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GPS fixes

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Work aroung Serial reset issue on ESP32
Don't send unsupported command to G60xx GPS
This commit is contained in:
Jonathan Bennett 2023-09-04 14:18:27 -05:00
parent ffcb131171
commit e943fffe8c
1 changed files with 75 additions and 62 deletions
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137
src/gps/GPS.cpp
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@ -60,11 +60,14 @@ GPS_RESPONSE GPS::getACK(const char *message, uint32_t waitMillis)
bytesRead++; bytesRead++;
if ((bytesRead == 767) || (b == '\r')) { if ((bytesRead == 767) || (b == '\r')) {
if (strnstr((char *)buffer, message, bytesRead) != nullptr) { if (strnstr((char *)buffer, message, bytesRead) != nullptr) {
#ifdef GPS_DEBUG
buffer[bytesRead] = '\0';
LOG_DEBUG("%s\r", (char *)buffer);
#endif
return GNSS_RESPONSE_OK; return GNSS_RESPONSE_OK;
} else { } else {
#ifdef GPS_DEBUG #ifdef GPS_DEBUG
buffer[bytesRead] = '\0'; buffer[bytesRead] = '\0';
bytesRead++;
LOG_INFO("Bytes read:%s\n", (char *)buffer); LOG_INFO("Bytes read:%s\n", (char *)buffer);
#endif #endif
bytesRead = 0; bytesRead = 0;
@ -74,7 +77,6 @@ GPS_RESPONSE GPS::getACK(const char *message, uint32_t waitMillis)
} }
#ifdef GPS_DEBUG #ifdef GPS_DEBUG
buffer[bytesRead] = '\0'; buffer[bytesRead] = '\0';
bytesRead++;
LOG_INFO("Bytes read:%s\n", (char *)buffer); LOG_INFO("Bytes read:%s\n", (char *)buffer);
#endif #endif
return GNSS_RESPONSE_NONE; return GNSS_RESPONSE_NONE;
@ -305,11 +307,11 @@ bool GPS::setupGPS()
/* /*
uint8_t buffer[768] = {0}; uint8_t buffer[768] = {0};
byte _message_GNSS[8] = {0xb5, 0x62, // Sync message for UBX protocol byte _message_GNSS[8] = {0xb5, 0x62, // Sync message for UBX protocol
0x06, 0x3e, // Message class and ID (UBX-CFG-GNSS) 0x06, 0x3e, // Message class and ID (UBX-CFG-GNSS)
0x00, 0x00, // Length of payload (28 bytes) 0x00, 0x00, // Length of payload (28 bytes)
0x00, 0x00}; 0x00, 0x00};
UBXChecksum(_message_GNSS, sizeof(_message_GNSS)); UBXChecksum(_message_GNSS, sizeof(_message_GNSS));
// 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));
int ackLen = getACK(buffer, sizeof(buffer), 0x06, 0x3e, 2000); int ackLen = getACK(buffer, sizeof(buffer), 0x06, 0x3e, 2000);
LOG_DEBUG("monver reply size = %d\n", ackLen); LOG_DEBUG("monver reply size = %d\n", ackLen);
@ -324,63 +326,66 @@ bool GPS::setupGPS()
// Also we need SBAS for better accuracy and extra features // Also we need SBAS for better accuracy and extra features
// ToDo: Dynamic configure GNSS systems depending of LoRa region // ToDo: Dynamic configure GNSS systems depending of LoRa region
if ((strncmp(info.hwVersion, "00070000", 8) == 0) || // Max7 seems to only support GPS *or* GLONASS if (strncmp(info.hwVersion, "00040007", 8) !=
(strncmp(info.hwVersion, "00040007", 8) == 0)) { 0) { // The original ublox 6 is GPS only and doesn't support the UBX-CFG-GNSS message
LOG_DEBUG("Setting GPS+SBAS\n"); if (strncmp(info.hwVersion, "00070000", 8) == 0) { // Max7 seems to only support GPS *or* GLONASS
byte _message_GNSS[28] = { LOG_DEBUG("Setting GPS+SBAS\n");
0xb5, 0x62, // Sync message for UBX protocol byte _message_GNSS[28] = {
0x06, 0x3e, // Message class and ID (UBX-CFG-GNSS) 0xb5, 0x62, // Sync message for UBX protocol
0x14, 0x00, // Length of payload (28 bytes) 0x06, 0x3e, // Message class and ID (UBX-CFG-GNSS)
0x00, // msgVer (0 for this version) 0x14, 0x00, // Length of payload (28 bytes)
0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0) 0x00, // msgVer (0 for this version)
0xff, // numTrkChUse (max number of channels to use, 0xff = max available) 0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0)
0x02, // numConfigBlocks (number of GNSS systems), most modules support maximum 3 GNSS systems 0xff, // numTrkChUse (max number of channels to use, 0xff = max available)
// GNSS config format: gnssId, resTrkCh, maxTrkCh, reserved1, flags 0x02, // numConfigBlocks (number of GNSS systems), most modules support maximum 3 GNSS systems
0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x00, 0x01, // GPS // GNSS config format: gnssId, resTrkCh, maxTrkCh, reserved1, flags
0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x00, 0x01, // SBAS 0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x00, 0x01, // GPS
0x00, 0x00 // Checksum (to be calculated below) 0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x00, 0x01, // SBAS
}; 0x00, 0x00 // Checksum (to be calculated below)
// Calculate the checksum and update the message. };
UBXChecksum(_message_GNSS, sizeof(_message_GNSS)); // Calculate the checksum and update the message.
// Send the message to the module UBXChecksum(_message_GNSS, sizeof(_message_GNSS));
_serial_gps->write(_message_GNSS, sizeof(_message_GNSS)); // Send the message to the module
} else { _serial_gps->write(_message_GNSS, sizeof(_message_GNSS));
byte _message_GNSS[36] = {
0xb5, 0x62, // Sync message for UBX protocol
0x06, 0x3e, // Message class and ID (UBX-CFG-GNSS)
0x1c, 0x00, // Length of payload (28 bytes)
0x00, // msgVer (0 for this version)
0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0)
0xff, // numTrkChUse (max number of channels to use, 0xff = max available)
0x03, // numConfigBlocks (number of GNSS systems), most modules support maximum 3 GNSS systems
// GNSS config format: gnssId, resTrkCh, maxTrkCh, reserved1, flags
0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, // GPS
0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01, // SBAS
0x06, 0x08, 0x0e, 0x00, 0x01, 0x00, 0x01, 0x01, // GLONASS
0x00, 0x00 // Checksum (to be calculated below)
};
// Calculate the checksum and update the message.
UBXChecksum(_message_GNSS, sizeof(_message_GNSS));
// Send the message to the module
_serial_gps->write(_message_GNSS, sizeof(_message_GNSS));
}
if (getACK(0x06, 0x3e, 800) == GNSS_RESPONSE_NAK) {
// It's not critical if the module doesn't acknowledge this configuration.
// 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
// to overwrite a saved state with identical values, no ACK/NAK is received, contrary to
// what is specified in the Ublox documentation.
// There is also a possibility that the module may be GPS-only.
LOG_INFO("Unable to reconfigure GNSS - defaults maintained. Is this module GPS-only?\n");
} else {
if (strncmp(info.hwVersion, "00070000", 8) == 0) {
LOG_INFO("GNSS configured for GPS+SBAS. Pause for 0.75s before sending next command.\n");
} else { } else {
LOG_INFO("GNSS configured for GPS+SBAS+GLONASS. Pause for 0.75s before sending next command.\n"); byte _message_GNSS[36] = {
0xb5, 0x62, // Sync message for UBX protocol
0x06, 0x3e, // Message class and ID (UBX-CFG-GNSS)
0x1c, 0x00, // Length of payload (28 bytes)
0x00, // msgVer (0 for this version)
0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0)
0xff, // numTrkChUse (max number of channels to use, 0xff = max available)
0x03, // numConfigBlocks (number of GNSS systems), most modules support maximum 3 GNSS systems
// GNSS config format: gnssId, resTrkCh, maxTrkCh, reserved1, flags
0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, // GPS
0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01, // SBAS
0x06, 0x08, 0x0e, 0x00, 0x01, 0x00, 0x01, 0x01, // GLONASS
0x00, 0x00 // Checksum (to be calculated below)
};
// Calculate the checksum and update the message.
UBXChecksum(_message_GNSS, sizeof(_message_GNSS));
// Send the message to the module
_serial_gps->write(_message_GNSS, sizeof(_message_GNSS));
}
if (getACK(0x06, 0x3e, 800) == GNSS_RESPONSE_NAK) {
// It's not critical if the module doesn't acknowledge this configuration.
// 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
// to overwrite a saved state with identical values, no ACK/NAK is received, contrary to
// what is specified in the Ublox documentation.
// There is also a possibility that the module may be GPS-only.
LOG_INFO("Unable to reconfigure GNSS - defaults maintained. Is this module GPS-only?\n");
} else {
if (strncmp(info.hwVersion, "00070000", 8) == 0) {
LOG_INFO("GNSS configured for GPS+SBAS. Pause for 0.75s before sending next command.\n");
} else {
LOG_INFO("GNSS configured for GPS+SBAS+GLONASS. Pause for 0.75s before sending next command.\n");
}
// Documentation say, we need wait atleast 0.5s after reconfiguration of GNSS module, before sending next
// commands
delay(750);
} }
// Documentation say, we need wait atleast 0.5s after reconfiguration of GNSS module, before sending next commands
delay(750);
} }
// Enable interference resistance, because we are using LoRa, WiFi and Bluetooth on same board, // Enable interference resistance, because we are using LoRa, WiFi and Bluetooth on same board,
@ -950,7 +955,15 @@ GnssModel_t GPS::probe(int serialSpeed)
_serial_gps->end(); _serial_gps->end();
_serial_gps->begin(serialSpeed); _serial_gps->begin(serialSpeed);
#else #else
_serial_gps->updateBaudRate(serialSpeed); if (_serial_gps->baudRate() != serialSpeed) {
LOG_DEBUG("Setting Baud to %i\n", serialSpeed);
_serial_gps->updateBaudRate(serialSpeed);
}
#endif
#ifdef GPS_DEBUG
for (int i = 0; i < 20; i++) {
getACK("$GP", 200);
}
#endif #endif
memset(&info, 0, sizeof(struct uBloxGnssModelInfo)); memset(&info, 0, sizeof(struct uBloxGnssModelInfo));
uint8_t buffer[768] = {0}; uint8_t buffer[768] = {0};