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https://github.com/meshtastic/firmware.git
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add logic for GPS single acquisition on bootup fixed-position
This commit is contained in:
code8buster
parent
c628c70db2
commit
54b4b67e5c
@ -21,7 +21,8 @@ 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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bool GPS::getACK(uint8_t c, uint8_t i)
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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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@ -50,8 +51,7 @@ bool GPS::getACK(uint8_t c, uint8_t i) {
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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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}
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else {
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} else {
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ack = 0;
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}
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}
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@ -178,8 +178,8 @@ if (!config.position.tx_gpio)
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* t-beam-s3-core uses the same L76K GNSS module as t-echo.
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* Unlike t-echo, L76K uses 9600 baud rate for communication by default.
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* */
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// _serial_gps->begin(9600); //The baud rate of 9600 has been initialized at the beginning of setupGPS, this line is the redundant part
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// delay(250);
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// _serial_gps->begin(9600); //The baud rate of 9600 has been initialized at the beginning of setupGPS, this line
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// is the redundant part delay(250);
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// Initialize the L76K Chip, use GPS + GLONASS
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_serial_gps->write("$PCAS04,5*1C\r\n");
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@ -210,7 +210,8 @@ if (!config.position.tx_gpio)
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// ublox-M10S can be compatible with UBLOX traditional protocol, so the following sentence settings are also valid
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// disable GGL
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byte _message_GGL[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x05, 0x3A};
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byte _message_GGL[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x01,
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0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x05, 0x3A};
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_serial_gps->write(_message_GGL, sizeof(_message_GGL));
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if (!getACK(0x06, 0x01)) {
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LOG_WARN("Unable to disable NMEA GGL.\n");
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@ -218,7 +219,8 @@ if (!config.position.tx_gpio)
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}
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// disable GSA
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byte _message_GSA[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x02, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x06, 0x41};
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byte _message_GSA[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x02,
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0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x06, 0x41};
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_serial_gps->write(_message_GSA, sizeof(_message_GSA));
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if (!getACK(0x06, 0x01)) {
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LOG_WARN("Unable to disable NMEA GSA.\n");
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@ -226,7 +228,8 @@ if (!config.position.tx_gpio)
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}
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// disable GSV
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byte _message_GSV[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x03, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x07, 0x48};
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byte _message_GSV[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x03,
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0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x07, 0x48};
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_serial_gps->write(_message_GSV, sizeof(_message_GSV));
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if (!getACK(0x06, 0x01)) {
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LOG_WARN("Unable to disable NMEA GSV.\n");
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@ -234,7 +237,8 @@ if (!config.position.tx_gpio)
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}
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// disable VTG
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byte _message_VTG[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x05, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x09, 0x56};
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byte _message_VTG[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x05,
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0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x09, 0x56};
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_serial_gps->write(_message_VTG, sizeof(_message_VTG));
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if (!getACK(0x06, 0x01)) {
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LOG_WARN("Unable to disable NMEA VTG.\n");
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@ -242,7 +246,8 @@ if (!config.position.tx_gpio)
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}
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// enable RMC
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byte _message_RMC[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x04, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x09, 0x54};
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byte _message_RMC[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x04,
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0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x09, 0x54};
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_serial_gps->write(_message_RMC, sizeof(_message_RMC));
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if (!getACK(0x06, 0x01)) {
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LOG_WARN("Unable to enable NMEA RMC.\n");
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@ -250,7 +255,8 @@ if (!config.position.tx_gpio)
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}
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// enable GGA
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byte _message_GGA[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x05, 0x38};
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byte _message_GGA[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x00,
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0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x05, 0x38};
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_serial_gps->write(_message_GGA, sizeof(_message_GGA));
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if (!getACK(0x06, 0x01)) {
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LOG_WARN("Unable to enable NMEA GGA.\n");
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@ -289,7 +295,7 @@ if(config.position.gps_enabled){
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notifyDeepSleepObserver.observe(¬ifyDeepSleep);
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notifyGPSSleepObserver.observe(¬ifyGPSSleep);
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}
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if (config.position.gps_enabled==false) {
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if (config.position.gps_enabled == false && config.position.fixed_position == false) {
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setAwake(false);
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doGPSpowersave(false);
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}
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@ -396,7 +402,8 @@ uint32_t GPS::getSleepTime() const
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uint32_t t = config.position.gps_update_interval;
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bool gps_enabled = config.position.gps_enabled;
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if (!gps_enabled)
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// We'll not need the GPS thread to wake up again after first acq. with fixed position.
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if (!gps_enabled || config.position.fixed_position)
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t = UINT32_MAX; // Sleep forever now
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if (t == UINT32_MAX)
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@ -492,6 +499,14 @@ int32_t GPS::runOnce()
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// If state has changed do a publish
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publishUpdate();
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if (!(fixeddelayCtr >= 20) && config.position.fixed_position && hasValidLocation) {
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fixeddelayCtr++;
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// LOG_DEBUG("Our delay counter is %d\n", fixeddelayCtr);
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if (fixeddelayCtr >= 20) {
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doGPSpowersave(false);
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forceWake(false);
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}
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}
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// 9600bps is approx 1 byte per msec, so considering our buffer size we never need to wake more often than 200ms
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// if not awake we can run super infrquently (once every 5 secs?) to see if we need to wake.
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return isAwake ? GPS_THREAD_INTERVAL : 5000;
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@ -574,7 +589,6 @@ GnssModel_t GPS::probe()
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}
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}
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uint8_t cfg_rate[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x0E, 0x30};
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_serial_gps->write(cfg_rate, sizeof(cfg_rate));
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// Check that the returned response class and message ID are correct
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@ -662,8 +676,7 @@ GPS *createGps()
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new_gps->setup();
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return new_gps;
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}
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}
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else{
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} else {
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GPS *new_gps = new NMEAGPS();
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new_gps->setup();
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return new_gps;
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@ -4,7 +4,6 @@
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#include "Observer.h"
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#include "concurrency/OSThread.h"
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struct uBloxGnssModelInfo {
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char swVersion[30];
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char hwVersion[10];
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@ -169,6 +168,9 @@ class GPS : private concurrency::OSThread
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int getAck(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t requestedID);
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// delay counter to allow more sats before fixed position stops GPS thread
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uint8_t fixeddelayCtr = 0;
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protected:
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GnssModel_t gnssModel = GNSS_MODEL_UNKONW;
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};
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