Implement simple GPS power saving. Read leap seconds from GPS data when available. Improve documentation.

README.md

@@ -1,6 +1,8 @@
 # RS41ng - Amateur radio firmware for Vaisala RS41 radiosonde
 
-**NOTE:** This firmware is a work in progress and some features might not work as expected yet!
+**NOTE:** While this firmware has been tested with great success on a number of high-altitude balloon
+flights, it is still a work in progress and some features might not work as expected yet!
+In particular, the time sync (scheduling) features and use of an external Si5351 as a transmitter need more testing.
 
 This is a custom, amateur radio-oriented firmware for [Vaisala RS41 radiosondes](https://www.vaisala.com/en/products/instruments-sensors-and-other-measurement-devices/soundings-products/rs41).
 Some code is based on an earlier RS41 firmware project called [RS41HUP](https://github.com/df8oe/RS41HUP),
@@ -133,6 +135,15 @@ Sensor driver code contributions are welcome!
    transmit frequencies and transmission mode parameters in `config.h`
 2. Set up transmitted message templates in `config.c`, depending on the modes you use
 
+### Power consumption and power-saving features
+
+Power consumption notes (at 3V supply voltage) by Mark VK5QI:
+
+- GPS in default (max performance) mode, transmitting with Si4032 @ 13 dBm = ~150 mA
+- GPS in default (max performance) mode, not transmitting = 70-90 mA
+- GPS in power-saving mode, transmitting with Si4032 @ 13 dBm = ~120 mA
+- GPS in power-saving mode, not transmitting = 30-50 mA, depending on GPS state.
+
 ### Time sync settings
 
 The time sync feature is a simple way to activate the transmissions every N seconds, delayed by the `TIME_SYNC_OFFSET_SECONDS` setting.
@@ -242,6 +253,39 @@ Payload 3:
 
 ## Building the firmware
 
+The easiest and the recommended method to build the firmware is using Docker.
+
+If you have a Linux environment -- Windows Subsystem for Linux (WSL) or macOS might work too -- and
+you feel adventurous, you can try to build using the Linux-based instructions.
+
+### Building the firmware with Docker
+
+Using Docker to build the firmware is usually the easiest option, because it provides a stable Fedora Linux-based
+build environment on any platform. It should work on Windows and Mac operating systems too.
+
+The Docker environment can also help address issues with the build process.
+
+1. Install Docker if not already installed
+2. Set the current directory to the RS41ng source directory
+3. Build the RS41ng compiler Docker image using the following command. It is necessary to build the Docker image only once.
+    ```
+    docker build -t rs41ng_compiler .
+    ```
+4. Build the firmware using the following command. If you need to rebuild the firmware, simply run the command again.
+   On Linux/macOS, run:
+    ```
+    docker run --rm -it -v $(pwd):/usr/local/src/RS41ng rs41ng_compiler
+    ```
+    On Windows, run:
+    ```
+    docker run --rm -it -v %cd%:/usr/local/src/RS41ng rs41ng_compiler
+    ```
+5. The firmware will be stored in file `build/src/RS41ng.elf`
+
+Now you can flash the firmware using instructions below (skip the build instructions for Linux).
+
+### Building the firmware in a Linux environment
+
 Software requirements:
 
 * [GNU GCC toolchain](https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-a/downloads/9-2-2019-12)
@@ -254,7 +298,7 @@ On a Red Hat/Fedora Linux installation, the following packages can be installed:
 dnf install arm-none-eabi-gcc-cs arm-none-eabi-gcc-cs-c++ arm-none-eabi-binutils-cs arm-none-eabi-newlib cmake openocd
 ```
 
-### Steps to build the firmware
+#### Steps to build the firmware on Linux
 
 1. Install the required software dependencies listed above
 2. Build the firmware using the following commands
@@ -266,25 +310,6 @@ dnf install arm-none-eabi-gcc-cs arm-none-eabi-gcc-cs-c++ arm-none-eabi-binutils
     ```
 3. The firmware will be stored in file `build/src/RS41ng.elf`
 
-### Building the firmware with Docker
-
-Using Docker to build the firmware is usually the easiest option, because it provides a stable Fedora Linux-based
-build environment on any platform. It should work on Windows and Mac operating systems too.
-
-The Docker environment can also help address issues with the build process, including the `strlcpy()` errors observed on certain Linux distributions.
-
-1. Install Docker if not already installed
-2. Set the current directory to the RS41ng source directory
-3. Build the RS41ng compiler Docker image using the following command. It is necessary to build the Docker image only once.
-    ```
-    docker build -t rs41ng_compiler .
-    ```
-4. Build the firmware using the following command. If you need to rebuild the firmware, simply run the command again.
-    ```
-    docker run --rm -it -v $(pwd):/usr/local/src/RS41ng rs41ng_compiler
-    ```
-5. The firmware will be stored in file `build/src/RS41ng.elf`
-
 ## Flashing the firmware
 
 Hardware requirements:
@@ -326,7 +351,8 @@ ______________________|           |______________________
 
 ### Steps to flash the firmware
 
-1. If your ST-LINK v2 programmer is capable of providing power (as some third-party clones are), remove the batteries from the sonde. Otherwise, leave the battiers in and power on the sonde.
+1. If your ST-LINK v2 programmer is capable of providing power (as some third-party clones are),
+   remove the batteries from the sonde. Otherwise, leave the batteries in and power on the sonde.
 2. Connect an ST-LINK v2 programmer dongle to the sonde via the following pins:
   * SWDIO -> Pin 9 (SWDIO)
   * SWCLK -> Pin 8 (SWCLK)

src/codecs/horus/horus_packet_v1.c

@@ -48,6 +48,8 @@ size_t horus_packet_v1_create(uint8_t *payload, size_t length, telemetry_data *d
         horus_packet.Sats += 100;
     } else if (gps_data->power_safe_mode_state == POWER_SAFE_MODE_STATE_POWER_OPTIMIZED_TRACKING) {
         horus_packet.Sats += 200;
+    } else if (gps_data->power_safe_mode_state == POWER_SAFE_MODE_STATE_INACTIVE) {
+        horus_packet.Sats += 300;
     }
 
     horus_packet.Checksum = (uint16_t) calculate_crc16_checksum((char *) &horus_packet, sizeof(horus_packet) - 2);

src/codecs/horus/horus_packet_v2.c

@@ -43,6 +43,8 @@ size_t horus_packet_v2_create(uint8_t *payload, size_t length, telemetry_data *d
         horus_packet.Sats += 100;
     } else if (gps_data->power_safe_mode_state == POWER_SAFE_MODE_STATE_POWER_OPTIMIZED_TRACKING) {
         horus_packet.Sats += 200;
+    } else if (gps_data->power_safe_mode_state == POWER_SAFE_MODE_STATE_INACTIVE) {
+        horus_packet.Sats += 300;
     }
 
     memset(horus_packet.CustomData, 0, sizeof(horus_packet.CustomData));

src/config.h

@@ -2,7 +2,8 @@
 #define __CONFIG_H
 
 // Enable semihosting to receive debug logs during development
-// NOTE: Semihosting has to be disabled when the RS41 radiosonde is not connected to the STM32 programmer dongle, otherwise the firmware will not run.
+// See the README for details on how to set up debugging and debug logs with GDB
+// NOTE: Semihosting has to be disabled when the RS41 radiosonde is not connected to an STM32 programmer dongle, otherwise the firmware will not run.
 //#define SEMIHOSTING_ENABLE
 //#define LOGGING_ENABLE
 
@@ -58,11 +59,22 @@
 #define RADIO_TIME_SYNC_THRESHOLD_MS 2000
 
 // Number of leap seconds to add to the raw GPS time reported by the GPS chip (see https://timetoolsltd.com/gps/what-is-gps-time/ for more info)
+// This value is used by default, but if the received GPS data contains indication about leap seconds, that one is used instead.
 #define GPS_TIME_LEAP_SECONDS 18
 
 // Enable this setting to require 3D fix (altitude required, enable for airborne use), otherwise 2D fix is enough
 #define GPS_REQUIRE_3D_FIX true
 
+// Enable power-saving features of the GPS chip to save power.
+// This option should be safe to enable, as it enters a selective power saving mode.
+// If the GPS chip loses fix, it will enter a higher power state automatically.
+// Note that power saving mode is only enabled after the GPS chip has acquired good GPS fix for the first time.
+// It is not necessary to use power saving on short flights (e.g. less than 6 hours).
+// Based on measurements Mark VK5QI, enabling this reduces power consumption by about 30-40 mA (~50%) to around 30-50 mA,
+// where the consumption is 70-90 mA when power saving is not enabled and any radio transmitters are idle.
+// See the README for details about power consumption.
+#define GPS_POWER_SAVING_ENABLE false
+
 // Enable NMEA output from GPS via external serial port. This disables use of I²C bus (Si5351 and sensors) because the pins are shared.
 #define GPS_NMEA_OUTPUT_VIA_SERIAL_PORT_ENABLE false
 
@@ -105,6 +117,7 @@
 // 0 = -1dBm, 1 = 2dBm, 2 = 5dBm (~3 mW), 3 = 8dBm (~6 mW), 4 = 11dBm (~12 mW), 5 = 14dBm (25 mW), 6 = 17dBm (50 mW), 7 = 20dBm (100 mW)
 // This defaults to 5 (14 dBm, 25 mW), which is a good setting for Horus 4FSK transmissions and it saves power.
 // For APRS usage, you might want to use maximum power setting of 7 (20 dBm, 100 mW). Note that this setting reduces battery life.
+// See the README for details about power consumption.
 #define RADIO_SI4032_TX_POWER 5
 
 // Which modes to transmit using the built-in Si4032 transmitter chip

src/drivers/ubxg6010/ubxg6010.c

@@ -391,7 +391,7 @@ uBloxPacket msgcfgrxm = {
         },
         .data.cfgrxm = {
                 .reserved1=8, // Always set to 8
-                .lpMode=0 // Low power mode: Eco mode -- TODO: set back to Eco mode
+                .lpMode=0 // Enable max performance mode at start-up time to acquire GPS fix quickly
         }
 };
 
@@ -489,6 +489,28 @@ uBloxPacket msgcfgnmea = {
         }
 };
 
+bool ubxg6010_enable_power_save_mode()
+{
+    bool success;
+    uBloxPacket packet;
+
+    // Copy the packet header
+    memcpy(&packet, &msgcfgrxm, sizeof(uBloxPacket));
+
+    // The default power-save settings should be OK (1 second cyclic)
+    // Enable power-saving mode
+    packet.data.cfgrxm.lpMode = 1;
+
+    log_info("GPS: Entering power-saving mode\n");
+    ubxg6010_send_packet(&packet);
+    success = ubxg6010_wait_for_ack();
+    if (!success) {
+        log_error("GPS: Entering power-saving mode failed\n")
+    }
+
+    return success;
+}
+
 bool ubxg6010_init()
 {
     bool success;
@@ -714,6 +736,11 @@ static void ubxg6010_handle_packet(uBloxPacket *pkt)
         ubxg6010_current_gps_data.time_of_week_millis = pkt->data.navtimegps.iTOW;
         ubxg6010_current_gps_data.week = pkt->data.navtimegps.week;
 
+        if (pkt->data.navtimegps.valid & 0x04) {
+            // Flag set if leap seconds are valid
+            ubxg6010_current_gps_data.leap_seconds = pkt->data.navtimegps.leapS;
+        }
+
         ubxg6010_current_gps_data.updated = true;
     } else if (pkt->header.messageClass == 0x01 && pkt->header.messageId == 0x21) {
         ubxg6010_current_gps_data.year = pkt->data.navtimeutc.year;

src/drivers/ubxg6010/ubxg6010.h

@@ -7,6 +7,8 @@
 
 bool ubxg6010_init();
 
+bool ubxg6010_enable_power_save_mode();
+
 void ubxg6010_request_gpstime();
 
 bool ubxg6010_get_current_gps_data(gps_data *data);

src/gps.h

@@ -5,11 +5,19 @@
 #include <stdbool.h>
 #include "config.h"
 
+// Acquisition state: The receiver actively searches for and acquires signals. Maximum power consumption.
 #define POWER_SAFE_MODE_STATE_ACQUISITION 0
+// Tracking state: The receiver continuously tracks and downloads data. Less power consumption than in Acquisition state.
 #define POWER_SAFE_MODE_STATE_TRACKING 1
+// POT state: The receiver repeatedly loops through a sequence of tracking (TRK), calculating the position fix
+// (Calc), and entering an idle period (Idle). No new signals are acquired and no data is downloaded. Much less
+// power consumption than in Tracking state.
 #define POWER_SAFE_MODE_STATE_POWER_OPTIMIZED_TRACKING 2
+// Inactive state: Most parts of the receiver are switched off.
 #define POWER_SAFE_MODE_STATE_INACTIVE 3
 
+#define GPS_IS_POWER_SAVING_ACTIVE(gps_data) (gps_data.power_safe_mode_state != POWER_SAFE_MODE_STATE_ACQUISITION)
+
 #define GPS_FIX_NO_FIX 0
 #define GPS_FIX_DEAD_RECKONING_ONLY 1
 #define GPS_FIX_2D 2
@@ -34,6 +42,7 @@ typedef struct _gps_data {
     uint8_t seconds;
     uint8_t minutes;
     uint8_t hours;
+    int8_t leap_seconds;
 
     int32_t latitude_degrees_1000000;
     int32_t longitude_degrees_1000000;

src/radio.c

@@ -712,7 +712,7 @@ bool radio_handle_time_sync()
         return false;
     }
 
-    uint32_t time_millis = gps.time_of_week_millis - (GPS_TIME_LEAP_SECONDS * 1000);
+    uint32_t time_millis = gps.time_of_week_millis - (gps_time_leap_seconds * 1000);
 
     if (time_millis == radio_previous_time_sync_scheduled) {
         // The GPS chip has not provided an updated time yet for some reason

src/telemetry.c

@@ -9,6 +9,11 @@
 #include "config.h"
 #include "log.h"
 
+// Initialize leap seconds with a known good value
+int8_t gps_time_leap_seconds = GPS_TIME_LEAP_SECONDS;
+
+static bool gps_power_saving_enabled = false;
+
 void telemetry_collect(telemetry_data *data)
 {
     log_info("Collecting telemetry...\n");
@@ -31,9 +36,22 @@ void telemetry_collect(telemetry_data *data)
 
     ubxg6010_get_current_gps_data(&data->gps);
 
+    if (GPS_HAS_FIX(data->gps)) {
+        // If we have a good fix, we can enter power-saving mode
+        if ((data->gps.satellites_visible >= 6) && !gps_power_saving_enabled) {
+            #ifdef GPS_POWER_SAVING_ENABLE
+            ubxg6010_enable_power_save_mode();
+            gps_power_saving_enabled = true;
+            #endif
+        }
+
+        // If we get the number of leap seconds from GPS data, use it
+        if (data->gps.leap_seconds > 0) {
+            gps_time_leap_seconds = data->gps.leap_seconds;
+        }
+    } else {
         // Zero out position data if we don't have a valid GPS fix.
         // This is done to avoid transmitting invalid position information.
-    if (!GPS_HAS_FIX(data->gps)) {
         data->gps.latitude_degrees_1000000 = 0;
         data->gps.longitude_degrees_1000000 = 0;
         data->gps.altitude_mm = 0;

src/telemetry.h

@@ -25,4 +25,6 @@ typedef struct _telemetry_data {
 
 void telemetry_collect(telemetry_data *data);
 
+extern int8_t gps_time_leap_seconds;
+
 #endif