sforkowany z mirror/meshtastic-firmware
Add GNSS model recognition functio (#1696)
* Add GNSS model recognition function * Fix GNSS initialization failure * GPS.cpp difference between runOnce and ESP32S3 and ESP32 versions Co-authored-by: Ben Meadors <benmmeadors@gmail.com>raytac-diy
lewis he
GitHub
rodzic
accd23eddc
commit
9481461145
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@ -441,9 +441,12 @@ bool Power::axpChipInit()
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// t-beam s3 core
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// gnss module power channel - now turned on in setGpsPower
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// PMU->setPowerChannelVoltage(XPOWERS_ALDO4, 3300);
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// PMU->enablePowerOutput(XPOWERS_ALDO4);
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/**
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* gnss module power channel
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* The default ALDO4 is off, you need to turn on the GNSS power first, otherwise it will be invalid during initialization
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*/
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PMU->setPowerChannelVoltage(XPOWERS_ALDO4, 3300);
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PMU->enablePowerOutput(XPOWERS_ALDO4);
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// lora radio power channel
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PMU->setPowerChannelVoltage(XPOWERS_ALDO3, 3300);
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292
src/gps/GPS.cpp
292
src/gps/GPS.cpp
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@ -59,6 +59,87 @@ bool GPS::getACK(uint8_t c, uint8_t i) {
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}
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}
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/**
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* @brief
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* @note New method, this method can wait for the specified class and message ID, and return the payload
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* @param *buffer: The message buffer, if there is a response payload message, it will be returned through the buffer parameter
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* @param size: size of buffer
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* @param requestedClass: request class constant
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* @param requestedID: request message ID constant
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* @retval length of payload message
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*/
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int GPS::getAck(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t requestedID)
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{
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uint16_t ubxFrameCounter = 0;
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uint32_t startTime = millis();
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uint16_t needRead;
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while (millis() - startTime < 800) {
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while (_serial_gps->available()) {
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int c = _serial_gps->read();
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switch (ubxFrameCounter) {
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case 0:
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//ubxFrame 'μ'
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if (c == 0xB5) {
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ubxFrameCounter++;
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}
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break;
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case 1:
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//ubxFrame 'b'
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if (c == 0x62) {
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ubxFrameCounter++;
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} else {
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ubxFrameCounter = 0;
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}
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break;
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case 2:
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//Class
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if (c == requestedClass) {
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ubxFrameCounter++;
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} else {
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ubxFrameCounter = 0;
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}
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break;
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case 3:
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//Message ID
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if (c == requestedID) {
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ubxFrameCounter++;
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} else {
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ubxFrameCounter = 0;
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}
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break;
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case 4:
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//Payload lenght lsb
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needRead = c;
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ubxFrameCounter++;
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break;
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case 5:
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//Payload lenght msb
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needRead |= (c << 8);
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ubxFrameCounter++;
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break;
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case 6:
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// Check for buffer overflow
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if (needRead >= size) {
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ubxFrameCounter = 0;
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break;
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}
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if (_serial_gps->readBytes(buffer, needRead) != needRead) {
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ubxFrameCounter = 0;
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} else {
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// return payload lenght
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return needRead;
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}
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break;
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default:
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break;
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}
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}
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}
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return 0;
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}
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bool GPS::setupGPS()
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{
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if (_serial_gps && !didSerialInit) {
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@ -80,22 +161,96 @@ bool GPS::setupGPS()
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_serial_gps->setRxBufferSize(2048); // the default is 256
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#endif
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#ifdef LILYGO_TBEAM_S3_CORE
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/*
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* t-beam-s3-core uses the same L76K GNSS module as t-echo.
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* Unlike t-echo, L76K uses 9600 baud rate for communication by default.
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* */
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_serial_gps->begin(9600);
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delay(250);
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// Initialize the L76K Chip, use GPS + GLONASS
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_serial_gps->write("$PCAS04,5*1C\r\n");
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delay(250);
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// only ask for RMC and GGA
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_serial_gps->write("$PCAS03,1,0,0,0,1,0,0,0,0,0,,,0,0*02\r\n");
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delay(250);
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// Switch to Vehicle Mode, since SoftRF enables Aviation < 2g
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_serial_gps->write("$PCAS11,3*1E\r\n");
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delay(250);
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* T-Beam-S3-Core will be preset to use gps Probe here, and other boards will not be changed first
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*/
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gnssModel = probe();
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if(gnssModel == GNSS_MODEL_MTK){
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/*
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* t-beam-s3-core uses the same L76K GNSS module as t-echo.
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* Unlike t-echo, L76K uses 9600 baud rate for communication by default.
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* */
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// _serial_gps->begin(9600); //The baud rate of 9600 has been initialized at the beginning of setupGPS, this line is the redundant part
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// delay(250);
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// Initialize the L76K Chip, use GPS + GLONASS
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_serial_gps->write("$PCAS04,5*1C\r\n");
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delay(250);
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// only ask for RMC and GGA
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_serial_gps->write("$PCAS03,1,0,0,0,1,0,0,0,0,0,,,0,0*02\r\n");
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delay(250);
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// Switch to Vehicle Mode, since SoftRF enables Aviation < 2g
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_serial_gps->write("$PCAS11,3*1E\r\n");
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delay(250);
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}else if(gnssModel == GNSS_MODEL_UBLOX){
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/*
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tips: NMEA Only should not be set here, otherwise initializing Ublox gnss module again after
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setting will not output command messages in UART1, resulting in unrecognized module information
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// Set the UART port to output NMEA only
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byte _message_nmea[] = {0xB5, 0x62, 0x06, 0x00, 0x14, 0x00, 0x01, 0x00, 0x00, 0x00, 0xC0, 0x08, 0x00, 0x00,
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0x80, 0x25, 0x00, 0x00, 0x07, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x91, 0xAF};
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_serial_gps->write(_message_nmea, sizeof(_message_nmea));
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if (!getACK(0x06, 0x00)) {
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DEBUG_MSG("WARNING: Unable to enable NMEA Mode.\n");
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return true;
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}
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*/
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// ublox-M10S can be compatible with UBLOX traditional protocol, so the following sentence settings are also valid
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// disable GGL
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byte _message_GGL[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x01, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x05, 0x3A};
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_serial_gps->write(_message_GGL, sizeof(_message_GGL));
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if (!getACK(0x06, 0x01)) {
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DEBUG_MSG("WARNING: Unable to disable NMEA GGL.\n");
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return true;
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}
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// disable GSA
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byte _message_GSA[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x02, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x06, 0x41};
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_serial_gps->write(_message_GSA, sizeof(_message_GSA));
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if (!getACK(0x06, 0x01)) {
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DEBUG_MSG("WARNING: Unable to disable NMEA GSA.\n");
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return true;
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}
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// disable GSV
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byte _message_GSV[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x03, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x07, 0x48};
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_serial_gps->write(_message_GSV, sizeof(_message_GSV));
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if (!getACK(0x06, 0x01)) {
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DEBUG_MSG("WARNING: Unable to disable NMEA GSV.\n");
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return true;
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}
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// disable VTG
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byte _message_VTG[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x05, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x09, 0x56};
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_serial_gps->write(_message_VTG, sizeof(_message_VTG));
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if (!getACK(0x06, 0x01)) {
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DEBUG_MSG("WARNING: Unable to disable NMEA VTG.\n");
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return true;
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}
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// enable RMC
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byte _message_RMC[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x04, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x09, 0x54};
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_serial_gps->write(_message_RMC, sizeof(_message_RMC));
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if (!getACK(0x06, 0x01)) {
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DEBUG_MSG("WARNING: Unable to enable NMEA RMC.\n");
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return true;
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}
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// enable GGA
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byte _message_GGA[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x05, 0x38};
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_serial_gps->write(_message_GGA, sizeof(_message_GGA));
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if (!getACK(0x06, 0x01)) {
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DEBUG_MSG("WARNING: Unable to enable NMEA GGA.\n");
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}
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}
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#endif
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#ifdef TTGO_T_ECHO
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@ -335,7 +490,16 @@ int32_t GPS::runOnce()
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// if we have received valid NMEA claim we are connected
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setConnected();
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} else {
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#ifdef GPS_UBLOX
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#if defined(LILYGO_TBEAM_S3_CORE)
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if(gnssModel == GNSS_MODEL_UBLOX){
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// reset the GPS on next bootup
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if(devicestate.did_gps_reset && (millis() > 60000) && !hasFlow()) {
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DEBUG_MSG("GPS is not communicating, trying factory reset on next bootup.\n");
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devicestate.did_gps_reset = false;
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nodeDB.saveDeviceStateToDisk();
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}
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}
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#elif defined(GPS_UBLOX)
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// reset the GPS on next bootup
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if(devicestate.did_gps_reset && (millis() > 60000) && !hasFlow()) {
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DEBUG_MSG("GPS is not communicating, trying factory reset on next bootup.\n");
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@ -442,6 +606,104 @@ int GPS::prepareDeepSleep(void *unused)
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return 0;
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}
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GnssModel_t GPS::probe()
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{
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uint8_t buffer[256];
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/*
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* The GNSS module information variable is temporarily placed inside the function body,
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* if it needs to be used elsewhere, it can be moved to the outside
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* */
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struct uBloxGnssModelInfo info ;
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memset(&info, 0, sizeof(struct uBloxGnssModelInfo));
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// Close all NMEA sentences , Only valid for MTK platform
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_serial_gps->write("$PCAS03,0,0,0,0,0,0,0,0,0,0,,,0,0*02\r\n");
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delay(20);
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// Get version information
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_serial_gps->write("$PCAS06,0*1B\r\n");
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uint32_t startTimeout = millis() + 500;
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while (millis() < startTimeout) {
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if (_serial_gps->available()) {
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String ver = _serial_gps->readStringUntil('\r');
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// Get module info , If the correct header is returned,
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// it can be determined that it is the MTK chip
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int index = ver.indexOf("$");
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if(index != -1){
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ver = ver.substring(index);
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if (ver.startsWith("$GPTXT,01,01,02")) {
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DEBUG_MSG("L76K GNSS init succeeded, using L76K GNSS Module\n");
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return GNSS_MODEL_MTK;
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}
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}
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}
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}
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uint8_t cfg_rate[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x0E, 0x30};
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_serial_gps->write(cfg_rate, sizeof(cfg_rate));
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// Check that the returned response class and message ID are correct
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if (!getAck(buffer, 256, 0x06, 0x08)) {
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DEBUG_MSG("Warning: Failed to find UBlox & MTK GNSS Module\n");
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return GNSS_MODEL_UNKONW;
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}
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// Get Ublox gnss module hardware and software info
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uint8_t cfg_get_hw[] = {0xB5, 0x62, 0x0A, 0x04, 0x00, 0x00, 0x0E, 0x34};
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_serial_gps->write(cfg_get_hw, sizeof(cfg_get_hw));
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uint16_t len = getAck(buffer, 256, 0x0A, 0x04);
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if (len) {
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uint16_t position = 0;
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for (int i = 0; i < 30; i++) {
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info.swVersion[i] = buffer[position];
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position++;
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}
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for (int i = 0; i < 10; i++) {
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info.hwVersion[i] = buffer[position];
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position++;
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}
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while (len >= position + 30) {
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for (int i = 0; i < 30; i++) {
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info.extension[info.extensionNo][i] = buffer[position];
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position++;
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}
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info.extensionNo++;
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if (info.extensionNo > 9)
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break;
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}
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DEBUG_MSG("Module Info : \n");
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DEBUG_MSG("Soft version: %s\n",info.swVersion);
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DEBUG_MSG("Hard version: %s\n",info.hwVersion);
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DEBUG_MSG("Extensions:%d\n",info.extensionNo);
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for (int i = 0; i < info.extensionNo; i++) {
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DEBUG_MSG(" %s\n",info.extension[i]);
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}
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memset(buffer,0,sizeof(buffer));
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//tips: extensionNo field is 0 on some 6M GNSS modules
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for (int i = 0; i < info.extensionNo; ++i) {
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if (!strncmp(info.extension[i], "OD=", 3)) {
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strcpy((char *)buffer, &(info.extension[i][3]));
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DEBUG_MSG("GetModel:%s\n",(char *)buffer);
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}
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}
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}
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if (strlen((char*)buffer)) {
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DEBUG_MSG("UBlox GNSS init succeeded, using UBlox %s GNSS Module\n" , buffer);
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}else{
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DEBUG_MSG("UBlox GNSS init succeeded, using UBlox GNSS Module\n");
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}
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return GNSS_MODEL_UBLOX;
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}
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#if HAS_GPS
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#include "NMEAGPS.h"
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#endif
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@ -4,6 +4,20 @@
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#include "Observer.h"
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#include "concurrency/OSThread.h"
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struct uBloxGnssModelInfo {
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char swVersion[30];
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char hwVersion[10];
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uint8_t extensionNo;
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char extension[10][30];
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} ;
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typedef enum{
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GNSS_MODEL_MTK,
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GNSS_MODEL_UBLOX,
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GNSS_MODEL_UNKONW,
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}GnssModel_t;
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// Generate a string representation of DOP
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const char *getDOPString(uint32_t dop);
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@ -146,6 +160,14 @@ class GPS : private concurrency::OSThread
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void publishUpdate();
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virtual int32_t runOnce() override;
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// Get GNSS model
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GnssModel_t probe();
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int getAck(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t requestedID);
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protected:
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GnssModel_t gnssModel = GNSS_MODEL_UNKONW;
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};
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// Creates an instance of the GPS class.
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@ -19,7 +19,20 @@ static int32_t toDegInt(RawDegrees d)
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bool NMEAGPS::factoryReset()
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{
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#ifdef GPS_UBLOX
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/**
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* First use the macro definition to distinguish,
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* if there is no problem, the macro definition will be deleted
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* */
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#if defined(LILYGO_TBEAM_S3_CORE)
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if(gnssModel == GNSS_MODEL_UBLOX){
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// Factory Reset
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byte _message_reset[] = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0xFF,
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0xFB, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0xFF, 0xFF, 0x00, 0x00, 0x17, 0x2B, 0x7E};
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_serial_gps->write(_message_reset,sizeof(_message_reset));
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delay(1000);
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}
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#elif defined(GPS_UBLOX)
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// Factory Reset
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byte _message_reset[] = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0xFF,
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0xFB, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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