mirror of
https://github.com/meshtastic/firmware.git
synced 2025-10-28 07:13:25 +00:00
Do slightly better at threading the search for GPS hardware (#8240)
* 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
GitHub
parent
b696e083f3
commit
668cc9fd64
316
src/gps/GPS.cpp
316
src/gps/GPS.cpp
@ -506,10 +506,9 @@ bool GPS::setup()
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delay(1000);
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#endif
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if (probeTries < GPS_PROBETRIES) {
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LOG_DEBUG("Probe for GPS at %d", serialSpeeds[speedSelect]);
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gnssModel = probe(serialSpeeds[speedSelect]);
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if (gnssModel == GNSS_MODEL_UNKNOWN) {
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if (++speedSelect == array_count(serialSpeeds)) {
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if (currentStep == 0 && ++speedSelect == array_count(serialSpeeds)) {
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speedSelect = 0;
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++probeTries;
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}
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@ -518,10 +517,9 @@ bool GPS::setup()
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// Rare Serial Speeds
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#ifndef CONFIG_IDF_TARGET_ESP32C6
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if (probeTries == GPS_PROBETRIES) {
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LOG_DEBUG("Probe for GPS at %d", rareSerialSpeeds[speedSelect]);
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gnssModel = probe(rareSerialSpeeds[speedSelect]);
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if (gnssModel == GNSS_MODEL_UNKNOWN) {
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if (++speedSelect == array_count(rareSerialSpeeds)) {
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if (currentStep == 0 && ++speedSelect == array_count(rareSerialSpeeds)) {
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LOG_WARN("Give up on GPS probe and set to %d", GPS_BAUDRATE);
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return true;
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}
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@ -1094,7 +1092,7 @@ int32_t GPS::runOnce()
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return disable();
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}
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if (!setup())
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return 2000; // Setup failed, re-run in two seconds
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return currentDelay; // Setup failed, re-run in two seconds
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// We have now loaded our saved preferences from flash
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if (config.position.gps_mode != meshtastic_Config_PositionConfig_GpsMode_ENABLED) {
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@ -1218,163 +1216,197 @@ static const char *DETECTED_MESSAGE = "%s detected";
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GnssModel_t GPS::probe(int serialSpeed)
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{
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uint8_t buffer[768] = {0};
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switch (currentStep) {
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case 0: {
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#if defined(ARCH_NRF52) || defined(ARCH_PORTDUINO) || defined(ARCH_STM32WL)
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_serial_gps->end();
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_serial_gps->begin(serialSpeed);
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_serial_gps->end();
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_serial_gps->begin(serialSpeed);
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#elif defined(ARCH_RP2040)
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_serial_gps->end();
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_serial_gps->setFIFOSize(256);
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_serial_gps->begin(serialSpeed);
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_serial_gps->end();
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_serial_gps->setFIFOSize(256);
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_serial_gps->begin(serialSpeed);
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#else
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if (_serial_gps->baudRate() != serialSpeed) {
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LOG_DEBUG("Set Baud to %i", serialSpeed);
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_serial_gps->updateBaudRate(serialSpeed);
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}
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if (_serial_gps->baudRate() != serialSpeed) {
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LOG_DEBUG("Set GPS Baud to %i", serialSpeed);
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_serial_gps->updateBaudRate(serialSpeed);
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}
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#endif
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memset(&ublox_info, 0, sizeof(ublox_info));
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uint8_t buffer[768] = {0};
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delay(100);
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memset(&ublox_info, 0, sizeof(ublox_info));
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delay(100);
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// Close all NMEA sentences, valid for L76K, ATGM336H (and likely other AT6558 devices)
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_serial_gps->write("$PCAS03,0,0,0,0,0,0,0,0,0,0,,,0,0*02\r\n");
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delay(20);
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// Close NMEA sequences on Ublox
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_serial_gps->write("$PUBX,40,GLL,0,0,0,0,0,0*5C\r\n");
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_serial_gps->write("$PUBX,40,GSV,0,0,0,0,0,0*59\r\n");
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_serial_gps->write("$PUBX,40,VTG,0,0,0,0,0,0*5E\r\n");
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delay(20);
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// Close NMEA sequences on CM121
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_serial_gps->write("$CFGMSG,0,1,0,1*1B\r\n");
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_serial_gps->write("$CFGMSG,0,2,0,1*18\r\n");
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_serial_gps->write("$CFGMSG,0,3,0,1*19\r\n");
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delay(20);
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// Unicore UFirebirdII Series: UC6580, UM620, UM621, UM670A, UM680A, or UM681A,or CM121
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std::vector<ChipInfo> unicore = {
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{"UC6580", "UC6580", GNSS_MODEL_UC6580}, {"UM600", "UM600", GNSS_MODEL_UC6580}, {"CM121", "CM121", GNSS_MODEL_CM121}};
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PROBE_FAMILY("Unicore Family", "$PDTINFO", unicore, 500);
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std::vector<ChipInfo> atgm = {
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{"ATGM336H", "$GPTXT,01,01,02,HW=ATGM336H", GNSS_MODEL_ATGM336H},
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/* ATGM332D series (-11(GPS), -21(BDS), -31(GPS+BDS), -51(GPS+GLONASS), -71-0(GPS+BDS+GLONASS)) based on AT6558 */
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{"ATGM332D", "$GPTXT,01,01,02,HW=ATGM332D", GNSS_MODEL_ATGM336H}};
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PROBE_FAMILY("ATGM33xx Family", "$PCAS06,1*1A", atgm, 500);
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/* Airoha (Mediatek) AG3335A/M/S, A3352Q, Quectel L89 2.0, SimCom SIM65M */
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_serial_gps->write("$PAIR062,2,0*3C\r\n"); // GSA OFF to reduce volume
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_serial_gps->write("$PAIR062,3,0*3D\r\n"); // GSV OFF to reduce volume
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_serial_gps->write("$PAIR513*3D\r\n"); // save configuration
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std::vector<ChipInfo> airoha = {{"AG3335", "$PAIR021,AG3335", GNSS_MODEL_AG3335},
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{"AG3352", "$PAIR021,AG3352", GNSS_MODEL_AG3352},
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{"RYS3520", "$PAIR021,REYAX_RYS3520_V2", GNSS_MODEL_AG3352}};
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PROBE_FAMILY("Airoha Family", "$PAIR021*39", airoha, 1000);
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PROBE_SIMPLE("LC86", "$PQTMVERNO*58", "$PQTMVERNO,LC86", GNSS_MODEL_AG3352, 500);
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PROBE_SIMPLE("L76K", "$PCAS06,0*1B", "$GPTXT,01,01,02,SW=", GNSS_MODEL_MTK, 500);
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// Close all NMEA sentences, valid for MTK3333 and MTK3339 platforms
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_serial_gps->write("$PMTK514,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*2E\r\n");
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delay(20);
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std::vector<ChipInfo> mtk = {{"L76B", "Quectel-L76B", GNSS_MODEL_MTK_L76B}, {"PA1010D", "1010D", GNSS_MODEL_MTK_PA1010D},
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{"PA1616S", "1616S", GNSS_MODEL_MTK_PA1616S}, {"LS20031", "MC-1513", GNSS_MODEL_MTK_L76B},
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{"L96", "Quectel-L96", GNSS_MODEL_MTK_L76B}, {"L80-R", "_3337_", GNSS_MODEL_MTK_L76B},
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{"L80", "_3339_", GNSS_MODEL_MTK_L76B}};
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PROBE_FAMILY("MTK Family", "$PMTK605*31", mtk, 500);
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uint8_t cfg_rate[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x00, 0x00};
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UBXChecksum(cfg_rate, sizeof(cfg_rate));
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clearBuffer();
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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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GPS_RESPONSE response = getACK(0x06, 0x08, 750);
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if (response == GNSS_RESPONSE_NONE) {
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LOG_WARN("No GNSS Module (baudrate %d)", serialSpeed);
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// Close all NMEA sentences, valid for L76K, ATGM336H (and likely other AT6558 devices)
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_serial_gps->write("$PCAS03,0,0,0,0,0,0,0,0,0,0,,,0,0*02\r\n");
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delay(20);
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// Close NMEA sequences on Ublox
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_serial_gps->write("$PUBX,40,GLL,0,0,0,0,0,0*5C\r\n");
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_serial_gps->write("$PUBX,40,GSV,0,0,0,0,0,0*59\r\n");
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_serial_gps->write("$PUBX,40,VTG,0,0,0,0,0,0*5E\r\n");
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delay(20);
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// Close NMEA sequences on CM121
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_serial_gps->write("$CFGMSG,0,1,0,1*1B\r\n");
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_serial_gps->write("$CFGMSG,0,2,0,1*18\r\n");
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_serial_gps->write("$CFGMSG,0,3,0,1*19\r\n");
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currentDelay = 20;
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currentStep = 1;
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return GNSS_MODEL_UNKNOWN;
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} else if (response == GNSS_RESPONSE_FRAME_ERRORS) {
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LOG_INFO("UBlox Frame Errors (baudrate %d)", serialSpeed);
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}
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case 1: {
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memset(buffer, 0, sizeof(buffer));
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uint8_t _message_MONVER[8] = {
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0xB5, 0x62, // Sync message for UBX protocol
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0x0A, 0x04, // Message class and ID (UBX-MON-VER)
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0x00, 0x00, // Length of payload (we're asking for an answer, so no payload)
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0x00, 0x00 // Checksum
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};
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// Get Ublox gnss module hardware and software info
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UBXChecksum(_message_MONVER, sizeof(_message_MONVER));
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clearBuffer();
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_serial_gps->write(_message_MONVER, sizeof(_message_MONVER));
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// Unicore UFirebirdII Series: UC6580, UM620, UM621, UM670A, UM680A, or UM681A,or CM121
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std::vector<ChipInfo> unicore = {
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{"UC6580", "UC6580", GNSS_MODEL_UC6580}, {"UM600", "UM600", GNSS_MODEL_UC6580}, {"CM121", "CM121", GNSS_MODEL_CM121}};
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PROBE_FAMILY("Unicore Family", "$PDTINFO", unicore, 500);
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currentDelay = 20;
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currentStep = 2;
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return GNSS_MODEL_UNKNOWN;
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}
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case 2: {
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std::vector<ChipInfo> atgm = {
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{"ATGM336H", "$GPTXT,01,01,02,HW=ATGM336H", GNSS_MODEL_ATGM336H},
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/* ATGM332D series (-11(GPS), -21(BDS), -31(GPS+BDS), -51(GPS+GLONASS), -71-0(GPS+BDS+GLONASS)) based on AT6558 */
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{"ATGM332D", "$GPTXT,01,01,02,HW=ATGM332D", GNSS_MODEL_ATGM336H}};
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PROBE_FAMILY("ATGM33xx Family", "$PCAS06,1*1A", atgm, 500);
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currentDelay = 20;
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currentStep = 3;
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return GNSS_MODEL_UNKNOWN;
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}
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case 3: {
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/* Airoha (Mediatek) AG3335A/M/S, A3352Q, Quectel L89 2.0, SimCom SIM65M */
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_serial_gps->write("$PAIR062,2,0*3C\r\n"); // GSA OFF to reduce volume
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_serial_gps->write("$PAIR062,3,0*3D\r\n"); // GSV OFF to reduce volume
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_serial_gps->write("$PAIR513*3D\r\n"); // save configuration
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std::vector<ChipInfo> airoha = {{"AG3335", "$PAIR021,AG3335", GNSS_MODEL_AG3335},
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{"AG3352", "$PAIR021,AG3352", GNSS_MODEL_AG3352},
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{"RYS3520", "$PAIR021,REYAX_RYS3520_V2", GNSS_MODEL_AG3352}};
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PROBE_FAMILY("Airoha Family", "$PAIR021*39", airoha, 1000);
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currentDelay = 20;
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currentStep = 4;
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return GNSS_MODEL_UNKNOWN;
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}
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case 4: {
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PROBE_SIMPLE("LC86", "$PQTMVERNO*58", "$PQTMVERNO,LC86", GNSS_MODEL_AG3352, 500);
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PROBE_SIMPLE("L76K", "$PCAS06,0*1B", "$GPTXT,01,01,02,SW=", GNSS_MODEL_MTK, 500);
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currentDelay = 20;
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currentStep = 5;
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return GNSS_MODEL_UNKNOWN;
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}
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case 5: {
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uint16_t len = getACK(buffer, sizeof(buffer), 0x0A, 0x04, 1200);
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if (len) {
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uint16_t position = 0;
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for (int i = 0; i < 30; i++) {
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ublox_info.swVersion[i] = buffer[position];
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position++;
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}
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for (int i = 0; i < 10; i++) {
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ublox_info.hwVersion[i] = buffer[position];
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position++;
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}
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// Close all NMEA sentences, valid for MTK3333 and MTK3339 platforms
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_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");
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delay(20);
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std::vector<ChipInfo> mtk = {{"L76B", "Quectel-L76B", GNSS_MODEL_MTK_L76B}, {"PA1010D", "1010D", GNSS_MODEL_MTK_PA1010D},
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{"PA1616S", "1616S", GNSS_MODEL_MTK_PA1616S}, {"LS20031", "MC-1513", GNSS_MODEL_MTK_L76B},
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{"L96", "Quectel-L96", GNSS_MODEL_MTK_L76B}, {"L80-R", "_3337_", GNSS_MODEL_MTK_L76B},
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{"L80", "_3339_", GNSS_MODEL_MTK_L76B}};
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while (len >= position + 30) {
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for (int i = 0; i < 30; i++) {
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ublox_info.extension[ublox_info.extensionNo][i] = buffer[position];
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position++;
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}
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ublox_info.extensionNo++;
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if (ublox_info.extensionNo > 9)
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break;
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}
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LOG_DEBUG("Module Info : ");
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LOG_DEBUG("Soft version: %s", ublox_info.swVersion);
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LOG_DEBUG("Hard version: %s", ublox_info.hwVersion);
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LOG_DEBUG("Extensions:%d", ublox_info.extensionNo);
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for (int i = 0; i < ublox_info.extensionNo; i++) {
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LOG_DEBUG(" %s", ublox_info.extension[i]);
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PROBE_FAMILY("MTK Family", "$PMTK605*31", mtk, 500);
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currentDelay = 20;
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currentStep = 6;
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return GNSS_MODEL_UNKNOWN;
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}
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case 6: {
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uint8_t cfg_rate[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x00, 0x00};
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UBXChecksum(cfg_rate, sizeof(cfg_rate));
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clearBuffer();
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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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GPS_RESPONSE response = getACK(0x06, 0x08, 750);
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if (response == GNSS_RESPONSE_NONE) {
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LOG_WARN("No GNSS Module (baudrate %d)", serialSpeed);
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currentDelay = 2000;
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currentStep = 0;
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return GNSS_MODEL_UNKNOWN;
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} else if (response == GNSS_RESPONSE_FRAME_ERRORS) {
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LOG_INFO("UBlox Frame Errors (baudrate %d)", serialSpeed);
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}
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memset(buffer, 0, sizeof(buffer));
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uint8_t _message_MONVER[8] = {
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0xB5, 0x62, // Sync message for UBX protocol
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0x0A, 0x04, // Message class and ID (UBX-MON-VER)
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0x00, 0x00, // Length of payload (we're asking for an answer, so no payload)
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0x00, 0x00 // Checksum
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};
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// Get Ublox gnss module hardware and software info
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UBXChecksum(_message_MONVER, sizeof(_message_MONVER));
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clearBuffer();
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_serial_gps->write(_message_MONVER, sizeof(_message_MONVER));
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// tips: extensionNo field is 0 on some 6M GNSS modules
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for (int i = 0; i < ublox_info.extensionNo; ++i) {
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if (!strncmp(ublox_info.extension[i], "MOD=", 4)) {
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strncpy((char *)buffer, &(ublox_info.extension[i][4]), sizeof(buffer));
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} else if (!strncmp(ublox_info.extension[i], "PROTVER", 7)) {
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char *ptr = nullptr;
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memset(buffer, 0, sizeof(buffer));
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strncpy((char *)buffer, &(ublox_info.extension[i][8]), sizeof(buffer));
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LOG_DEBUG("Protocol Version:%s", (char *)buffer);
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if (strlen((char *)buffer)) {
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ublox_info.protocol_version = strtoul((char *)buffer, &ptr, 10);
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LOG_DEBUG("ProtVer=%d", ublox_info.protocol_version);
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} else {
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ublox_info.protocol_version = 0;
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uint16_t len = getACK(buffer, sizeof(buffer), 0x0A, 0x04, 1200);
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if (len) {
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uint16_t position = 0;
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for (int i = 0; i < 30; i++) {
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ublox_info.swVersion[i] = buffer[position];
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position++;
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}
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for (int i = 0; i < 10; i++) {
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ublox_info.hwVersion[i] = buffer[position];
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position++;
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}
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while (len >= position + 30) {
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for (int i = 0; i < 30; i++) {
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ublox_info.extension[ublox_info.extensionNo][i] = buffer[position];
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position++;
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}
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ublox_info.extensionNo++;
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if (ublox_info.extensionNo > 9)
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break;
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}
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LOG_DEBUG("Module Info : ");
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LOG_DEBUG("Soft version: %s", ublox_info.swVersion);
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LOG_DEBUG("Hard version: %s", ublox_info.hwVersion);
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LOG_DEBUG("Extensions:%d", ublox_info.extensionNo);
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for (int i = 0; i < ublox_info.extensionNo; i++) {
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LOG_DEBUG(" %s", ublox_info.extension[i]);
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}
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memset(buffer, 0, sizeof(buffer));
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// tips: extensionNo field is 0 on some 6M GNSS modules
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for (int i = 0; i < ublox_info.extensionNo; ++i) {
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if (!strncmp(ublox_info.extension[i], "MOD=", 4)) {
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strncpy((char *)buffer, &(ublox_info.extension[i][4]), sizeof(buffer));
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} else if (!strncmp(ublox_info.extension[i], "PROTVER", 7)) {
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char *ptr = nullptr;
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memset(buffer, 0, sizeof(buffer));
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strncpy((char *)buffer, &(ublox_info.extension[i][8]), sizeof(buffer));
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LOG_DEBUG("Protocol Version:%s", (char *)buffer);
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if (strlen((char *)buffer)) {
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ublox_info.protocol_version = strtoul((char *)buffer, &ptr, 10);
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LOG_DEBUG("ProtVer=%d", ublox_info.protocol_version);
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} else {
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ublox_info.protocol_version = 0;
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}
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}
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}
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}
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if (strncmp(ublox_info.hwVersion, "00040007", 8) == 0) {
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LOG_INFO(DETECTED_MESSAGE, "U-blox 6", "6");
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return GNSS_MODEL_UBLOX6;
|
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} else if (strncmp(ublox_info.hwVersion, "00070000", 8) == 0) {
|
||||
LOG_INFO(DETECTED_MESSAGE, "U-blox 7", "7");
|
||||
return GNSS_MODEL_UBLOX7;
|
||||
} else if (strncmp(ublox_info.hwVersion, "00080000", 8) == 0) {
|
||||
LOG_INFO(DETECTED_MESSAGE, "U-blox 8", "8");
|
||||
return GNSS_MODEL_UBLOX8;
|
||||
} else if (strncmp(ublox_info.hwVersion, "00190000", 8) == 0) {
|
||||
LOG_INFO(DETECTED_MESSAGE, "U-blox 9", "9");
|
||||
return GNSS_MODEL_UBLOX9;
|
||||
} else if (strncmp(ublox_info.hwVersion, "000A0000", 8) == 0) {
|
||||
LOG_INFO(DETECTED_MESSAGE, "U-blox 10", "10");
|
||||
return GNSS_MODEL_UBLOX10;
|
||||
if (strncmp(ublox_info.hwVersion, "00040007", 8) == 0) {
|
||||
LOG_INFO(DETECTED_MESSAGE, "U-blox 6", "6");
|
||||
return GNSS_MODEL_UBLOX6;
|
||||
} else if (strncmp(ublox_info.hwVersion, "00070000", 8) == 0) {
|
||||
LOG_INFO(DETECTED_MESSAGE, "U-blox 7", "7");
|
||||
return GNSS_MODEL_UBLOX7;
|
||||
} else if (strncmp(ublox_info.hwVersion, "00080000", 8) == 0) {
|
||||
LOG_INFO(DETECTED_MESSAGE, "U-blox 8", "8");
|
||||
return GNSS_MODEL_UBLOX8;
|
||||
} else if (strncmp(ublox_info.hwVersion, "00190000", 8) == 0) {
|
||||
LOG_INFO(DETECTED_MESSAGE, "U-blox 9", "9");
|
||||
return GNSS_MODEL_UBLOX9;
|
||||
} else if (strncmp(ublox_info.hwVersion, "000A0000", 8) == 0) {
|
||||
LOG_INFO(DETECTED_MESSAGE, "U-blox 10", "10");
|
||||
return GNSS_MODEL_UBLOX10;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
LOG_WARN("No GNSS Module (baudrate %d)", serialSpeed);
|
||||
currentDelay = 2000;
|
||||
currentStep = 0;
|
||||
return GNSS_MODEL_UNKNOWN;
|
||||
}
|
||||
|
||||
|
||||
@ -151,6 +151,8 @@ class GPS : private concurrency::OSThread
|
||||
TinyGPSPlus reader;
|
||||
uint8_t fixQual = 0; // fix quality from GPGGA
|
||||
uint32_t lastChecksumFailCount = 0;
|
||||
uint8_t currentStep = 0;
|
||||
int32_t currentDelay = 2000;
|
||||
|
||||
#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
|
||||
// (20210908) TinyGps++ can only read the GPGSA "FIX TYPE" field
|
||||
|
||||
Loading…
Reference in New Issue
Block a user