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cleaned comments and logging

pull/827/head
Stefan Unz 2024-01-10 12:46:25 +00:00 zatwierdzone przez Adrian Batzill
rodzic 79fdc0f86d
commit 6d6c593257
2 zmienionych plików z 58 dodań i 35 usunięć
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87
main/gps.go
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@ -4,9 +4,12 @@
that can be found in the LICENSE file, herein included
as part of this header.
---
gps.go: GPS functions, GPS init, AHRS status messages, other external sensor monitoring.
compile and install: clear && make www && make gen_gdl90 && mv gen_gdl90 /opt/stratux/bin/ && stxrestart
*/
package main
import (
@ -206,6 +209,17 @@ func makeNMEACmd(cmd string) []byte {
return []byte(fmt.Sprintf("$%s*%02x\x0d\x0a", cmd, chk_sum))
}
func logChipConfig(line1 string, chip string, device string, baudrate int, append string) {
if line1 == "auto" {
logInf("Gps - autodected gps, using following parameters:")
} else if line1 == "man" {
logInf("GPS - manual configuration with following parameters from /boot/stratux.conf:")
}
msg := "GPS - chip: %s, device: %s, baudrate: %d"
if(append != "") { msg += ", " + append}
logInf(msg, chip, device, baudrate)
}
func initGPSSerial() bool {
var device string
@ -220,55 +234,63 @@ func initGPSSerial() bool {
globalStatus.GPS_detected_type = 0 // reset detected type on each initialization
if globalSettings.GpsManualConfig {
logDbg("GPS - using manual config for gps:")
//logInf("GPS - manual configuration with parameters from /boot/stratux.conf:")
var chip string = globalSettings.GpsManualChip
device = globalSettings.GpsManualDevice
targetBaudRate = globalSettings.GpsManualTargetBaud
baudrates = []int{115200, 38400, 9600, 230400, 500000, 1000000, 2000000}
switch chip {
case "ublox6":
case "ublox7":
globalStatus.GPS_detected_type = GPS_TYPE_UBX6or7
logDbg("GPS - configuring chip as ublox6 or ublox7")
logChipConfig("man", "ublox 6 or 7", device, targetBaudRate, "")
break;
case "ublox8":
globalStatus.GPS_detected_type = GPS_TYPE_UBX8
logDbg("GPS - configuring chip as ublox8")
logChipConfig("man", "ublox 8", device, targetBaudRate, "")
break;
case "ublox9":
globalStatus.GPS_detected_type = GPS_TYPE_UBX9
logDbg("GPS - configuring chip as ublox9")
logChipConfig("man", "ublox 9", device, targetBaudRate, "")
break;
case "ublox10":
globalStatus.GPS_detected_type = GPS_TYPE_UBX10
logDbg("GPS - configuring chip as ublox10 - no special setup code yet - treated as ublox generic")
logChipConfig("man", "ublox 10", device, targetBaudRate, "")
break;
case "ublox":
globalStatus.GPS_detected_type = GPS_TYPE_UBX_GEN
logDbg("GPS - configuring chip as generic ublox chip")
logChipConfig("man", "generic ublox", device, targetBaudRate, "")
break;
default:
globalStatus.GPS_detected_type = GPS_TYPE_ANY
logDbg("GPS - configuring gps chip as other -> no further configuration, use gps as it is")
logInf("GPS - configuring gps chip as other -> no further configuration will be done, use gps as it is")
}
device = globalSettings.GpsManualDevice
targetBaudRate = globalSettings.GpsManualTargetBaud
logDbg("GPS - target baud rate: %d", targetBaudRate)
baudrates = []int{115200, 38400, 9600, 230400, 500000, 1000000, 2000000}
} else if _, err := os.Stat("/dev/ublox9"); err == nil { // u-blox 8 (RY83xAI over USB).
} else if _, err := os.Stat("/dev/ublox9"); err == nil {
device = "/dev/ublox9"
globalStatus.GPS_detected_type = GPS_TYPE_UBX9
} else if _, err := os.Stat("/dev/ublox8"); err == nil { // u-blox 8 (RY83xAI or GPYes 2.0).
logChipConfig("auto", "ublox 9", device, targetBaudRate, "")
} else if _, err := os.Stat("/dev/ublox8"); err == nil { // u-blox 8 (RY83xAI or GPYes 2.0).
device = "/dev/ublox8"
globalStatus.GPS_detected_type = GPS_TYPE_UBX8
gpsTimeOffsetPpsMs = 80 * time.Millisecond // Ublox 8 seems to have higher delay
} else if _, err := os.Stat("/dev/ublox7"); err == nil { // u-blox 7 (VK-172, VK-162 Rev 2, GPYes, RY725AI over USB).
gpsTimeOffsetPpsMs = 80 * time.Millisecond // Ublox 8 seems to have higher delay
logChipConfig("auto", "ublox 8", device, targetBaudRate, "")
} else if _, err := os.Stat("/dev/ublox7"); err == nil { // u-blox 7 (VK-172, VK-162 Rev 2, GPYes, RY725AI over USB).
device = "/dev/ublox7"
globalStatus.GPS_detected_type = GPS_TYPE_UBX6or7
} else if _, err := os.Stat("/dev/ublox6"); err == nil { // u-blox 6 (VK-162 Rev 1).
logChipConfig("auto", "ublox 7", device, targetBaudRate, "")
} else if _, err := os.Stat("/dev/ublox6"); err == nil { // u-blox 6 (VK-162 Rev 1).
device = "/dev/ublox6"
globalStatus.GPS_detected_type = GPS_TYPE_UBX6or7
logChipConfig("auto", "ublox 6", device, targetBaudRate, "")
} else if _, err := os.Stat("/dev/prolific0"); err == nil { // Assume it's a BU-353-S4 SIRF IV.
//TODO: Check a "serialout" flag and/or deal with multiple prolific devices.
isSirfIV = true
@ -288,13 +310,13 @@ func initGPSSerial() bool {
baudrates[0] = 115200
} else if _, err := os.Stat("/dev/ttyAMA0"); err == nil {
// ttyAMA0 is PL011 UART (GPIO pins 8 and 10) on all RPi.
// assume that any GPS connected to serial GPIO is ublox8 (RY835/6AI)
// assume that any GPS connected to serial GPIO is ublox
device = "/dev/ttyAMA0"
logDbg("GPS WARN - found a serial device at: %s", device)
logDbg("GPS WARN - assuming this an generic u-blox device: %s", device)
logDbg("GPS WARN - it is recommended to configure this device in /boot/stratux.conf")
globalStatus.GPS_detected_type = GPS_TYPE_UBX_GEN
globalStatus.GPS_detected_type = GPS_TYPE_UBX_GEN
baudrates = []int{115200, 38400, 9600}
logInf("GPS - device detected at serial port /dev/ttyAMA0, assuming this is an ublox device, configuring as generic ublox:")
logChipConfig("", "generic ublox", device, targetBaudRate, "")
logInf("GPS - consider to configure this device manually in /boot/stratux.conf for optimal performance")
} else {
logDbg("GPS - no gps device found.\n")
return false
@ -357,15 +379,15 @@ func initGPSSerial() bool {
//time.Sleep(100* time.Millisecond) // pause and wait for the GPS to finish configuring itself before closing / reopening the port
if globalStatus.GPS_detected_type == GPS_TYPE_UBX9 {
logDbg("GPS - ublox 9 detected\n")
logDbg("GPS - configuring as ublox 9\n")
// ublox 9
writeUblox9ConfigCommands(p)
} else if (globalStatus.GPS_detected_type == GPS_TYPE_UBX8) {
logDbg("GPS - ublox 8 detected\n")
logDbg("GPS - configuring as ublox 8\n")
// ublox 8
writeUblox8ConfigCommands(p)
} else if (globalStatus.GPS_detected_type == GPS_TYPE_UBX6or7) {
logDbg("GPS - ublox 6 or 7 detected\n")
logDbg("GPS - configuring as ublox 6 or 7\n")
// ublox 6,7
cfgGnss := []byte{0x00, 0x00, 0xFF, 0x04} // numTrkChUse=0xFF: number of tracking channels to use will be set to number of tracking channels available in hardware
gps := []byte{0x00, 0x04, 0xFF, 0x00, 0x01, 0x00, 0x01, 0x01} // enable GPS with 4-255 channels (ublox default)
@ -422,12 +444,9 @@ func initGPSSerial() bool {
p.Write(makeUBXCFG(0x06, 0x00, 20, cfg))
// time.Sleep(100* time.Millisecond) // pause and wait for the GPS to finish configuring itself before closing / reopening the port
//baudrates[0] = int(bdrt)
//baudrates[0] = int(bdrt) // replaced by line below -> insert at pos 0 instead of overwriting ...
baudrates = append([]int{targetBaudRate}, baudrates...)
if globalSettings.DEBUG {
log.Printf("GPS - finished writing u-blox GPS config to %s. Opening port to test connection.\n", device)
}
logDbg("GPS - finished writing u-blox GPS config to %s. Opening port to test connection.\n", device)
} else if globalStatus.GPS_detected_type == GPS_TYPE_SOFTRF_DONGLE {
p.Write([]byte("@GNS 0x7\r\n")) // enable SBAS
p.Flush()
@ -445,7 +464,7 @@ func initGPSSerial() bool {
p, err = detectOpenSerialPort(device, baudrates)
if err != nil {
log.Printf("GPS - serial port err: %s\n", err.Error())
logErr("GPS - serial port err: %s\n", err.Error())
return false
}
@ -475,7 +494,7 @@ func detectOpenSerialPort(device string, baudrates []int) (*(serial.Port), error
_, validNMEAcs := validateNMEAChecksum(line)
if validNMEAcs {
// looks a lot like NMEA.. use it
log.Printf("GPS - successfully opened serial port %s with baud %d (Valid NMEA msg received)", device, baud)
logInf("GPS - successfully opened serial port %s with baud %d (Valid NMEA msg received)", device, baud)
// Make sure the NMEA is immediately parsed once, so updateStatus() doesn't see the GPS as disconnected before
// first msg arrives
processNMEALine(line)
@ -486,7 +505,7 @@ func detectOpenSerialPort(device string, baudrates []int) (*(serial.Port), error
p.Close()
time.Sleep(250 * time.Millisecond)
}
logDbg("GPS - none of the baud rates worked ...")
logErr("GPS - none of the baud rates worked, gps not connected ...")
return nil, errors.New("GPS - Failed to detect gps serial baud rate")
}
}
@ -591,7 +610,7 @@ func writeUbloxGenericCommands(navrate uint16, p *serial.Port) {
p.Write(makeUBXCFG(0x06, 0x08, 6, []byte{0xE8, 0x03, 0x01, 0x00, 0x01, 0x00})) // 1000ms & 1 cycle -> 1Hz (UBX-CFG-RATE payload bytes: little endian!)
}
logDbg("GPS - applying generic ublox settings (refresh rate: %d)" , navrate)
}

6
main/logging.go
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@ -166,9 +166,13 @@ func initLogging() {
}
// Log allways
func logInf(msg string, args ... any) { log.Printf(msg, args...) }
// Log on error (no special proccessing right now)
func logErr(msg string, args ... any) { log.Printf(msg, args...) }
// Log if debug enabled ("verbose message log" in settings tab)
func logDbg(msg string, args ... any) {
if globalSettings.DEBUG {
log.Printf(msg, args...)