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Cleanup in prep for commiting

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Fix some compilation warnings
gate debug code behind GPS_DEBUG
minor fix in u-blox protocol detection
Begin to gate GPS messages based on protover
This commit is contained in:
Jonathan Bennett 2023-09-03 01:50:11 -05:00
parent b21368ecfa
commit 7c98445ca3
2 changed files with 40 additions and 30 deletions
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64
src/gps/GPS.cpp
View File

@ -47,7 +47,7 @@ void GPS::UBXChecksum(byte *message, size_t length)
message[length - 1] = CK_B;
}
GPS_RESPONSE GPS::getACK(const char *message, int waitMillis)
GPS_RESPONSE GPS::getACK(const char *message, uint32_t waitMillis)
{
uint8_t buffer[768] = {0};
uint8_t b;
@ -62,27 +62,31 @@ GPS_RESPONSE GPS::getACK(const char *message, int waitMillis)
if (strnstr((char *)buffer, message, bytesRead) != nullptr) {
return GNSS_RESPONSE_OK;
} else {
#ifdef GPS_DEBUG
buffer[bytesRead] = '\0';
bytesRead++;
LOG_INFO("Bytes read:%s\n", (char*) buffer);
LOG_INFO("Bytes read:%s\n", (char *)buffer);
#endif
bytesRead = 0;
}
}
}
}
#ifdef GPS_DEBUG
buffer[bytesRead] = '\0';
bytesRead++;
LOG_INFO("Bytes read:%s\n", (char*) buffer);
LOG_INFO("Bytes read:%s\n", (char *)buffer);
#endif
return GNSS_RESPONSE_NONE;
}
GPS_RESPONSE GPS::getACK(uint8_t class_id, uint8_t msg_id, int waitMillis)
GPS_RESPONSE GPS::getACK(uint8_t class_id, uint8_t msg_id, uint32_t waitMillis)
{
uint8_t b;
uint8_t ack = 0;
const uint8_t ackP[2] = {class_id, msg_id};
uint8_t buf[10] = {0xB5, 0x62, 0x05, 0x01, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00};
unsigned long startTime = millis();
uint32_t startTime = millis();
const char frame_errors[] = "More than 100 frame errors";
int sCounter = 0;
@ -99,7 +103,9 @@ GPS_RESPONSE 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);
#ifdef GPS_DEBUG
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
}
if (_serial_gps->available()) {
@ -138,7 +144,7 @@ GPS_RESPONSE GPS::getACK(uint8_t class_id, uint8_t msg_id, int waitMillis)
* @param requestedID: request message ID constant
* @retval length of payload message
*/
int GPS::getACK(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t requestedID, int waitMillis)
int GPS::getACK(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t requestedID, uint32_t waitMillis)
{
uint16_t ubxFrameCounter = 0;
uint32_t startTime = millis();
@ -198,8 +204,10 @@ int GPS::getACK(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t
ubxFrameCounter = 0;
} else {
// return payload length
// LOG_INFO("Got ACK for class %02X message %02X in %d millis.\n", requestedClass, requestedID, millis() -
// startTime);
#ifdef GPS_DEBUG
LOG_INFO("Got ACK for class %02X message %02X in %d millis.\n", requestedClass, requestedID,
millis() - startTime);
#endif
return needRead;
}
break;
@ -548,26 +556,27 @@ bool GPS::setupGPS()
// set to Interval; otherwise, it must be set to '0'. The 'onTime' field specifies the duration of the ON phase and
// must be smaller than the period. It is only valid when the powerSetupValue is set to Interval; otherwise, it must
// be set to '0'.
byte UBX_CFG_PMS[14] = {
0xB5, 0x62, // UBX sync characters
0x06, 0x86, // Message class and ID (UBX-CFG-PMS)
0x06, 0x00, // Length of payload (6 bytes)
0x00, // Version (0)
0x03, // Power setup value
0x00, 0x00, // period: not applicable, set to 0
0x00, 0x00, // onTime: not applicable, set to 0
0x00, 0x00 // Placeholder for checksum, will be calculated next
};
if (uBloxProtocolVersion >= 18) {
byte UBX_CFG_PMS[14] = {
0xB5, 0x62, // UBX sync characters
0x06, 0x86, // Message class and ID (UBX-CFG-PMS)
0x06, 0x00, // Length of payload (6 bytes)
0x00, // Version (0)
0x03, // Power setup value
0x00, 0x00, // period: not applicable, set to 0
0x00, 0x00, // onTime: not applicable, set to 0
0x00, 0x00 // Placeholder for checksum, will be calculated next
};
// Calculate the checksum and update the message
UBXChecksum(UBX_CFG_PMS, sizeof(UBX_CFG_PMS));
// Calculate the checksum and update the message
UBXChecksum(UBX_CFG_PMS, sizeof(UBX_CFG_PMS));
// Send the message to the module
_serial_gps->write(UBX_CFG_PMS, sizeof(UBX_CFG_PMS));
if (getACK(0x06, 0x86, 300) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to enable powersaving for GPS.\n");
// Send the message to the module
_serial_gps->write(UBX_CFG_PMS, sizeof(UBX_CFG_PMS));
if (getACK(0x06, 0x86, 300) != GNSS_RESPONSE_OK) {
LOG_WARN("Unable to enable powersaving for GPS.\n");
}
}
// We need save configuration to flash to make our config changes persistent
byte _message_SAVE[21] = {
0xB5, 0x62, // UBX protocol header
@ -938,6 +947,7 @@ GnssModel_t GPS::probe(int serialSpeed)
#else
_serial_gps->updateBaudRate(serialSpeed);
#endif
delay(200);
}
memset(buffer, 0, sizeof(buffer));
@ -995,7 +1005,7 @@ GnssModel_t GPS::probe(int serialSpeed)
} else {
LOG_INFO("UBlox GNSS init succeeded, using UBlox GNSS Module\n");
}
} else if (!strncmp(info.extension[i], "PROTVER=", 8)) {
} else if (!strncmp(info.extension[i], "PROTVER", 7)) {
char *ptr = nullptr;
memset(buffer, 0, sizeof(buffer));
strncpy((char *)buffer, &(info.extension[i][8]), sizeof(buffer));

6
src/gps/GPS.h
View File

@ -179,9 +179,9 @@ class GPS : private concurrency::OSThread
String getNMEA();
GnssModel_t probe(int serialSpeed);
int getACK(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t requestedID, int waitMillis);
GPS_RESPONSE getACK(uint8_t c, uint8_t i, int waitMillis);
GPS_RESPONSE getACK(const char *message, int waitMillis);
int getACK(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t requestedID, uint32_t waitMillis);
GPS_RESPONSE getACK(uint8_t c, uint8_t i, uint32_t waitMillis);
GPS_RESPONSE getACK(const char *message, uint32_t waitMillis);
// delay counter to allow more sats before fixed position stops GPS thread
uint8_t fixeddelayCtr = 0;