From 95e47eb92652efcc25a07166397bbe35fd5ff975 Mon Sep 17 00:00:00 2001 From: Tom Fifield Date: Sun, 20 Oct 2024 12:38:59 +1100 Subject: [PATCH] Optimise GPS Baud Rate cycle Previously, our baud rate cycled through one list twice. There were some rarer baudrates in there, so this code separates out those into a dedicated list that is only run through if detection fails for common bauds. We also only run through each baud rate once. --- src/gps/GPS.cpp | 56 +++++++++++++++++++++++++++++++------------------ src/gps/GPS.h | 5 +++-- 2 files changed, 39 insertions(+), 22 deletions(-) diff --git a/src/gps/GPS.cpp b/src/gps/GPS.cpp index 3a9516c84..7d000a70f 100644 --- a/src/gps/GPS.cpp +++ b/src/gps/GPS.cpp @@ -420,21 +420,34 @@ bool GPS::setup() if (tx_gpio && gnssModel == GNSS_MODEL_UNKNOWN) { // if GPS_BAUDRATE is specified in variant (i.e. not 9600), skip to the specified rate. - if (speedSelect == 0 && GPS_BAUDRATE != serialSpeeds[speedSelect]) { + if (probeTries == 0 && GPS_BAUDRATE != 9600) { speedSelect = std::find(serialSpeeds, std::end(serialSpeeds), GPS_BAUDRATE) - serialSpeeds; + if (speedSelect == 0) { + speedSelect = std::find(rareSerialSpeeds, std::end(rareSerialSpeeds), GPS_BAUDRATE) - rareSerialSpeeds; + probeTries = 1; + } } - - LOG_DEBUG("Probing for GPS at %d", serialSpeeds[speedSelect]); - gnssModel = probe(serialSpeeds[speedSelect]); - if (gnssModel == GNSS_MODEL_UNKNOWN) { - if (++speedSelect == sizeof(serialSpeeds) / sizeof(int)) { - speedSelect = 0; - if (--probeTries == 0) { + if (probeTries == 0) { + LOG_DEBUG("Probing for GPS at %d", serialSpeeds[speedSelect]); + gnssModel = probe(serialSpeeds[speedSelect]); + if (gnssModel == GNSS_MODEL_UNKNOWN) { + if (++speedSelect == sizeof(serialSpeeds) / sizeof(int)) { + speedSelect = 0; + ++probeTries; + } + } + } + // Rare Serial Speeds + if (probeTries == 1) { + LOG_DEBUG("Probing for GPS at %d", rareSerialSpeeds[speedSelect]); + gnssModel = probe(rareSerialSpeeds[speedSelect]); + if (gnssModel == GNSS_MODEL_UNKNOWN) { + if (++speedSelect == sizeof(rareSerialSpeeds) / sizeof(int)) { LOG_WARN("Giving up on GPS probe and setting to 9600."); return true; } + return false; } - return false; } } else { gnssModel = GNSS_MODEL_UNKNOWN; @@ -662,7 +675,8 @@ bool GPS::setup() SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_SBAS_BBR, "disable SBAS M10 GPS BBR", 300); delay(750); // will cause a receiver restart so wait a bit - // Done with initialization, Now enable wanted NMEA messages in BBR layer so they will survive a periodic sleep. + // Done with initialization, Now enable wanted NMEA messages in BBR layer so they will survive a periodic + // sleep. SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_ENABLE_NMEA_BBR, "enable messages for M10 GPS BBR", 300); delay(750); // Next enable wanted NMEA messages in RAM layer @@ -924,10 +938,10 @@ void GPS::down() #endif if (softsleepSupported) { - // How long does gps_update_interval need to be, for GPS_HARDSLEEP to become more efficient than GPS_SOFTSLEEP? - // Heuristic equation. A compromise manually fitted to power observations from U-blox NEO-6M and M10050 - // https://www.desmos.com/calculator/6gvjghoumr - // This is not particularly accurate, but probably an impromevement over a single, fixed threshold + // How long does gps_update_interval need to be, for GPS_HARDSLEEP to become more efficient than + // GPS_SOFTSLEEP? Heuristic equation. A compromise manually fitted to power observations from U-blox NEO-6M + // and M10050 https://www.desmos.com/calculator/6gvjghoumr This is not particularly accurate, but probably an + // impromevement over a single, fixed threshold uint32_t hardsleepThreshold = (2750 * pow(predictedSearchDuration / 1000, 1.22)); LOG_DEBUG("gps_update_interval >= %us needed to justify hardsleep", hardsleepThreshold / 1000); @@ -1279,10 +1293,12 @@ GPS *GPS::createGps() if (!GPS_EN_ACTIVE) { // Need to invert the pin before hardware new GpioNotTransformer( - virtPin, p); // We just leave this created object on the heap so it can stay watching virtPin and driving en_gpio + virtPin, + p); // We just leave this created object on the heap so it can stay watching virtPin and driving en_gpio } else { new GpioUnaryTransformer( - virtPin, p); // We just leave this created object on the heap so it can stay watching virtPin and driving en_gpio + virtPin, + p); // We just leave this created object on the heap so it can stay watching virtPin and driving en_gpio } } @@ -1390,8 +1406,8 @@ bool GPS::factoryReset() _serial_gps->write("$PMTK104*37\r\n"); // No PMTK_ACK for this command. delay(100); - // send the UBLOX Factory Reset Command regardless of detect state, something is very wrong, just assume it's UBLOX. - // Factory Reset + // send the UBLOX Factory Reset Command regardless of detect state, something is very wrong, just assume it's + // UBLOX. Factory Reset byte _message_reset[] = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0xFF, 0xFB, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x17, 0x2B, 0x7E}; _serial_gps->write(_message_reset, sizeof(_message_reset)); @@ -1430,8 +1446,8 @@ bool GPS::lookForTime() auto d = reader.date; if (ti.isValid() && d.isValid()) { // Note: we don't check for updated, because we'll only be called if needed /* Convert to unix time -The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of seconds that have elapsed since January 1, 1970 -(midnight UTC/GMT), not counting leap seconds (in ISO 8601: 1970-01-01T00:00:00Z). +The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of seconds that have elapsed since January 1, +1970 (midnight UTC/GMT), not counting leap seconds (in ISO 8601: 1970-01-01T00:00:00Z). */ struct tm t; t.tm_sec = ti.second() + round(ti.age() / 1000); diff --git a/src/gps/GPS.h b/src/gps/GPS.h index 8b1982cf7..55fc649f3 100644 --- a/src/gps/GPS.h +++ b/src/gps/GPS.h @@ -75,13 +75,14 @@ class GPS : private concurrency::OSThread uint8_t fixType = 0; // fix type from GPGSA #endif private: - const int serialSpeeds[6] = {9600, 115200, 38400, 4800, 57600, 9600}; + const int serialSpeeds[6] = {9600, 115200, 38400}; + const int rareSerialSpeeds[6] = {4800, 57600, 9600}; uint32_t lastWakeStartMsec = 0, lastSleepStartMsec = 0, lastFixStartMsec = 0; uint32_t rx_gpio = 0; uint32_t tx_gpio = 0; int speedSelect = 0; - int probeTries = 2; + int probeTries = 0; /** * hasValidLocation - indicates that the position variables contain a complete