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Cut down delay times for GPS probe and init

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This commit is contained in:
Jonathan Bennett 2023-08-31 20:39:23 -05:00
parent 3d2c419d0d
commit cf762bbd42
2 changed files with 31 additions and 28 deletions
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55
src/gps/GPS.cpp
View File

@ -47,7 +47,7 @@ void GPS::UBXChecksum(byte *message, size_t length)
message[length - 1] = CK_B; message[length - 1] = CK_B;
} }
bool GPS::getACK(uint8_t class_id, uint8_t msg_id) bool GPS::getACK(uint8_t class_id, uint8_t msg_id, int waitMillis)
{ {
uint8_t b; uint8_t b;
uint8_t ack = 0; uint8_t ack = 0;
@ -66,15 +66,11 @@ bool GPS::getACK(uint8_t class_id, uint8_t msg_id)
buf[9] += buf[8]; buf[9] += buf[8];
} }
while (1) { while (millis() - startTime < waitMillis) {
if (ack > 9) { if (ack > 9) {
// LOG_INFO("Got ACK for class %02X message %02X\n", class_id, msg_id); // LOG_INFO("Got ACK for class %02X message %02X in %d millis.\n", class_id, msg_id, millis() - startTime);
return true; // ACK received return true; // ACK received
} }
if (millis() - startTime > 3000) {
LOG_WARN("No response for class %02X message %02X\n", class_id, msg_id);
return false; // No response received within 3 seconds
}
if (_serial_gps->available()) { if (_serial_gps->available()) {
b = _serial_gps->read(); b = _serial_gps->read();
if (b == buf[ack]) { if (b == buf[ack]) {
@ -88,6 +84,8 @@ bool GPS::getACK(uint8_t class_id, uint8_t msg_id)
} }
} }
} }
// LOG_WARN("No response for class %02X message %02X\n", class_id, msg_id);
return false; // No response received within timeout
} }
/** /**
@ -99,14 +97,14 @@ bool GPS::getACK(uint8_t class_id, uint8_t msg_id)
* @param requestedID: request message ID constant * @param requestedID: request message ID constant
* @retval length of payload message * @retval length of payload message
*/ */
int GPS::getAck(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t requestedID) int GPS::getAck(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t requestedID, int waitMillis)
{ {
uint16_t ubxFrameCounter = 0; uint16_t ubxFrameCounter = 0;
uint32_t startTime = millis(); uint32_t startTime = millis();
uint16_t needRead; uint16_t needRead;
while (millis() - startTime < 1200) { while (millis() - startTime < waitMillis) {
while (_serial_gps->available()) { if (_serial_gps->available()) {
int c = _serial_gps->read(); int c = _serial_gps->read();
switch (ubxFrameCounter) { switch (ubxFrameCounter) {
case 0: case 0:
@ -159,6 +157,8 @@ int GPS::getAck(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t
ubxFrameCounter = 0; ubxFrameCounter = 0;
} else { } else {
// return payload length // return payload length
// LOG_INFO("Got ACK for class %02X message %02X in %d millis.\n", requestedClass, requestedID, millis() -
// startTime);
return needRead; return needRead;
} }
break; break;
@ -168,6 +168,7 @@ int GPS::getAck(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t
} }
} }
} }
// LOG_WARN("No response for class %02X message %02X\n", requestedClass, requestedID);
return 0; return 0;
} }
@ -268,7 +269,7 @@ bool GPS::setupGPS()
// Send the message to the module // Send the message to the module
_serial_gps->write(_message_GNSS, sizeof(_message_GNSS)); _serial_gps->write(_message_GNSS, sizeof(_message_GNSS));
if (!getACK(0x06, 0x3e)) { if (!getACK(0x06, 0x3e, 300)) {
// It's not critical if the module doesn't acknowledge this configuration. // It's not critical if the module doesn't acknowledge this configuration.
// The module should operate adequately with its factory or previously saved settings. // 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 // It appears that there is a firmware bug in some GPS modules: When an attempt is made
@ -308,7 +309,7 @@ bool GPS::setupGPS()
// Send the message to the module // Send the message to the module
_serial_gps->write(_message_JAM, sizeof(_message_JAM)); _serial_gps->write(_message_JAM, sizeof(_message_JAM));
if (!getACK(0x06, 0x39)) { if (!getACK(0x06, 0x39, 300)) {
LOG_WARN("Unable to enable interference resistance.\n"); LOG_WARN("Unable to enable interference resistance.\n");
} }
@ -353,7 +354,7 @@ bool GPS::setupGPS()
// Send the message to the module // Send the message to the module
_serial_gps->write(_message_NAVX5, sizeof(_message_NAVX5)); _serial_gps->write(_message_NAVX5, sizeof(_message_NAVX5));
if (!getACK(0x06, 0x23)) { if (!getACK(0x06, 0x23, 300)) {
LOG_WARN("Unable to configure extra settings.\n"); LOG_WARN("Unable to configure extra settings.\n");
} }
@ -365,7 +366,7 @@ bool GPS::setupGPS()
byte _message_nmea[] = {0xB5, 0x62, 0x06, 0x00, 0x14, 0x00, 0x01, 0x00, 0x00, 0x00, 0xC0, 0x08, 0x00, 0x00, byte _message_nmea[] = {0xB5, 0x62, 0x06, 0x00, 0x14, 0x00, 0x01, 0x00, 0x00, 0x00, 0xC0, 0x08, 0x00, 0x00,
0x80, 0x25, 0x00, 0x00, 0x07, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x91, 0xAF}; 0x80, 0x25, 0x00, 0x00, 0x07, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x91, 0xAF};
_serial_gps->write(_message_nmea, sizeof(_message_nmea)); _serial_gps->write(_message_nmea, sizeof(_message_nmea));
if (!getACK(0x06, 0x00)) { if (!getACK(0x06, 0x00, 300)) {
LOG_WARN("Unable to enable NMEA Mode.\n"); LOG_WARN("Unable to enable NMEA Mode.\n");
return true; return true;
} }
@ -393,7 +394,7 @@ bool GPS::setupGPS()
// Send the message to the module // Send the message to the module
_serial_gps->write(_message_1Hz, sizeof(_message_1Hz)); _serial_gps->write(_message_1Hz, sizeof(_message_1Hz));
if (!getACK(0x06, 0x08)) { if (!getACK(0x06, 0x08, 300)) {
LOG_WARN("Unable to set GPS update rate.\n"); LOG_WARN("Unable to set GPS update rate.\n");
} }
@ -416,7 +417,7 @@ bool GPS::setupGPS()
// Send the message to the module // Send the message to the module
_serial_gps->write(_message_GGL, sizeof(_message_GGL)); _serial_gps->write(_message_GGL, sizeof(_message_GGL));
if (!getACK(0x06, 0x01)) { if (!getACK(0x06, 0x01, 300)) {
LOG_WARN("Unable to disable NMEA GGL.\n"); LOG_WARN("Unable to disable NMEA GGL.\n");
} }
@ -434,7 +435,7 @@ bool GPS::setupGPS()
}; };
UBXChecksum(_message_GSA, sizeof(_message_GSA)); UBXChecksum(_message_GSA, sizeof(_message_GSA));
_serial_gps->write(_message_GSA, sizeof(_message_GSA)); _serial_gps->write(_message_GSA, sizeof(_message_GSA));
if (!getACK(0x06, 0x01)) { if (!getACK(0x06, 0x01, 300)) {
LOG_WARN("Unable to Enable NMEA GSA.\n"); LOG_WARN("Unable to Enable NMEA GSA.\n");
} }
@ -451,7 +452,7 @@ bool GPS::setupGPS()
}; };
UBXChecksum(_message_GSV, sizeof(_message_GSV)); UBXChecksum(_message_GSV, sizeof(_message_GSV));
_serial_gps->write(_message_GSV, sizeof(_message_GSV)); _serial_gps->write(_message_GSV, sizeof(_message_GSV));
if (!getACK(0x06, 0x01)) { if (!getACK(0x06, 0x01, 300)) {
LOG_WARN("Unable to disable NMEA GSV.\n"); LOG_WARN("Unable to disable NMEA GSV.\n");
} }
@ -469,7 +470,7 @@ bool GPS::setupGPS()
}; };
UBXChecksum(_message_VTG, sizeof(_message_VTG)); UBXChecksum(_message_VTG, sizeof(_message_VTG));
_serial_gps->write(_message_VTG, sizeof(_message_VTG)); _serial_gps->write(_message_VTG, sizeof(_message_VTG));
if (!getACK(0x06, 0x01)) { if (!getACK(0x06, 0x01, 300)) {
LOG_WARN("Unable to disable NMEA VTG.\n"); LOG_WARN("Unable to disable NMEA VTG.\n");
} }
@ -486,7 +487,7 @@ bool GPS::setupGPS()
}; };
UBXChecksum(_message_RMC, sizeof(_message_RMC)); UBXChecksum(_message_RMC, sizeof(_message_RMC));
_serial_gps->write(_message_RMC, sizeof(_message_RMC)); _serial_gps->write(_message_RMC, sizeof(_message_RMC));
if (!getACK(0x06, 0x01)) { if (!getACK(0x06, 0x01, 300)) {
LOG_WARN("Unable to enable NMEA RMC.\n"); LOG_WARN("Unable to enable NMEA RMC.\n");
} }
@ -503,7 +504,7 @@ bool GPS::setupGPS()
}; };
UBXChecksum(_message_GGA, sizeof(_message_GGA)); UBXChecksum(_message_GGA, sizeof(_message_GGA));
_serial_gps->write(_message_GGA, sizeof(_message_GGA)); _serial_gps->write(_message_GGA, sizeof(_message_GGA));
if (!getACK(0x06, 0x01)) { if (!getACK(0x06, 0x01, 300)) {
LOG_WARN("Unable to enable NMEA GGA.\n"); LOG_WARN("Unable to enable NMEA GGA.\n");
} }
@ -536,7 +537,7 @@ bool GPS::setupGPS()
// Send the message to the module // Send the message to the module
_serial_gps->write(UBX_CFG_PMS, sizeof(UBX_CFG_PMS)); _serial_gps->write(UBX_CFG_PMS, sizeof(UBX_CFG_PMS));
if (!getACK(0x06, 0x86)) { if (!getACK(0x06, 0x86, 300)) {
LOG_WARN("Unable to enable powersaving for GPS.\n"); LOG_WARN("Unable to enable powersaving for GPS.\n");
} }
@ -558,7 +559,7 @@ bool GPS::setupGPS()
// Send the message to the module // Send the message to the module
_serial_gps->write(_message_SAVE, sizeof(_message_SAVE)); _serial_gps->write(_message_SAVE, sizeof(_message_SAVE));
if (!getACK(0x06, 0x09)) { if (!getACK(0x06, 0x09, 300)) {
LOG_WARN("Unable to save GNSS module configuration.\n"); LOG_WARN("Unable to save GNSS module configuration.\n");
} else { } else {
LOG_INFO("GNSS module configuration saved!\n"); LOG_INFO("GNSS module configuration saved!\n");
@ -864,7 +865,7 @@ GnssModel_t GPS::probe(int serialSpeed)
_serial_gps->updateBaudRate(serialSpeed); _serial_gps->updateBaudRate(serialSpeed);
#endif #endif
memset(&info, 0, sizeof(struct uBloxGnssModelInfo)); memset(&info, 0, sizeof(struct uBloxGnssModelInfo));
uint8_t buffer[384] = {0}; uint8_t buffer[768] = {0};
// Close all NMEA sentences , Only valid for MTK platform // Close all NMEA sentences , Only valid for MTK platform
_serial_gps->write("$PCAS03,0,0,0,0,0,0,0,0,0,0,,,0,0*02\r\n"); _serial_gps->write("$PCAS03,0,0,0,0,0,0,0,0,0,0,,,0,0*02\r\n");
@ -888,9 +889,10 @@ GnssModel_t GPS::probe(int serialSpeed)
uint8_t cfg_rate[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x00, 0x00}; uint8_t cfg_rate[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x00, 0x00};
UBXChecksum(cfg_rate, sizeof(cfg_rate)); UBXChecksum(cfg_rate, sizeof(cfg_rate));
clearBuffer();
_serial_gps->write(cfg_rate, sizeof(cfg_rate)); _serial_gps->write(cfg_rate, sizeof(cfg_rate));
// Check that the returned response class and message ID are correct // Check that the returned response class and message ID are correct
if (!getAck(buffer, 384, 0x06, 0x08)) { if (!getAck(buffer, sizeof(buffer), 0x06, 0x08, 750)) {
LOG_WARN("Failed to find UBlox & MTK GNSS Module using baudrate %d\n", serialSpeed); LOG_WARN("Failed to find UBlox & MTK GNSS Module using baudrate %d\n", serialSpeed);
return GNSS_MODEL_UNKNOWN; return GNSS_MODEL_UNKNOWN;
} }
@ -904,9 +906,10 @@ GnssModel_t GPS::probe(int serialSpeed)
}; };
// Get Ublox gnss module hardware and software info // Get Ublox gnss module hardware and software info
UBXChecksum(_message_MONVER, sizeof(_message_MONVER)); UBXChecksum(_message_MONVER, sizeof(_message_MONVER));
clearBuffer();
_serial_gps->write(_message_MONVER, sizeof(_message_MONVER)); _serial_gps->write(_message_MONVER, sizeof(_message_MONVER));
uint16_t len = getAck(buffer, 384, 0x0A, 0x04); uint16_t len = getAck(buffer, sizeof(buffer), 0x0A, 0x04, 1200);
if (len) { if (len) {
// LOG_DEBUG("monver reply size = %d\n", len); // LOG_DEBUG("monver reply size = %d\n", len);
uint16_t position = 0; uint16_t position = 0;

4
src/gps/GPS.h
View File

@ -161,7 +161,7 @@ class GPS : private concurrency::OSThread
*/ */
uint32_t getSleepTime() const; uint32_t getSleepTime() const;
bool getACK(uint8_t c, uint8_t i); bool getACK(uint8_t c, uint8_t i, int waitMillis);
/** /**
* Tell users we have new GPS readings * Tell users we have new GPS readings
@ -174,7 +174,7 @@ class GPS : private concurrency::OSThread
String getNMEA(); String getNMEA();
GnssModel_t probe(int serialSpeed); GnssModel_t probe(int serialSpeed);
int getAck(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t requestedID); int getAck(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t requestedID, int waitMillis);
// delay counter to allow more sats before fixed position stops GPS thread // delay counter to allow more sats before fixed position stops GPS thread
uint8_t fixeddelayCtr = 0; uint8_t fixeddelayCtr = 0;