diff --git a/src/gps/GPS.cpp b/src/gps/GPS.cpp index d49092fff..dcece305a 100644 --- a/src/gps/GPS.cpp +++ b/src/gps/GPS.cpp @@ -28,6 +28,12 @@ #define GPS_RESET_MODE HIGH #endif +// Not all platforms have std::size(). +template std::size_t array_count(const T (&)[N]) +{ + return N; +} + #if defined(NRF52840_XXAA) || defined(NRF52833_XXAA) || defined(ARCH_ESP32) || defined(ARCH_PORTDUINO) HardwareSerial *GPS::_serial_gps = &Serial1; #elif defined(ARCH_RP2040) @@ -46,8 +52,14 @@ static GPSUpdateScheduling scheduling; /// only init that port once. static bool didSerialInit; -static struct uBloxGnssModelInfo info; -static uint8_t uBloxProtocolVersion; +static struct uBloxGnssModelInfo { + char swVersion[30]; + char hwVersion[10]; + uint8_t extensionNo; + char extension[10][30]; + uint8_t protocol_version; +} ublox_info; + #define GPS_SOL_EXPIRY_MS 5000 // in millis. give 1 second time to combine different sentences. NMEA Frequency isn't higher anyway #define NMEA_MSG_GXGSA "GNGSA" // GSA message (GPGSA, GNGSA etc) @@ -412,6 +424,15 @@ int GPS::getACK(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t return 0; } +#if GPS_BAUDRATE_FIXED +// if GPS_BAUDRATE is specified in variant, only try that. +static const int serialSpeeds[1] = {GPS_BAUDRATE}; +static const int rareSerialSpeeds[1] = {GPS_BAUDRATE}; +#else +static const int serialSpeeds[3] = {9600, 115200, 38400}; +static const int rareSerialSpeeds[3] = {4800, 57600, GPS_BAUDRATE}; +#endif + /** * @brief Setup the GPS based on the model detected. * We detect the GPS by cycling through a set of baud rates, first common then rare. @@ -428,7 +449,7 @@ bool GPS::setup() LOG_DEBUG("Probe for GPS at %d", serialSpeeds[speedSelect]); gnssModel = probe(serialSpeeds[speedSelect]); if (gnssModel == GNSS_MODEL_UNKNOWN) { - if (++speedSelect == sizeof(serialSpeeds) / sizeof(int)) { + if (++speedSelect == array_count(serialSpeeds)) { speedSelect = 0; ++probeTries; } @@ -439,7 +460,7 @@ bool GPS::setup() LOG_DEBUG("Probe for GPS at %d", rareSerialSpeeds[speedSelect]); gnssModel = probe(rareSerialSpeeds[speedSelect]); if (gnssModel == GNSS_MODEL_UNKNOWN) { - if (++speedSelect == sizeof(rareSerialSpeeds) / sizeof(int)) { + if (++speedSelect == array_count(rareSerialSpeeds)) { LOG_WARN("Give up on GPS probe and set to %d", GPS_BAUDRATE); return true; } @@ -635,7 +656,7 @@ bool GPS::setup() SEND_UBX_PACKET(0x06, 0x01, _message_RMC, "enable NMEA RMC", 500); SEND_UBX_PACKET(0x06, 0x01, _message_GGA, "enable NMEA GGA", 500); - if (uBloxProtocolVersion >= 18) { + if (ublox_info.protocol_version >= 18) { clearBuffer(); SEND_UBX_PACKET(0x06, 0x86, _message_PMS, "enable powersave for GPS", 500); SEND_UBX_PACKET(0x06, 0x3B, _message_CFG_PM2, "enable powersave details for GPS", 500); @@ -1131,7 +1152,7 @@ GnssModel_t GPS::probe(int serialSpeed) } #endif - memset(&info, 0, sizeof(struct uBloxGnssModelInfo)); + memset(&ublox_info, 0, sizeof(ublox_info)); uint8_t buffer[768] = {0}; delay(100); @@ -1198,64 +1219,64 @@ GnssModel_t GPS::probe(int serialSpeed) if (len) { uint16_t position = 0; for (int i = 0; i < 30; i++) { - info.swVersion[i] = buffer[position]; + ublox_info.swVersion[i] = buffer[position]; position++; } for (int i = 0; i < 10; i++) { - info.hwVersion[i] = buffer[position]; + ublox_info.hwVersion[i] = buffer[position]; position++; } while (len >= position + 30) { for (int i = 0; i < 30; i++) { - info.extension[info.extensionNo][i] = buffer[position]; + ublox_info.extension[ublox_info.extensionNo][i] = buffer[position]; position++; } - info.extensionNo++; - if (info.extensionNo > 9) + ublox_info.extensionNo++; + if (ublox_info.extensionNo > 9) break; } LOG_DEBUG("Module Info : "); - LOG_DEBUG("Soft version: %s", info.swVersion); - LOG_DEBUG("Hard version: %s", info.hwVersion); - LOG_DEBUG("Extensions:%d", info.extensionNo); - for (int i = 0; i < info.extensionNo; i++) { - LOG_DEBUG(" %s", info.extension[i]); + LOG_DEBUG("Soft version: %s", ublox_info.swVersion); + LOG_DEBUG("Hard version: %s", ublox_info.hwVersion); + LOG_DEBUG("Extensions:%d", ublox_info.extensionNo); + for (int i = 0; i < ublox_info.extensionNo; i++) { + LOG_DEBUG(" %s", ublox_info.extension[i]); } memset(buffer, 0, sizeof(buffer)); // tips: extensionNo field is 0 on some 6M GNSS modules - for (int i = 0; i < info.extensionNo; ++i) { - if (!strncmp(info.extension[i], "MOD=", 4)) { - strncpy((char *)buffer, &(info.extension[i][4]), sizeof(buffer)); - } else if (!strncmp(info.extension[i], "PROTVER", 7)) { + for (int i = 0; i < ublox_info.extensionNo; ++i) { + if (!strncmp(ublox_info.extension[i], "MOD=", 4)) { + strncpy((char *)buffer, &(ublox_info.extension[i][4]), sizeof(buffer)); + } else if (!strncmp(ublox_info.extension[i], "PROTVER", 7)) { char *ptr = nullptr; memset(buffer, 0, sizeof(buffer)); - strncpy((char *)buffer, &(info.extension[i][8]), sizeof(buffer)); + strncpy((char *)buffer, &(ublox_info.extension[i][8]), sizeof(buffer)); LOG_DEBUG("Protocol Version:%s", (char *)buffer); if (strlen((char *)buffer)) { - uBloxProtocolVersion = strtoul((char *)buffer, &ptr, 10); - LOG_DEBUG("ProtVer=%d", uBloxProtocolVersion); + ublox_info.protocol_version = strtoul((char *)buffer, &ptr, 10); + LOG_DEBUG("ProtVer=%d", ublox_info.protocol_version); } else { - uBloxProtocolVersion = 0; + ublox_info.protocol_version = 0; } } } - if (strncmp(info.hwVersion, "00040007", 8) == 0) { + if (strncmp(ublox_info.hwVersion, "00040007", 8) == 0) { LOG_INFO(DETECTED_MESSAGE, "U-blox 6", "6"); return GNSS_MODEL_UBLOX6; - } else if (strncmp(info.hwVersion, "00070000", 8) == 0) { + } else if (strncmp(ublox_info.hwVersion, "00070000", 8) == 0) { LOG_INFO(DETECTED_MESSAGE, "U-blox 7", "7"); return GNSS_MODEL_UBLOX7; - } else if (strncmp(info.hwVersion, "00080000", 8) == 0) { + } else if (strncmp(ublox_info.hwVersion, "00080000", 8) == 0) { LOG_INFO(DETECTED_MESSAGE, "U-blox 8", "8"); return GNSS_MODEL_UBLOX8; - } else if (strncmp(info.hwVersion, "00190000", 8) == 0) { + } else if (strncmp(ublox_info.hwVersion, "00190000", 8) == 0) { LOG_INFO(DETECTED_MESSAGE, "U-blox 9", "9"); return GNSS_MODEL_UBLOX9; - } else if (strncmp(info.hwVersion, "000A0000", 8) == 0) { + } else if (strncmp(ublox_info.hwVersion, "000A0000", 8) == 0) { LOG_INFO(DETECTED_MESSAGE, "U-blox 10", "10"); return GNSS_MODEL_UBLOX10; } @@ -1729,4 +1750,4 @@ void GPS::toggleGpsMode() enable(); } } -#endif // Exclude GPS +#endif // Exclude GPS \ No newline at end of file diff --git a/src/gps/GPS.h b/src/gps/GPS.h index cc72350d2..74d73e39a 100644 --- a/src/gps/GPS.h +++ b/src/gps/GPS.h @@ -16,13 +16,6 @@ #define GPS_EN_ACTIVE 1 #endif -struct uBloxGnssModelInfo { - char swVersion[30]; - char hwVersion[10]; - uint8_t extensionNo; - char extension[10][30]; -}; - typedef enum { GNSS_MODEL_ATGM336H, GNSS_MODEL_MTK, @@ -119,7 +112,9 @@ class GPS : private concurrency::OSThread // Let the GPS hardware save power between updates void down(); - protected: + private: + GPS() : concurrency::OSThread("GPS") {} + /// Record that we have a GPS void setConnected(); @@ -147,9 +142,6 @@ class GPS : private concurrency::OSThread GnssModel_t gnssModel = GNSS_MODEL_UNKNOWN; - private: - GPS() : concurrency::OSThread("GPS") {} - TinyGPSPlus reader; uint8_t fixQual = 0; // fix quality from GPGGA uint32_t lastChecksumFailCount = 0; @@ -161,14 +153,6 @@ class GPS : private concurrency::OSThread TinyGPSCustom gsapdop; // custom extract PDOP from GPGSA uint8_t fixType = 0; // fix type from GPGSA #endif -#if GPS_BAUDRATE_FIXED - // if GPS_BAUDRATE is specified in variant, only try that. - const int serialSpeeds[1] = {GPS_BAUDRATE}; - const int rareSerialSpeeds[1] = {GPS_BAUDRATE}; -#else - const int serialSpeeds[3] = {9600, 115200, 38400}; - const int rareSerialSpeeds[3] = {4800, 57600, GPS_BAUDRATE}; -#endif uint32_t lastWakeStartMsec = 0, lastSleepStartMsec = 0, lastFixStartMsec = 0; uint32_t rx_gpio = 0; @@ -252,8 +236,6 @@ class GPS : private concurrency::OSThread // delay counter to allow more sats before fixed position stops GPS thread uint8_t fixeddelayCtr = 0; - - const char *powerStateToString(); }; extern GPS *gps;