sforkowany z mirror/meshtastic-firmware
Merge branch 'meshtastic:master' into master
Vladislav Osmanov
GitHub
commit
2e48b88113
|
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@ -9,14 +9,14 @@
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; https://docs.platformio.org/page/projectconf.html
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[platformio]
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;default_envs = tbeam
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default_envs = tbeam
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;default_envs = tbeam0.7
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;default_envs = heltec-v2.0
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;default_envs = tlora-v1
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;default_envs = tlora_v1_3
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;default_envs = tlora-v2
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;default_envs = lora-relay-v1 # nrf board
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default_envs = t-echo
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;default_envs = t-echo
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;default_envs = nrf52840dk-geeksville
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;default_envs = native # lora-relay-v1 # nrf52840dk-geeksville # linux # or if you'd like to change the default to something like lora-relay-v1 put that here
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;default_envs = rak4631
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@ -72,7 +72,7 @@ lib_deps =
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1202 ; CRC32, explicitly needed because dependency is missing in the ble ota update lib
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https://github.com/meshtastic/arduino-fsm.git
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https://github.com/meshtastic/SparkFun_Ublox_Arduino_Library.git#31015a55e630a2df77d9d714669c621a5bf355ad
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https://github.com/meshtastic/RadioLib.git#80ed10d689a0568782c5bd152906b0f97d2bce93
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https://github.com/meshtastic/RadioLib.git#5582ac30578ff3f53f20630a00b2a8a4b8f92c74
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https://github.com/meshtastic/TinyGPSPlus.git#f0f47067ef2f67c856475933188251c1ef615e79
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https://github.com/meshtastic/AXP202X_Library.git#8404abb6d4b486748636bc6ad72d2a47baaf5460
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Wire ; explicitly needed here because the AXP202 library forgets to add it
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@ -45,6 +45,9 @@ class GPS : private concurrency::OSThread
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// scaling before use)
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uint32_t heading = 0; // Heading of motion, in degrees * 10^-5
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int32_t geoidal_height = 0; // geoidal separation, in meters!
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time_t pos_timestamp = 0; // positional timestamp from GPS solution
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GPS() : concurrency::OSThread("GPS") {}
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virtual ~GPS();
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@ -2,6 +2,12 @@
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#include "NMEAGPS.h"
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#include "RTC.h"
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#include <TinyGPS++.h>
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// GPS solutions older than this will be rejected - see TinyGPSDatum::age()
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#define GPS_SOL_EXPIRY_MS 300 // in millis
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#define NMEA_MSG_GXGSA "GNGSA" // GSA message (GPGSA, GNGSA etc)
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static int32_t toDegInt(RawDegrees d)
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{
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int32_t degMult = 10000000; // 1e7
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@ -21,6 +27,17 @@ bool NMEAGPS::setupGPS()
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pinMode(PIN_GPS_PPS, INPUT);
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#endif
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// Currently disabled per issue #525 (TinyGPS++ crash bug)
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// when fixed upstream, can be un-disabled to enable 3D FixType and PDOP
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#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
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// see NMEAGPS.h
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gsafixtype.begin(reader, NMEA_MSG_GXGSA, 2);
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gsapdop.begin(reader, NMEA_MSG_GXGSA, 15);
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DEBUG_MSG("Using " NMEA_MSG_GXGSA " for 3DFIX and PDOP\n");
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#else
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DEBUG_MSG("GxGSA NOT available\n");
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#endif
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return true;
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}
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@ -48,7 +65,7 @@ The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of s
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t.tm_year = d.year() - 1900;
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t.tm_isdst = false;
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DEBUG_MSG("NMEA GPS time %d\n", t.tm_sec);
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perhapsSetRTC(RTCQualityGPS, t);
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return true;
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@ -64,47 +81,117 @@ The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of s
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*/
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bool NMEAGPS::lookForLocation()
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{
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bool foundLocation = false;
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// By default, TinyGPS++ does not parse GPGSA lines, which give us
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// the 2D/3D fixType (see NMEAGPS.h)
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// At a minimum, use the fixQuality indicator in GPGGA (FIXME?)
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fixQual = reader.fixQuality();
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// uint8_t fixtype = reader.fixQuality();
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// hasValidLocation = ((fixtype >= 1) && (fixtype <= 5));
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#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
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fixType = atoi(gsafixtype.value()); // will set to zero if no data
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DEBUG_MSG("FIX QUAL=%d, TYPE=%d\n", fixQual, fixType);
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#endif
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// check if GPS has an acceptable lock
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if (! hasLock())
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return false;
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// check if a complete GPS solution set is available for reading
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// tinyGPSDatum::age() also includes isValid() test
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// FIXME
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if (! ((reader.location.age() < GPS_SOL_EXPIRY_MS) &&
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#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
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(gsafixtype.age() < GPS_SOL_EXPIRY_MS) &&
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#endif
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(reader.time.age() < GPS_SOL_EXPIRY_MS) &&
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(reader.date.age() < GPS_SOL_EXPIRY_MS)))
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{
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// DEBUG_MSG("SOME data is TOO OLD\n");
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return false;
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}
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// Is this a new point or are we re-reading the previous one?
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if (! reader.location.isUpdated())
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return false;
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// Start reading the data
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auto loc = reader.location.value();
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// Some GPSes (Air530) seem to send a zero longitude when the current fix is bogus
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// Bail out EARLY to avoid overwriting previous good data (like #857)
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if(toDegInt(loc.lat) == 0) {
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DEBUG_MSG("Ignoring bogus NMEA position\n");
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return false;
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}
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// Dilution of precision (an accuracy metric) is reported in 10^2 units, so we need to scale down when we use it
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#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
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dop = TinyGPSPlus::parseDecimal(gsapdop.value());
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#else
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// FIXME! naive PDOP emulation (assumes VDOP==HDOP)
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// correct formula is PDOP = SQRT(HDOP^2 + VDOP^2)
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dop = 1.41 * reader.hdop.value();
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#endif
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// Discard incomplete or erroneous readings
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if (dop == 0)
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return false;
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latitude = toDegInt(loc.lat);
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longitude = toDegInt(loc.lng);
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geoidal_height = reader.geoidHeight.meters();
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#ifdef GPS_ALTITUDE_HAE
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altitude = reader.altitude.meters() + geoidal_height;
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#else
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altitude = reader.altitude.meters();
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#endif
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// positional timestamp
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struct tm t;
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t.tm_sec = reader.time.second();
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t.tm_min = reader.time.minute();
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t.tm_hour = reader.time.hour();
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t.tm_mday = reader.date.day();
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t.tm_mon = reader.date.month() - 1;
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t.tm_year = reader.date.year() - 1900;
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t.tm_isdst = false;
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pos_timestamp = mktime(&t);
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// Nice to have, if available
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if (reader.satellites.isUpdated()) {
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setNumSatellites(reader.satellites.value());
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}
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// Diminution of precision (an accuracy metric) is reported in 10^2 units, so we need to scale down when we use it
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if (reader.hdop.isUpdated()) {
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dop = reader.hdop.value();
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}
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if (reader.course.isUpdated()) {
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if (reader.course.isUpdated() && reader.course.isValid()) {
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heading = reader.course.value() * 1e3; // Scale the heading (in degrees * 10^-2) to match the expected degrees * 10^-5
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}
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if (reader.altitude.isUpdated())
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altitude = reader.altitude.meters();
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/*
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// REDUNDANT?
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// expect gps pos lat=37.520825, lon=-122.309162, alt=158
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DEBUG_MSG("new NMEA GPS pos lat=%f, lon=%f, alt=%d, dop=%g, heading=%f\n",
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latitude * 1e-7, longitude * 1e-7, altitude, dop * 1e-2,
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heading * 1e-5);
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*/
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return true;
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}
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if (reader.location.isUpdated()) {
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auto loc = reader.location.value();
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latitude = toDegInt(loc.lat);
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longitude = toDegInt(loc.lng);
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// Some GPSes (Air530) seem to send a zero longitude when the current fix is bogus
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if(longitude == 0)
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DEBUG_MSG("Ignoring bogus NMEA position\n");
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else {
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foundLocation = true;
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// expect gps pos lat=37.520825, lon=-122.309162, alt=158
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DEBUG_MSG("new NMEA GPS pos lat=%f, lon=%f, alt=%d, hdop=%g, heading=%f\n", latitude * 1e-7, longitude * 1e-7, altitude,
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dop * 1e-2, heading * 1e-5);
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}
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bool NMEAGPS::hasLock()
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{
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// Using GPGGA fix quality indicator
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if (fixQual >= 1 && fixQual <= 5) {
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#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
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// Use GPGSA fix type 2D/3D (better) if available
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if (fixType == 3 || fixType == 0) // zero means "no data received"
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#endif
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return true;
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}
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return foundLocation;
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return false;
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}
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bool NMEAGPS::whileIdle()
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{
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bool isValid = false;
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@ -12,6 +12,15 @@
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class NMEAGPS : public GPS
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{
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TinyGPSPlus reader;
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uint8_t fixQual = 0; // fix quality from GPGGA
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#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS
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// (20210908) TinyGps++ can only read the GPGSA "FIX TYPE" field
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// via optional feature "custom fields", currently disabled (bug #525)
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TinyGPSCustom gsafixtype; // custom extract fix type from GPGSA
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TinyGPSCustom gsapdop; // custom extract PDOP from GPGSA
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uint8_t fixType = 0; // fix type from GPGSA
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#endif
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public:
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virtual bool setupGPS();
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@ -38,4 +47,6 @@ class NMEAGPS : public GPS
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* @return true if we've acquired a new location
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*/
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virtual bool lookForLocation();
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virtual bool hasLock();
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};
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@ -8,6 +8,8 @@
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// if gps_update_interval below this value, do not powercycle the GPS
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#define UBLOX_POWEROFF_THRESHOLD 90
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#define PDOP_INVALID 9999
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extern RadioConfig radioConfig;
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UBloxGPS::UBloxGPS() {}
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@ -116,19 +118,18 @@ bool UBloxGPS::factoryReset()
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/** Idle processing while GPS is looking for lock */
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void UBloxGPS::whileActive()
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{
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ublox.flushPVT(); // reset ALL freshness flags first
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ublox.getT(maxWait()); // ask for new time data - hopefully ready when we come back
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// Ask for a new position fix - hopefully it will have results ready by next time
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// the order here is important, because we only check for has latitude when reading
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ublox.getSIV(maxWait());
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ublox.getPDOP(maxWait());
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ublox.getP(maxWait());
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// Update fixtype
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if (ublox.moduleQueried.fixType) {
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fixType = ublox.getFixType(0);
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// DEBUG_MSG("GPS fix type %d, numSats %d\n", fixType, numSatellites);
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}
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//ublox.getSIV(maxWait()); // redundant with getPDOP below
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ublox.getPDOP(maxWait()); // will trigger getSOL on NEO6, getP on others
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ublox.getP(maxWait()); // will trigger getPosLLH on NEO6, getP on others
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// the fixType flag will be checked and updated in lookForLocation()
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}
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/**
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@ -169,28 +170,78 @@ bool UBloxGPS::lookForLocation()
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{
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bool foundLocation = false;
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if (ublox.moduleQueried.SIV)
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setNumSatellites(ublox.getSIV(0));
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// catch fixType changes here, instead of whileActive()
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if (ublox.moduleQueried.fixType) {
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fixType = ublox.getFixType();
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}
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if (ublox.moduleQueried.pDOP)
|
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dop = ublox.getPDOP(0); // PDOP (an accuracy metric) is reported in 10^2 units so we have to scale down when we use it
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// check if GPS has an acceptable lock
|
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if (! hasLock()) {
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return false;
|
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}
|
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|
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// we only notify if position has changed due to a new fix
|
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if ((fixType >= 3 && fixType <= 4)) {
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if (ublox.moduleQueried.latitude) // rd fixes only
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{
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latitude = ublox.getLatitude(0);
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longitude = ublox.getLongitude(0);
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altitude = ublox.getAltitudeMSL(0) / 1000; // in mm convert to meters
|
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// check if a complete GPS solution set is available for reading
|
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// (some of these, like lat/lon are redundant and can be removed)
|
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if ( ! (ublox.moduleQueried.latitude &&
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ublox.moduleQueried.longitude &&
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ublox.moduleQueried.altitude &&
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ublox.moduleQueried.pDOP &&
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ublox.moduleQueried.gpsiTOW))
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{
|
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// Not ready? No problem! We'll try again later.
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return false;
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}
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// Note: heading is only currently implmented in the ublox for the 8m chipset - therefore
|
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// don't read it here - it will generate an ignored getPVT command on the 6ms
|
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// heading = ublox.getHeading(0);
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// read lat/lon/alt/dop data into temporary variables to avoid
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// overwriting global variables with potentially invalid data
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int32_t tmp_dop = ublox.getPDOP(0); // PDOP (an accuracy metric) is reported in 10^2 units so we have to scale down when we use it
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int32_t tmp_lat = ublox.getLatitude(0);
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int32_t tmp_lon = ublox.getLongitude(0);
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int32_t tmp_alt_msl = ublox.getAltitudeMSL(0);
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int32_t tmp_alt_hae = ublox.getAltitude(0);
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// Note: heading is only currently implmented in the ublox for the 8m chipset - therefore
|
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// don't read it here - it will generate an ignored getPVT command on the 6ms
|
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// heading = ublox.getHeading(0);
|
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|
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// bogus lat lon is reported as 0 or 0 (can be bogus just for one)
|
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// Also: apparently when the GPS is initially reporting lock it can output a bogus latitude > 90 deg!
|
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foundLocation = (latitude != 0) && (longitude != 0) && (latitude <= 900000000 && latitude >= -900000000);
|
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}
|
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// read positional timestamp
|
||||
struct tm t;
|
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t.tm_sec = ublox.getSecond(0);
|
||||
t.tm_min = ublox.getMinute(0);
|
||||
t.tm_hour = ublox.getHour(0);
|
||||
t.tm_mday = ublox.getDay(0);
|
||||
t.tm_mon = ublox.getMonth(0) - 1;
|
||||
t.tm_year = ublox.getYear(0) - 1900;
|
||||
t.tm_isdst = false;
|
||||
|
||||
time_t tmp_ts = mktime(&t);
|
||||
|
||||
// SIV number is nice-to-have if it's available
|
||||
if (ublox.moduleQueried.SIV) {
|
||||
uint16_t gSIV = ublox.getSIV(0);
|
||||
setNumSatellites(gSIV);
|
||||
}
|
||||
|
||||
// bogus lat lon is reported as 0 or 0 (can be bogus just for one)
|
||||
// Also: apparently when the GPS is initially reporting lock it can output a bogus latitude > 90 deg!
|
||||
// FIXME - NULL ISLAND is a real location on Earth!
|
||||
foundLocation = (tmp_lat != 0) && (tmp_lon != 0) &&
|
||||
(tmp_lat <= 900000000) && (tmp_lat >= -900000000) &&
|
||||
(tmp_dop < PDOP_INVALID);
|
||||
|
||||
// only if entire dataset is valid, update globals from temp vars
|
||||
if (foundLocation) {
|
||||
longitude = tmp_lon;
|
||||
latitude = tmp_lat;
|
||||
#ifdef GPS_ALTITUDE_HAE
|
||||
altitude = tmp_alt_hae / 1000;
|
||||
#else
|
||||
altitude = tmp_alt_msl / 1000;
|
||||
#endif
|
||||
geoidal_height = (tmp_alt_hae - tmp_alt_msl) / 1000;
|
||||
pos_timestamp = tmp_ts;
|
||||
dop = tmp_dop;
|
||||
} else {
|
||||
DEBUG_MSG("Invalid location discarded\n");
|
||||
}
|
||||
|
||||
return foundLocation;
|
||||
|
|
|
|||
|
|
@ -70,6 +70,12 @@ bool RF95Interface::init()
|
|||
int res = lora->begin(freq, bw, sf, cr, syncWord, power, currentLimit, preambleLength);
|
||||
DEBUG_MSG("RF95 init result %d\n", res);
|
||||
|
||||
// current limit was removed from module' ctor
|
||||
// override default value (60 mA)
|
||||
res = lora->setCurrentLimit(currentLimit);
|
||||
DEBUG_MSG("Current limit set to %f\n", currentLimit);
|
||||
DEBUG_MSG("Current limit set result %d\n", res);
|
||||
|
||||
if (res == ERR_NONE)
|
||||
res = lora->setCRC(SX126X_LORA_CRC_ON);
|
||||
|
||||
|
|
|
|||
|
|
@ -19,6 +19,12 @@ int16_t RadioLibRF95::begin(float freq, float bw, uint8_t sf, uint8_t cr, uint8_
|
|||
state = SX127x::begin(RF95_ALT_VERSION, syncWord, preambleLength);
|
||||
RADIOLIB_ASSERT(state);
|
||||
|
||||
// current limit was removed from module' ctor
|
||||
// override default value (60 mA)
|
||||
state = setCurrentLimit(currentLimit);
|
||||
DEBUG_MSG("Current limit set to %f\n", currentLimit);
|
||||
DEBUG_MSG("Current limit set result %d\n", state);
|
||||
|
||||
// configure settings not accessible by API
|
||||
state = config();
|
||||
RADIOLIB_ASSERT(state);
|
||||
|
|
|
|||
|
|
@ -62,6 +62,11 @@ class RadioLibRF95: public SX1278 {
|
|||
/// For debugging
|
||||
uint8_t readReg(uint8_t addr);
|
||||
|
||||
protected:
|
||||
// since default current limit for SX126x/127x in updated RadioLib is 60mA
|
||||
// use the previous value
|
||||
float currentLimit = 100;
|
||||
|
||||
#ifndef RADIOLIB_GODMODE
|
||||
private:
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -53,6 +53,12 @@ bool SX1262Interface::init()
|
|||
int res = lora.begin(freq, bw, sf, cr, syncWord, power, preambleLength, tcxoVoltage, useRegulatorLDO);
|
||||
DEBUG_MSG("SX1262 init result %d\n", res);
|
||||
|
||||
// current limit was removed from module' ctor
|
||||
// override default value (60 mA)
|
||||
res = lora.setCurrentLimit(currentLimit);
|
||||
DEBUG_MSG("Current limit set to %f\n", currentLimit);
|
||||
DEBUG_MSG("Current limit set result %d\n", res);
|
||||
|
||||
#ifdef SX1262_TXEN
|
||||
// lora.begin sets Dio2 as RF switch control, which is not true if we are manually controlling RX and TX
|
||||
if (res == ERR_NONE)
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue