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Add more to GPS_DEBUG and fix ubx7 CFG-GNSS

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This commit is contained in:
Jonathan Bennett 2023-09-03 16:20:01 -05:00
parent ecdb75aae0
commit 7ad94da1c6
1 changed files with 62 additions and 27 deletions
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89
src/gps/GPS.cpp
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@ -104,6 +104,7 @@ GPS_RESPONSE GPS::getACK(uint8_t class_id, uint8_t msg_id, uint32_t waitMillis)
while (millis() - startTime < waitMillis) {
if (ack > 9) {
#ifdef GPS_DEBUG
LOG_DEBUG("\n");
LOG_INFO("Got ACK for class %02X message %02X in %d millis.\n", class_id, msg_id, millis() - startTime);
#endif
return GNSS_RESPONSE_OK; // ACK received
@ -118,20 +119,27 @@ GPS_RESPONSE GPS::getACK(uint8_t class_id, uint8_t msg_id, uint32_t waitMillis)
} else {
sCounter = 0;
}
// LOG_DEBUG("%02X", b);
#ifdef GPS_DEBUG
LOG_DEBUG("%02X", b);
#endif
if (b == buf[ack]) {
ack++;
} else {
ack = 0; // Reset the acknowledgement counter
if (buf[3] == 0x00) { // UBX-ACK-NAK message
if (ack == 3 && b == 0x00) { // UBX-ACK-NAK message
#ifdef GPS_DEBUG
LOG_DEBUG("\n");
#endif
LOG_WARN("Got NAK for class %02X message %02X\n", class_id, msg_id);
return GNSS_RESPONSE_NAK; // NAK received
}
ack = 0; // Reset the acknowledgement counter
}
}
}
// LOG_WARN("No response for class %02X message %02X\n", class_id, msg_id);
// LOG_DEBUG("\n");
#ifdef GPS_DEBUG
LOG_DEBUG("\n");
LOG_WARN("No response for class %02X message %02X\n", class_id, msg_id);
#endif
return GNSS_RESPONSE_NONE; // No response received within timeout
}
@ -267,6 +275,10 @@ bool GPS::setupGPS()
if (gnssModel != GNSS_MODEL_UNKNOWN)
break;
}
if (gnssModel == GNSS_MODEL_UNKNOWN) {
LOG_DEBUG("No GPS found, retrying at 9600 baud.\n");
gnssModel = probe(9600);
}
#endif
if (gnssModel == GNSS_MODEL_MTK) {
@ -297,28 +309,47 @@ bool GPS::setupGPS()
// We need set it because by default it is GPS only, and we want to use GLONASS too
// Also we need SBAS for better accuracy and extra features
// ToDo: Dynamic configure GNSS systems depending of LoRa region
byte _message_GNSS[36] = {
0xb5, 0x62, // Sync message for UBX protocol
0x06, 0x3e, // Message class and ID (UBX-CFG-GNSS)
0x1c, 0x00, // Length of payload (28 bytes)
0x00, // msgVer (0 for this version)
0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0)
0xff, // numTrkChUse (max number of channels to use, 0xff = max available)
0x03, // numConfigBlocks (number of GNSS systems), most modules support maximum 3 GNSS systems
// GNSS config format: gnssId, resTrkCh, maxTrkCh, reserved1, flags
0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, // GPS
0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01, // SBAS
0x06, 0x08, 0x0e, 0x00, 0x01, 0x00, 0x01, 0x01, // GLONASS
0x00, 0x00 // Checksum (to be calculated below)
};
// Calculate the checksum and update the message.
UBXChecksum(_message_GNSS, sizeof(_message_GNSS));
if (strncmp(info.hwVersion, "00070000", 8) == 0) { // Max7 seems to only support GPS *or* GLONASS
byte _message_GNSS[28] = {
0xb5, 0x62, // Sync message for UBX protocol
0x06, 0x3e, // Message class and ID (UBX-CFG-GNSS)
0x14, 0x00, // Length of payload (28 bytes)
0x00, // msgVer (0 for this version)
0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0)
0xff, // numTrkChUse (max number of channels to use, 0xff = max available)
0x02, // numConfigBlocks (number of GNSS systems), most modules support maximum 3 GNSS systems
// GNSS config format: gnssId, resTrkCh, maxTrkCh, reserved1, flags
0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x00, 0x01, // GPS
0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x00, 0x01, // SBAS
0x00, 0x00 // Checksum (to be calculated below)
};
// Calculate the checksum and update the message.
UBXChecksum(_message_GNSS, sizeof(_message_GNSS));
// Send the message to the module
_serial_gps->write(_message_GNSS, sizeof(_message_GNSS));
} else {
byte _message_GNSS[36] = {
0xb5, 0x62, // Sync message for UBX protocol
0x06, 0x3e, // Message class and ID (UBX-CFG-GNSS)
0x1c, 0x00, // Length of payload (28 bytes)
0x00, // msgVer (0 for this version)
0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0)
0xff, // numTrkChUse (max number of channels to use, 0xff = max available)
0x03, // numConfigBlocks (number of GNSS systems), most modules support maximum 3 GNSS systems
// GNSS config format: gnssId, resTrkCh, maxTrkCh, reserved1, flags
0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, // GPS
0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01, // SBAS
0x06, 0x08, 0x0e, 0x00, 0x01, 0x00, 0x01, 0x01, // GLONASS
0x00, 0x00 // Checksum (to be calculated below)
};
// Calculate the checksum and update the message.
UBXChecksum(_message_GNSS, sizeof(_message_GNSS));
// Send the message to the module
_serial_gps->write(_message_GNSS, sizeof(_message_GNSS));
}
// Send the message to the module
_serial_gps->write(_message_GNSS, sizeof(_message_GNSS));
if (getACK(0x06, 0x3e, 300) != GNSS_RESPONSE_OK) {
if (getACK(0x06, 0x3e, 800) == GNSS_RESPONSE_NAK) {
// It's not critical if the module doesn't acknowledge this configuration.
// The module should operate adequately with its factory or previously saved settings.
// It appears that there is a firmware bug in some GPS modules: When an attempt is made
@ -327,7 +358,11 @@ bool GPS::setupGPS()
// There is also a possibility that the module may be GPS-only.
LOG_INFO("Unable to reconfigure GNSS - defaults maintained. Is this module GPS-only?\n");
} else {
LOG_INFO("GNSS configured for GPS+SBAS+GLONASS. Pause for 0.75s before sending next command.\n");
if (strncmp(info.hwVersion, "00070000", 8) == 0) {
LOG_INFO("GNSS configured for GPS+SBAS. Pause for 0.75s before sending next command.\n");
} else {
LOG_INFO("GNSS configured for GPS+SBAS+GLONASS. Pause for 0.75s before sending next command.\n");
}
// Documentation say, we need wait atleast 0.5s after reconfiguration of GNSS module, before sending next commands
delay(750);
}
@ -919,7 +954,7 @@ GnssModel_t GPS::probe(int serialSpeed)
uint8_t cfg_rate[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x00, 0x00};
UBXChecksum(cfg_rate, sizeof(cfg_rate));
// clearBuffer();
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);