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More fixes for GPS chips with unexpected baud

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This commit is contained in:
Jonathan Bennett 2023-09-01 11:55:46 -05:00
parent a61f969773
commit 6803fd7949
2 changed files with 51 additions and 31 deletions

77
src/gps/GPS.cpp
View File

@ -47,6 +47,30 @@ void GPS::UBXChecksum(byte *message, size_t length)
message[length - 1] = CK_B;
}
bool GPS::getACK(const char *message, int waitMillis)
{
uint8_t buffer[768] = {0};
uint8_t b;
int bytesRead;
uint32_t startTimeout = millis() + waitMillis;
while (millis() < startTimeout) {
bytesRead = 0;
while ((_serial_gps->available()) && (millis() < startTimeout)) {
b = _serial_gps->read();
buffer[bytesRead] = b;
bytesRead++;
if ((bytesRead == 768) || (b == '\r'))
break;
// Get module info , If the correct header is returned,
// it can be determined that it is the MTK chip
}
if (strnstr((char *)buffer, message, bytesRead) != nullptr) {
return true;
}
}
return false;
}
bool GPS::getACK(uint8_t class_id, uint8_t msg_id, int waitMillis)
{
uint8_t b;
@ -68,7 +92,7 @@ bool GPS::getACK(uint8_t class_id, uint8_t msg_id, int waitMillis)
while (millis() - startTime < waitMillis) {
if (ack > 9) {
// LOG_INFO("Got ACK for class %02X message %02X in %d millis.\n", class_id, msg_id, millis() - startTime);
LOG_INFO("Got ACK for class %02X message %02X in %d millis.\n", class_id, msg_id, millis() - startTime);
return true; // ACK received
}
if (_serial_gps->available()) {
@ -84,7 +108,7 @@ bool GPS::getACK(uint8_t class_id, uint8_t msg_id, int waitMillis)
}
}
}
// LOG_WARN("No response for class %02X message %02X\n", class_id, msg_id);
LOG_WARN("No response for class %02X message %02X\n", class_id, msg_id);
return false; // No response received within timeout
}
@ -358,20 +382,6 @@ bool GPS::setupGPS()
LOG_WARN("Unable to configure extra settings.\n");
}
/*
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
// Set the UART port to output NMEA only
byte _message_nmea[] = {0xB5, 0x62, 0x06, 0x00, 0x14, 0x00, 0x01, 0x00, 0x00, 0x00, 0xC0, 0x08, 0x00, 0x00,
0x80, 0x25, 0x00, 0x00, 0x07, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x91, 0xAF};
_serial_gps->write(_message_nmea, sizeof(_message_nmea));
if (!getACK(0x06, 0x00, 300)) {
LOG_WARN("Unable to enable NMEA Mode.\n");
return true;
}
*/
// ublox-M10S can be compatible with UBLOX traditional protocol, so the following sentence settings are also valid
// Set GPS update rate to 1Hz
@ -874,17 +884,9 @@ GnssModel_t GPS::probe(int serialSpeed)
// Get version information
clearBuffer();
_serial_gps->write("$PCAS06,0*1B\r\n");
uint32_t startTimeout = millis() + 500;
while (millis() < startTimeout) {
if (_serial_gps->available()) {
// Get module info , If the correct header is returned,
// it can be determined that it is the MTK chip
int bytesRead = _serial_gps->readBytesUntil('\r', buffer, sizeof(buffer));
if (strnstr((char *)buffer, "$GPTXT,01,01,02,SW=", bytesRead) != nullptr) {
LOG_INFO("L76K GNSS init succeeded, using L76K GNSS Module\n");
return GNSS_MODEL_MTK;
}
}
if (getACK("$GPTXT,01,01,02,SW=", 500)) {
LOG_INFO("L76K GNSS init succeeded, using L76K GNSS Module\n");
return GNSS_MODEL_MTK;
}
uint8_t cfg_rate[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x00, 0x00};
@ -892,11 +894,30 @@ GnssModel_t GPS::probe(int serialSpeed)
clearBuffer();
_serial_gps->write(cfg_rate, sizeof(cfg_rate));
// Check that the returned response class and message ID are correct
if (!getAck(buffer, sizeof(buffer), 0x06, 0x08, 1000)) {
if (!getAck(buffer, sizeof(buffer), 0x06, 0x08, 1500)) {
LOG_WARN("Failed to find UBlox & MTK GNSS Module using baudrate %d\n", serialSpeed);
return GNSS_MODEL_UNKNOWN;
}
LOG_INFO("Found a UBlox Module using baudrate %d\n", serialSpeed);
// 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
if (serialSpeed != 9600) {
// Set the UART port to 9600
byte _message_prt[] = {0xB5, 0x62, 0x06, 0x00, 0x14, 0x00, 0x01, 0x00, 0x00, 0x00, 0xD0, 0x08, 0x00, 0x00,
0x80, 0x25, 0x00, 0x00, 0x07, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
UBXChecksum(_message_prt, sizeof(_message_prt));
_serial_gps->write(_message_prt, sizeof(_message_prt));
delay(500);
serialSpeed = 9600;
#if defined(ARCH_NRF52) || defined(ARCH_PORTDUINO) || defined(ARCH_RP2040)
_serial_gps->end();
_serial_gps->begin(serialSpeed);
#else
_serial_gps->updateBaudRate(serialSpeed);
#endif
}
memset(buffer, 0, sizeof(buffer));
byte _message_MONVER[8] = {
0xB5, 0x62, // Sync message for UBX protocol

5
src/gps/GPS.h
View File

@ -161,8 +161,6 @@ class GPS : private concurrency::OSThread
*/
uint32_t getSleepTime() const;
bool getACK(uint8_t c, uint8_t i, int waitMillis);
/**
* Tell users we have new GPS readings
*/
@ -175,7 +173,8 @@ class GPS : private concurrency::OSThread
GnssModel_t probe(int serialSpeed);
int getAck(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t requestedID, int waitMillis);
bool getACK(uint8_t c, uint8_t i, int waitMillis);
bool getACK(const char *message, int waitMillis);
// delay counter to allow more sats before fixed position stops GPS thread
uint8_t fixeddelayCtr = 0;