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firmware/src/gps/ubx.h
Ken McGuire 9586c68c65
GPS updates (#3142) 
* Portduino multiple logging levels

* Fixes based on GPSFan work

* Fix derped logic

* Correct size field for AID message

* Reformat to add comments, beginning of GPS rework

* Update PM2 message for Neo-6

* Correct ECO mode logic as ECO mode is only for Neo-6

* Cleanup ubx.h add a few more comments

---------

Co-authored-by: Jonathan Bennett <jbennett@incomsystems.biz>
Co-authored-by: Ben Meadors <benmmeadors@gmail.com>
2024-01-30 17:38:31 -06:00

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uint8_t GPS::_message_PMREQ[] PROGMEM = {
0x00, 0x00, // 4 bytes duration of request task
0x00, 0x00, // (milliseconds)
0x02, 0x00, // Task flag bitfield
0x00, 0x00 // byte index 1 = sleep mode
};
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 or EPH, 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
};
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.
const uint8_t GPS::_message_GNSS[] = {
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
};
// Enable jamming/interference monitor
// For Neo-6
const uint8_t GPS::_message_JAM[] = {
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
};
/* // WIP GPS reconfig
// 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
};
// 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.
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
};
// Enable 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
0x01, // Rate for UART1
0x00, // Rate for UART2
0x00, // Rate for USB
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
0x00, // Rate for USB
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
0x00, // Rate for USB
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
};
// 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 and higher 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
};
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