pohui_pohui/firmware
1
0
Fork 0
mirror of https://github.com/meshtastic/firmware.git synced 2025-06-13 00:22:10 +00:00
Code Issues Actions 5 Packages Projects Releases Wiki Activity

GPS: Performance improvment for U-Blox hardware (#2574)

Browse Source 
* 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
This commit is contained in:
Dmitry Galenko 2023-07-02 02:20:40 +02:00 committed by GitHub
parent c120549215
commit 4ef61f0f15
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 164 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

167
src/gps/GPS.cpp
View File

@ -21,11 +21,26 @@ GPS *gps;
/// only init that port once. /// only init that port once.
static bool didSerialInit; static bool didSerialInit;
bool GPS::getACK(uint8_t c, uint8_t i) void GPS::UBXChecksum(byte *message, size_t length)
{
uint8_t CK_A = 0, CK_B = 0;
// Calculate the checksum, starting from the CLASS field (which is message[2])
for (size_t i = 2; i < length - 2; i++) {
CK_A = (CK_A + message[i]) & 0xFF;
CK_B = (CK_B + CK_A) & 0xFF;
}
// Place the calculated checksum values in the message
message[length - 2] = CK_A;
message[length - 1] = CK_B;
}
bool GPS::getACK(uint8_t class_id, uint8_t msg_id)
{ {
uint8_t b; uint8_t b;
uint8_t ack = 0; uint8_t ack = 0;
const uint8_t ackP[2] = {c, i}; const uint8_t ackP[2] = {class_id, msg_id};
uint8_t buf[10] = {0xB5, 0x62, 0x05, 0x01, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00}; uint8_t buf[10] = {0xB5, 0x62, 0x05, 0x01, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00};
unsigned long startTime = millis(); unsigned long startTime = millis();
@ -42,17 +57,23 @@ bool GPS::getACK(uint8_t c, uint8_t i)
while (1) { while (1) {
if (ack > 9) { if (ack > 9) {
return true; // LOG_INFO("Got ACK for class %02X message %02X\n", class_id, msg_id);
return true; // ACK received
} }
if (millis() - startTime > 1000) { if (millis() - startTime > 1500) {
return false; LOG_WARN("No response for class %02X message %02X\n", class_id, msg_id);
return false; // No response received within 1.5 second
} }
if (_serial_gps->available()) { if (_serial_gps->available()) {
b = _serial_gps->read(); b = _serial_gps->read();
if (b == buf[ack]) { if (b == buf[ack]) {
ack++; ack++;
} else { } else {
ack = 0; 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
}
} }
} }
} }
@ -192,6 +213,114 @@ bool GPS::setupGPS()
delay(250); delay(250);
} else if (gnssModel == GNSS_MODEL_UBLOX) { } else if (gnssModel == GNSS_MODEL_UBLOX) {
uint8_t CK_A = 0, CK_B = 0; // checksum bytes
// Configure GNSS system to GPS+SBAS+GLONASS (Module may restart after this command)
// We need set it because by default it is GPS only, and we want to use GLONASS too
// Also we need SBAS for better accuracy and extra features
// ToDo: Dynamic configure GNSS systems depending of LoRa region
byte _message_GNSS[36] = {
0xb5, 0x62, // Sync message for UBX protocol
0x06, 0x3e, // Message class and ID (UBX-CFG-GNSS)
0x1c, 0x00, // Length of payload (28 bytes)
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)
0x03, // numConfigBlocks (number of GNSS systems), most modules support maximum 3 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
0x06, 0x08, 0x0e, 0x00, 0x01, 0x00, 0x01, 0x01, // GLONASS
0x00, 0x00 // Checksum (to be calculated below)
};
// Calculate the checksum and update the message.
UBXChecksum(_message_GNSS, sizeof(_message_GNSS));
// Send the message to the module
_serial_gps->write(_message_GNSS, sizeof(_message_GNSS));
if (!getACK(0x06, 0x3e)) {
LOG_WARN("Unable to reconfigure GNSS, keep factory defaults\n");
} else {
LOG_INFO("GNSS set to GPS+SBAS+GLONASS, waiting before sending next command (0.75s)\n");
delay(750);
}
// Enable interference resistance, because we are using LoRa, WiFi and Bluetoot on same board,
// and we need to reduce interference from them
byte _message_JAM[16] = {
0xB5, 0x62, // UBX protocol sync characters
0x06, 0x39, // Message class and ID (UBX-CFG-ITFM)
0x08, 0x00, // Length of payload (8 bytes)
// bbThreshold (Broadband jamming detection threshold) is set to 0x3F (63 in decimal)
// cwThreshold (CW jamming detection threshold) is set to 0x10 (16 in decimal)
// algorithmBits (Reserved algorithm settings) is set to 0x16B156 as recommended
// enable (Enable interference detection) is set to 1 (enabled)
0x3F, 0x10, 0xB1, 0x56, // config: Interference config word
// generalBits (General settings) is set to 0x31E as recommended
// antSetting (Antenna setting, 0=unknown, 1=passive, 2=active) is set to 0 (unknown)
// ToDo: Set to 1 (passive) or 2 (active) if known, for example from UBX-MON-HW, or from board info
// enable2 (Set to 1 to scan auxiliary bands, u-blox 8 / u-blox M8 only, otherwise ignored) is set to 1 (enabled)
0x1E, 0x03, 0x00, 0x01, // config2: Extra settings for jamming/interference monitor
0x00, 0x00 // Checksum (calculated below)
};
// Calculate the checksum and update the message.
UBXChecksum(_message_JAM, sizeof(_message_JAM));
// Send the message to the module
_serial_gps->write(_message_JAM, sizeof(_message_JAM));
if (!getACK(0x06, 0x39)) {
LOG_WARN("Unable to enable interference resistance.\n");
}
// Configure navigation engine expert settings:
byte _message_NAVX5[48] = {
0xb5, 0x62, // UBX protocol sync characters
0x06, 0x23, // Message class and ID (UBX-CFG-NAVX5)
0x28, 0x00, // Length of payload (40 bytes)
0x00, 0x00, // msgVer (0 for this version)
// minMax flag = 1: apply min/max SVs settings
// minCno flag = 1: apply minimum C/N0 setting
// initial3dfix flag = 0: apply initial 3D fix settings
// aop flag = 1: apply aopCfg (useAOP flag) settings (AssistNow Autonomous)
0x1B, 0x00, // mask1 (First parameters bitmask)
// adr flag = 0: apply ADR sensor fusion on/off setting (useAdr flag)
// If firmware is not ADR/UDR, enabling this flag will fail configuration
// ToDo: check this with UBX-MON-VER
0x00, 0x00, 0x00, 0x00, // mask2 (Second parameters bitmask)
0x00, 0x00, // Reserved
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
0x00, // iniFix3D (Initial fix must be 3D) = 0 (disabled)
0x00, 0x00, // Reserved
0x00, // ackAiding (Issue acknowledgements for assistance message input) = 0 (disabled)
0x00, 0x00, // Reserved
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // Reserved
0x00, // Reserved
0x01, // aopCfg (AssistNow Autonomous configuration) = 1 (enabled)
0x00, 0x00, // Reserved
0x00, 0x00, // Reserved
0x00, 0x00, 0x00, 0x00, // Reserved
0x00, 0x00, 0x00, // Reserved
0x01, // useAdr (Enable/disable ADR sensor fusion) = 1 (enabled)
0x00, 0x00 // Checksum (calculated below)
};
// Calculate the checksum and update the message.
UBXChecksum(_message_NAVX5, sizeof(_message_NAVX5));
// Send the message to the module
_serial_gps->write(_message_NAVX5, sizeof(_message_NAVX5));
if (!getACK(0x06, 0x23)) {
LOG_WARN("Unable to configure extra settings.\n");
}
/* /*
tips: NMEA Only should not be set here, otherwise initializing Ublox gnss module again after 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 setting will not output command messages in UART1, resulting in unrecognized module information
@ -260,6 +389,30 @@ bool GPS::setupGPS()
if (!getACK(0x06, 0x01)) { if (!getACK(0x06, 0x01)) {
LOG_WARN("Unable to enable NMEA GGA.\n"); LOG_WARN("Unable to enable NMEA GGA.\n");
} }
// We need save configuration to flash to make our config changes persistent
byte _message_SAVE[21] = {
0xB5, 0x62, // UBX protocol header
0x06, 0x09, // UBX class ID (Configuration Input Messages), message ID (UBX-CFG-CFG)
0x0D, 0x00, // Length of payload (13 bytes)
0x00, 0x00, 0x00, 0x00, // clearMask: no sections cleared
0xFF, 0xFF, 0x00, 0x00, // saveMask: save all sections
0x00, 0x00, 0x00, 0x00, // loadMask: no sections loaded
0x0F, // deviceMask: BBR, Flash, EEPROM, and SPI Flash
0x00, 0x00 // Checksum (calculated below)
};
// Calculate the checksum and update the message.
UBXChecksum(_message_SAVE, sizeof(_message_SAVE));
// Send the message to the module
_serial_gps->write(_message_SAVE, sizeof(_message_SAVE));
if (!getACK(0x06, 0x09)) {
LOG_WARN("Unable to save GNSS module configuration.\n");
} else {
LOG_INFO("GNSS module configuration saved!\n");
}
} }
} }
@ -688,4 +841,4 @@ GPS *createGps()
} }
return nullptr; return nullptr;
#endif #endif
} }

5
src/gps/GPS.h
View File

@ -139,6 +139,9 @@ class GPS : private concurrency::OSThread
/// always returns 0 to indicate okay to sleep /// always returns 0 to indicate okay to sleep
int prepareDeepSleep(void *unused); int prepareDeepSleep(void *unused);
// Calculate checksum
void UBXChecksum(byte *message, size_t length);
/** /**
* Switch the GPS into a mode where we are actively looking for a lock, or alternatively switch GPS into a low power mode * Switch the GPS into a mode where we are actively looking for a lock, or alternatively switch GPS into a low power mode
* *
@ -179,4 +182,4 @@ class GPS : private concurrency::OSThread
// Returns the new instance or null if the GPS is not present. // Returns the new instance or null if the GPS is not present.
GPS *createGps(); GPS *createGps();
extern GPS *gps; extern GPS *gps;