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2e24d244be
firmware/src/gps/ubx.h
Tom Fifield 2e24d244be
Make Ublox code more readable (#4727) 
* Simplify Ublox code

Ublox comes in a myriad of versions and settings. Presently our
configuration code does a lot of branching based on versions being
or not being present.

This patch adds version detection earlier in the piece and branches
on the set gnssModel instead to create separate setup methods for Ublox 6,
Ublox 7/8/9, and Ublox10.

Additionally, adds a macro to make the code much shorter and more
readable.

* Make trunk happy

* Make trunk happy

---------

Co-authored-by: Ben Meadors <benmmeadors@gmail.com>
2024-09-22 10:00:32 -05:00

469 lines
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#define SEND_UBX_PACKET(TYPE, ID, DATA, ERRMSG, TIMEOUT) \
msglen = makeUBXPacket(TYPE, ID, sizeof(DATA), DATA); \
_serial_gps->write(UBXscratch, msglen); \
if (getACK(TYPE, ID, TIMEOUT) != GNSS_RESPONSE_OK) { \
LOG_WARN(#ERRMSG); \
}
// Power Management
uint8_t GPS::_message_PMREQ[] PROGMEM = {
0x00, 0x00, 0x00, 0x00, // 4 bytes duration of request task (milliseconds)
0x02, 0x00, 0x00, 0x00 // Bitfield, set backup = 1
};
uint8_t GPS::_message_PMREQ_10[] PROGMEM = {
0x00, // version (0 for this version)
0x00, 0x00, 0x00, // Reserved 1
0x00, 0x00, 0x00, 0x00, // 4 bytes duration of request task (milliseconds)
0x06, 0x00, 0x00, 0x00, // Bitfield, set backup =1 and force =1
0x08, 0x00, 0x00, 0x00 // wakeupSources Wake on uartrx
};
const uint8_t GPS::_message_CFG_RXM_PSM[] PROGMEM = {
0x08, // Reserved
0x01 // Power save mode
};
// only for Neo-6
const uint8_t GPS::_message_CFG_RXM_ECO[] PROGMEM = {
0x08, // Reserved
0x04 // eco mode
};
const uint8_t GPS::_message_CFG_PM2[] PROGMEM = {
0x01, // version
0x00, // Reserved 1, set to 0x06 by u-Center
0x00, // Reserved 2
0x00, // Reserved 1
0x00, 0x11, 0x03, 0x00, // flags-> cyclic mode, wait for normal fix ok, do not wake to update RTC, doNotEnterOff,
// LimitPeakCurrent
0xE8, 0x03, 0x00, 0x00, // update period 1000 ms
0x10, 0x27, 0x00, 0x00, // search period 10s
0x00, 0x00, 0x00, 0x00, // Grid offset 0
0x01, 0x00, // onTime 1 second
0x00, 0x00, // min search time 0
0x00, 0x00, // 0x2C, 0x01, // reserved 4
0x00, 0x00, // 0x00, 0x00, // reserved 5
0x00, 0x00, 0x00, 0x00, // 0x4F, 0xC1, 0x03, 0x00, // reserved 6
0x00, 0x00, 0x00, 0x00, // 0x87, 0x02, 0x00, 0x00, // reserved 7
0x00, // 0xFF, // reserved 8
0x00, // 0x00, // reserved 9
0x00, 0x00, // 0x00, 0x00, // reserved 10
0x00, 0x00, 0x00, 0x00 // 0x64, 0x40, 0x01, 0x00 // reserved 11
};
// Constallation setup, none required for Neo-6
// For Neo-7 GPS & SBAS
const uint8_t GPS::_message_GNSS_7[] = {
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)
0x02, // 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, 0x00, 0x01, // GPS
0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x00, 0x01 // SBAS
};
// 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.
// For M8 GPS, GLONASS, Galileo, SBAS, QZSS
const uint8_t GPS::_message_GNSS_8[] = {
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)
0x05, // numConfigBlocks (number of 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
0x02, 0x04, 0x08, 0x00, 0x01, 0x00, 0x01, 0x01, // Galileo
0x05, 0x00, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01, // QZSS
0x06, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01 // GLONASS
};
/*
// For M8 GPS, GLONASS, BeiDou, SBAS, QZSS
const uint8_t GPS::_message_GNSS_8_B[] = {
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) read only for protocol >23
0x05, // numConfigBlocks (number of 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
0x03, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, // BeiDou
0x05, 0x00, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01, // QZSS
0x06, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01 // GLONASS
};
*/
// For M8 we want to enable NMEA version 4.10 messages to allow for Galileo and or BeiDou
const uint8_t GPS::_message_NMEA[]{
0x00, // filter flags
0x41, // NMEA Version
0x00, // Max number of SVs to report per TaklerId
0x02, // flags
0x00, 0x00, 0x00, 0x00, // gnssToFilter
0x00, // svNumbering
0x00, // mainTalkerId
0x00, // gsvTalkerId
0x01, // Message version
0x00, 0x00, // bdsTalkerId 2 chars 0=default
0x00, 0x00, 0x00, 0x00, 0x00, 0x00 // Reserved
};
// Enable jamming/interference monitor
// For Neo-6, Max-7 and Neo-7
const uint8_t GPS::_message_JAM_6_7[] = {
0xf3, 0xac, 0x62, 0xad, // config1 bbThreshold = 3, cwThreshold = 15, enable = 1, reserved bits 0x16B156
0x1e, 0x03, 0x00, 0x00 // config2 antennaSetting Unknown = 0, reserved 3, = 0x00,0x00, reserved 2 = 0x31E
};
// For M8
const uint8_t GPS::_message_JAM_8[] = {
0xf3, 0xac, 0x62, 0xad, // config1 bbThreshold = 3, cwThreshold = 15, enable1 = 1, reserved bits 0x16B156
0x1e, 0x43, 0x00, 0x00 // config2 antennaSetting Unknown = 0, enable2 = 1, generalBits = 0x31E
};
// Configure navigation engine expert settings:
// there are many variations of what were Reserved fields for the Neo-6 in later versions
// ToDo: check UBX-MON-VER for module type and protocol version
// For the Neo-6
const uint8_t GPS::_message_NAVX5[] = {
0x00, 0x00, // msgVer (0 for this version)
0x4c, 0x66, // mask1
0x00, 0x00, 0x00, 0x00, // Reserved 0
0x00, // Reserved 1
0x00, // Reserved 2
0x03, // minSVs (Minimum number of satellites for navigation) = 3
0x10, // maxSVs (Maximum number of satellites for navigation) = 16
0x06, // minCNO (Minimum satellite signal level for navigation) = 6 dBHz
0x00, // Reserved 5
0x00, // iniFix3D (Initial fix must be 3D) (0 = false 1 = true)
0x00, // Reserved 6
0x00, // Reserved 7
0x00, // Reserved 8
0x00, 0x00, // wknRollover 0 = firmware default
0x00, 0x00, 0x00, 0x00, // Reserved 9
0x00, // Reserved 10
0x00, // Reserved 11
0x00, // usePPP (Precice Point Positioning) (0 = false, 1 = true)
0x01, // useAOP (AssistNow Autonomous configuration) = 1 (enabled)
0x00, // Reserved 12
0x00, // Reserved 13
0x00, 0x00, // aopOrbMaxErr = 0 to reset to firmware default
0x00, // Reserved 14
0x00, // Reserved 15
0x00, 0x00, // Reserved 3
0x00, 0x00, 0x00, 0x00 // Reserved 4
};
// For the M8
const uint8_t GPS::_message_NAVX5_8[] = {
0x02, 0x00, // msgVer (2 for this version)
0x4c, 0x66, // mask1
0x00, 0x00, 0x00, 0x00, // mask2
0x00, 0x00, // Reserved 1
0x03, // minSVs (Minimum number of satellites for navigation) = 3
0x10, // maxSVs (Maximum number of satellites for navigation) = 16
0x06, // minCNO (Minimum satellite signal level for navigation) = 6 dBHz
0x00, // Reserved 2
0x00, // iniFix3D (Initial fix must be 3D) (0 = false 1 = true)
0x00, 0x00, // Reserved 3
0x00, // ackAiding
0x00, 0x00, // wknRollover 0 = firmware default
0x00, // sigAttenCompMode
0x00, // Reserved 4
0x00, 0x00, // Reserved 5
0x00, 0x00, // Reserved 6
0x00, // usePPP (Precice Point Positioning) (0 = false, 1 = true)
0x01, // aopCfg (AssistNow Autonomous configuration) = 1 (enabled)
0x00, 0x00, // Reserved 7
0x00, 0x00, // aopOrbMaxErr = 0 to reset to firmware default
0x00, 0x00, 0x00, 0x00, // Reserved 8
0x00, 0x00, 0x00, // Reserved 9
0x00 // useAdr
};
// Set GPS update rate to 1Hz
// Lowering the update rate helps to save power.
// Additionally, for some new modules like the M9/M10, an update rate lower than 5Hz
// is recommended to avoid a known issue with satellites disappearing.
// The module defaults for M8, M9, M10 are the same as we use here so no update is necessary
const uint8_t GPS::_message_1HZ[] = {
0xE8, 0x03, // Measurement Rate (1000ms for 1Hz)
0x01, 0x00, // Navigation rate, always 1 in GPS mode
0x01, 0x00 // Time reference
};
// Disable GLL. GLL - Geographic position (latitude and longitude), which provides the current geographical
// coordinates.
const uint8_t GPS::_message_GLL[] = {
0xF0, 0x01, // NMEA ID for GLL
0x00, // Rate for DDC
0x00, // Rate for UART1
0x00, // Rate for UART2
0x00, // Rate for USB
0x00, // Rate for SPI
0x00 // Reserved
};
// Disable GSA. GSA - GPS DOP and active satellites, used for detailing the satellites used in the positioning and
// the DOP (Dilution of Precision)
const uint8_t GPS::_message_GSA[] = {
0xF0, 0x02, // NMEA ID for GSA
0x00, // Rate for DDC
0x00, // Rate for UART1
0x00, // Rate for UART2
0x00, // Rate for USB usefull for native linux
0x00, // Rate for SPI
0x00 // Reserved
};
// Disable GSV. GSV - Satellites in view, details the number and location of satellites in view.
const uint8_t GPS::_message_GSV[] = {
0xF0, 0x03, // NMEA ID for GSV
0x00, // Rate for DDC
0x00, // Rate for UART1
0x00, // Rate for UART2
0x00, // Rate for USB
0x00, // Rate for SPI
0x00 // Reserved
};
// Disable VTG. VTG - Track made good and ground speed, which provides course and speed information relative to
// the ground.
const uint8_t GPS::_message_VTG[] = {
0xF0, 0x05, // NMEA ID for VTG
0x00, // Rate for DDC
0x00, // Rate for UART1
0x00, // Rate for UART2
0x00, // Rate for USB
0x00, // Rate for SPI
0x00 // Reserved
};
// Enable RMC. RMC - Recommended Minimum data, the essential gps pvt (position, velocity, time) data.
const uint8_t GPS::_message_RMC[] = {
0xF0, 0x04, // NMEA ID for RMC
0x00, // Rate for DDC
0x01, // Rate for UART1
0x00, // Rate for UART2
0x01, // Rate for USB usefull for native linux
0x00, // Rate for SPI
0x00 // Reserved
};
// Enable GGA. GGA - Global Positioning System Fix Data, which provides 3D location and accuracy data.
const uint8_t GPS::_message_GGA[] = {
0xF0, 0x00, // NMEA ID for GGA
0x00, // Rate for DDC
0x01, // Rate for UART1
0x00, // Rate for UART2
0x01, // Rate for USB, usefull for native linux
0x00, // Rate for SPI
0x00 // Reserved
};
// Disable UBX-AID-ALPSRV as it may confuse TinyGPS. The Neo-6 seems to send this message
// whether the AID Autonomous is enabled or not
const uint8_t GPS::_message_AID[] = {
0x0B, 0x32, // NMEA ID for UBX-AID-ALPSRV
0x00, // Rate for DDC
0x00, // Rate for UART1
0x00, // Rate for UART2
0x00, // Rate for USB
0x00, // Rate for SPI
0x00 // Reserved
};
// Turn off TEXT INFO Messages for all but M10 series
// B5 62 06 02 0A 00 01 00 00 00 03 03 00 03 03 00 1F 20
const uint8_t GPS::_message_DISABLE_TXT_INFO[] = {
0x01, // Protocol ID for NMEA
0x00, 0x00, 0x00, // Reserved
0x03, // I2C
0x03, // I/O Port 1
0x00, // I/O Port 2
0x03, // USB
0x03, // SPI
0x00 // Reserved
};
// The Power Management configuration allows the GPS module to operate in different power modes for optimized
// power consumption. The modes supported are: 0x00 = Full power: The module operates at full power with no power
// saving. 0x01 = Balanced: The module dynamically adjusts the tracking behavior to balance power consumption.
// 0x02 = Interval: The module operates in a periodic mode, cycling between tracking and power saving states.
// 0x03 = Aggressive with 1 Hz: The module operates in a power saving mode with a 1 Hz update rate.
// 0x04 = Aggressive with 2 Hz: The module operates in a power saving mode with a 2 Hz update rate.
// 0x05 = Aggressive with 4 Hz: The module operates in a power saving mode with a 4 Hz update rate.
// The 'period' field specifies the position update and search period. It is only valid when the powerSetupValue
// is set to Interval; otherwise, it must be set to '0'. The 'onTime' field specifies the duration of the ON phase
// and must be smaller than the period. It is only valid when the powerSetupValue is set to Interval; otherwise,
// it must be set to '0'.
// This command applies to M8 products
const uint8_t GPS::_message_PMS[] = {
0x00, // Version (0)
0x03, // Power setup value 3 = Agresssive 1Hz
0x00, 0x00, // period: not applicable, set to 0
0x00, 0x00, // onTime: not applicable, set to 0
0x00, 0x00 // reserved, generated by u-center
};
const uint8_t GPS::_message_SAVE[] = {
0x00, 0x00, 0x00, 0x00, // clearMask: no sections cleared
0xFF, 0xFF, 0x00, 0x00, // saveMask: save all sections
0x00, 0x00, 0x00, 0x00, // loadMask: no sections loaded
0x17 // deviceMask: BBR, Flash, EEPROM, and SPI Flash
};
// As the M10 has no flash, the best we can do to preserve the config is to set it in RAM and BBR.
// BBR will survive a restart, and power off for a while, but modules with small backup
// batteries or super caps will not retain the config for a long power off time.
// for all configurations using sleep / low power modes, V_BCKP needs to be hooked to permanent power for fast aquisition after
// sleep
// VALSET Commands for M10
// Please refer to the M10 Protocol Specification:
// https://content.u-blox.com/sites/default/files/u-blox-M10-SPG-5.10_InterfaceDescription_UBX-21035062.pdf
// Where the VALSET/VALGET/VALDEL commands are described in detail.
// and:
// https://content.u-blox.com/sites/default/files/u-blox-M10-ROM-5.10_ReleaseNotes_UBX-22001426.pdf
// for interesting insights.
//
// Integration manual:
// https://content.u-blox.com/sites/default/files/documents/SAM-M10Q_IntegrationManual_UBX-22020019.pdf
// has details on low-power modes
/*
CFG-PM2 has been replaced by many CFG-PM commands
CFG-PMS has been removed
CFG-PM-OPERATEMODE E1 (0 | 1 | 2) -> 1 (PSMOO), because sporadic position updates are required instead of continous tracking <10s
(PSMCT) CFG-PM-POSUPDATEPERIOD U4 -> 0ms, no self-timed wakup because receiver power mode is controlled via "software standby
mode" by legacy UBX-RXM-PMREQ request CFG-PM-ACQPERIOD U4 -> 0ms, because receiver power mode is controlled via "software standby
mode" by legacy UBX-RXM-PMREQ request CFG-PM-ONTIME U4 -> 0ms, optional I guess CFG-PM-EXTINTBACKUP L -> 1, force receiver into
BACKUP mode when EXTINT (should be connected to GPS_EN_PIN) pin is "low"
This is required because the receiver never enters low power mode if microcontroller is in deep-sleep.
Maybe the changing UART_RX levels trigger a wakeup but even with UBX-RXM-PMREQ[12] = 0x00 (all external wakeup sources disabled)
the receivcer remains in aquisition state -> potentially a bug
Workaround: Control the EXTINT pin by the GPS_EN_PIN signal
As mentioned in the M10 operational issues down below, power save won't allow the use of BDS B1C.
CFG-SIGNAL-BDS_B1C_ENA L -> 0
// Ram layer config message:
// 01 01 00 00 01 00 D0 20 01 02 00 D0 40 00 00 00 00 03 00 D0 40 00 00 00 00 05 00 D0 30 00 00 0D 00 D0 10 01
// BBR layer config message:
// 01 02 00 00 01 00 D0 20 01 02 00 D0 40 00 00 00 00 03 00 D0 40 00 00 00 00 05 00 D0 30 00 00 0D 00 D0 10 01
*/
const uint8_t GPS::_message_VALSET_PM_RAM[] = {0x01, 0x01, 0x00, 0x00, 0x0F, 0x00, 0x31, 0x10, 0x00, 0x01, 0x00, 0xD0, 0x20, 0x01,
0x02, 0x00, 0xD0, 0x40, 0x00, 0x00, 0x00, 0x00, 0x03, 0x00, 0xD0, 0x40, 0x00, 0x00,
0x00, 0x00, 0x05, 0x00, 0xD0, 0x30, 0x00, 0x00, 0x0D, 0x00, 0xD0, 0x10, 0x01};
const uint8_t GPS::_message_VALSET_PM_BBR[] = {0x01, 0x02, 0x00, 0x00, 0x0F, 0x00, 0x31, 0x10, 0x00, 0x01, 0x00, 0xD0, 0x20, 0x01,
0x02, 0x00, 0xD0, 0x40, 0x00, 0x00, 0x00, 0x00, 0x03, 0x00, 0xD0, 0x40, 0x00, 0x00,
0x00, 0x00, 0x05, 0x00, 0xD0, 0x30, 0x00, 0x00, 0x0D, 0x00, 0xD0, 0x10, 0x01};
/*
CFG-ITFM replaced by 5 valset messages which can be combined into one for RAM and one for BBR
20410001 bbthreshold U1 3
20410002 cwthreshold U1 15
1041000d enable L 0 -> 1
20410010 ant E1 0
10410013 enable aux L 0 -> 1
b5 62 06 8a 0e 00 00 01 00 00 0d 00 41 10 01 13 00 41 10 01 63 c6
*/
const uint8_t GPS::_message_VALSET_ITFM_RAM[] = {0x00, 0x01, 0x00, 0x00, 0x0d, 0x00, 0x41,
0x10, 0x01, 0x13, 0x00, 0x41, 0x10, 0x01};
const uint8_t GPS::_message_VALSET_ITFM_BBR[] = {0x00, 0x02, 0x00, 0x00, 0x0d, 0x00, 0x41,
0x10, 0x01, 0x13, 0x00, 0x41, 0x10, 0x01};
// Turn off all NMEA messages:
// Ram layer config message:
// b5 62 06 8a 22 00 00 01 00 00 c0 00 91 20 00 ca 00 91 20 00 c5 00 91 20 00 ac 00 91 20 00 b1 00 91 20 00 bb 00 91 20 00 40 8f
// Disable GLL, GSV, VTG messages in BBR layer
// BBR layer config message:
// b5 62 06 8a 13 00 00 02 00 00 ca 00 91 20 00 c5 00 91 20 00 b1 00 91 20 00 f8 4e
const uint8_t GPS::_message_VALSET_DISABLE_NMEA_RAM[] = {
/*0x00, 0x01, 0x00, 0x00, 0xca, 0x00, 0x91, 0x20, 0x00, 0xc5, 0x00, 0x91, 0x20, 0x00, 0xb1, 0x00, 0x91, 0x20, 0x00 */
0x00, 0x01, 0x00, 0x00, 0xc0, 0x00, 0x91, 0x20, 0x00, 0xca, 0x00, 0x91, 0x20, 0x00, 0xc5, 0x00, 0x91,
0x20, 0x00, 0xac, 0x00, 0x91, 0x20, 0x00, 0xb1, 0x00, 0x91, 0x20, 0x00, 0xbb, 0x00, 0x91, 0x20, 0x00};
const uint8_t GPS::_message_VALSET_DISABLE_NMEA_BBR[] = {0x00, 0x02, 0x00, 0x00, 0xca, 0x00, 0x91, 0x20, 0x00, 0xc5,
0x00, 0x91, 0x20, 0x00, 0xb1, 0x00, 0x91, 0x20, 0x00};
// Turn off text info messages:
// Ram layer config message:
// b5 62 06 8a 09 00 00 01 00 00 07 00 92 20 06 59 50
// BBR layer config message:
// b5 62 06 8a 09 00 00 02 00 00 07 00 92 20 06 5a 58
// Turn NMEA GGA, RMC messages on:
// Layer config messages:
// RAM:
// b5 62 06 8a 0e 00 00 01 00 00 bb 00 91 20 01 ac 00 91 20 01 6a 8f
// BBR:
// b5 62 06 8a 0e 00 00 02 00 00 bb 00 91 20 01 ac 00 91 20 01 6b 9c
// FLASH:
// b5 62 06 8a 0e 00 00 04 00 00 bb 00 91 20 01 ac 00 91 20 01 6d b6
// Doing this for the FLASH layer isn't really required since we save the config to flash later
const uint8_t GPS::_message_VALSET_DISABLE_TXT_INFO_RAM[] = {0x00, 0x01, 0x00, 0x00, 0x07, 0x00, 0x92, 0x20, 0x03};
const uint8_t GPS::_message_VALSET_DISABLE_TXT_INFO_BBR[] = {0x00, 0x02, 0x00, 0x00, 0x07, 0x00, 0x92, 0x20, 0x03};
const uint8_t GPS::_message_VALSET_ENABLE_NMEA_RAM[] = {0x00, 0x01, 0x00, 0x00, 0xbb, 0x00, 0x91,
0x20, 0x01, 0xac, 0x00, 0x91, 0x20, 0x01};
const uint8_t GPS::_message_VALSET_ENABLE_NMEA_BBR[] = {0x00, 0x02, 0x00, 0x00, 0xbb, 0x00, 0x91,
0x20, 0x01, 0xac, 0x00, 0x91, 0x20, 0x01};
const uint8_t GPS::_message_VALSET_DISABLE_SBAS_RAM[] = {0x00, 0x01, 0x00, 0x00, 0x20, 0x00, 0x31,
0x10, 0x00, 0x05, 0x00, 0x31, 0x10, 0x00};
const uint8_t GPS::_message_VALSET_DISABLE_SBAS_BBR[] = {0x00, 0x02, 0x00, 0x00, 0x20, 0x00, 0x31,
0x10, 0x00, 0x05, 0x00, 0x31, 0x10, 0x00};
/*
Operational issues with the M10:
PowerSave doesn't work with SBAS, seems like you can have SBAS enabled, but it will never lock
onto the SBAS sats.
PowerSave doesn't work with BDS B1C, u-blox says use B1l instead.
BDS B1l cannot be enabled with BDS B1C or GLONASS L1OF, so GLONASS will work with B1C, but not B1l
So no powersave with GLONASS and BDS B1l enabled.
So disable GLONASS and use BDS B1l, which is part of the default M10 config.
GNSS configuration:
Default GNSS configuration is: GPS, Galileo, BDS B1l, with QZSS and SBAS enabled.
The PMREQ puts the receiver to sleep and wakeup re-acquires really fast and seems to not need
the PM config. Lets try without it.
PMREQ sort of works with SBAS, but the awake time is too short to re-acquire any SBAS sats.
The defination of "Got Fix" doesn't seem to include SBAS. Much more too this...
Even if it was, it can take minutes (up to 12.5),
even under good sat visability conditions to re-acquire the SBAS data.
Another effect fo the quick transition to sleep is that no other sats will be acquired so the
sat count will tend to remain at what the initial fix was.
*/
// GNSS disable SBAS as recommended by u-blox if using GNSS defaults and power save mode
/*
Ram layer config message:
b5 62 06 8a 0e 00 00 01 00 00 20 00 31 10 00 05 00 31 10 00 46 87
BBR layer config message:
b5 62 06 8a 0e 00 00 02 00 00 20 00 31 10 00 05 00 31 10 00 47 94
*/
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