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GPS: Performance improvment for U-Blox hardware (#2574)
* Add proper configuration procedure for U-Blox modules * More human friendly getACK * Fix checksum calculation and payload * GPS: move unsigned int check * Introduce UBX protocol payload checksuming * Fix missed checksums calculation for UBX-CFG-CFG
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parent
c120549215
commit
4ef61f0f15
167
src/gps/GPS.cpp
167
src/gps/GPS.cpp
@ -21,11 +21,26 @@ GPS *gps;
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/// only init that port once.
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static bool didSerialInit;
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bool GPS::getACK(uint8_t c, uint8_t i)
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void GPS::UBXChecksum(byte *message, size_t length)
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{
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uint8_t CK_A = 0, CK_B = 0;
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// Calculate the checksum, starting from the CLASS field (which is message[2])
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for (size_t i = 2; i < length - 2; i++) {
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CK_A = (CK_A + message[i]) & 0xFF;
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CK_B = (CK_B + CK_A) & 0xFF;
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}
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// Place the calculated checksum values in the message
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message[length - 2] = CK_A;
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message[length - 1] = CK_B;
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}
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bool GPS::getACK(uint8_t class_id, uint8_t msg_id)
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{
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uint8_t b;
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uint8_t ack = 0;
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const uint8_t ackP[2] = {c, i};
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const uint8_t ackP[2] = {class_id, msg_id};
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uint8_t buf[10] = {0xB5, 0x62, 0x05, 0x01, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00};
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unsigned long startTime = millis();
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@ -42,17 +57,23 @@ bool GPS::getACK(uint8_t c, uint8_t i)
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while (1) {
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if (ack > 9) {
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return true;
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// LOG_INFO("Got ACK for class %02X message %02X\n", class_id, msg_id);
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return true; // ACK received
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}
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if (millis() - startTime > 1000) {
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return false;
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if (millis() - startTime > 1500) {
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LOG_WARN("No response for class %02X message %02X\n", class_id, msg_id);
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return false; // No response received within 1.5 second
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}
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if (_serial_gps->available()) {
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b = _serial_gps->read();
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if (b == buf[ack]) {
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ack++;
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} else {
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ack = 0;
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ack = 0; // Reset the acknowledgement counter
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if (buf[3] == 0x00) { // UBX-ACK-NAK message
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LOG_WARN("Got NAK for class %02X message %02X\n", class_id, msg_id);
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return false; // NAK received
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}
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}
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}
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}
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@ -192,6 +213,114 @@ bool GPS::setupGPS()
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delay(250);
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} else if (gnssModel == GNSS_MODEL_UBLOX) {
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uint8_t CK_A = 0, CK_B = 0; // checksum bytes
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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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byte _message_GNSS[36] = {
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0xb5, 0x62, // Sync message for UBX protocol
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0x06, 0x3e, // Message class and ID (UBX-CFG-GNSS)
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0x1c, 0x00, // Length of payload (28 bytes)
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0x00, // msgVer (0 for this version)
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0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0)
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0xff, // numTrkChUse (max number of channels to use, 0xff = max available)
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0x03, // numConfigBlocks (number of GNSS systems), most modules support maximum 3 GNSS systems
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// GNSS config format: gnssId, resTrkCh, maxTrkCh, reserved1, flags
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0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, // GPS
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0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01, // SBAS
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0x06, 0x08, 0x0e, 0x00, 0x01, 0x00, 0x01, 0x01, // GLONASS
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0x00, 0x00 // Checksum (to be calculated below)
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};
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// Calculate the checksum and update the message.
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UBXChecksum(_message_GNSS, sizeof(_message_GNSS));
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// Send the message to the module
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_serial_gps->write(_message_GNSS, sizeof(_message_GNSS));
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if (!getACK(0x06, 0x3e)) {
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LOG_WARN("Unable to reconfigure GNSS, keep factory defaults\n");
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} else {
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LOG_INFO("GNSS set to GPS+SBAS+GLONASS, waiting before sending next command (0.75s)\n");
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delay(750);
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}
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// Enable interference resistance, because we are using LoRa, WiFi and Bluetoot on same board,
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// and we need to reduce interference from them
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byte _message_JAM[16] = {
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0xB5, 0x62, // UBX protocol sync characters
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0x06, 0x39, // Message class and ID (UBX-CFG-ITFM)
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0x08, 0x00, // Length of payload (8 bytes)
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// bbThreshold (Broadband jamming detection threshold) is set to 0x3F (63 in decimal)
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// cwThreshold (CW jamming detection threshold) is set to 0x10 (16 in decimal)
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// algorithmBits (Reserved algorithm settings) is set to 0x16B156 as recommended
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// enable (Enable interference detection) is set to 1 (enabled)
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0x3F, 0x10, 0xB1, 0x56, // config: Interference config word
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// generalBits (General settings) is set to 0x31E as recommended
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// antSetting (Antenna setting, 0=unknown, 1=passive, 2=active) is set to 0 (unknown)
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// ToDo: Set to 1 (passive) or 2 (active) if known, for example from UBX-MON-HW, or from board info
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// enable2 (Set to 1 to scan auxiliary bands, u-blox 8 / u-blox M8 only, otherwise ignored) is set to 1 (enabled)
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0x1E, 0x03, 0x00, 0x01, // config2: Extra settings for jamming/interference monitor
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0x00, 0x00 // Checksum (calculated below)
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};
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// Calculate the checksum and update the message.
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UBXChecksum(_message_JAM, sizeof(_message_JAM));
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// Send the message to the module
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_serial_gps->write(_message_JAM, sizeof(_message_JAM));
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if (!getACK(0x06, 0x39)) {
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LOG_WARN("Unable to enable interference resistance.\n");
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}
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// Configure navigation engine expert settings:
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byte _message_NAVX5[48] = {
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0xb5, 0x62, // UBX protocol sync characters
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0x06, 0x23, // Message class and ID (UBX-CFG-NAVX5)
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0x28, 0x00, // Length of payload (40 bytes)
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0x00, 0x00, // msgVer (0 for this version)
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// minMax flag = 1: apply min/max SVs settings
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// minCno flag = 1: apply minimum C/N0 setting
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// initial3dfix flag = 0: apply initial 3D fix settings
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// aop flag = 1: apply aopCfg (useAOP flag) settings (AssistNow Autonomous)
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0x1B, 0x00, // mask1 (First parameters bitmask)
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// adr flag = 0: apply ADR sensor fusion on/off setting (useAdr flag)
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// If firmware is not ADR/UDR, enabling this flag will fail configuration
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// ToDo: check this with UBX-MON-VER
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0x00, 0x00, 0x00, 0x00, // mask2 (Second parameters bitmask)
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0x00, 0x00, // Reserved
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0x03, // minSVs (Minimum number of satellites for navigation) = 3
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0x10, // maxSVs (Maximum number of satellites for navigation) = 16
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0x06, // minCNO (Minimum satellite signal level for navigation) = 6 dBHz
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0x00, // Reserved
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0x00, // iniFix3D (Initial fix must be 3D) = 0 (disabled)
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0x00, 0x00, // Reserved
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0x00, // ackAiding (Issue acknowledgements for assistance message input) = 0 (disabled)
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0x00, 0x00, // Reserved
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // Reserved
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0x00, // Reserved
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0x01, // aopCfg (AssistNow Autonomous configuration) = 1 (enabled)
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0x00, 0x00, // Reserved
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0x00, 0x00, // Reserved
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0x00, 0x00, 0x00, 0x00, // Reserved
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0x00, 0x00, 0x00, // Reserved
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0x01, // useAdr (Enable/disable ADR sensor fusion) = 1 (enabled)
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0x00, 0x00 // Checksum (calculated below)
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};
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// Calculate the checksum and update the message.
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UBXChecksum(_message_NAVX5, sizeof(_message_NAVX5));
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// Send the message to the module
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_serial_gps->write(_message_NAVX5, sizeof(_message_NAVX5));
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if (!getACK(0x06, 0x23)) {
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LOG_WARN("Unable to configure extra settings.\n");
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}
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/*
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tips: NMEA Only should not be set here, otherwise initializing Ublox gnss module again after
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setting will not output command messages in UART1, resulting in unrecognized module information
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@ -260,6 +389,30 @@ bool GPS::setupGPS()
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if (!getACK(0x06, 0x01)) {
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LOG_WARN("Unable to enable NMEA GGA.\n");
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}
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// We need save configuration to flash to make our config changes persistent
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byte _message_SAVE[21] = {
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0xB5, 0x62, // UBX protocol header
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0x06, 0x09, // UBX class ID (Configuration Input Messages), message ID (UBX-CFG-CFG)
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0x0D, 0x00, // Length of payload (13 bytes)
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0x00, 0x00, 0x00, 0x00, // clearMask: no sections cleared
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0xFF, 0xFF, 0x00, 0x00, // saveMask: save all sections
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0x00, 0x00, 0x00, 0x00, // loadMask: no sections loaded
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0x0F, // deviceMask: BBR, Flash, EEPROM, and SPI Flash
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0x00, 0x00 // Checksum (calculated below)
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};
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// Calculate the checksum and update the message.
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UBXChecksum(_message_SAVE, sizeof(_message_SAVE));
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// Send the message to the module
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_serial_gps->write(_message_SAVE, sizeof(_message_SAVE));
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if (!getACK(0x06, 0x09)) {
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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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}
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}
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@ -688,4 +841,4 @@ GPS *createGps()
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}
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return nullptr;
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#endif
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}
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}
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@ -139,6 +139,9 @@ class GPS : private concurrency::OSThread
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/// always returns 0 to indicate okay to sleep
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int prepareDeepSleep(void *unused);
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// Calculate checksum
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void UBXChecksum(byte *message, size_t length);
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/**
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* Switch the GPS into a mode where we are actively looking for a lock, or alternatively switch GPS into a low power mode
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*
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@ -179,4 +182,4 @@ class GPS : private concurrency::OSThread
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// Returns the new instance or null if the GPS is not present.
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GPS *createGps();
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extern GPS *gps;
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extern GPS *gps;
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