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add logic for GPS single acquisition on bootup fixed-position

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This commit is contained in:
code8buster 2023-01-21 06:32:41 -05:00
parent c628c70db2
commit 54b4b67e5c
2 changed files with 129 additions and 114 deletions
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45
src/gps/GPS.cpp
View File

@ -21,7 +21,8 @@ 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) { bool GPS::getACK(uint8_t c, uint8_t i)
{
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] = {c, i};
@ -50,8 +51,7 @@ bool GPS::getACK(uint8_t c, uint8_t i) {
b = _serial_gps->read(); b = _serial_gps->read();
if (b == buf[ack]) { if (b == buf[ack]) {
ack++; ack++;
} } else {
else {
ack = 0; ack = 0;
} }
} }
@ -178,8 +178,8 @@ if (!config.position.tx_gpio)
* t-beam-s3-core uses the same L76K GNSS module as t-echo. * t-beam-s3-core uses the same L76K GNSS module as t-echo.
* Unlike t-echo, L76K uses 9600 baud rate for communication by default. * Unlike t-echo, L76K uses 9600 baud rate for communication by default.
* */ * */
// _serial_gps->begin(9600); //The baud rate of 9600 has been initialized at the beginning of setupGPS, this line is the redundant part // _serial_gps->begin(9600); //The baud rate of 9600 has been initialized at the beginning of setupGPS, this line
// delay(250); // is the redundant part delay(250);
// Initialize the L76K Chip, use GPS + GLONASS // Initialize the L76K Chip, use GPS + GLONASS
_serial_gps->write("$PCAS04,5*1C\r\n"); _serial_gps->write("$PCAS04,5*1C\r\n");
@ -210,7 +210,8 @@ if (!config.position.tx_gpio)
// 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
// disable GGL // disable GGL
byte _message_GGL[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x05, 0x3A}; byte _message_GGL[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x01,
0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x05, 0x3A};
_serial_gps->write(_message_GGL, sizeof(_message_GGL)); _serial_gps->write(_message_GGL, sizeof(_message_GGL));
if (!getACK(0x06, 0x01)) { if (!getACK(0x06, 0x01)) {
LOG_WARN("Unable to disable NMEA GGL.\n"); LOG_WARN("Unable to disable NMEA GGL.\n");
@ -218,7 +219,8 @@ if (!config.position.tx_gpio)
} }
// disable GSA // disable GSA
byte _message_GSA[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x02, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x06, 0x41}; byte _message_GSA[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x02,
0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x06, 0x41};
_serial_gps->write(_message_GSA, sizeof(_message_GSA)); _serial_gps->write(_message_GSA, sizeof(_message_GSA));
if (!getACK(0x06, 0x01)) { if (!getACK(0x06, 0x01)) {
LOG_WARN("Unable to disable NMEA GSA.\n"); LOG_WARN("Unable to disable NMEA GSA.\n");
@ -226,7 +228,8 @@ if (!config.position.tx_gpio)
} }
// disable GSV // disable GSV
byte _message_GSV[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x03, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x07, 0x48}; byte _message_GSV[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x03,
0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x07, 0x48};
_serial_gps->write(_message_GSV, sizeof(_message_GSV)); _serial_gps->write(_message_GSV, sizeof(_message_GSV));
if (!getACK(0x06, 0x01)) { if (!getACK(0x06, 0x01)) {
LOG_WARN("Unable to disable NMEA GSV.\n"); LOG_WARN("Unable to disable NMEA GSV.\n");
@ -234,7 +237,8 @@ if (!config.position.tx_gpio)
} }
// disable VTG // disable VTG
byte _message_VTG[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x05, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x09, 0x56}; byte _message_VTG[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x05,
0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x09, 0x56};
_serial_gps->write(_message_VTG, sizeof(_message_VTG)); _serial_gps->write(_message_VTG, sizeof(_message_VTG));
if (!getACK(0x06, 0x01)) { if (!getACK(0x06, 0x01)) {
LOG_WARN("Unable to disable NMEA VTG.\n"); LOG_WARN("Unable to disable NMEA VTG.\n");
@ -242,7 +246,8 @@ if (!config.position.tx_gpio)
} }
// enable RMC // enable RMC
byte _message_RMC[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x04, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x09, 0x54}; byte _message_RMC[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x04,
0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x09, 0x54};
_serial_gps->write(_message_RMC, sizeof(_message_RMC)); _serial_gps->write(_message_RMC, sizeof(_message_RMC));
if (!getACK(0x06, 0x01)) { if (!getACK(0x06, 0x01)) {
LOG_WARN("Unable to enable NMEA RMC.\n"); LOG_WARN("Unable to enable NMEA RMC.\n");
@ -250,7 +255,8 @@ if (!config.position.tx_gpio)
} }
// enable GGA // enable GGA
byte _message_GGA[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x05, 0x38}; byte _message_GGA[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x00,
0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x05, 0x38};
_serial_gps->write(_message_GGA, sizeof(_message_GGA)); _serial_gps->write(_message_GGA, sizeof(_message_GGA));
if (!getACK(0x06, 0x01)) { if (!getACK(0x06, 0x01)) {
LOG_WARN("Unable to enable NMEA GGA.\n"); LOG_WARN("Unable to enable NMEA GGA.\n");
@ -289,7 +295,7 @@ if(config.position.gps_enabled){
notifyDeepSleepObserver.observe(&notifyDeepSleep); notifyDeepSleepObserver.observe(&notifyDeepSleep);
notifyGPSSleepObserver.observe(&notifyGPSSleep); notifyGPSSleepObserver.observe(&notifyGPSSleep);
} }
if (config.position.gps_enabled==false) { if (config.position.gps_enabled == false && config.position.fixed_position == false) {
setAwake(false); setAwake(false);
doGPSpowersave(false); doGPSpowersave(false);
} }
@ -396,7 +402,8 @@ uint32_t GPS::getSleepTime() const
uint32_t t = config.position.gps_update_interval; uint32_t t = config.position.gps_update_interval;
bool gps_enabled = config.position.gps_enabled; bool gps_enabled = config.position.gps_enabled;
if (!gps_enabled) // We'll not need the GPS thread to wake up again after first acq. with fixed position.
if (!gps_enabled || config.position.fixed_position)
t = UINT32_MAX; // Sleep forever now t = UINT32_MAX; // Sleep forever now
if (t == UINT32_MAX) if (t == UINT32_MAX)
@ -492,6 +499,14 @@ int32_t GPS::runOnce()
// If state has changed do a publish // If state has changed do a publish
publishUpdate(); publishUpdate();
if (!(fixeddelayCtr >= 20) && config.position.fixed_position && hasValidLocation) {
fixeddelayCtr++;
// LOG_DEBUG("Our delay counter is %d\n", fixeddelayCtr);
if (fixeddelayCtr >= 20) {
doGPSpowersave(false);
forceWake(false);
}
}
// 9600bps is approx 1 byte per msec, so considering our buffer size we never need to wake more often than 200ms // 9600bps is approx 1 byte per msec, so considering our buffer size we never need to wake more often than 200ms
// if not awake we can run super infrquently (once every 5 secs?) to see if we need to wake. // if not awake we can run super infrquently (once every 5 secs?) to see if we need to wake.
return isAwake ? GPS_THREAD_INTERVAL : 5000; return isAwake ? GPS_THREAD_INTERVAL : 5000;
@ -574,7 +589,6 @@ GnssModel_t GPS::probe()
} }
} }
uint8_t cfg_rate[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x0E, 0x30}; uint8_t cfg_rate[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x0E, 0x30};
_serial_gps->write(cfg_rate, sizeof(cfg_rate)); _serial_gps->write(cfg_rate, sizeof(cfg_rate));
// Check that the returned response class and message ID are correct // Check that the returned response class and message ID are correct
@ -662,8 +676,7 @@ GPS *createGps()
new_gps->setup(); new_gps->setup();
return new_gps; return new_gps;
} }
} } else {
else{
GPS *new_gps = new NMEAGPS(); GPS *new_gps = new NMEAGPS();
new_gps->setup(); new_gps->setup();
return new_gps; return new_gps;

4
src/gps/GPS.h
View File

@ -4,7 +4,6 @@
#include "Observer.h" #include "Observer.h"
#include "concurrency/OSThread.h" #include "concurrency/OSThread.h"
struct uBloxGnssModelInfo { struct uBloxGnssModelInfo {
char swVersion[30]; char swVersion[30];
char hwVersion[10]; char hwVersion[10];
@ -169,6 +168,9 @@ class GPS : private concurrency::OSThread
int getAck(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t requestedID); int getAck(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t requestedID);
// delay counter to allow more sats before fixed position stops GPS thread
uint8_t fixeddelayCtr = 0;
protected: protected:
GnssModel_t gnssModel = GNSS_MODEL_UNKONW; GnssModel_t gnssModel = GNSS_MODEL_UNKONW;
}; };