diff --git a/platformio.ini b/platformio.ini index dbd15645f..c511587a6 100644 --- a/platformio.ini +++ b/platformio.ini @@ -78,7 +78,7 @@ lib_deps = https://github.com/meshtastic/esp8266-oled-ssd1306.git#ee628ee6c9588d4c56c9e3da35f0fc9448ad54a8 ; ESP8266_SSD1306 mathertel/OneButton@^2.5.0 ; OneButton library for non-blocking button debounce https://github.com/meshtastic/arduino-fsm.git#7db3702bf0cfe97b783d6c72595e3f38e0b19159 - https://github.com/meshtastic/TinyGPSPlus.git#2044b2c51e91ab4cd8cc93b15e40658cd808dd06 + https://github.com/meshtastic/TinyGPSPlus.git#f9f4fef2183514aa52be91d714c1455dd6f26e45 https://github.com/meshtastic/ArduinoThread.git#72921ac222eed6f526ba1682023cee290d9aa1b3 nanopb/Nanopb@^0.4.7 erriez/ErriezCRC32@^1.0.1 diff --git a/src/gps/GPS.cpp b/src/gps/GPS.cpp index 849c38794..2321ee246 100644 --- a/src/gps/GPS.cpp +++ b/src/gps/GPS.cpp @@ -290,6 +290,26 @@ bool GPS::setup() // Switch to Vehicle Mode, since SoftRF enables Aviation < 2g _serial_gps->write("$PCAS11,3*1E\r\n"); delay(250); + } else if (gnssModel == GNSS_MODEL_MTK_L76B) { + // Waveshare Pico-GPS hat uses the L76B with 9600 baud + // Initialize the L76B Chip, use GPS + GLONASS + // See note in L76_Series_GNSS_Protocol_Specification, chapter 3.29 + _serial_gps->write("$PMTK353,1,1,0,0,0*2B\r\n"); + // Above command will reset the GPS and takes longer before it will accept new commands + delay(1000); + // only ask for RMC and GGA (GNRMC and GNGGA) + // See note in L76_Series_GNSS_Protocol_Specification, chapter 2.1 + _serial_gps->write("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n"); + delay(250); + // Enable SBAS + _serial_gps->write("$PMTK301,2*2E\r\n"); + delay(250); + // Enable PPS for 2D/3D fix only + _serial_gps->write("$PMTK285,3,100*3F\r\n"); + delay(250); + // Switch to Fitness Mode, for running and walking purpose with low speed (<5 m/s) + _serial_gps->write("$PMTK886,1*29\r\n"); + delay(250); } else if (gnssModel == GNSS_MODEL_UC6580) { // The Unicore UC6580 can use a lot of sat systems, enable it to // use GPS L1 & L5 + BDS B1I & B2a + GLONASS L1 + GALILEO E1 & E5a + SBAS @@ -625,17 +645,27 @@ void GPS::setGPSPower(bool on, bool standbyOnly, uint32_t sleepTime) return; } #endif -#ifdef PIN_GPS_STANDBY // Specifically the standby pin for L76K and clones +#ifdef PIN_GPS_STANDBY // Specifically the standby pin for L76B, L76K and clones if (on) { LOG_INFO("Waking GPS\n"); pinMode(PIN_GPS_STANDBY, OUTPUT); + // Some PCB's use an inverse logic due to a transistor driver + // Example for this is the Pico-Waveshare Lora+GPS HAT +#ifdef PIN_GPS_STANDBY_INVERTED + digitalWrite(PIN_GPS_STANDBY, 0); +#else digitalWrite(PIN_GPS_STANDBY, 1); +#endif return; } else { LOG_INFO("GPS entering sleep\n"); // notifyGPSSleep.notifyObservers(NULL); pinMode(PIN_GPS_STANDBY, OUTPUT); +#ifdef PIN_GPS_STANDBY_INVERTED + digitalWrite(PIN_GPS_STANDBY, 1); +#else digitalWrite(PIN_GPS_STANDBY, 0); +#endif return; } #endif @@ -916,7 +946,7 @@ GnssModel_t GPS::probe(int serialSpeed) uint8_t buffer[768] = {0}; delay(100); - // Close all NMEA sentences , Only valid for MTK platform + // Close all NMEA sentences , Only valid for L76K MTK platform _serial_gps->write("$PCAS03,0,0,0,0,0,0,0,0,0,0,,,0,0*02\r\n"); delay(20); @@ -928,6 +958,18 @@ GnssModel_t GPS::probe(int serialSpeed) return GNSS_MODEL_MTK; } + // Close all NMEA sentences, valid for L76B MTK platform (Waveshare Pico GPS) + _serial_gps->write("$PMTK514,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*2E\r\n"); + delay(20); + + // Get version information + clearBuffer(); + _serial_gps->write("$PMTK605*31\r\n"); + if (getACK("Quectel-L76B", 500) == GNSS_RESPONSE_OK) { + LOG_INFO("L76B GNSS init succeeded, using L76B GNSS Module\n"); + return GNSS_MODEL_MTK_L76B; + } + uint8_t cfg_rate[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x00, 0x00}; UBXChecksum(cfg_rate, sizeof(cfg_rate)); clearBuffer(); @@ -1109,7 +1151,6 @@ GPS *GPS::createGps() LOG_DEBUG("Using GPIO%d for GPS RX\n", new_gps->rx_gpio); LOG_DEBUG("Using GPIO%d for GPS TX\n", new_gps->tx_gpio); _serial_gps->begin(GPS_BAUDRATE, SERIAL_8N1, new_gps->rx_gpio, new_gps->tx_gpio); - #else _serial_gps->begin(GPS_BAUDRATE); #endif @@ -1169,6 +1210,10 @@ bool GPS::factoryReset() // _serial_gps->write(_message_CFG_RST_COLDSTART, sizeof(_message_CFG_RST_COLDSTART)); // delay(1000); } else { + // fire this for good measure, if we have an L76B - won't harm other devices. + _serial_gps->write("$PMTK104*37\r\n"); + // No PMTK_ACK for this command. + delay(100); // send the UBLOX Factory Reset Command regardless of detect state, something is very wrong, just assume it's UBLOX. // Factory Reset byte _message_reset[] = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0xFF, 0xFB, 0x00, 0x00, 0x00, diff --git a/src/gps/GPS.h b/src/gps/GPS.h index 77e1d8042..502763bb6 100644 --- a/src/gps/GPS.h +++ b/src/gps/GPS.h @@ -20,12 +20,7 @@ struct uBloxGnssModelInfo { char extension[10][30]; }; -typedef enum { - GNSS_MODEL_MTK, - GNSS_MODEL_UBLOX, - GNSS_MODEL_UC6580, - GNSS_MODEL_UNKNOWN, -} GnssModel_t; +typedef enum { GNSS_MODEL_MTK, GNSS_MODEL_UBLOX, GNSS_MODEL_UC6580, GNSS_MODEL_UNKNOWN, GNSS_MODEL_MTK_L76B } GnssModel_t; typedef enum { GNSS_RESPONSE_NONE, @@ -92,8 +87,11 @@ class GPS : private concurrency::OSThread public: /** If !NULL we will use this serial port to construct our GPS */ +#if defined(RPI_PICO_WAVESHARE) + static SerialUART *_serial_gps; +#else static HardwareSerial *_serial_gps; - +#endif static uint8_t _message_PMREQ[]; static uint8_t _message_PMREQ_10[]; static const uint8_t _message_CFG_RXM_PSM[];