pohui_pohui/firmware
1
0
Fork 0
mirror of https://github.com/meshtastic/firmware.git synced 2025-10-29 15:46:46 +00:00
Code Issues Actions 7 Packages Projects Releases Wiki Activity

Do slightly better at threading the search for GPS hardware (#8240)

Browse Source 
* Do slightly better at threading the search for GPS hardware

* Formatting and minor logic fix

* Remove now-spam GPS Log messages

---------

Co-authored-by: Ben Meadors <benmmeadors@gmail.com>
This commit is contained in:
Jonathan Bennett 2025-10-07 05:58:39 -05:00 committed by GitHub
parent b696e083f3
commit 668cc9fd64
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
2 changed files with 176 additions and 142 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

316
src/gps/GPS.cpp
View File

@ -506,10 +506,9 @@ bool GPS::setup()
delay(1000); delay(1000);
#endif #endif
if (probeTries < GPS_PROBETRIES) { if (probeTries < GPS_PROBETRIES) {
LOG_DEBUG("Probe for GPS at %d", serialSpeeds[speedSelect]);
gnssModel = probe(serialSpeeds[speedSelect]); gnssModel = probe(serialSpeeds[speedSelect]);
if (gnssModel == GNSS_MODEL_UNKNOWN) { if (gnssModel == GNSS_MODEL_UNKNOWN) {
if (++speedSelect == array_count(serialSpeeds)) { if (currentStep == 0 && ++speedSelect == array_count(serialSpeeds)) {
speedSelect = 0; speedSelect = 0;
++probeTries; ++probeTries;
} }
@ -518,10 +517,9 @@ bool GPS::setup()
// Rare Serial Speeds // Rare Serial Speeds
#ifndef CONFIG_IDF_TARGET_ESP32C6 #ifndef CONFIG_IDF_TARGET_ESP32C6
if (probeTries == GPS_PROBETRIES) { if (probeTries == GPS_PROBETRIES) {
LOG_DEBUG("Probe for GPS at %d", rareSerialSpeeds[speedSelect]);
gnssModel = probe(rareSerialSpeeds[speedSelect]); gnssModel = probe(rareSerialSpeeds[speedSelect]);
if (gnssModel == GNSS_MODEL_UNKNOWN) { if (gnssModel == GNSS_MODEL_UNKNOWN) {
if (++speedSelect == array_count(rareSerialSpeeds)) { if (currentStep == 0 && ++speedSelect == array_count(rareSerialSpeeds)) {
LOG_WARN("Give up on GPS probe and set to %d", GPS_BAUDRATE); LOG_WARN("Give up on GPS probe and set to %d", GPS_BAUDRATE);
return true; return true;
} }
@ -1094,7 +1092,7 @@ int32_t GPS::runOnce()
return disable(); return disable();
} }
if (!setup()) if (!setup())
return 2000; // Setup failed, re-run in two seconds return currentDelay; // Setup failed, re-run in two seconds
// We have now loaded our saved preferences from flash // We have now loaded our saved preferences from flash
if (config.position.gps_mode != meshtastic_Config_PositionConfig_GpsMode_ENABLED) { if (config.position.gps_mode != meshtastic_Config_PositionConfig_GpsMode_ENABLED) {
@ -1218,163 +1216,197 @@ static const char *DETECTED_MESSAGE = "%s detected";
GnssModel_t GPS::probe(int serialSpeed) GnssModel_t GPS::probe(int serialSpeed)
{ {
uint8_t buffer[768] = {0};
switch (currentStep) {
case 0: {
#if defined(ARCH_NRF52) || defined(ARCH_PORTDUINO) || defined(ARCH_STM32WL) #if defined(ARCH_NRF52) || defined(ARCH_PORTDUINO) || defined(ARCH_STM32WL)
_serial_gps->end(); _serial_gps->end();
_serial_gps->begin(serialSpeed); _serial_gps->begin(serialSpeed);
#elif defined(ARCH_RP2040) #elif defined(ARCH_RP2040)
_serial_gps->end(); _serial_gps->end();
_serial_gps->setFIFOSize(256); _serial_gps->setFIFOSize(256);
_serial_gps->begin(serialSpeed); _serial_gps->begin(serialSpeed);
#else #else
if (_serial_gps->baudRate() != serialSpeed) { if (_serial_gps->baudRate() != serialSpeed) {
LOG_DEBUG("Set Baud to %i", serialSpeed); LOG_DEBUG("Set GPS Baud to %i", serialSpeed);
_serial_gps->updateBaudRate(serialSpeed); _serial_gps->updateBaudRate(serialSpeed);
} }
#endif #endif
memset(&ublox_info, 0, sizeof(ublox_info)); memset(&ublox_info, 0, sizeof(ublox_info));
uint8_t buffer[768] = {0}; delay(100);
delay(100);
// Close all NMEA sentences, valid for L76K, ATGM336H (and likely other AT6558 devices) // Close all NMEA sentences, valid for L76K, ATGM336H (and likely other AT6558 devices)
_serial_gps->write("$PCAS03,0,0,0,0,0,0,0,0,0,0,,,0,0*02\r\n"); _serial_gps->write("$PCAS03,0,0,0,0,0,0,0,0,0,0,,,0,0*02\r\n");
delay(20); delay(20);
// Close NMEA sequences on Ublox // Close NMEA sequences on Ublox
_serial_gps->write("$PUBX,40,GLL,0,0,0,0,0,0*5C\r\n"); _serial_gps->write("$PUBX,40,GLL,0,0,0,0,0,0*5C\r\n");
_serial_gps->write("$PUBX,40,GSV,0,0,0,0,0,0*59\r\n"); _serial_gps->write("$PUBX,40,GSV,0,0,0,0,0,0*59\r\n");
_serial_gps->write("$PUBX,40,VTG,0,0,0,0,0,0*5E\r\n"); _serial_gps->write("$PUBX,40,VTG,0,0,0,0,0,0*5E\r\n");
delay(20); delay(20);
// Close NMEA sequences on CM121 // Close NMEA sequences on CM121
_serial_gps->write("$CFGMSG,0,1,0,1*1B\r\n"); _serial_gps->write("$CFGMSG,0,1,0,1*1B\r\n");
_serial_gps->write("$CFGMSG,0,2,0,1*18\r\n"); _serial_gps->write("$CFGMSG,0,2,0,1*18\r\n");
_serial_gps->write("$CFGMSG,0,3,0,1*19\r\n"); _serial_gps->write("$CFGMSG,0,3,0,1*19\r\n");
delay(20); currentDelay = 20;
currentStep = 1;
// Unicore UFirebirdII Series: UC6580, UM620, UM621, UM670A, UM680A, or UM681A,or CM121
std::vector<ChipInfo> unicore = {
{"UC6580", "UC6580", GNSS_MODEL_UC6580}, {"UM600", "UM600", GNSS_MODEL_UC6580}, {"CM121", "CM121", GNSS_MODEL_CM121}};
PROBE_FAMILY("Unicore Family", "$PDTINFO", unicore, 500);
std::vector<ChipInfo> atgm = {
{"ATGM336H", "$GPTXT,01,01,02,HW=ATGM336H", GNSS_MODEL_ATGM336H},
/* ATGM332D series (-11(GPS), -21(BDS), -31(GPS+BDS), -51(GPS+GLONASS), -71-0(GPS+BDS+GLONASS)) based on AT6558 */
{"ATGM332D", "$GPTXT,01,01,02,HW=ATGM332D", GNSS_MODEL_ATGM336H}};
PROBE_FAMILY("ATGM33xx Family", "$PCAS06,1*1A", atgm, 500);
/* Airoha (Mediatek) AG3335A/M/S, A3352Q, Quectel L89 2.0, SimCom SIM65M */
_serial_gps->write("$PAIR062,2,0*3C\r\n"); // GSA OFF to reduce volume
_serial_gps->write("$PAIR062,3,0*3D\r\n"); // GSV OFF to reduce volume
_serial_gps->write("$PAIR513*3D\r\n"); // save configuration
std::vector<ChipInfo> airoha = {{"AG3335", "$PAIR021,AG3335", GNSS_MODEL_AG3335},
{"AG3352", "$PAIR021,AG3352", GNSS_MODEL_AG3352},
{"RYS3520", "$PAIR021,REYAX_RYS3520_V2", GNSS_MODEL_AG3352}};
PROBE_FAMILY("Airoha Family", "$PAIR021*39", airoha, 1000);
PROBE_SIMPLE("LC86", "$PQTMVERNO*58", "$PQTMVERNO,LC86", GNSS_MODEL_AG3352, 500);
PROBE_SIMPLE("L76K", "$PCAS06,0*1B", "$GPTXT,01,01,02,SW=", GNSS_MODEL_MTK, 500);
// Close all NMEA sentences, valid for MTK3333 and MTK3339 platforms
_serial_gps->write("$PMTK514,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*2E\r\n");
delay(20);
std::vector<ChipInfo> mtk = {{"L76B", "Quectel-L76B", GNSS_MODEL_MTK_L76B}, {"PA1010D", "1010D", GNSS_MODEL_MTK_PA1010D},
{"PA1616S", "1616S", GNSS_MODEL_MTK_PA1616S}, {"LS20031", "MC-1513", GNSS_MODEL_MTK_L76B},
{"L96", "Quectel-L96", GNSS_MODEL_MTK_L76B}, {"L80-R", "_3337_", GNSS_MODEL_MTK_L76B},
{"L80", "_3339_", GNSS_MODEL_MTK_L76B}};
PROBE_FAMILY("MTK Family", "$PMTK605*31", mtk, 500);
uint8_t cfg_rate[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x00, 0x00};
UBXChecksum(cfg_rate, sizeof(cfg_rate));
clearBuffer();
_serial_gps->write(cfg_rate, sizeof(cfg_rate));
// Check that the returned response class and message ID are correct
GPS_RESPONSE response = getACK(0x06, 0x08, 750);
if (response == GNSS_RESPONSE_NONE) {
LOG_WARN("No GNSS Module (baudrate %d)", serialSpeed);
return GNSS_MODEL_UNKNOWN; return GNSS_MODEL_UNKNOWN;
} else if (response == GNSS_RESPONSE_FRAME_ERRORS) {
LOG_INFO("UBlox Frame Errors (baudrate %d)", serialSpeed);
} }
case 1: {
memset(buffer, 0, sizeof(buffer)); // Unicore UFirebirdII Series: UC6580, UM620, UM621, UM670A, UM680A, or UM681A,or CM121
uint8_t _message_MONVER[8] = { std::vector<ChipInfo> unicore = {
0xB5, 0x62, // Sync message for UBX protocol {"UC6580", "UC6580", GNSS_MODEL_UC6580}, {"UM600", "UM600", GNSS_MODEL_UC6580}, {"CM121", "CM121", GNSS_MODEL_CM121}};
0x0A, 0x04, // Message class and ID (UBX-MON-VER) PROBE_FAMILY("Unicore Family", "$PDTINFO", unicore, 500);
0x00, 0x00, // Length of payload (we're asking for an answer, so no payload) currentDelay = 20;
0x00, 0x00 // Checksum currentStep = 2;
}; return GNSS_MODEL_UNKNOWN;
// Get Ublox gnss module hardware and software info }
UBXChecksum(_message_MONVER, sizeof(_message_MONVER)); case 2: {
clearBuffer(); std::vector<ChipInfo> atgm = {
_serial_gps->write(_message_MONVER, sizeof(_message_MONVER)); {"ATGM336H", "$GPTXT,01,01,02,HW=ATGM336H", GNSS_MODEL_ATGM336H},
/* ATGM332D series (-11(GPS), -21(BDS), -31(GPS+BDS), -51(GPS+GLONASS), -71-0(GPS+BDS+GLONASS)) based on AT6558 */
{"ATGM332D", "$GPTXT,01,01,02,HW=ATGM332D", GNSS_MODEL_ATGM336H}};
PROBE_FAMILY("ATGM33xx Family", "$PCAS06,1*1A", atgm, 500);
currentDelay = 20;
currentStep = 3;
return GNSS_MODEL_UNKNOWN;
}
case 3: {
/* Airoha (Mediatek) AG3335A/M/S, A3352Q, Quectel L89 2.0, SimCom SIM65M */
_serial_gps->write("$PAIR062,2,0*3C\r\n"); // GSA OFF to reduce volume
_serial_gps->write("$PAIR062,3,0*3D\r\n"); // GSV OFF to reduce volume
_serial_gps->write("$PAIR513*3D\r\n"); // save configuration
std::vector<ChipInfo> airoha = {{"AG3335", "$PAIR021,AG3335", GNSS_MODEL_AG3335},
{"AG3352", "$PAIR021,AG3352", GNSS_MODEL_AG3352},
{"RYS3520", "$PAIR021,REYAX_RYS3520_V2", GNSS_MODEL_AG3352}};
PROBE_FAMILY("Airoha Family", "$PAIR021*39", airoha, 1000);
currentDelay = 20;
currentStep = 4;
return GNSS_MODEL_UNKNOWN;
}
case 4: {
PROBE_SIMPLE("LC86", "$PQTMVERNO*58", "$PQTMVERNO,LC86", GNSS_MODEL_AG3352, 500);
PROBE_SIMPLE("L76K", "$PCAS06,0*1B", "$GPTXT,01,01,02,SW=", GNSS_MODEL_MTK, 500);
currentDelay = 20;
currentStep = 5;
return GNSS_MODEL_UNKNOWN;
}
case 5: {
uint16_t len = getACK(buffer, sizeof(buffer), 0x0A, 0x04, 1200); // Close all NMEA sentences, valid for MTK3333 and MTK3339 platforms
if (len) { _serial_gps->write("$PMTK514,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*2E\r\n");
uint16_t position = 0; delay(20);
for (int i = 0; i < 30; i++) { std::vector<ChipInfo> mtk = {{"L76B", "Quectel-L76B", GNSS_MODEL_MTK_L76B}, {"PA1010D", "1010D", GNSS_MODEL_MTK_PA1010D},
ublox_info.swVersion[i] = buffer[position]; {"PA1616S", "1616S", GNSS_MODEL_MTK_PA1616S}, {"LS20031", "MC-1513", GNSS_MODEL_MTK_L76B},
position++; {"L96", "Quectel-L96", GNSS_MODEL_MTK_L76B}, {"L80-R", "_3337_", GNSS_MODEL_MTK_L76B},
} {"L80", "_3339_", GNSS_MODEL_MTK_L76B}};
for (int i = 0; i < 10; i++) {
ublox_info.hwVersion[i] = buffer[position];
position++;
}
while (len >= position + 30) { PROBE_FAMILY("MTK Family", "$PMTK605*31", mtk, 500);
for (int i = 0; i < 30; i++) { currentDelay = 20;
ublox_info.extension[ublox_info.extensionNo][i] = buffer[position]; currentStep = 6;
position++; return GNSS_MODEL_UNKNOWN;
} }
ublox_info.extensionNo++; case 6: {
if (ublox_info.extensionNo > 9) uint8_t cfg_rate[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x00, 0x00};
break; UBXChecksum(cfg_rate, sizeof(cfg_rate));
} clearBuffer();
_serial_gps->write(cfg_rate, sizeof(cfg_rate));
LOG_DEBUG("Module Info : "); // Check that the returned response class and message ID are correct
LOG_DEBUG("Soft version: %s", ublox_info.swVersion); GPS_RESPONSE response = getACK(0x06, 0x08, 750);
LOG_DEBUG("Hard version: %s", ublox_info.hwVersion); if (response == GNSS_RESPONSE_NONE) {
LOG_DEBUG("Extensions:%d", ublox_info.extensionNo); LOG_WARN("No GNSS Module (baudrate %d)", serialSpeed);
for (int i = 0; i < ublox_info.extensionNo; i++) { currentDelay = 2000;
LOG_DEBUG(" %s", ublox_info.extension[i]); currentStep = 0;
return GNSS_MODEL_UNKNOWN;
} else if (response == GNSS_RESPONSE_FRAME_ERRORS) {
LOG_INFO("UBlox Frame Errors (baudrate %d)", serialSpeed);
} }
memset(buffer, 0, sizeof(buffer)); memset(buffer, 0, sizeof(buffer));
uint8_t _message_MONVER[8] = {
0xB5, 0x62, // Sync message for UBX protocol
0x0A, 0x04, // Message class and ID (UBX-MON-VER)
0x00, 0x00, // Length of payload (we're asking for an answer, so no payload)
0x00, 0x00 // Checksum
};
// Get Ublox gnss module hardware and software info
UBXChecksum(_message_MONVER, sizeof(_message_MONVER));
clearBuffer();
_serial_gps->write(_message_MONVER, sizeof(_message_MONVER));
// tips: extensionNo field is 0 on some 6M GNSS modules uint16_t len = getACK(buffer, sizeof(buffer), 0x0A, 0x04, 1200);
for (int i = 0; i < ublox_info.extensionNo; ++i) { if (len) {
if (!strncmp(ublox_info.extension[i], "MOD=", 4)) { uint16_t position = 0;
strncpy((char *)buffer, &(ublox_info.extension[i][4]), sizeof(buffer)); for (int i = 0; i < 30; i++) {
} else if (!strncmp(ublox_info.extension[i], "PROTVER", 7)) { ublox_info.swVersion[i] = buffer[position];
char *ptr = nullptr; position++;
memset(buffer, 0, sizeof(buffer)); }
strncpy((char *)buffer, &(ublox_info.extension[i][8]), sizeof(buffer)); for (int i = 0; i < 10; i++) {
LOG_DEBUG("Protocol Version:%s", (char *)buffer); ublox_info.hwVersion[i] = buffer[position];
if (strlen((char *)buffer)) { position++;
ublox_info.protocol_version = strtoul((char *)buffer, &ptr, 10); }
LOG_DEBUG("ProtVer=%d", ublox_info.protocol_version);
} else { while (len >= position + 30) {
ublox_info.protocol_version = 0; for (int i = 0; i < 30; i++) {
ublox_info.extension[ublox_info.extensionNo][i] = buffer[position];
position++;
}
ublox_info.extensionNo++;
if (ublox_info.extensionNo > 9)
break;
}
LOG_DEBUG("Module Info : ");
LOG_DEBUG("Soft version: %s", ublox_info.swVersion);
LOG_DEBUG("Hard version: %s", ublox_info.hwVersion);
LOG_DEBUG("Extensions:%d", ublox_info.extensionNo);
for (int i = 0; i < ublox_info.extensionNo; i++) {
LOG_DEBUG(" %s", ublox_info.extension[i]);
}
memset(buffer, 0, sizeof(buffer));
// tips: extensionNo field is 0 on some 6M GNSS modules
for (int i = 0; i < ublox_info.extensionNo; ++i) {
if (!strncmp(ublox_info.extension[i], "MOD=", 4)) {
strncpy((char *)buffer, &(ublox_info.extension[i][4]), sizeof(buffer));
} else if (!strncmp(ublox_info.extension[i], "PROTVER", 7)) {
char *ptr = nullptr;
memset(buffer, 0, sizeof(buffer));
strncpy((char *)buffer, &(ublox_info.extension[i][8]), sizeof(buffer));
LOG_DEBUG("Protocol Version:%s", (char *)buffer);
if (strlen((char *)buffer)) {
ublox_info.protocol_version = strtoul((char *)buffer, &ptr, 10);
LOG_DEBUG("ProtVer=%d", ublox_info.protocol_version);
} else {
ublox_info.protocol_version = 0;
}
} }
} }
} if (strncmp(ublox_info.hwVersion, "00040007", 8) == 0) {
if (strncmp(ublox_info.hwVersion, "00040007", 8) == 0) { LOG_INFO(DETECTED_MESSAGE, "U-blox 6", "6");
LOG_INFO(DETECTED_MESSAGE, "U-blox 6", "6"); return GNSS_MODEL_UBLOX6;
return GNSS_MODEL_UBLOX6; } else if (strncmp(ublox_info.hwVersion, "00070000", 8) == 0) {
} else if (strncmp(ublox_info.hwVersion, "00070000", 8) == 0) { LOG_INFO(DETECTED_MESSAGE, "U-blox 7", "7");
LOG_INFO(DETECTED_MESSAGE, "U-blox 7", "7"); return GNSS_MODEL_UBLOX7;
return GNSS_MODEL_UBLOX7; } else if (strncmp(ublox_info.hwVersion, "00080000", 8) == 0) {
} else if (strncmp(ublox_info.hwVersion, "00080000", 8) == 0) { LOG_INFO(DETECTED_MESSAGE, "U-blox 8", "8");
LOG_INFO(DETECTED_MESSAGE, "U-blox 8", "8"); return GNSS_MODEL_UBLOX8;
return GNSS_MODEL_UBLOX8; } else if (strncmp(ublox_info.hwVersion, "00190000", 8) == 0) {
} else if (strncmp(ublox_info.hwVersion, "00190000", 8) == 0) { LOG_INFO(DETECTED_MESSAGE, "U-blox 9", "9");
LOG_INFO(DETECTED_MESSAGE, "U-blox 9", "9"); return GNSS_MODEL_UBLOX9;
return GNSS_MODEL_UBLOX9; } else if (strncmp(ublox_info.hwVersion, "000A0000", 8) == 0) {
} else if (strncmp(ublox_info.hwVersion, "000A0000", 8) == 0) { LOG_INFO(DETECTED_MESSAGE, "U-blox 10", "10");
LOG_INFO(DETECTED_MESSAGE, "U-blox 10", "10"); return GNSS_MODEL_UBLOX10;
return GNSS_MODEL_UBLOX10; }
} }
} }
}
LOG_WARN("No GNSS Module (baudrate %d)", serialSpeed); LOG_WARN("No GNSS Module (baudrate %d)", serialSpeed);
currentDelay = 2000;
currentStep = 0;
return GNSS_MODEL_UNKNOWN; return GNSS_MODEL_UNKNOWN;
} }

2
src/gps/GPS.h
View File

@ -151,6 +151,8 @@ class GPS : private concurrency::OSThread
TinyGPSPlus reader; TinyGPSPlus reader;
uint8_t fixQual = 0; // fix quality from GPGGA uint8_t fixQual = 0; // fix quality from GPGGA
uint32_t lastChecksumFailCount = 0; uint32_t lastChecksumFailCount = 0;
uint8_t currentStep = 0;
int32_t currentDelay = 2000;
#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS #ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
// (20210908) TinyGps++ can only read the GPGSA "FIX TYPE" field // (20210908) TinyGps++ can only read the GPGSA "FIX TYPE" field