From e3ed63794235f6933e5da09d7155aa438f7e3d08 Mon Sep 17 00:00:00 2001 From: Kevin Hester Date: Sat, 4 Sep 2021 18:06:23 -0700 Subject: [PATCH 1/7] reference the updated radilib sha256 --- platformio.ini | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/platformio.ini b/platformio.ini index 79f838f8..c979d847 100644 --- a/platformio.ini +++ b/platformio.ini @@ -72,7 +72,7 @@ lib_deps = 1202 ; CRC32, explicitly needed because dependency is missing in the ble ota update lib https://github.com/meshtastic/arduino-fsm.git https://github.com/meshtastic/SparkFun_Ublox_Arduino_Library.git#31015a55e630a2df77d9d714669c621a5bf355ad - https://github.com/meshtastic/RadioLib.git#80ed10d689a0568782c5bd152906b0f97d2bce93 + https://github.com/meshtastic/RadioLib.git#d82e9e6cf5d014a600981885fff98f56896659e9 https://github.com/meshtastic/TinyGPSPlus.git#f0f47067ef2f67c856475933188251c1ef615e79 https://github.com/meshtastic/AXP202X_Library.git#8404abb6d4b486748636bc6ad72d2a47baaf5460 Wire ; explicitly needed here because the AXP202 library forgets to add it From eb27e744f78a0bce1d2be1774d9acffaf63082a7 Mon Sep 17 00:00:00 2001 From: a-f-G-U-C <65810997+a-f-G-U-C@users.noreply.github.com> Date: Sun, 5 Sep 2021 15:10:06 +0000 Subject: [PATCH 2/7] add positional timestamp and geoidal separation Relevant to issues #842 and #843 (timestamp) and historical issues #392 and #359 (timestamp, geoidal) --- src/gps/GPS.h | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/gps/GPS.h b/src/gps/GPS.h index 63d59486..b337703b 100644 --- a/src/gps/GPS.h +++ b/src/gps/GPS.h @@ -45,6 +45,9 @@ class GPS : private concurrency::OSThread // scaling before use) uint32_t heading = 0; // Heading of motion, in degrees * 10^-5 + int32_t geoidal_height = 0; // geoidal separation, in meters! + time_t pos_timestamp = 0; // positional timestamp from GPS solution + GPS() : concurrency::OSThread("GPS") {} virtual ~GPS(); From 1c06c2af9f74df4054a27c2b85972ffc4059afb3 Mon Sep 17 00:00:00 2001 From: a-f-G-U-C <65810997+a-f-G-U-C@users.noreply.github.com> Date: Sun, 5 Sep 2021 17:11:04 +0000 Subject: [PATCH 3/7] read lat/lon/alt into temp vars instead of global Instead of reading the GPS solution directly into global variables and risking a bad-over-good overwrite (issue #857), read it into temporary vars and only update global vars after validation. Also updates positional timestamp variable and prepares (non-breaking) for HAE altitude support (issue #359) --- src/gps/UBloxGPS.cpp | 103 ++++++++++++++++++++++++++++++++----------- 1 file changed, 77 insertions(+), 26 deletions(-) diff --git a/src/gps/UBloxGPS.cpp b/src/gps/UBloxGPS.cpp index 2da2a21a..21ed5af3 100644 --- a/src/gps/UBloxGPS.cpp +++ b/src/gps/UBloxGPS.cpp @@ -8,6 +8,8 @@ // if gps_update_interval below this value, do not powercycle the GPS #define UBLOX_POWEROFF_THRESHOLD 90 +#define PDOP_INVALID 9999 + extern RadioConfig radioConfig; UBloxGPS::UBloxGPS() {} @@ -116,19 +118,18 @@ bool UBloxGPS::factoryReset() /** Idle processing while GPS is looking for lock */ void UBloxGPS::whileActive() { + ublox.flushPVT(); // reset ALL freshness flags first + ublox.getT(maxWait()); // ask for new time data - hopefully ready when we come back // Ask for a new position fix - hopefully it will have results ready by next time // the order here is important, because we only check for has latitude when reading - ublox.getSIV(maxWait()); - ublox.getPDOP(maxWait()); - ublox.getP(maxWait()); - // Update fixtype - if (ublox.moduleQueried.fixType) { - fixType = ublox.getFixType(0); - // DEBUG_MSG("GPS fix type %d, numSats %d\n", fixType, numSatellites); - } + //ublox.getSIV(maxWait()); // redundant with getPDOP below + ublox.getPDOP(maxWait()); // will trigger getSOL on NEO6, getP on others + ublox.getP(maxWait()); // will trigger getPosLLH on NEO6, getP on others + + // the fixType flag will be checked and updated in lookForLocation() } /** @@ -169,28 +170,78 @@ bool UBloxGPS::lookForLocation() { bool foundLocation = false; - if (ublox.moduleQueried.SIV) - setNumSatellites(ublox.getSIV(0)); + // catch fixType changes here, instead of whileActive() + if (ublox.moduleQueried.fixType) { + fixType = ublox.getFixType(); + } - if (ublox.moduleQueried.pDOP) - dop = ublox.getPDOP(0); // PDOP (an accuracy metric) is reported in 10^2 units so we have to scale down when we use it + // check if GPS has an acceptable lock + if (! hasLock()) { + return false; + } - // we only notify if position has changed due to a new fix - if ((fixType >= 3 && fixType <= 4)) { - if (ublox.moduleQueried.latitude) // rd fixes only - { - latitude = ublox.getLatitude(0); - longitude = ublox.getLongitude(0); - altitude = ublox.getAltitudeMSL(0) / 1000; // in mm convert to meters + // check if a complete GPS solution set is available for reading + // (some of these, like lat/lon are redundant and can be removed) + if ( ! (ublox.moduleQueried.latitude && + ublox.moduleQueried.longitude && + ublox.moduleQueried.altitude && + ublox.moduleQueried.pDOP && + ublox.moduleQueried.gpsiTOW)) + { + // Not ready? No problem! We'll try again later. + return false; + } - // Note: heading is only currently implmented in the ublox for the 8m chipset - therefore - // don't read it here - it will generate an ignored getPVT command on the 6ms - // heading = ublox.getHeading(0); + // read lat/lon/alt/dop data into temporary variables to avoid + // overwriting global variables with potentially invalid data + 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 + int32_t tmp_lat = ublox.getLatitude(0); + int32_t tmp_lon = ublox.getLongitude(0); + int32_t tmp_alt_msl = ublox.getAltitudeMSL(0); + int32_t tmp_alt_hae = ublox.getAltitude(0); + // Note: heading is only currently implmented in the ublox for the 8m chipset - therefore + // don't read it here - it will generate an ignored getPVT command on the 6ms + // heading = ublox.getHeading(0); - // 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! - foundLocation = (latitude != 0) && (longitude != 0) && (latitude <= 900000000 && latitude >= -900000000); - } + // read positional timestamp + struct tm t; + 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; From 1a671f287753e9140b72dd8bd83676766059fa0b Mon Sep 17 00:00:00 2001 From: Vladislav Osmanov <7123463+osmanovv@users.noreply.github.com> Date: Wed, 8 Sep 2021 14:30:52 +0300 Subject: [PATCH 4/7] override new RadioLib's default current limit value (60 mA) to the previous value of 100mA --- src/mesh/RF95Interface.cpp | 6 ++++++ src/mesh/RadioLibRF95.cpp | 6 ++++++ src/mesh/RadioLibRF95.h | 5 +++++ src/mesh/SX1262Interface.cpp | 6 ++++++ 4 files changed, 23 insertions(+) diff --git a/src/mesh/RF95Interface.cpp b/src/mesh/RF95Interface.cpp index 8ba3b6e2..8b7d9f11 100644 --- a/src/mesh/RF95Interface.cpp +++ b/src/mesh/RF95Interface.cpp @@ -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); diff --git a/src/mesh/RadioLibRF95.cpp b/src/mesh/RadioLibRF95.cpp index 1bb2eca4..dcb987d1 100644 --- a/src/mesh/RadioLibRF95.cpp +++ b/src/mesh/RadioLibRF95.cpp @@ -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); diff --git a/src/mesh/RadioLibRF95.h b/src/mesh/RadioLibRF95.h index bfe805f4..d6aeb541 100644 --- a/src/mesh/RadioLibRF95.h +++ b/src/mesh/RadioLibRF95.h @@ -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 diff --git a/src/mesh/SX1262Interface.cpp b/src/mesh/SX1262Interface.cpp index 0d27bb0b..76d44625 100644 --- a/src/mesh/SX1262Interface.cpp +++ b/src/mesh/SX1262Interface.cpp @@ -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) From f6f9b9cd03fcc98a2c1ff67603d0421db49504b0 Mon Sep 17 00:00:00 2001 From: a-f-G-U-C <65810997+a-f-G-U-C@users.noreply.github.com> Date: Wed, 8 Sep 2021 14:02:13 +0000 Subject: [PATCH 5/7] fixes from PR #851, #858 ported to NMEA GPS apply fixes and upgrades from PR #851, #858 to NMEA GPS code --- src/gps/NMEAGPS.cpp | 142 +++++++++++++++++++++++++++++++++++--------- src/gps/NMEAGPS.h | 11 ++++ 2 files changed, 125 insertions(+), 28 deletions(-) diff --git a/src/gps/NMEAGPS.cpp b/src/gps/NMEAGPS.cpp index db7c328e..cc287c2d 100644 --- a/src/gps/NMEAGPS.cpp +++ b/src/gps/NMEAGPS.cpp @@ -2,6 +2,12 @@ #include "NMEAGPS.h" #include "RTC.h" +#include + +// GPS solutions older than this will be rejected - see TinyGPSDatum::age() +#define GPS_SOL_EXPIRY_MS 300 // in millis +#define NMEA_MSG_GXGSA "GNGSA" // GSA message (GPGSA, GNGSA etc) + static int32_t toDegInt(RawDegrees d) { int32_t degMult = 10000000; // 1e7 @@ -21,6 +27,17 @@ bool NMEAGPS::setupGPS() pinMode(PIN_GPS_PPS, INPUT); #endif +// Currently disabled per issue #525 (TinyGPS++ crash bug) +// when fixed upstream, can be un-disabled to enable 3D FixType and PDOP +#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS + // see NMEAGPS.h + gsafixtype.begin(reader, NMEA_MSG_GXGSA, 2); + gsapdop.begin(reader, NMEA_MSG_GXGSA, 15); + DEBUG_MSG("Using " NMEA_MSG_GXGSA " for 3DFIX and PDOP\n"); +#else + DEBUG_MSG("GxGSA NOT available\n"); +#endif + return true; } @@ -48,7 +65,6 @@ The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of s t.tm_year = d.year() - 1900; t.tm_isdst = false; DEBUG_MSG("NMEA GPS time %d\n", t.tm_sec); - perhapsSetRTC(RTCQualityGPS, t); return true; @@ -64,47 +80,117 @@ The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of s */ bool NMEAGPS::lookForLocation() { - bool foundLocation = false; + // By default, TinyGPS++ does not parse GPGSA lines, which give us + // the 2D/3D fixType (see NMEAGPS.h) + // At a minimum, use the fixQuality indicator in GPGGA (FIXME?) + fixQual = reader.fixQuality(); - // uint8_t fixtype = reader.fixQuality(); - // hasValidLocation = ((fixtype >= 1) && (fixtype <= 5)); +#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS + fixType = atoi(gsafixtype.value()); // will set to zero if no data + DEBUG_MSG("FIX QUAL=%d, TYPE=%d\n", fixQual, fixType); +#endif + // check if GPS has an acceptable lock + if (! hasLock()) + return false; + + // check if a complete GPS solution set is available for reading + // tinyGPSDatum::age() also includes isValid() test + // FIXME + if (! ((reader.location.age() < GPS_SOL_EXPIRY_MS) && +#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS + (gsafixtype.age() < GPS_SOL_EXPIRY_MS) && +#endif + (reader.time.age() < GPS_SOL_EXPIRY_MS) && + (reader.date.age() < GPS_SOL_EXPIRY_MS))) + { + // DEBUG_MSG("SOME data is TOO OLD\n"); + return false; + } + + // Is this a new point or are we re-reading the previous one? + if (! reader.location.isUpdated()) + return false; + + // Start reading the data + auto loc = reader.location.value(); + + // Some GPSes (Air530) seem to send a zero longitude when the current fix is bogus + // Bail out EARLY to avoid overwriting previous good data (like #857) + if(toDegInt(loc.lat) == 0) { + DEBUG_MSG("Ignoring bogus NMEA position\n"); + return false; + } + + // Dilution of precision (an accuracy metric) is reported in 10^2 units, so we need to scale down when we use it +#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS + dop = TinyGPSPlus::parseDecimal(gsapdop.value()); +#else + // FIXME! naive PDOP emulation (assumes VDOP==HDOP) + // correct formula is PDOP = SQRT(HDOP^2 + VDOP^2) + dop = 1.41 * reader.hdop.value(); +#endif + + // Discard incomplete or erroneous readings + if (dop == 0) + return false; + + latitude = toDegInt(loc.lat); + longitude = toDegInt(loc.lng); + + geoidal_height = reader.geoidHeight.meters(); +#ifdef GPS_ALTITUDE_HAE + altitude = reader.altitude.meters() + geoidal_height; +#else + altitude = reader.altitude.meters(); +#endif + + // positional timestamp + struct tm t; + t.tm_sec = reader.time.second(); + t.tm_min = reader.time.minute(); + t.tm_hour = reader.time.hour(); + t.tm_mday = reader.date.day(); + t.tm_mon = reader.date.month() - 1; + t.tm_year = reader.date.year() - 1900; + t.tm_isdst = false; + pos_timestamp = mktime(&t); + + // Nice to have, if available if (reader.satellites.isUpdated()) { setNumSatellites(reader.satellites.value()); } - // Diminution of precision (an accuracy metric) is reported in 10^2 units, so we need to scale down when we use it - if (reader.hdop.isUpdated()) { - dop = reader.hdop.value(); - } - if (reader.course.isUpdated()) { + if (reader.course.isUpdated() && reader.course.isValid()) { heading = reader.course.value() * 1e3; // Scale the heading (in degrees * 10^-2) to match the expected degrees * 10^-5 } - if (reader.altitude.isUpdated()) - altitude = reader.altitude.meters(); +/* + // REDUNDANT? + // expect gps pos lat=37.520825, lon=-122.309162, alt=158 + DEBUG_MSG("new NMEA GPS pos lat=%f, lon=%f, alt=%d, dop=%g, heading=%f\n", + latitude * 1e-7, longitude * 1e-7, altitude, dop * 1e-2, + heading * 1e-5); +*/ + return true; +} - if (reader.location.isUpdated()) { - auto loc = reader.location.value(); - latitude = toDegInt(loc.lat); - longitude = toDegInt(loc.lng); - - // Some GPSes (Air530) seem to send a zero longitude when the current fix is bogus - if(longitude == 0) - DEBUG_MSG("Ignoring bogus NMEA position\n"); - else { - foundLocation = true; - - // expect gps pos lat=37.520825, lon=-122.309162, alt=158 - DEBUG_MSG("new NMEA GPS pos lat=%f, lon=%f, alt=%d, hdop=%g, heading=%f\n", latitude * 1e-7, longitude * 1e-7, altitude, - dop * 1e-2, heading * 1e-5); - } +bool NMEAGPS::hasLock() +{ + // Using GPGGA fix quality indicator + if (fixQual >= 1 && fixQual <= 5) { +#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS + // Use GPGSA fix type 2D/3D (better) if available + if (fixType == 3 || fixType == 0) // zero means "no data received" +#endif + return true; } - return foundLocation; + return false; } + bool NMEAGPS::whileIdle() { bool isValid = false; @@ -112,7 +198,7 @@ bool NMEAGPS::whileIdle() // First consume any chars that have piled up at the receiver while (_serial_gps->available() > 0) { int c = _serial_gps->read(); - // DEBUG_MSG("%c", c); + DEBUG_MSG("%c", c); isValid |= reader.encode(c); } diff --git a/src/gps/NMEAGPS.h b/src/gps/NMEAGPS.h index 2fd29d40..bc558250 100644 --- a/src/gps/NMEAGPS.h +++ b/src/gps/NMEAGPS.h @@ -12,6 +12,15 @@ class NMEAGPS : public GPS { TinyGPSPlus reader; + uint8_t fixQual = 0; // fix quality from GPGGA + +#ifndef TINYGPS_OPTION_NO_CUSTOM_FIELDS + // (20210908) TinyGps++ can only read the GPGSA "FIX TYPE" field + // via optional feature "custom fields", currently disabled (bug #525) + TinyGPSCustom gsafixtype; // custom extract fix type from GPGSA + TinyGPSCustom gsapdop; // custom extract PDOP from GPGSA + uint8_t fixType = 0; // fix type from GPGSA +#endif public: virtual bool setupGPS(); @@ -38,4 +47,6 @@ class NMEAGPS : public GPS * @return true if we've acquired a new location */ virtual bool lookForLocation(); + + virtual bool hasLock(); }; From de712ce41a518782571406058953bc6acfb80998 Mon Sep 17 00:00:00 2001 From: a-f-G-U-C <65810997+a-f-G-U-C@users.noreply.github.com> Date: Wed, 8 Sep 2021 14:26:21 +0000 Subject: [PATCH 6/7] disable debug code --- src/gps/NMEAGPS.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/gps/NMEAGPS.cpp b/src/gps/NMEAGPS.cpp index cc287c2d..dcb24d61 100644 --- a/src/gps/NMEAGPS.cpp +++ b/src/gps/NMEAGPS.cpp @@ -65,6 +65,7 @@ The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of s t.tm_year = d.year() - 1900; t.tm_isdst = false; DEBUG_MSG("NMEA GPS time %d\n", t.tm_sec); + perhapsSetRTC(RTCQualityGPS, t); return true; @@ -198,7 +199,7 @@ bool NMEAGPS::whileIdle() // First consume any chars that have piled up at the receiver while (_serial_gps->available() > 0) { int c = _serial_gps->read(); - DEBUG_MSG("%c", c); + // DEBUG_MSG("%c", c); isValid |= reader.encode(c); } From be9d637c7cff47aff4ea7cbe14fbb06f2e15651b Mon Sep 17 00:00:00 2001 From: Kevin Hester Date: Wed, 8 Sep 2021 14:08:02 -0700 Subject: [PATCH 7/7] update platformio.ini to pull in latest RadioLib (with portduino fixes) --- platformio.ini | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/platformio.ini b/platformio.ini index c979d847..f4332345 100644 --- a/platformio.ini +++ b/platformio.ini @@ -9,14 +9,14 @@ ; https://docs.platformio.org/page/projectconf.html [platformio] -;default_envs = tbeam +default_envs = tbeam ;default_envs = tbeam0.7 ;default_envs = heltec-v2.0 ;default_envs = tlora-v1 ;default_envs = tlora_v1_3 ;default_envs = tlora-v2 ;default_envs = lora-relay-v1 # nrf board -default_envs = t-echo +;default_envs = t-echo ;default_envs = nrf52840dk-geeksville ;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 ;default_envs = rak4631 @@ -72,7 +72,7 @@ lib_deps = 1202 ; CRC32, explicitly needed because dependency is missing in the ble ota update lib https://github.com/meshtastic/arduino-fsm.git https://github.com/meshtastic/SparkFun_Ublox_Arduino_Library.git#31015a55e630a2df77d9d714669c621a5bf355ad - https://github.com/meshtastic/RadioLib.git#d82e9e6cf5d014a600981885fff98f56896659e9 + https://github.com/meshtastic/RadioLib.git#5582ac30578ff3f53f20630a00b2a8a4b8f92c74 https://github.com/meshtastic/TinyGPSPlus.git#f0f47067ef2f67c856475933188251c1ef615e79 https://github.com/meshtastic/AXP202X_Library.git#8404abb6d4b486748636bc6ad72d2a47baaf5460 Wire ; explicitly needed here because the AXP202 library forgets to add it