, 0x08, 0x0e, 0x00, 0x01, 0x00, 0x01, 0x01 // GLONASS 0x02, 0x04, 0x08, 0x00, 0x01, 0x00, 0x01, 0x01, // Galileo
0x05, 0x00, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01, // QZSS
0x06, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01 // GLONASS
};
/*
// For M8 GPS, GLONASS, BeiDou, SBAS, QZSS
const uint8_t GPS::_message_GNSS_8_B[] = {
0x00, // msgVer (0 for this version)
0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0)
0xff, // numTrkChUse (max number of channels to use, 0xff = max available) read only for protocol >23
0x05, // numConfigBlocks (number of GNSS systems)
// GNSS config format: gnssId, resTrkCh, maxTrkCh, reserved1, flags
0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, // GPS
0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01, // SBAS
0x03, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, // BeiDou
0x05, 0x00, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01, // QZSS
0x06, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01 // GLONASS
};
*/
// For M8 we want to enable NMEA version 4.10 messages to allow for Galileo and or BeiDou
const uint8_t GPS::_message_NMEA[]{
0x00, // filter flags
0x41, // NMEA Version
0x00, // Max number of SVs to report per TaklerId
0x02, // flags
0x00, 0x00, 0x00, 0x00, // gnssToFilter
0x00, // svNumbering
0x00, // mainTalkerId
0x00, // gsvTalkerId
0x01, // Message version
0x00, 0x00, // bdsTalkerId 2 chars 0=default
0x00, 0x00, 0x00, 0x00, 0x00, 0x00 // Reserved
}; };
// Enable jamming/interference monitor // Enable jamming/interference monitor
// For Neo-6
const uint8_t GPS::_message_JAM[] = {
0xf3, 0xac, 0x62, 0xad, // config1 bbThreshold = 3, cwThreshold = 15, enable = 1, reserved bits 0x16B156
0x1e, 0x03, 0x00, 0x00 // config2 antennaSetting Unknown = 0, reserved 3, = 0x00,0x00, reserved 2 = 0x31E
};
/* // WIP GPS reconfig
// For Neo-6, Max-7 and Neo-7 // For Neo-6, Max-7 and Neo-7
const uint8_t GPS::_message_JAM_6_7[] = { const uint8_t GPS::_message_JAM_6_7[] = {
0xf3, 0xac, 0x62, 0xad, // config1 bbThreshold = 3, cwThreshold = 15, enable = 1, reserved bits 0x16B156 0xf3, 0xac, 0x62, 0xad, // config1 bbThreshold = 3, cwThreshold = 15, enable = 1, reserved bits 0x16B156
@ -83,7 +119,6 @@ const uint8_t GPS::_message_JAM_8[] = {
0xf3, 0xac, 0x62, 0xad, // config1 bbThreshold = 3, cwThreshold = 15, enable1 = 1, reserved bits 0x16B156 0xf3, 0xac, 0x62, 0xad, // config1 bbThreshold = 3, cwThreshold = 15, enable1 = 1, reserved bits 0x16B156
0x1e, 0x43, 0x00, 0x00 // config2 antennaSetting Unknown = 0, enable2 = 1, generalBits = 0x31E 0x1e, 0x43, 0x00, 0x00 // config2 antennaSetting Unknown = 0, enable2 = 1, generalBits = 0x31E
}; };
*/
// Configure navigation engine expert settings: // Configure navigation engine expert settings:
// there are many variations of what were Reserved fields for the Neo-6 in later versions // there are many variations of what were Reserved fields for the Neo-6 in later versions
@ -118,11 +153,38 @@ const uint8_t GPS::_message_NAVX5[] = {
0x00, 0x00, // Reserved 3 0x00, 0x00, // Reserved 3
0x00, 0x00, 0x00, 0x00 // Reserved 4 0x00, 0x00, 0x00, 0x00 // Reserved 4
}; };
// For the M8
const uint8_t GPS::_message_NAVX5_8[] = {
0x02, 0x00, // msgVer (2 for this version)
0x4c, 0x66, // mask1
0x00, 0x00, 0x00, 0x00, // mask2
0x00, 0x00, // Reserved 1
0x03, // minSVs (Minimum number of satellites for navigation) = 3
0x10, // maxSVs (Maximum number of satellites for navigation) = 16
0x06, // minCNO (Minimum satellite signal level for navigation) = 6 dBHz
0x00, // Reserved 2
0x00, // iniFix3D (Initial fix must be 3D) (0 = false 1 = true)
0x00, 0x00, // Reserved 3
0x00, // ackAiding
0x00, 0x00, // wknRollover 0 = firmware default
0x00, // sigAttenCompMode
0x00, // Reserved 4
0x00, 0x00, // Reserved 5
0x00, 0x00, // Reserved 6
0x00, // usePPP (Precice Point Positioning) (0 = false, 1 = true)
0x01, // aopCfg (AssistNow Autonomous configuration) = 1 (enabled)
0x00, 0x00, // Reserved 7
0x00, 0x00, // aopOrbMaxErr = 0 to reset to firmware default
0x00, 0x00, 0x00, 0x00, // Reserved 8
0x00, 0x00, 0x00, // Reserved 9
0x00 // useAdr
};
// Set GPS update rate to 1Hz // Set GPS update rate to 1Hz
// Lowering the update rate helps to save power. // Lowering the update rate helps to save power.
// Additionally, for some new modules like the M9/M10, an update rate lower than 5Hz // Additionally, for some new modules like the M9/M10, an update rate lower than 5Hz
// is recommended to avoid a known issue with satellites disappearing. // is recommended to avoid a known issue with satellites disappearing.
// The module defaults for M8, M9, M10 are the same as we use here so no update is necessary
const uint8_t GPS::_message_1HZ[] = { const uint8_t GPS::_message_1HZ[] = {
0xE8, 0x03, // Measurement Rate (1000ms for 1Hz) 0xE8, 0x03, // Measurement Rate (1000ms for 1Hz)
0x01, 0x00, // Navigation rate, always 1 in GPS mode 0x01, 0x00, // Navigation rate, always 1 in GPS mode