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GPS log modifications (#2609)

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* Move module info for use in functions outside of probe, refmt MON-VER message

* use checksum function in probe message

* Housekeeping on some comments, unsign the position ctr again
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code8buster 2023-07-18 01:27:14 +00:00 committed by GitHub
parent 5995c7060d
commit 8927cffd64
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1 changed files with 44 additions and 31 deletions
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75
src/gps/GPS.cpp
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@ -25,6 +25,9 @@ GPS *gps;
/// only init that port once.
static bool didSerialInit;
struct uBloxGnssModelInfo info;
uint8_t uBloxProtocolVersion;
void GPS::UBXChecksum(byte *message, size_t length)
{
uint8_t CK_A = 0, CK_B = 0;
@ -98,7 +101,7 @@ int GPS::getAck(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t
uint32_t startTime = millis();
uint16_t needRead;
while (millis() - startTime < 800) {
while (millis() - startTime < 1200) {
while (_serial_gps->available()) {
int c = _serial_gps->read();
switch (ubxFrameCounter) {
@ -854,24 +857,17 @@ int GPS::prepareDeepSleep(void *unused)
GnssModel_t GPS::probe()
{
// return immediately if the model is set by the variant.h file
#ifdef GPS_UBLOX
return GNSS_MODEL_UBLOX;
#elif defined(GPS_L76K)
memset(&info, 0, sizeof(struct uBloxGnssModelInfo));
// return immediately if the model is set by the variant.h file
//#ifdef GPS_UBLOX (unless it's a ublox, because we might want to know the module info!
// return GNSS_MODEL_UBLOX; think about removing this macro and return)
#if defined(GPS_L76K)
return GNSS_MODEL_MTK;
#elif defined(GPS_UC6580)
_serial_gps->updateBaudRate(115200);
return GNSS_MODEL_UC6850;
#else
// we use autodetect, only T-BEAM S3 for now...
uint8_t buffer[256];
/*
* The GNSS module information variable is temporarily placed inside the function body,
* if it needs to be used elsewhere, it can be moved to the outside
* */
struct uBloxGnssModelInfo info;
memset(&info, 0, sizeof(struct uBloxGnssModelInfo));
uint8_t buffer[384] = {0};
// Close all NMEA sentences , Only valid for MTK platform
_serial_gps->write("$PCAS03,0,0,0,0,0,0,0,0,0,0,,,0,0*02\r\n");
@ -899,31 +895,37 @@ GnssModel_t GPS::probe()
uint8_t cfg_rate[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x0E, 0x30};
_serial_gps->write(cfg_rate, sizeof(cfg_rate));
// Check that the returned response class and message ID are correct
if (!getAck(buffer, 256, 0x06, 0x08)) {
if (!getAck(buffer, 384, 0x06, 0x08)) {
LOG_WARN("Failed to find UBlox & MTK GNSS Module\n");
return GNSS_MODEL_UNKNOWN;
}
memset(buffer, 0, sizeof(buffer));
byte _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
uint8_t cfg_get_hw[] = {0xB5, 0x62, 0x0A, 0x04, 0x00, 0x00, 0x0E, 0x34};
_serial_gps->write(cfg_get_hw, sizeof(cfg_get_hw));
UBXChecksum(_message_MONVER, sizeof(_message_MONVER));
_serial_gps->write(_message_MONVER, sizeof(_message_MONVER));
uint16_t len = getAck(buffer, 256, 0x0A, 0x04);
uint16_t len = getAck(buffer, 384, 0x0A, 0x04);
if (len) {
// LOG_DEBUG("monver reply size = %d\n", len);
uint16_t position = 0;
for (int i = 0; i < 30; i++) {
info.swVersion[i] = buffer[position];
position++;
}
for (int i = 0; i < 10; i++) {
info.hwVersion[i] = buffer[position];
info.hwVersion[i] = buffer[position - 1];
position++;
}
while (len >= position + 30) {
for (int i = 0; i < 30; i++) {
info.extension[info.extensionNo][i] = buffer[position];
info.extension[info.extensionNo][i] = buffer[position - 1];
position++;
}
info.extensionNo++;
@ -933,6 +935,7 @@ GnssModel_t GPS::probe()
LOG_DEBUG("Module Info : \n");
LOG_DEBUG("Soft version: %s\n", info.swVersion);
LOG_DEBUG("first char is %c\n", (char)info.swVersion[0]);
LOG_DEBUG("Hard version: %s\n", info.hwVersion);
LOG_DEBUG("Extensions:%d\n", info.extensionNo);
for (int i = 0; i < info.extensionNo; i++) {
@ -943,19 +946,29 @@ GnssModel_t GPS::probe()
// tips: extensionNo field is 0 on some 6M GNSS modules
for (int i = 0; i < info.extensionNo; ++i) {
if (!strncmp(info.extension[i], "OD=", 3)) {
strncpy((char *)buffer, &(info.extension[i][3]), sizeof(buffer));
LOG_DEBUG("GetModel:%s\n", (char *)buffer);
if (!strncmp(info.extension[i], "MOD=", 4)) {
strncpy((char *)buffer, &(info.extension[i][4]), sizeof(buffer));
// LOG_DEBUG("GetModel:%s\n", (char *)buffer);
if (strlen((char *)buffer)) {
LOG_INFO("UBlox GNSS init succeeded, using UBlox %s GNSS Module\n", (char *)buffer);
} else {
LOG_INFO("UBlox GNSS init succeeded, using UBlox GNSS Module\n");
}
} else if (!strncmp(info.extension[i], "PROTVER=", 8)) {
char *ptr = nullptr;
memset(buffer, 0, sizeof(buffer));
strncpy((char *)buffer, &(info.extension[i][8]), sizeof(buffer));
LOG_DEBUG("Protocol Version:%s\n", (char *)buffer);
if (strlen((char *)buffer)) {
uBloxProtocolVersion = strtoul((char *)buffer, &ptr, 10);
LOG_DEBUG("ProtVer=%d\n", uBloxProtocolVersion);
} else {
uBloxProtocolVersion = 0;
}
}
}
}
if (strlen((char *)buffer)) {
LOG_INFO("UBlox GNSS init succeeded, using UBlox %s GNSS Module\n", buffer);
} else {
LOG_INFO("UBlox GNSS init succeeded, using UBlox GNSS Module\n");
}
return GNSS_MODEL_UBLOX;
#endif
}