GPS refactor & license text updates (#601)
- Split up `gps-generic-module` into: - `gps-generic-module` that contains only interfaces/configs/bindings (Apache license) - `gps-meshtastic-module` that contains an implementation (GPL license) - Update `LICENSE.md` for changes, but also added clarifications - Added licenses to directories where they were missing - Changed license of some test projects from GPL to Apache.
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@@ -6,7 +6,6 @@ file(GLOB_RECURSE SOURCE_FILES "source/*.c*")
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tactility_add_module(gps-generic-module
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SRCS ${SOURCE_FILES}
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PRIV_INCLUDE_DIRS private/
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INCLUDE_DIRS include/
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REQUIRES TactilityKernel gps-module minmea
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)
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@@ -0,0 +1,195 @@
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@@ -1,677 +0,0 @@
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||||
License to anyone who comes into possession of a copy. This
|
||||
License will therefore apply, along with any applicable section 7
|
||||
additional terms, to the whole of the work, and all its parts,
|
||||
regardless of how they are packaged. This License gives no
|
||||
permission to license the work in any other way, but it does not
|
||||
invalidate such permission if you have separately received it.
|
||||
|
||||
d) If the work has interactive user interfaces, each must display
|
||||
Appropriate Legal Notices; however, if the Program has interactive
|
||||
interfaces that do not display Appropriate Legal Notices, your
|
||||
work need not make them do so.
|
||||
|
||||
A compilation of a covered work with other separate and independent
|
||||
works, which are not by their nature extensions of the covered work,
|
||||
and which are not combined with it such as to form a larger program,
|
||||
in or on a volume of a storage or distribution medium, is called an
|
||||
"aggregate" if the compilation and its resulting copyright are not
|
||||
used to limit the access or legal rights of the compilation's users
|
||||
beyond what the individual works permit. Inclusion of a covered work
|
||||
in an aggregate does not cause this License to apply to the other
|
||||
parts of the aggregate.
|
||||
|
||||
6. Conveying Non-Source Forms.
|
||||
|
||||
You may convey a covered work in object code form under the terms
|
||||
of sections 4 and 5, provided that you also convey the
|
||||
machine-readable Corresponding Source under the terms of this License,
|
||||
in one of these ways:
|
||||
|
||||
a) Convey the object code in, or embodied in, a physical product
|
||||
(including a physical distribution medium), accompanied by the
|
||||
Corresponding Source fixed on a durable physical medium
|
||||
customarily used for software interchange.
|
||||
|
||||
b) Convey the object code in, or embodied in, a physical product
|
||||
(including a physical distribution medium), accompanied by a
|
||||
written offer, valid for at least three years and valid for as
|
||||
long as you offer spare parts or customer support for that product
|
||||
model, to give anyone who possesses the object code either (1) a
|
||||
copy of the Corresponding Source for all the software in the
|
||||
product that is covered by this License, on a durable physical
|
||||
medium customarily used for software interchange, for a price no
|
||||
more than your reasonable cost of physically performing this
|
||||
conveying of source, or (2) access to copy the
|
||||
Corresponding Source from a network server at no charge.
|
||||
|
||||
c) Convey individual copies of the object code with a copy of the
|
||||
written offer to provide the Corresponding Source. This
|
||||
alternative is allowed only occasionally and noncommercially, and
|
||||
only if you received the object code with such an offer, in accord
|
||||
with subsection 6b.
|
||||
|
||||
d) Convey the object code by offering access from a designated
|
||||
place (gratis or for a charge), and offer equivalent access to the
|
||||
Corresponding Source in the same way through the same place at no
|
||||
further charge. You need not require recipients to copy the
|
||||
Corresponding Source along with the object code. If the place to
|
||||
copy the object code is a network server, the Corresponding Source
|
||||
may be on a different server (operated by you or a third party)
|
||||
that supports equivalent copying facilities, provided you maintain
|
||||
clear directions next to the object code saying where to find the
|
||||
Corresponding Source. Regardless of what server hosts the
|
||||
Corresponding Source, you remain obligated to ensure that it is
|
||||
available for as long as needed to satisfy these requirements.
|
||||
|
||||
e) Convey the object code using peer-to-peer transmission, provided
|
||||
you inform other peers where the object code and Corresponding
|
||||
Source of the work are being offered to the general public at no
|
||||
charge under subsection 6d.
|
||||
|
||||
A separable portion of the object code, whose source code is excluded
|
||||
from the Corresponding Source as a System Library, need not be
|
||||
included in conveying the object code work.
|
||||
|
||||
A "User Product" is either (1) a "consumer product", which means any
|
||||
tangible personal property which is normally used for personal, family,
|
||||
or household purposes, or (2) anything designed or sold for
|
||||
incorporation into a dwelling. In determining whether a product is a
|
||||
consumer product, doubtful cases shall be resolved in favor of
|
||||
coverage. For a particular product received by a particular user,
|
||||
"normally used" refers to a typical or common use of that class of
|
||||
product, regardless of the status of the particular user or of the way
|
||||
in which the particular user actually uses, or expects or is expected
|
||||
to use, the product. A product is a consumer product regardless of
|
||||
whether the product has substantial commercial, industrial or
|
||||
non-consumer uses, unless such uses represent the only significant
|
||||
mode of use of the product.
|
||||
|
||||
"Installation Information" for a User Product means any methods,
|
||||
procedures, authorization keys, or other information required to
|
||||
install and execute modified versions of a covered work in that User
|
||||
Product from a modified version of its Corresponding Source. The
|
||||
information must suffice to ensure that the continued functioning of
|
||||
the modified object code is in no case prevented or interfered with
|
||||
solely because modification has been made.
|
||||
|
||||
If you convey an object code work under this section in, or with, or
|
||||
specifically for use in, a User Product, and the conveying occurs as
|
||||
part of a transaction in which the right of possession and use of the
|
||||
User Product is transferred to the recipient in perpetuity or for a
|
||||
fixed term (regardless of how the transaction is characterized), the
|
||||
Corresponding Source conveyed under this section must be accompanied
|
||||
by the Installation Information. But this requirement does not apply
|
||||
if neither you nor any third party retains the ability to install
|
||||
modified object code on the User Product (for example, the work has
|
||||
been installed in ROM).
|
||||
|
||||
The requirement to provide Installation Information does not include
|
||||
a requirement to continue to provide support service, warranty, or
|
||||
updates for a work that has been modified or installed by the
|
||||
recipient, or for the User Product in which it has been modified or
|
||||
installed. Access to a network may be denied when the modification
|
||||
itself materially and adversely affects the operation of the network
|
||||
or violates the rules and protocols for communication across the
|
||||
network.
|
||||
|
||||
Corresponding Source conveyed, and Installation Information provided,
|
||||
in accord with this section must be in a format that is publicly
|
||||
documented (and with an implementation available to the public in
|
||||
source code form), and must require no special password or key for
|
||||
unpacking, reading or copying.
|
||||
|
||||
7. Additional Terms.
|
||||
|
||||
"Additional permissions" are terms that supplement the terms of this
|
||||
License by making exceptions from one or more of its conditions.
|
||||
Additional permissions that are applicable to the entire Program shall
|
||||
be treated as though they were included in this License, to the extent
|
||||
that they are valid under applicable law. If additional permissions
|
||||
apply only to part of the Program, that part may be used separately
|
||||
under those permissions, but the entire Program remains governed by
|
||||
this License without regard to the additional permissions.
|
||||
|
||||
When you convey a copy of a covered work, you may at your option
|
||||
remove any additional permissions from that copy, or from any part of
|
||||
it. (Additional permissions may be written to require their own
|
||||
removal in certain cases when you modify the work.) You may place
|
||||
additional permissions on material, added by you to a covered work,
|
||||
for which you have or can give appropriate copyright permission.
|
||||
|
||||
Notwithstanding any other provision of this License, for material you
|
||||
add to a covered work, you may (if authorized by the copyright holders
|
||||
of that material) supplement the terms of this License with terms:
|
||||
|
||||
a) Disclaiming warranty or limiting liability differently from the
|
||||
terms of sections 15 and 16 of this License; or
|
||||
|
||||
b) Requiring preservation of specified reasonable legal notices or
|
||||
author attributions in that material or in the Appropriate Legal
|
||||
Notices displayed by works containing it; or
|
||||
|
||||
c) Prohibiting misrepresentation of the origin of that material, or
|
||||
requiring that modified versions of such material be marked in
|
||||
reasonable ways as different from the original version; or
|
||||
|
||||
d) Limiting the use for publicity purposes of names of licensors or
|
||||
authors of the material; or
|
||||
|
||||
e) Declining to grant rights under trademark law for use of some
|
||||
trade names, trademarks, or service marks; or
|
||||
|
||||
f) Requiring indemnification of licensors and authors of that
|
||||
material by anyone who conveys the material (or modified versions of
|
||||
it) with contractual assumptions of liability to the recipient, for
|
||||
any liability that these contractual assumptions directly impose on
|
||||
those licensors and authors.
|
||||
|
||||
All other non-permissive additional terms are considered "further
|
||||
restrictions" within the meaning of section 10. If the Program as you
|
||||
received it, or any part of it, contains a notice stating that it is
|
||||
governed by this License along with a term that is a further
|
||||
restriction, you may remove that term. If a license document contains
|
||||
a further restriction but permits relicensing or conveying under this
|
||||
License, you may add to a covered work material governed by the terms
|
||||
of that license document, provided that the further restriction does
|
||||
not survive such relicensing or conveying.
|
||||
|
||||
If you add terms to a covered work in accord with this section, you
|
||||
must place, in the relevant source files, a statement of the
|
||||
additional terms that apply to those files, or a notice indicating
|
||||
where to find the applicable terms.
|
||||
|
||||
Additional terms, permissive or non-permissive, may be stated in the
|
||||
form of a separately written license, or stated as exceptions;
|
||||
the above requirements apply either way.
|
||||
|
||||
8. Termination.
|
||||
|
||||
You may not propagate or modify a covered work except as expressly
|
||||
provided under this License. Any attempt otherwise to propagate or
|
||||
modify it is void, and will automatically terminate your rights under
|
||||
this License (including any patent licenses granted under the third
|
||||
paragraph of section 11).
|
||||
|
||||
However, if you cease all violation of this License, then your
|
||||
license from a particular copyright holder is reinstated (a)
|
||||
provisionally, unless and until the copyright holder explicitly and
|
||||
finally terminates your license, and (b) permanently, if the copyright
|
||||
holder fails to notify you of the violation by some reasonable means
|
||||
prior to 60 days after the cessation.
|
||||
|
||||
Moreover, your license from a particular copyright holder is
|
||||
reinstated permanently if the copyright holder notifies you of the
|
||||
violation by some reasonable means, this is the first time you have
|
||||
received notice of violation of this License (for any work) from that
|
||||
copyright holder, and you cure the violation prior to 30 days after
|
||||
your receipt of the notice.
|
||||
|
||||
Termination of your rights under this section does not terminate the
|
||||
licenses of parties who have received copies or rights from you under
|
||||
this License. If your rights have been terminated and not permanently
|
||||
reinstated, you do not qualify to receive new licenses for the same
|
||||
material under section 10.
|
||||
|
||||
9. Acceptance Not Required for Having Copies.
|
||||
|
||||
You are not required to accept this License in order to receive or
|
||||
run a copy of the Program. Ancillary propagation of a covered work
|
||||
occurring solely as a consequence of using peer-to-peer transmission
|
||||
to receive a copy likewise does not require acceptance. However,
|
||||
nothing other than this License grants you permission to propagate or
|
||||
modify any covered work. These actions infringe copyright if you do
|
||||
not accept this License. Therefore, by modifying or propagating a
|
||||
covered work, you indicate your acceptance of this License to do so.
|
||||
|
||||
10. Automatic Licensing of Downstream Recipients.
|
||||
|
||||
Each time you convey a covered work, the recipient automatically
|
||||
receives a license from the original licensors, to run, modify and
|
||||
propagate that work, subject to this License. You are not responsible
|
||||
for enforcing compliance by third parties with this License.
|
||||
|
||||
An "entity transaction" is a transaction transferring control of an
|
||||
organization, or substantially all assets of one, or subdividing an
|
||||
organization, or merging organizations. If propagation of a covered
|
||||
work results from an entity transaction, each party to that
|
||||
transaction who receives a copy of the work also receives whatever
|
||||
licenses to the work the party's predecessor in interest had or could
|
||||
give under the previous paragraph, plus a right to possession of the
|
||||
Corresponding Source of the work from the predecessor in interest, if
|
||||
the predecessor has it or can get it with reasonable efforts.
|
||||
|
||||
You may not impose any further restrictions on the exercise of the
|
||||
rights granted or affirmed under this License. For example, you may
|
||||
not impose a license fee, royalty, or other charge for exercise of
|
||||
rights granted under this License, and you may not initiate litigation
|
||||
(including a cross-claim or counterclaim in a lawsuit) alleging that
|
||||
any patent claim is infringed by making, using, selling, offering for
|
||||
sale, or importing the Program or any portion of it.
|
||||
|
||||
11. Patents.
|
||||
|
||||
A "contributor" is a copyright holder who authorizes use under this
|
||||
License of the Program or a work on which the Program is based. The
|
||||
work thus licensed is called the contributor's "contributor version".
|
||||
|
||||
A contributor's "essential patent claims" are all patent claims
|
||||
owned or controlled by the contributor, whether already acquired or
|
||||
hereafter acquired, that would be infringed by some manner, permitted
|
||||
by this License, of making, using, or selling its contributor version,
|
||||
but do not include claims that would be infringed only as a
|
||||
consequence of further modification of the contributor version. For
|
||||
purposes of this definition, "control" includes the right to grant
|
||||
patent sublicenses in a manner consistent with the requirements of
|
||||
this License.
|
||||
|
||||
Each contributor grants you a non-exclusive, worldwide, royalty-free
|
||||
patent license under the contributor's essential patent claims, to
|
||||
make, use, sell, offer for sale, import and otherwise run, modify and
|
||||
propagate the contents of its contributor version.
|
||||
|
||||
In the following three paragraphs, a "patent license" is any express
|
||||
agreement or commitment, however denominated, not to enforce a patent
|
||||
(such as an express permission to practice a patent or covenant not to
|
||||
sue for patent infringement). To "grant" such a patent license to a
|
||||
party means to make such an agreement or commitment not to enforce a
|
||||
patent against the party.
|
||||
|
||||
If you convey a covered work, knowingly relying on a patent license,
|
||||
and the Corresponding Source of the work is not available for anyone
|
||||
to copy, free of charge and under the terms of this License, through a
|
||||
publicly available network server or other readily accessible means,
|
||||
then you must either (1) cause the Corresponding Source to be so
|
||||
available, or (2) arrange to deprive yourself of the benefit of the
|
||||
patent license for this particular work, or (3) arrange, in a manner
|
||||
consistent with the requirements of this License, to extend the patent
|
||||
license to downstream recipients. "Knowingly relying" means you have
|
||||
actual knowledge that, but for the patent license, your conveying the
|
||||
covered work in a country, or your recipient's use of the covered work
|
||||
in a country, would infringe one or more identifiable patents in that
|
||||
country that you have reason to believe are valid.
|
||||
|
||||
If, pursuant to or in connection with a single transaction or
|
||||
arrangement, you convey, or propagate by procuring conveyance of, a
|
||||
covered work, and grant a patent license to some of the parties
|
||||
receiving the covered work authorizing them to use, propagate, modify
|
||||
or convey a specific copy of the covered work, then the patent license
|
||||
you grant is automatically extended to all recipients of the covered
|
||||
work and works based on it.
|
||||
|
||||
A patent license is "discriminatory" if it does not include within
|
||||
the scope of its coverage, prohibits the exercise of, or is
|
||||
conditioned on the non-exercise of one or more of the rights that are
|
||||
specifically granted under this License. You may not convey a covered
|
||||
work if you are a party to an arrangement with a third party that is
|
||||
in the business of distributing software, under which you make payment
|
||||
to the third party based on the extent of your activity of conveying
|
||||
the work, and under which the third party grants, to any of the
|
||||
parties who would receive the covered work from you, a discriminatory
|
||||
patent license (a) in connection with copies of the covered work
|
||||
conveyed by you (or copies made from those copies), or (b) primarily
|
||||
for and in connection with specific products or compilations that
|
||||
contain the covered work, unless you entered into that arrangement,
|
||||
or that patent license was granted, prior to 28 March 2007.
|
||||
|
||||
Nothing in this License shall be construed as excluding or limiting
|
||||
any implied license or other defenses to infringement that may
|
||||
otherwise be available to you under applicable patent law.
|
||||
|
||||
12. No Surrender of Others' Freedom.
|
||||
|
||||
If conditions are imposed on you (whether by court order, agreement or
|
||||
otherwise) that contradict the conditions of this License, they do not
|
||||
excuse you from the conditions of this License. If you cannot convey a
|
||||
covered work so as to satisfy simultaneously your obligations under this
|
||||
License and any other pertinent obligations, then as a consequence you
|
||||
may not convey it at all. For example, if you agree to terms that
|
||||
obligate you to collect a royalty for further conveying from those to
|
||||
whom you convey the Program, the only way you could satisfy both those
|
||||
terms and this License would be to refrain entirely from conveying the
|
||||
Program.
|
||||
|
||||
13. Use with the GNU Affero General Public License.
|
||||
|
||||
Notwithstanding any other provision of this License, you have
|
||||
permission to link or combine any covered work with a work licensed
|
||||
under version 3 of the GNU Affero General Public License into a single
|
||||
combined work, and to convey the resulting work. The terms of this
|
||||
License will continue to apply to the part which is the covered work,
|
||||
but the special requirements of the GNU Affero General Public License,
|
||||
section 13, concerning interaction through a network will apply to the
|
||||
combination as such.
|
||||
|
||||
14. Revised Versions of this License.
|
||||
|
||||
The Free Software Foundation may publish revised and/or new versions of
|
||||
the GNU General Public License from time to time. Such new versions will
|
||||
be similar in spirit to the present version, but may differ in detail to
|
||||
address new problems or concerns.
|
||||
|
||||
Each version is given a distinguishing version number. If the
|
||||
Program specifies that a certain numbered version of the GNU General
|
||||
Public License "or any later version" applies to it, you have the
|
||||
option of following the terms and conditions either of that numbered
|
||||
version or of any later version published by the Free Software
|
||||
Foundation. If the Program does not specify a version number of the
|
||||
GNU General Public License, you may choose any version ever published
|
||||
by the Free Software Foundation.
|
||||
|
||||
If the Program specifies that a proxy can decide which future
|
||||
versions of the GNU General Public License can be used, that proxy's
|
||||
public statement of acceptance of a version permanently authorizes you
|
||||
to choose that version for the Program.
|
||||
|
||||
Later license versions may give you additional or different
|
||||
permissions. However, no additional obligations are imposed on any
|
||||
author or copyright holder as a result of your choosing to follow a
|
||||
later version.
|
||||
|
||||
15. Disclaimer of Warranty.
|
||||
|
||||
THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
|
||||
APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
|
||||
HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
|
||||
OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
|
||||
THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||||
PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
|
||||
IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
|
||||
ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
|
||||
|
||||
16. Limitation of Liability.
|
||||
|
||||
IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
|
||||
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
|
||||
THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
|
||||
GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
|
||||
USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
|
||||
DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
|
||||
PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
|
||||
EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
|
||||
SUCH DAMAGES.
|
||||
|
||||
17. Interpretation of Sections 15 and 16.
|
||||
|
||||
If the disclaimer of warranty and limitation of liability provided
|
||||
above cannot be given local legal effect according to their terms,
|
||||
reviewing courts shall apply local law that most closely approximates
|
||||
an absolute waiver of all civil liability in connection with the
|
||||
Program, unless a warranty or assumption of liability accompanies a
|
||||
copy of the Program in return for a fee.
|
||||
|
||||
END OF TERMS AND CONDITIONS
|
||||
|
||||
How to Apply These Terms to Your New Programs
|
||||
|
||||
If you develop a new program, and you want it to be of the greatest
|
||||
possible use to the public, the best way to achieve this is to make it
|
||||
free software which everyone can redistribute and change under these terms.
|
||||
|
||||
To do so, attach the following notices to the program. It is safest
|
||||
to attach them to the start of each source file to most effectively
|
||||
state the exclusion of warranty; and each file should have at least
|
||||
the "copyright" line and a pointer to where the full notice is found.
|
||||
|
||||
<one line to give the program's name and a brief idea of what it does.>
|
||||
Copyright (C) <year> <name of author>
|
||||
|
||||
This program is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
|
||||
Also add information on how to contact you by electronic and paper mail.
|
||||
|
||||
If the program does terminal interaction, make it output a short
|
||||
notice like this when it starts in an interactive mode:
|
||||
|
||||
<program> Copyright (C) <year> <name of author>
|
||||
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
|
||||
This is free software, and you are welcome to redistribute it
|
||||
under certain conditions; type `show c' for details.
|
||||
|
||||
The hypothetical commands `show w' and `show c' should show the appropriate
|
||||
parts of the General Public License. Of course, your program's commands
|
||||
might be different; for a GUI interface, you would use an "about box".
|
||||
|
||||
You should also get your employer (if you work as a programmer) or school,
|
||||
if any, to sign a "copyright disclaimer" for the program, if necessary.
|
||||
For more information on this, and how to apply and follow the GNU GPL, see
|
||||
<https://www.gnu.org/licenses/>.
|
||||
|
||||
The GNU General Public License does not permit incorporating your
|
||||
program into proprietary programs. If your program is a subroutine
|
||||
library, you may consider it more useful to permit linking proprietary
|
||||
applications with the library. If this is what you want to do, use
|
||||
the GNU Lesser General Public License instead of this License. But
|
||||
first, please read <https://www.gnu.org/licenses/why-not-lgpl.html>.
|
||||
@@ -1,14 +1,10 @@
|
||||
# gps-generic-module
|
||||
|
||||
Kernel driver implementing the `GPS_TYPE`/`GpsApi` interface with for generic UART-connected GPS/GNSS receivers:
|
||||
NMEA parsing for MTK, Airoha/AG33xx, ATGM336H/CASIC, Unicore UC6580 and u-blox 6/7/8/9/10 modules.
|
||||
This module contains only the generic interfaces to implement a driver.
|
||||
|
||||
It is ported from [Meshtastic Firmware](https://github.com/MeshTastic/firmware), so it has a GPL v3.0 license.
|
||||
It serves as an interface for other GPS implementations, such as `gps-meshtastic-module`.
|
||||
The purpose is to provide an Apache-licensed interface while the implementation can be GPL-licensed.
|
||||
|
||||
## License
|
||||
|
||||
This module is licensed under **GPL-3.0-or-later** (see `LICENSE-GPL-3.0.md`), separately from
|
||||
the rest of Tactility (Apache-2.0). The probing and initialization logic (`source/probe.cpp`,
|
||||
`source/init.cpp`, `source/ublox.cpp` and their private headers) is ported from
|
||||
[meshtastic/firmware](https://github.com/meshtastic/firmware) (GPL-3.0-or-later); see the
|
||||
`From: <url>` comments in those files for the exact origin of each ported function.
|
||||
This module is licensed under [Apache License v2.0](LICENSE-Apache-2.0.md).
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
description: >
|
||||
Generic UART-connected GPS/GNSS receiver. Supports MTK, Airoha/AG33xx, ATGM336H/CASIC,
|
||||
Generic GPS/GNSS receiver interface. Supports MTK, Airoha/AG33xx, ATGM336H/CASIC,
|
||||
Unicore UC6580 and u-blox 6/7/8/9/10 chipsets, either auto-probed or fixed via 'model'.
|
||||
|
||||
compatible: "tactility,gps-generic"
|
||||
|
||||
@@ -1,57 +0,0 @@
|
||||
// SPDX-License-Identifier: GPL-3.0-or-later
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <cstddef>
|
||||
#include <cstdint>
|
||||
|
||||
// NEMA message IDs
|
||||
|
||||
constexpr uint8_t CAS_NEMA_GGA = 0x00;
|
||||
constexpr uint8_t CAS_NEMA_GLL = 0x01;
|
||||
constexpr uint8_t CAS_NEMA_GSA = 0x02;
|
||||
constexpr uint8_t CAS_NEMA_GSV = 0x03;
|
||||
constexpr uint8_t CAS_NEMA_RMC = 0x04;
|
||||
constexpr uint8_t CAS_NEMA_VTG = 0x05;
|
||||
constexpr uint8_t CAS_NEMA_GST = 0x07;
|
||||
constexpr uint8_t CAS_NEMA_ZDA = 0x08;
|
||||
constexpr uint8_t CAS_NEMA_DHV = 0x0D;
|
||||
|
||||
/** Size of a CAS-ACK-(N)ACK message */
|
||||
constexpr size_t CAS_MESSAGE_ACK_NACK_SIZE = 0x0E; // 14 bytes
|
||||
|
||||
/** Factory reset message */
|
||||
constexpr uint8_t CAS_MESSAGE_CFG_RST_FACTORY[] = {
|
||||
0xFF, 0x03,
|
||||
0x01,
|
||||
0x03
|
||||
};
|
||||
|
||||
/** Configure update rate to 1 Hz. */
|
||||
constexpr uint8_t CAS_MESSAGE_CFG_RATE_1HZ[] = {
|
||||
0xE8, 0x03, // 0x03E8 = 1000ms
|
||||
0x00, 0x00
|
||||
};
|
||||
|
||||
/** Config navx */
|
||||
constexpr uint8_t CAS_MESSAGE_CFG_NAVX_CONF[] = {
|
||||
0x03, 0x01, 0x00, 0x00,
|
||||
0x03,
|
||||
0x03,
|
||||
0x00,
|
||||
0x00,
|
||||
0x00,
|
||||
0x00,
|
||||
0x00,
|
||||
0x00,
|
||||
0x00,
|
||||
0x07,
|
||||
0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00
|
||||
};
|
||||
@@ -1,11 +0,0 @@
|
||||
// SPDX-License-Identifier: GPL-3.0-or-later
|
||||
#pragma once
|
||||
|
||||
// Internal-only result of waiting for a chip's ACK/NACK response during probing/initialization.
|
||||
// Not part of the public API (see gps/gps.h) - callers only ever see GpsState/GpsModel.
|
||||
enum class GpsResponse {
|
||||
None,
|
||||
NotAck,
|
||||
FrameErrors,
|
||||
Ok,
|
||||
};
|
||||
@@ -1,11 +0,0 @@
|
||||
// SPDX-License-Identifier: GPL-3.0-or-later
|
||||
#pragma once
|
||||
|
||||
#include <gps/gps.h>
|
||||
|
||||
struct Device;
|
||||
|
||||
/**
|
||||
* Sends the init sequence for a specific, already-probed GPS model over uart.
|
||||
*/
|
||||
bool gps_init(Device* uart, GpsModel model);
|
||||
@@ -1,12 +0,0 @@
|
||||
// SPDX-License-Identifier: GPL-3.0-or-later
|
||||
#pragma once
|
||||
|
||||
#include <gps/gps.h>
|
||||
|
||||
struct Device;
|
||||
|
||||
/**
|
||||
* Attempts to auto-detect the GPS/GNSS chipset connected via uart.
|
||||
* @return GPS_MODEL_UNKNOWN when no supported chipset responded
|
||||
*/
|
||||
GpsModel gps_probe(Device* uart);
|
||||
@@ -1,22 +0,0 @@
|
||||
// SPDX-License-Identifier: GPL-3.0-or-later
|
||||
#pragma once
|
||||
|
||||
#include <gps/gps.h>
|
||||
|
||||
#include <cstddef>
|
||||
#include <cstdint>
|
||||
|
||||
struct Device;
|
||||
|
||||
namespace gps_ublox {
|
||||
|
||||
void checksum(uint8_t* message, size_t length);
|
||||
|
||||
// From https://github.com/meshtastic/firmware/blob/7648391f91f2b84e367ae2b38220b30936fb45b1/src/gps/GPS.cpp#L128
|
||||
uint8_t make_packet(uint8_t class_id, uint8_t message_id, const uint8_t* payload, uint8_t payload_size, uint8_t* buffer_out);
|
||||
|
||||
GpsModel probe(Device* uart);
|
||||
|
||||
bool init(Device* uart, GpsModel model);
|
||||
|
||||
}
|
||||
@@ -1,470 +0,0 @@
|
||||
// SPDX-License-Identifier: GPL-3.0-or-later
|
||||
#pragma once
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
namespace gps_ublox {
|
||||
|
||||
// Power Management
|
||||
|
||||
constexpr uint8_t _message_PMREQ[] = {
|
||||
0x00, 0x00, 0x00, 0x00, // 4 bytes duration of request task (milliseconds)
|
||||
0x02, 0x00, 0x00, 0x00 // Bitfield, set backup = 1
|
||||
};
|
||||
|
||||
// Used for sleep mode
|
||||
// See https://github.com/meshtastic/firmware/blob/af8b64e84ee60175d7a0e43c6c3458e3a3558708/src/gps/GPS.cpp#L939
|
||||
constexpr uint8_t _message_PMREQ_10[] = {
|
||||
0x00, // version (0 for this version)
|
||||
0x00, 0x00, 0x00, // Reserved 1
|
||||
0x00, 0x00, 0x00, 0x00, // 4 bytes duration of request task (milliseconds)
|
||||
0x06, 0x00, 0x00, 0x00, // Bitfield, set backup =1 and force =1
|
||||
0x08, 0x00, 0x00, 0x00 // wakeupSources Wake on uartrx
|
||||
};
|
||||
|
||||
constexpr uint8_t _message_CFG_RXM_PSM[] = {
|
||||
0x08, // Reserved
|
||||
0x01 // Power save mode
|
||||
};
|
||||
|
||||
// only for Neo-6
|
||||
constexpr uint8_t _message_CFG_RXM_ECO[] = {
|
||||
0x08, // Reserved
|
||||
0x04 // eco mode
|
||||
};
|
||||
|
||||
constexpr uint8_t _message_CFG_PM2[] = {
|
||||
0x01, // version
|
||||
0x00, // Reserved 1, set to 0x06 by u-Center
|
||||
0x00, // Reserved 2
|
||||
0x00, // Reserved 1
|
||||
0x00, 0x11, 0x03, 0x00, // flags-> cyclic mode, wait for normal fix ok, do not wake to update RTC, doNotEnterOff,
|
||||
// LimitPeakCurrent
|
||||
0xE8, 0x03, 0x00, 0x00, // update period 1000 ms
|
||||
0x10, 0x27, 0x00, 0x00, // search period 10s
|
||||
0x00, 0x00, 0x00, 0x00, // Grid offset 0
|
||||
0x01, 0x00, // onTime 1 second
|
||||
0x00, 0x00, // min search time 0
|
||||
0x00, 0x00, // 0x2C, 0x01, // reserved 4
|
||||
0x00, 0x00, // 0x00, 0x00, // reserved 5
|
||||
0x00, 0x00, 0x00, 0x00, // 0x4F, 0xC1, 0x03, 0x00, // reserved 6
|
||||
0x00, 0x00, 0x00, 0x00, // 0x87, 0x02, 0x00, 0x00, // reserved 7
|
||||
0x00, // 0xFF, // reserved 8
|
||||
0x00, // 0x00, // reserved 9
|
||||
0x00, 0x00, // 0x00, 0x00, // reserved 10
|
||||
0x00, 0x00, 0x00, 0x00 // 0x64, 0x40, 0x01, 0x00 // reserved 11
|
||||
};
|
||||
|
||||
// Constallation setup, none required for Neo-6
|
||||
|
||||
// For Neo-7 GPS & SBAS
|
||||
constexpr uint8_t _message_GNSS_7[] = {
|
||||
0x00, // msgVer (0 for this version)
|
||||
0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0)
|
||||
0xff, // numTrkChUse (max number of channels to use, 0xff = max available)
|
||||
0x02, // numConfigBlocks (number of GNSS systems), most modules support maximum 3 GNSS systems
|
||||
// GNSS config format: gnssId, resTrkCh, maxTrkCh, reserved1, flags
|
||||
0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x00, 0x01, // GPS
|
||||
0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x00, 0x01 // SBAS
|
||||
};
|
||||
|
||||
// It's not critical if the module doesn't acknowledge this configuration.
|
||||
// The module should operate adequately with its factory or previously saved settings.
|
||||
// It appears that there is a firmware bug in some GPS modules: When an attempt is made
|
||||
// to overwrite a saved state with identical values, no ACK/NAK is received, contrary to
|
||||
// what is specified in the Ublox documentation.
|
||||
// There is also a possibility that the module may be GPS-only.
|
||||
|
||||
// For M8 GPS, GLONASS, Galileo, SBAS, QZSS
|
||||
constexpr uint8_t _message_GNSS_8[] = {
|
||||
0x00, // msgVer (0 for this version)
|
||||
0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0)
|
||||
0xff, // numTrkChUse (max number of channels to use, 0xff = max available)
|
||||
0x05, // numConfigBlocks (number of GNSS systems)
|
||||
// GNSS config format: gnssId, resTrkCh, maxTrkCh, reserved1, flags
|
||||
0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, // GPS
|
||||
0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01, // SBAS
|
||||
0x02, 0x04, 0x08, 0x00, 0x01, 0x00, 0x01, 0x01, // Galileo
|
||||
0x05, 0x00, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01, // QZSS
|
||||
0x06, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01 // GLONASS
|
||||
};
|
||||
/*
|
||||
// For M8 GPS, GLONASS, BeiDou, SBAS, QZSS
|
||||
constexpr uint8_t _message_GNSS_8_B[] = {
|
||||
0x00, // msgVer (0 for this version)
|
||||
0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0)
|
||||
0xff, // numTrkChUse (max number of channels to use, 0xff = max available) read only for protocol >23
|
||||
0x05, // numConfigBlocks (number of GNSS systems)
|
||||
// GNSS config format: gnssId, resTrkCh, maxTrkCh, reserved1, flags
|
||||
0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, // GPS
|
||||
0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01, // SBAS
|
||||
0x03, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, // BeiDou
|
||||
0x05, 0x00, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01, // QZSS
|
||||
0x06, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01 // GLONASS
|
||||
};
|
||||
*/
|
||||
|
||||
// For M8 we want to enable NMEA version 4.10 messages to allow for Galileo and or BeiDou
|
||||
constexpr uint8_t _message_NMEA[] {
|
||||
0x00, // filter flags
|
||||
0x41, // NMEA Version
|
||||
0x00, // Max number of SVs to report per TaklerId
|
||||
0x02, // flags
|
||||
0x00, 0x00, 0x00, 0x00, // gnssToFilter
|
||||
0x00, // svNumbering
|
||||
0x00, // mainTalkerId
|
||||
0x00, // gsvTalkerId
|
||||
0x01, // Message version
|
||||
0x00, 0x00, // bdsTalkerId 2 chars 0=default
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00 // Reserved
|
||||
};
|
||||
// Enable jamming/interference monitor
|
||||
|
||||
// For Neo-6, Max-7 and Neo-7
|
||||
constexpr uint8_t _message_JAM_6_7[] = {
|
||||
0xf3, 0xac, 0x62, 0xad, // config1 bbThreshold = 3, cwThreshold = 15, enable = 1, reserved bits 0x16B156
|
||||
0x1e, 0x03, 0x00, 0x00 // config2 antennaSetting Unknown = 0, reserved 3, = 0x00,0x00, reserved 2 = 0x31E
|
||||
};
|
||||
|
||||
// For M8
|
||||
constexpr uint8_t _message_JAM_8[] = {
|
||||
0xf3, 0xac, 0x62, 0xad, // config1 bbThreshold = 3, cwThreshold = 15, enable1 = 1, reserved bits 0x16B156
|
||||
0x1e, 0x43, 0x00, 0x00 // config2 antennaSetting Unknown = 0, enable2 = 1, generalBits = 0x31E
|
||||
};
|
||||
|
||||
// Configure navigation engine expert settings:
|
||||
// there are many variations of what were Reserved fields for the Neo-6 in later versions
|
||||
// ToDo: check UBX-MON-VER for module type and protocol version
|
||||
|
||||
// For the Neo-6
|
||||
constexpr uint8_t _message_NAVX5[] = {
|
||||
0x00, 0x00, // msgVer (0 for this version)
|
||||
0x4c, 0x66, // mask1
|
||||
0x00, 0x00, 0x00, 0x00, // Reserved 0
|
||||
0x00, // Reserved 1
|
||||
0x00, // Reserved 2
|
||||
0x03, // minSVs (Minimum number of satellites for navigation) = 3
|
||||
0x10, // maxSVs (Maximum number of satellites for navigation) = 16
|
||||
0x06, // minCNO (Minimum satellite signal level for navigation) = 6 dBHz
|
||||
0x00, // Reserved 5
|
||||
0x00, // iniFix3D (Initial fix must be 3D) (0 = false 1 = true)
|
||||
0x00, // Reserved 6
|
||||
0x00, // Reserved 7
|
||||
0x00, // Reserved 8
|
||||
0x00, 0x00, // wknRollover 0 = firmware default
|
||||
0x00, 0x00, 0x00, 0x00, // Reserved 9
|
||||
0x00, // Reserved 10
|
||||
0x00, // Reserved 11
|
||||
0x00, // usePPP (Precice Point Positioning) (0 = false, 1 = true)
|
||||
0x01, // useAOP (AssistNow Autonomous configuration) = 1 (enabled)
|
||||
0x00, // Reserved 12
|
||||
0x00, // Reserved 13
|
||||
0x00, 0x00, // aopOrbMaxErr = 0 to reset to firmware default
|
||||
0x00, // Reserved 14
|
||||
0x00, // Reserved 15
|
||||
0x00, 0x00, // Reserved 3
|
||||
0x00, 0x00, 0x00, 0x00 // Reserved 4
|
||||
};
|
||||
// For the M8
|
||||
constexpr uint8_t _message_NAVX5_8[] = {
|
||||
0x02, 0x00, // msgVer (2 for this version)
|
||||
0x4c, 0x66, // mask1
|
||||
0x00, 0x00, 0x00, 0x00, // mask2
|
||||
0x00, 0x00, // Reserved 1
|
||||
0x03, // minSVs (Minimum number of satellites for navigation) = 3
|
||||
0x10, // maxSVs (Maximum number of satellites for navigation) = 16
|
||||
0x06, // minCNO (Minimum satellite signal level for navigation) = 6 dBHz
|
||||
0x00, // Reserved 2
|
||||
0x00, // iniFix3D (Initial fix must be 3D) (0 = false 1 = true)
|
||||
0x00, 0x00, // Reserved 3
|
||||
0x00, // ackAiding
|
||||
0x00, 0x00, // wknRollover 0 = firmware default
|
||||
0x00, // sigAttenCompMode
|
||||
0x00, // Reserved 4
|
||||
0x00, 0x00, // Reserved 5
|
||||
0x00, 0x00, // Reserved 6
|
||||
0x00, // usePPP (Precice Point Positioning) (0 = false, 1 = true)
|
||||
0x01, // aopCfg (AssistNow Autonomous configuration) = 1 (enabled)
|
||||
0x00, 0x00, // Reserved 7
|
||||
0x00, 0x00, // aopOrbMaxErr = 0 to reset to firmware default
|
||||
0x00, 0x00, 0x00, 0x00, // Reserved 8
|
||||
0x00, 0x00, 0x00, // Reserved 9
|
||||
0x00 // useAdr
|
||||
};
|
||||
|
||||
// Set GPS update rate to 1Hz
|
||||
// Lowering the update rate helps to save power.
|
||||
// Additionally, for some new modules like the M9/M10, an update rate lower than 5Hz
|
||||
// is recommended to avoid a known issue with satellites disappearing.
|
||||
// The module defaults for M8, M9, M10 are the same as we use here so no update is necessary
|
||||
constexpr uint8_t _message_1HZ[] = {
|
||||
0xE8, 0x03, // Measurement Rate (1000ms for 1Hz)
|
||||
0x01, 0x00, // Navigation rate, always 1 in GPS mode
|
||||
0x01, 0x00 // Time reference
|
||||
};
|
||||
|
||||
// Disable GLL. GLL - Geographic position (latitude and longitude), which provides the current geographical
|
||||
// coordinates.
|
||||
constexpr uint8_t _message_GLL[] = {
|
||||
0xF0, 0x01, // NMEA ID for GLL
|
||||
0x00, // Rate for DDC
|
||||
0x00, // Rate for UART1
|
||||
0x00, // Rate for UART2
|
||||
0x00, // Rate for USB
|
||||
0x00, // Rate for SPI
|
||||
0x00 // Reserved
|
||||
};
|
||||
|
||||
// Disable GSA. GSA - GPS DOP and active satellites, used for detailing the satellites used in the positioning and
|
||||
// the DOP (Dilution of Precision)
|
||||
constexpr uint8_t _message_GSA[] = {
|
||||
0xF0, 0x02, // NMEA ID for GSA
|
||||
0x00, // Rate for DDC
|
||||
0x00, // Rate for UART1
|
||||
0x00, // Rate for UART2
|
||||
0x00, // Rate for USB usefull for native linux
|
||||
0x00, // Rate for SPI
|
||||
0x00 // Reserved
|
||||
};
|
||||
|
||||
// Disable GSV. GSV - Satellites in view, details the number and location of satellites in view.
|
||||
constexpr uint8_t _message_GSV[] = {
|
||||
0xF0, 0x03, // NMEA ID for GSV
|
||||
0x00, // Rate for DDC
|
||||
0x00, // Rate for UART1
|
||||
0x00, // Rate for UART2
|
||||
0x00, // Rate for USB
|
||||
0x00, // Rate for SPI
|
||||
0x00 // Reserved
|
||||
};
|
||||
|
||||
// Disable VTG. VTG - Track made good and ground speed, which provides course and speed information relative to
|
||||
// the ground.
|
||||
constexpr uint8_t _message_VTG[] = {
|
||||
0xF0, 0x05, // NMEA ID for VTG
|
||||
0x00, // Rate for DDC
|
||||
0x00, // Rate for UART1
|
||||
0x00, // Rate for UART2
|
||||
0x00, // Rate for USB
|
||||
0x00, // Rate for SPI
|
||||
0x00 // Reserved
|
||||
};
|
||||
|
||||
// Enable RMC. RMC - Recommended Minimum data, the essential gps pvt (position, velocity, time) data.
|
||||
constexpr uint8_t _message_RMC[] = {
|
||||
0xF0, 0x04, // NMEA ID for RMC
|
||||
0x00, // Rate for DDC
|
||||
0x01, // Rate for UART1
|
||||
0x00, // Rate for UART2
|
||||
0x01, // Rate for USB usefull for native linux
|
||||
0x00, // Rate for SPI
|
||||
0x00 // Reserved
|
||||
};
|
||||
|
||||
// Enable GGA. GGA - Global Positioning System Fix Data, which provides 3D location and accuracy data.
|
||||
constexpr uint8_t _message_GGA[] = {
|
||||
0xF0, 0x00, // NMEA ID for GGA
|
||||
0x00, // Rate for DDC
|
||||
0x01, // Rate for UART1
|
||||
0x00, // Rate for UART2
|
||||
0x01, // Rate for USB, usefull for native linux
|
||||
0x00, // Rate for SPI
|
||||
0x00 // Reserved
|
||||
};
|
||||
|
||||
// Disable UBX-AID-ALPSRV as it may confuse TinyGPS. The Neo-6 seems to send this message
|
||||
// whether the AID Autonomous is enabled or not
|
||||
constexpr uint8_t _message_AID[] = {
|
||||
0x0B, 0x32, // NMEA ID for UBX-AID-ALPSRV
|
||||
0x00, // Rate for DDC
|
||||
0x00, // Rate for UART1
|
||||
0x00, // Rate for UART2
|
||||
0x00, // Rate for USB
|
||||
0x00, // Rate for SPI
|
||||
0x00 // Reserved
|
||||
};
|
||||
|
||||
// Turn off TEXT INFO Messages for all but M10 series
|
||||
|
||||
// B5 62 06 02 0A 00 01 00 00 00 03 03 00 03 03 00 1F 20
|
||||
constexpr uint8_t _message_DISABLE_TXT_INFO[] = {
|
||||
0x01, // Protocol ID for NMEA
|
||||
0x00, 0x00, 0x00, // Reserved
|
||||
0x03, // I2C
|
||||
0x03, // I/O Port 1
|
||||
0x00, // I/O Port 2
|
||||
0x03, // USB
|
||||
0x03, // SPI
|
||||
0x00 // Reserved
|
||||
};
|
||||
|
||||
// The Power Management configuration allows the GPS module to operate in different power modes for optimized
|
||||
// power consumption. The modes supported are: 0x00 = Full power: The module operates at full power with no power
|
||||
// saving. 0x01 = Balanced: The module dynamically adjusts the tracking behavior to balance power consumption.
|
||||
// 0x02 = Interval: The module operates in a periodic mode, cycling between tracking and power saving states.
|
||||
// 0x03 = Aggressive with 1 Hz: The module operates in a power saving mode with a 1 Hz update rate.
|
||||
// 0x04 = Aggressive with 2 Hz: The module operates in a power saving mode with a 2 Hz update rate.
|
||||
// 0x05 = Aggressive with 4 Hz: The module operates in a power saving mode with a 4 Hz update rate.
|
||||
// The 'period' field specifies the position update and search period. It is only valid when the powerSetupValue
|
||||
// is set to Interval; otherwise, it must be set to '0'. The 'onTime' field specifies the duration of the ON phase
|
||||
// and must be smaller than the period. It is only valid when the powerSetupValue is set to Interval; otherwise,
|
||||
// it must be set to '0'.
|
||||
// This command applies to M8 products
|
||||
constexpr uint8_t _message_PMS[] = {
|
||||
0x00, // Version (0)
|
||||
0x03, // Power setup value 3 = Agresssive 1Hz
|
||||
0x00, 0x00, // period: not applicable, set to 0
|
||||
0x00, 0x00, // onTime: not applicable, set to 0
|
||||
0x00, 0x00 // reserved, generated by u-center
|
||||
};
|
||||
|
||||
constexpr uint8_t _message_SAVE[] = {
|
||||
0x00, 0x00, 0x00, 0x00, // clearMask: no sections cleared
|
||||
0xFF, 0xFF, 0x00, 0x00, // saveMask: save all sections
|
||||
0x00, 0x00, 0x00, 0x00, // loadMask: no sections loaded
|
||||
0x17 // deviceMask: BBR, Flash, EEPROM, and SPI Flash
|
||||
};
|
||||
|
||||
constexpr uint8_t _message_SAVE_10[] = {
|
||||
0x00, 0x00, 0x00, 0x00, // clearMask: no sections cleared
|
||||
0xFF, 0xFF, 0x00, 0x00, // saveMask: save all sections
|
||||
0x00, 0x00, 0x00, 0x00, // loadMask: no sections loaded
|
||||
0x01 // deviceMask: only save to BBR
|
||||
};
|
||||
|
||||
// As the M10 has no flash, the best we can do to preserve the config is to set it in RAM and BBR.
|
||||
// BBR will survive a restart, and power off for a while, but modules with small backup
|
||||
// batteries or super caps will not retain the config for a long power off time.
|
||||
// for all configurations using sleep / low power modes, V_BCKP needs to be hooked to permanent power for fast aquisition after
|
||||
// sleep
|
||||
|
||||
// VALSET Commands for M10
|
||||
// Please refer to the M10 Protocol Specification:
|
||||
// https://content.u-blox.com/sites/default/files/u-blox-M10-SPG-5.10_InterfaceDescription_UBX-21035062.pdf
|
||||
// Where the VALSET/VALGET/VALDEL commands are described in detail.
|
||||
// and:
|
||||
// https://content.u-blox.com/sites/default/files/u-blox-M10-ROM-5.10_ReleaseNotes_UBX-22001426.pdf
|
||||
// for interesting insights.
|
||||
//
|
||||
// Integration manual:
|
||||
// https://content.u-blox.com/sites/default/files/documents/SAM-M10Q_IntegrationManual_UBX-22020019.pdf
|
||||
// has details on low-power modes
|
||||
|
||||
/*
|
||||
OPERATEMODE E1 2 (0 | 1 | 2)
|
||||
POSUPDATEPERIOD U4 5
|
||||
ACQPERIOD U4 10
|
||||
GRIDOFFSET U4 0
|
||||
ONTIME U2 1
|
||||
MINACQTIME U1 0
|
||||
MAXACQTIME U1 0
|
||||
DONOTENTEROFF L 1
|
||||
WAITTIMEFIX L 1
|
||||
UPDATEEPH L 1
|
||||
EXTINTWAKE L 0 no ext ints
|
||||
EXTINTBACKUP L 0 no ext ints
|
||||
EXTINTINACTIVE L 0 no ext ints
|
||||
EXTINTACTIVITY U4 0 no ext ints
|
||||
LIMITPEAKCURRENT L 1
|
||||
|
||||
// Ram layer config message:
|
||||
// b5 62 06 8a 26 00 00 01 00 00 01 00 d0 20 02 02 00 d0 40 05 00 00 00 05 00 d0 30 01 00 08 00 d0 10 01 09 00 d0 10 01 10 00 d0
|
||||
// 10 01 8b de
|
||||
|
||||
// BBR layer config message:
|
||||
// b5 62 06 8a 26 00 00 02 00 00 01 00 d0 20 02 02 00 d0 40 05 00 00 00 05 00 d0 30 01 00 08 00 d0 10 01 09 00 d0 10 01 10 00 d0
|
||||
// 10 01 8c 03
|
||||
*/
|
||||
constexpr uint8_t _message_VALSET_PM_RAM[] = {0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0xd0, 0x20, 0x02, 0x02, 0x00, 0xd0, 0x40, 0x05, 0x00, 0x00, 0x00, 0x05, 0x00, 0xd0, 0x30, 0x01, 0x00, 0x08, 0x00, 0xd0, 0x10, 0x01, 0x09, 0x00, 0xd0, 0x10, 0x01, 0x10, 0x00, 0xd0, 0x10, 0x01};
|
||||
constexpr uint8_t _message_VALSET_PM_BBR[] = {0x00, 0x02, 0x00, 0x00, 0x01, 0x00, 0xd0, 0x20, 0x02, 0x02, 0x00, 0xd0, 0x40, 0x05, 0x00, 0x00, 0x00, 0x05, 0x00, 0xd0, 0x30, 0x01, 0x00, 0x08, 0x00, 0xd0, 0x10, 0x01, 0x09, 0x00, 0xd0, 0x10, 0x01, 0x10, 0x00, 0xd0, 0x10, 0x01};
|
||||
|
||||
/*
|
||||
CFG-ITFM replaced by 5 valset messages which can be combined into one for RAM and one for BBR
|
||||
|
||||
20410001 bbthreshold U1 3
|
||||
20410002 cwthreshold U1 15
|
||||
1041000d enable L 0 -> 1
|
||||
20410010 ant E1 0
|
||||
10410013 enable aux L 0 -> 1
|
||||
|
||||
|
||||
b5 62 06 8a 0e 00 00 01 00 00 0d 00 41 10 01 13 00 41 10 01 63 c6
|
||||
*/
|
||||
constexpr uint8_t _message_VALSET_ITFM_RAM[] = {0x00, 0x01, 0x00, 0x00, 0x0d, 0x00, 0x41, 0x10, 0x01, 0x13, 0x00, 0x41, 0x10, 0x01};
|
||||
constexpr uint8_t _message_VALSET_ITFM_BBR[] = {0x00, 0x02, 0x00, 0x00, 0x0d, 0x00, 0x41, 0x10, 0x01, 0x13, 0x00, 0x41, 0x10, 0x01};
|
||||
|
||||
// Turn off all NMEA messages:
|
||||
// Ram layer config message:
|
||||
// b5 62 06 8a 22 00 00 01 00 00 c0 00 91 20 00 ca 00 91 20 00 c5 00 91 20 00 ac 00 91 20 00 b1 00 91 20 00 bb 00 91 20 00 40 8f
|
||||
|
||||
// Disable GLL, GSV, VTG messages in BBR layer
|
||||
// BBR layer config message:
|
||||
// b5 62 06 8a 13 00 00 02 00 00 ca 00 91 20 00 c5 00 91 20 00 b1 00 91 20 00 f8 4e
|
||||
|
||||
constexpr uint8_t _message_VALSET_DISABLE_NMEA_RAM[] = {
|
||||
/*0x00, 0x01, 0x00, 0x00, 0xca, 0x00, 0x91, 0x20, 0x00, 0xc5, 0x00, 0x91, 0x20, 0x00, 0xb1, 0x00, 0x91, 0x20, 0x00 */
|
||||
0x00, 0x01, 0x00, 0x00, 0xc0, 0x00, 0x91, 0x20, 0x00, 0xca, 0x00, 0x91, 0x20, 0x00, 0xc5, 0x00, 0x91,
|
||||
0x20, 0x00, 0xac, 0x00, 0x91, 0x20, 0x00, 0xb1, 0x00, 0x91, 0x20, 0x00, 0xbb, 0x00, 0x91, 0x20, 0x00
|
||||
};
|
||||
|
||||
constexpr uint8_t _message_VALSET_DISABLE_NMEA_BBR[] = {0x00, 0x02, 0x00, 0x00, 0xca, 0x00, 0x91, 0x20, 0x00, 0xc5, 0x00, 0x91, 0x20, 0x00, 0xb1, 0x00, 0x91, 0x20, 0x00};
|
||||
|
||||
// Turn off text info messages:
|
||||
// Ram layer config message:
|
||||
// b5 62 06 8a 09 00 00 01 00 00 07 00 92 20 06 59 50
|
||||
|
||||
// BBR layer config message:
|
||||
// b5 62 06 8a 09 00 00 02 00 00 07 00 92 20 06 5a 58
|
||||
|
||||
// Turn NMEA GGA, RMC messages on:
|
||||
// Layer config messages:
|
||||
// RAM:
|
||||
// b5 62 06 8a 0e 00 00 01 00 00 bb 00 91 20 01 ac 00 91 20 01 6a 8f
|
||||
// BBR:
|
||||
// b5 62 06 8a 0e 00 00 02 00 00 bb 00 91 20 01 ac 00 91 20 01 6b 9c
|
||||
// FLASH:
|
||||
// b5 62 06 8a 0e 00 00 04 00 00 bb 00 91 20 01 ac 00 91 20 01 6d b6
|
||||
// Doing this for the FLASH layer isn't really required since we save the config to flash later
|
||||
|
||||
constexpr uint8_t _message_VALSET_DISABLE_TXT_INFO_RAM[] = {0x00, 0x01, 0x00, 0x00, 0x07, 0x00, 0x92, 0x20, 0x03};
|
||||
constexpr uint8_t _message_VALSET_DISABLE_TXT_INFO_BBR[] = {0x00, 0x02, 0x00, 0x00, 0x07, 0x00, 0x92, 0x20, 0x03};
|
||||
|
||||
constexpr uint8_t _message_VALSET_ENABLE_NMEA_RAM[] = {0x00, 0x01, 0x00, 0x00, 0xbb, 0x00, 0x91, 0x20, 0x01, 0xac, 0x00, 0x91, 0x20, 0x01};
|
||||
constexpr uint8_t _message_VALSET_ENABLE_NMEA_BBR[] = {0x00, 0x02, 0x00, 0x00, 0xbb, 0x00, 0x91, 0x20, 0x01, 0xac, 0x00, 0x91, 0x20, 0x01};
|
||||
constexpr uint8_t _message_VALSET_DISABLE_SBAS_RAM[] = {0x00, 0x01, 0x00, 0x00, 0x20, 0x00, 0x31, 0x10, 0x00, 0x05, 0x00, 0x31, 0x10, 0x00};
|
||||
constexpr uint8_t _message_VALSET_DISABLE_SBAS_BBR[] = {0x00, 0x02, 0x00, 0x00, 0x20, 0x00, 0x31, 0x10, 0x00, 0x05, 0x00, 0x31, 0x10, 0x00};
|
||||
|
||||
/*
|
||||
Operational issues with the M10:
|
||||
|
||||
PowerSave doesn't work with SBAS, seems like you can have SBAS enabled, but it will never lock
|
||||
onto the SBAS sats.
|
||||
PowerSave doesn't work with BDS B1C, u-blox says use B1l instead.
|
||||
BDS B1l cannot be enabled with BDS B1C or GLONASS L1OF, so GLONASS will work with B1C, but not B1l
|
||||
So no powersave with GLONASS and BDS B1l enabled.
|
||||
So disable GLONASS and use BDS B1l, which is part of the default M10 config.
|
||||
|
||||
GNSS configuration:
|
||||
|
||||
Default GNSS configuration is: GPS, Galileo, BDS B1l, with QZSS and SBAS enabled.
|
||||
The PMREQ puts the receiver to sleep and wakeup re-acquires really fast and seems to not need
|
||||
the PM config. Lets try without it.
|
||||
PMREQ sort of works with SBAS, but the awake time is too short to re-acquire any SBAS sats.
|
||||
The defination of "Got Fix" doesn't seem to include SBAS. Much more too this...
|
||||
Even if it was, it can take minutes (up to 12.5),
|
||||
even under good sat visibility conditions to re-acquire the SBAS data.
|
||||
|
||||
Another effect fo the quick transition to sleep is that no other sats will be acquired so the
|
||||
sat count will tend to remain at what the initial fix was.
|
||||
*/
|
||||
|
||||
// GNSS disable SBAS as recommended by u-blox if using GNSS defaults and power save mode
|
||||
/*
|
||||
Ram layer config message:
|
||||
b5 62 06 8a 0e 00 00 01 00 00 20 00 31 10 00 05 00 31 10 00 46 87
|
||||
|
||||
BBR layer config message:
|
||||
b5 62 06 8a 0e 00 00 02 00 00 20 00 31 10 00 05 00 31 10 00 47 94
|
||||
*/
|
||||
|
||||
}
|
||||
@@ -1,343 +0,0 @@
|
||||
// SPDX-License-Identifier: GPL-3.0-or-later
|
||||
#include <gps/gps.h>
|
||||
#include <gps_generic/gps_generic.h>
|
||||
|
||||
#include <gps_generic/private/init.h>
|
||||
#include <gps_generic/private/probe.h>
|
||||
|
||||
#include <tactility/check.h>
|
||||
#include <tactility/concurrent/recursive_mutex.h>
|
||||
#include <tactility/concurrent/thread.h>
|
||||
#include <tactility/device.h>
|
||||
#include <tactility/driver.h>
|
||||
#include <tactility/drivers/uart_controller.h>
|
||||
#include <tactility/error.h>
|
||||
#include <tactility/log.h>
|
||||
#include <tactility/module.h>
|
||||
#include <tactility/time.h>
|
||||
|
||||
#include <minmea.h>
|
||||
|
||||
#include <cstdio>
|
||||
#include <cstdlib> // For calloc() in PC builds
|
||||
|
||||
constexpr auto* TAG = "gps-generic";
|
||||
|
||||
#define GET_CONFIG(device) (static_cast<const GpsConfig*>((device)->config))
|
||||
|
||||
constexpr uint32_t GPS_UART_BUFFER_SIZE = 256;
|
||||
constexpr TickType_t GPS_THREAD_STOP_TIMEOUT_TICKS = pdMS_TO_TICKS(5000);
|
||||
constexpr TickType_t GPS_THREAD_STOP_POLL_TICKS = pdMS_TO_TICKS(1000);
|
||||
|
||||
struct GpsInternal {
|
||||
RecursiveMutex mutex;
|
||||
Thread* thread;
|
||||
volatile bool interrupt_requested;
|
||||
GpsState state;
|
||||
// Mirrors GpsConfig::model, but overwritten with the autodetected model once probing succeeds.
|
||||
GpsModel model;
|
||||
// Singly-linked list of subscribers, guarded by `mutex`.
|
||||
GpsSubscription* subscribers;
|
||||
};
|
||||
|
||||
static const char* gpsModelToString(GpsModel model) {
|
||||
switch (model) {
|
||||
case GPS_MODEL_AG3335:
|
||||
return "AG3335";
|
||||
case GPS_MODEL_AG3352:
|
||||
return "AG3352";
|
||||
case GPS_MODEL_ATGM336H:
|
||||
return "ATGM336H";
|
||||
case GPS_MODEL_LS20031:
|
||||
return "LS20031";
|
||||
case GPS_MODEL_MTK:
|
||||
return "MTK";
|
||||
case GPS_MODEL_MTK_L76B:
|
||||
return "MTK L76B";
|
||||
case GPS_MODEL_MTK_PA1616S:
|
||||
return "MTK PA1616S";
|
||||
case GPS_MODEL_UBLOX6:
|
||||
return "U-blox 6";
|
||||
case GPS_MODEL_UBLOX7:
|
||||
return "U-blox 7";
|
||||
case GPS_MODEL_UBLOX8:
|
||||
return "U-blox 8";
|
||||
case GPS_MODEL_UBLOX9:
|
||||
return "U-blox 9";
|
||||
case GPS_MODEL_UBLOX10:
|
||||
return "U-blox 10";
|
||||
case GPS_MODEL_UC6580:
|
||||
return "UC6580";
|
||||
case GPS_MODEL_UNKNOWN:
|
||||
return "Auto-detect";
|
||||
default:
|
||||
return "Unknown";
|
||||
}
|
||||
}
|
||||
|
||||
// Pushes `event` to every current subscriber and wakes their waiting task. Safe to call from the
|
||||
// GPS thread's parsing loop.
|
||||
static void notify_subscribers(GpsInternal* internal, const GpsEvent& event) {
|
||||
recursive_mutex_lock(&internal->mutex);
|
||||
|
||||
for (GpsSubscription* sub = internal->subscribers; sub != nullptr; sub = sub->next) {
|
||||
sub->event = event;
|
||||
sub->sequence++;
|
||||
xTaskNotifyGive(sub->task);
|
||||
}
|
||||
|
||||
recursive_mutex_unlock(&internal->mutex);
|
||||
}
|
||||
|
||||
static void set_state(GpsInternal* internal, GpsState state) {
|
||||
recursive_mutex_lock(&internal->mutex);
|
||||
internal->state = state;
|
||||
recursive_mutex_unlock(&internal->mutex);
|
||||
}
|
||||
|
||||
static bool is_interrupted(GpsInternal* internal) {
|
||||
recursive_mutex_lock(&internal->mutex);
|
||||
bool result = internal->interrupt_requested;
|
||||
recursive_mutex_unlock(&internal->mutex);
|
||||
return result;
|
||||
}
|
||||
|
||||
// region Driver lifecycle
|
||||
|
||||
static int32_t gps_thread_main(void* context) {
|
||||
auto* device = static_cast<Device*>(context);
|
||||
auto* internal = static_cast<GpsInternal*>(device_get_driver_data(device));
|
||||
const auto* config = GET_CONFIG(device);
|
||||
auto* uart = device_get_parent(device);
|
||||
check(uart);
|
||||
check(device_get_type(uart) == &UART_CONTROLLER_TYPE);
|
||||
|
||||
const UartConfig uart_config = {
|
||||
.baud_rate = config->baud_rate,
|
||||
.data_bits = UART_CONTROLLER_DATA_8_BITS,
|
||||
.parity = UART_CONTROLLER_PARITY_DISABLE,
|
||||
.stop_bits = UART_CONTROLLER_STOP_BITS_1
|
||||
};
|
||||
|
||||
if (uart_controller_set_config(uart, &uart_config) != ERROR_NONE) {
|
||||
LOG_E(TAG, "Failed to configure UART %s", uart->name);
|
||||
set_state(internal, GpsState::GPS_STATE_ERROR);
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (uart_controller_open(uart) != ERROR_NONE) {
|
||||
LOG_E(TAG, "Failed to open UART %s", uart->name);
|
||||
set_state(internal, GpsState::GPS_STATE_ERROR);
|
||||
return -1;
|
||||
}
|
||||
|
||||
GpsModel model = internal->model;
|
||||
if (model == GpsModel::GPS_MODEL_UNKNOWN) {
|
||||
model = gps_probe(uart);
|
||||
if (model == GpsModel::GPS_MODEL_UNKNOWN) {
|
||||
LOG_E(TAG, "Probe failed");
|
||||
set_state(internal, GpsState::GPS_STATE_ERROR);
|
||||
return -1;
|
||||
}
|
||||
recursive_mutex_lock(&internal->mutex);
|
||||
internal->model = model;
|
||||
recursive_mutex_unlock(&internal->mutex);
|
||||
}
|
||||
|
||||
if (!gps_init(uart, model)) {
|
||||
LOG_E(TAG, "Init failed");
|
||||
set_state(internal, GpsState::GPS_STATE_ERROR);
|
||||
return -1;
|
||||
}
|
||||
|
||||
set_state(internal, GpsState::GPS_STATE_ON);
|
||||
|
||||
// Reference: https://gpsd.gitlab.io/gpsd/NMEA.html
|
||||
uint8_t buffer[GPS_UART_BUFFER_SIZE];
|
||||
while (!is_interrupted(internal)) {
|
||||
size_t bytes_read = 0;
|
||||
uart_controller_read_until(uart, buffer, sizeof(buffer), '\n', true, &bytes_read, pdMS_TO_TICKS(100));
|
||||
|
||||
// Thread might've been interrupted in the meanwhile
|
||||
if (is_interrupted(internal)) {
|
||||
break;
|
||||
}
|
||||
|
||||
if (bytes_read > 0U) {
|
||||
switch (minmea_sentence_id(reinterpret_cast<char*>(buffer), false)) {
|
||||
case MINMEA_SENTENCE_RMC: {
|
||||
GpsEvent event { .type = GPS_EVENT_MESSAGE_RMC };
|
||||
if (minmea_parse_rmc(&event.data.rmc, reinterpret_cast<char*>(buffer))) {
|
||||
notify_subscribers(internal, event);
|
||||
} else {
|
||||
LOG_E(TAG, "RMC parse error: %s", reinterpret_cast<const char*>(buffer));
|
||||
}
|
||||
break;
|
||||
}
|
||||
case MINMEA_SENTENCE_GGA: {
|
||||
GpsEvent event { .type = GPS_EVENT_MESSAGE_GGA };
|
||||
if (minmea_parse_gga(&event.data.gga, reinterpret_cast<char*>(buffer))) {
|
||||
notify_subscribers(internal, event);
|
||||
} else {
|
||||
LOG_E(TAG, "GGA parse error: %s", reinterpret_cast<const char*>(buffer));
|
||||
}
|
||||
break;
|
||||
}
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (uart_controller_close(uart) != ERROR_NONE) {
|
||||
LOG_W(TAG, "Failed to close UART %s", uart->name);
|
||||
}
|
||||
|
||||
// Wake any subscribers still awaiting an event so they don't block forever on a device that's
|
||||
// going away, then drop them - stop() is about to free `internal`.
|
||||
notify_subscribers(internal, GpsEvent { .type = GPS_EVENT_UNSUBSCRIBED });
|
||||
recursive_mutex_lock(&internal->mutex);
|
||||
internal->subscribers = nullptr;
|
||||
recursive_mutex_unlock(&internal->mutex);
|
||||
|
||||
set_state(internal, GPS_STATE_OFF);
|
||||
return 0;
|
||||
}
|
||||
|
||||
static error_t start(Device* device) {
|
||||
const auto* config = GET_CONFIG(device);
|
||||
|
||||
auto* internal = static_cast<GpsInternal*>(calloc(1, sizeof(GpsInternal)));
|
||||
if (internal == nullptr) {
|
||||
return ERROR_OUT_OF_MEMORY;
|
||||
}
|
||||
|
||||
recursive_mutex_construct(&internal->mutex);
|
||||
internal->model = config->model;
|
||||
internal->state = GPS_STATE_PENDING_ON;
|
||||
internal->thread = thread_alloc_full("gps", 4096, gps_thread_main, device, -1);
|
||||
if (internal->thread == nullptr) {
|
||||
recursive_mutex_destruct(&internal->mutex);
|
||||
free(internal);
|
||||
return ERROR_OUT_OF_MEMORY;
|
||||
}
|
||||
thread_set_priority(internal->thread, THREAD_PRIORITY_HIGH);
|
||||
|
||||
device_set_driver_data(device, internal);
|
||||
|
||||
if (thread_start(internal->thread) != ERROR_NONE) {
|
||||
thread_free(internal->thread);
|
||||
recursive_mutex_destruct(&internal->mutex);
|
||||
free(internal);
|
||||
device_set_driver_data(device, nullptr);
|
||||
return ERROR_RESOURCE;
|
||||
}
|
||||
|
||||
return ERROR_NONE;
|
||||
}
|
||||
|
||||
static error_t stop(Device* device) {
|
||||
auto* internal = static_cast<GpsInternal*>(device_get_driver_data(device));
|
||||
|
||||
recursive_mutex_lock(&internal->mutex);
|
||||
internal->interrupt_requested = true;
|
||||
internal->state = GPS_STATE_PENDING_OFF;
|
||||
recursive_mutex_unlock(&internal->mutex);
|
||||
|
||||
if (thread_join(internal->thread, GPS_THREAD_STOP_TIMEOUT_TICKS, GPS_THREAD_STOP_POLL_TICKS) != ERROR_NONE) {
|
||||
LOG_E(TAG, "GPS thread for %s did not stop in time", device->name);
|
||||
return ERROR_RESOURCE_BUSY;
|
||||
}
|
||||
thread_free(internal->thread);
|
||||
|
||||
recursive_mutex_destruct(&internal->mutex);
|
||||
free(internal);
|
||||
device_set_driver_data(device, nullptr);
|
||||
return ERROR_NONE;
|
||||
}
|
||||
|
||||
// endregion
|
||||
|
||||
// region GpsApi
|
||||
|
||||
static error_t gps_api_event_subscribe(Device* device, GpsSubscription* sub) {
|
||||
auto* internal = static_cast<GpsInternal*>(device_get_driver_data(device));
|
||||
|
||||
sub->task = xTaskGetCurrentTaskHandle();
|
||||
sub->sequence = 0;
|
||||
sub->consumed_sequence = 0;
|
||||
|
||||
recursive_mutex_lock(&internal->mutex);
|
||||
sub->next = internal->subscribers;
|
||||
internal->subscribers = sub;
|
||||
recursive_mutex_unlock(&internal->mutex);
|
||||
|
||||
return ERROR_NONE;
|
||||
}
|
||||
|
||||
static error_t gps_api_event_unsubscribe(Device* device, GpsSubscription* sub) {
|
||||
auto* internal = static_cast<GpsInternal*>(device_get_driver_data(device));
|
||||
|
||||
error_t result = ERROR_NOT_FOUND;
|
||||
recursive_mutex_lock(&internal->mutex);
|
||||
for (GpsSubscription** link = &internal->subscribers; *link != nullptr; link = &(*link)->next) {
|
||||
if (*link == sub) {
|
||||
*link = sub->next;
|
||||
result = ERROR_NONE;
|
||||
break;
|
||||
}
|
||||
}
|
||||
recursive_mutex_unlock(&internal->mutex);
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
static error_t gps_api_event_await(Device*, GpsSubscription* sub, TickType_t timeout) {
|
||||
uint32_t old_sequence = sub->sequence;
|
||||
|
||||
while (sub->sequence == old_sequence) {
|
||||
if (ulTaskNotifyTake(pdTRUE, timeout) == 0) {
|
||||
return ERROR_TIMEOUT;
|
||||
}
|
||||
}
|
||||
|
||||
sub->consumed_sequence = sub->sequence;
|
||||
return ERROR_NONE;
|
||||
}
|
||||
|
||||
static GpsState gps_api_get_state(Device* device) {
|
||||
auto* internal = static_cast<GpsInternal*>(device_get_driver_data(device));
|
||||
recursive_mutex_lock(&internal->mutex);
|
||||
auto state = internal->state;
|
||||
recursive_mutex_unlock(&internal->mutex);
|
||||
return state;
|
||||
}
|
||||
|
||||
static error_t gps_api_get_model_name(Device* device, char* model_name, size_t buffer_size) {
|
||||
const auto* config = GET_CONFIG(device);
|
||||
const char* name_to_set = gpsModelToString(config->model);
|
||||
snprintf(model_name, buffer_size, "%s", name_to_set);
|
||||
return ERROR_NONE;
|
||||
}
|
||||
|
||||
// endregion
|
||||
|
||||
static const GpsApi generic_gps_api = {
|
||||
.event_subscribe = gps_api_event_subscribe,
|
||||
.event_unsubscribe = gps_api_event_unsubscribe,
|
||||
.event_await = gps_api_event_await,
|
||||
.get_state = gps_api_get_state,
|
||||
.get_model_name = gps_api_get_model_name
|
||||
};
|
||||
|
||||
extern Module gps_generic_module;
|
||||
|
||||
Driver generic_gps_driver = {
|
||||
.name = "gps-generic",
|
||||
.compatible = (const char*[]) { "tactility,gps-generic", nullptr },
|
||||
.start_device = start,
|
||||
.stop_device = stop,
|
||||
.api = &generic_gps_api,
|
||||
.device_type = &GPS_TYPE,
|
||||
.owner = &gps_generic_module
|
||||
};
|
||||
@@ -1,288 +0,0 @@
|
||||
// SPDX-License-Identifier: GPL-3.0-or-later
|
||||
#include <gps_generic/private/cas_messages.h>
|
||||
#include <gps_generic/private/init.h>
|
||||
#include <gps_generic/private/ublox.h>
|
||||
#include <gps_generic/private/gps_response.h>
|
||||
|
||||
#include <tactility/check.h>
|
||||
#include <tactility/delay.h>
|
||||
#include <tactility/device.h>
|
||||
#include <tactility/drivers/uart_controller.h>
|
||||
#include <tactility/log.h>
|
||||
#include <tactility/time.h>
|
||||
|
||||
#include <cstring>
|
||||
|
||||
constexpr auto* TAG = "gps";
|
||||
|
||||
bool init_mtk(Device* uart);
|
||||
bool init_mtk_l76b(Device* uart);
|
||||
bool init_mtk_pa1616s(Device* uart);
|
||||
bool init_atgm336h(Device* uart);
|
||||
bool init_uc6580(Device* uart);
|
||||
bool init_ag33xx(Device* uart);
|
||||
|
||||
// region CAS
|
||||
|
||||
// Calculate the checksum for a CAS packet
|
||||
static void cas_checksum(uint8_t* message, size_t length) {
|
||||
uint32_t cksum = ((uint32_t)message[5] << 24); // Message ID
|
||||
cksum += ((uint32_t)message[4]) << 16; // Class
|
||||
cksum += message[2]; // Payload Len
|
||||
|
||||
// Iterate over the payload as a series of uint32_t's and
|
||||
// accumulate the cksum
|
||||
for (size_t i = 0; i < (length - 10) / 4; i++) {
|
||||
uint32_t pl = 0;
|
||||
memcpy(&pl, (message + 6) + (i * sizeof(uint32_t)), sizeof(uint32_t)); // avoid pointer dereference
|
||||
cksum += pl;
|
||||
}
|
||||
|
||||
// Place the checksum values in the message
|
||||
message[length - 4] = (cksum & 0xFF);
|
||||
message[length - 3] = (cksum & (0xFF << 8)) >> 8;
|
||||
message[length - 2] = (cksum & (0xFF << 16)) >> 16;
|
||||
message[length - 1] = (cksum & (0xFF << 24)) >> 24;
|
||||
}
|
||||
|
||||
// Function to create a CAS packet for editing in memory
|
||||
static uint8_t make_cas_packet(uint8_t* buffer, uint8_t class_id, uint8_t msg_id, uint8_t payload_size, const uint8_t* msg) {
|
||||
// General CAS structure
|
||||
// | H1 | H2 | payload_len | cls | msg | Payload ... | Checksum |
|
||||
// Size: | 1 | 1 | 2 | 1 | 1 | payload_len | 4 |
|
||||
// Pos: | 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 ... | 6 + payload_len ... |
|
||||
// |------|------|-------------|------|------|------|--------------|---------------------------|
|
||||
// | 0xBA | 0xCE | 0xXX | 0xXX | 0xXX | 0xXX | 0xXX | 0xXX ... | 0xXX | 0xXX | 0xXX | 0xXX |
|
||||
|
||||
// Construct the CAS packet
|
||||
buffer[0] = 0xBA; // header 1 (0xBA)
|
||||
buffer[1] = 0xCE; // header 2 (0xCE)
|
||||
buffer[2] = payload_size; // length 1
|
||||
buffer[3] = 0; // length 2
|
||||
buffer[4] = class_id; // class
|
||||
buffer[5] = msg_id; // id
|
||||
|
||||
buffer[6 + payload_size] = 0x00; // Checksum
|
||||
buffer[7 + payload_size] = 0x00;
|
||||
buffer[8 + payload_size] = 0x00;
|
||||
buffer[9 + payload_size] = 0x00;
|
||||
|
||||
for (int i = 0; i < payload_size; i++) {
|
||||
buffer[6 + i] = msg[i];
|
||||
}
|
||||
cas_checksum(buffer, (payload_size + 10));
|
||||
|
||||
return (payload_size + 10);
|
||||
}
|
||||
|
||||
static GpsResponse get_ack_cas(Device* uart, uint8_t class_id, uint8_t msg_id, uint32_t wait_millis) {
|
||||
uint32_t start_time = get_millis();
|
||||
uint8_t buffer[CAS_MESSAGE_ACK_NACK_SIZE] = {0};
|
||||
uint8_t buffer_pos = 0;
|
||||
TickType_t wait_ticks = pdMS_TO_TICKS(wait_millis);
|
||||
|
||||
// CAS-ACK-(N)ACK structure
|
||||
// | H1 | H2 | Payload Len | cls | msg | Payload | Checksum (4) |
|
||||
// | | | | | | Cls | Msg | Reserved | |
|
||||
// |------|------|-------------|------|------|------|------|-------------|---------------------------|
|
||||
// ACK-NACK| 0xBA | 0xCE | 0x04 | 0x00 | 0x05 | 0x00 | 0xXX | 0xXX | 0x00 | 0x00 | 0xXX | 0xXX | 0xXX | 0xXX |
|
||||
// ACK-ACK | 0xBA | 0xCE | 0x04 | 0x00 | 0x05 | 0x01 | 0xXX | 0xXX | 0x00 | 0x00 | 0xXX | 0xXX | 0xXX | 0xXX |
|
||||
|
||||
while (get_ticks() - start_time < wait_ticks) {
|
||||
size_t available = 0;
|
||||
uart_controller_get_available(uart, &available);
|
||||
if (available > 0) {
|
||||
uart_controller_read_byte(uart, &buffer[buffer_pos++], 1);
|
||||
|
||||
// keep looking at the first two bytes of buffer until
|
||||
// we have found the CAS frame header (0xBA, 0xCE), if not
|
||||
// keep reading bytes until we find a frame header or we run
|
||||
// out of time.
|
||||
if ((buffer_pos == 2) && !(buffer[0] == 0xBA && buffer[1] == 0xCE)) {
|
||||
buffer[0] = buffer[1];
|
||||
buffer[1] = 0;
|
||||
buffer_pos = 1;
|
||||
}
|
||||
}
|
||||
|
||||
// we have read all the bytes required for the Ack/Nack (14-bytes)
|
||||
// and we must have found a frame to get this far
|
||||
if (buffer_pos == sizeof(buffer) - 1) {
|
||||
uint8_t msg_cls = buffer[4]; // message class should be 0x05
|
||||
uint8_t msg_msg_id = buffer[5]; // message id should be 0x00 or 0x01
|
||||
uint8_t payload_cls = buffer[6]; // payload class id
|
||||
uint8_t payload_msg = buffer[7]; // payload message id
|
||||
|
||||
// Check for an ACK-ACK for the specified class and message id
|
||||
if ((msg_cls == 0x05) && (msg_msg_id == 0x01) && payload_cls == class_id && payload_msg == msg_id) {
|
||||
return GpsResponse::Ok;
|
||||
}
|
||||
|
||||
// Check for an ACK-NACK for the specified class and message id
|
||||
if ((msg_cls == 0x05) && (msg_msg_id == 0x00) && payload_cls == class_id && payload_msg == msg_id) {
|
||||
return GpsResponse::NotAck;
|
||||
}
|
||||
|
||||
// This isn't the frame we are looking for, clear the buffer
|
||||
// and try again until we run out of time.
|
||||
memset(buffer, 0x0, sizeof(buffer));
|
||||
buffer_pos = 0;
|
||||
}
|
||||
}
|
||||
return GpsResponse::None;
|
||||
}
|
||||
|
||||
// endregion
|
||||
|
||||
bool gps_init(Device* uart, GpsModel type) {
|
||||
switch (type) {
|
||||
case GPS_MODEL_UNKNOWN:
|
||||
check(false);
|
||||
case GPS_MODEL_AG3335:
|
||||
case GPS_MODEL_AG3352:
|
||||
return init_ag33xx(uart);
|
||||
case GPS_MODEL_ATGM336H:
|
||||
return init_atgm336h(uart);
|
||||
case GPS_MODEL_LS20031:
|
||||
return true;
|
||||
case GPS_MODEL_MTK:
|
||||
return init_mtk(uart);
|
||||
case GPS_MODEL_MTK_L76B:
|
||||
return init_mtk_l76b(uart);
|
||||
case GPS_MODEL_MTK_PA1616S:
|
||||
return init_mtk_pa1616s(uart);
|
||||
case GPS_MODEL_UBLOX6:
|
||||
case GPS_MODEL_UBLOX7:
|
||||
case GPS_MODEL_UBLOX8:
|
||||
case GPS_MODEL_UBLOX9:
|
||||
case GPS_MODEL_UBLOX10:
|
||||
return gps_ublox::init(uart, type);
|
||||
case GPS_MODEL_UC6580:
|
||||
return init_uc6580(uart);
|
||||
}
|
||||
|
||||
LOG_I(TAG, "Init not implemented %d", static_cast<int>(type));
|
||||
return false;
|
||||
}
|
||||
|
||||
bool init_ag33xx(Device* uart) {
|
||||
uart_controller_write_bytes(uart, (const uint8_t*)"$PAIR066,1,0,1,0,0,1*3B\r\n", 25, 250); // Enable GPS+GALILEO+NAVIC
|
||||
|
||||
// Configure NMEA (sentences will output once per fix)
|
||||
uart_controller_write_bytes(uart, (const uint8_t*)"$PAIR062,0,1*3F\r\n", 17, 250); // GGA ON
|
||||
uart_controller_write_bytes(uart, (const uint8_t*)"$PAIR062,1,0*3F\r\n", 17, 250); // GLL OFF
|
||||
uart_controller_write_bytes(uart, (const uint8_t*)"$PAIR062,2,0*3C\r\n", 17, 250); // GSA OFF
|
||||
uart_controller_write_bytes(uart, (const uint8_t*)"$PAIR062,3,0*3D\r\n", 17, 250); // GSV OFF
|
||||
uart_controller_write_bytes(uart, (const uint8_t*)"$PAIR062,4,1*3B\r\n", 17, 250); // RMC ON
|
||||
uart_controller_write_bytes(uart, (const uint8_t*)"$PAIR062,5,0*3B\r\n", 17, 250); // VTG OFF
|
||||
uart_controller_write_bytes(uart, (const uint8_t*)"$PAIR062,6,0*38\r\n", 17, 250); // ZDA ON
|
||||
|
||||
delay_millis(250);
|
||||
uart_controller_write_bytes(uart, (const uint8_t*)"$PAIR513*3D\r\n", 13, 250); // save configuration
|
||||
return true;
|
||||
}
|
||||
|
||||
bool init_uc6580(Device* uart) {
|
||||
// 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 + QZSS
|
||||
// This will reset the receiver, so wait a bit afterwards
|
||||
// The paranoid will wait for the OK*04 confirmation response after each command.
|
||||
uart_controller_write_bytes(uart, (const uint8_t*)"$CFGSYS,h35155\r\n", 16, 250);
|
||||
delay_millis(750);
|
||||
// Must be done after the CFGSYS command
|
||||
// Turn off GSV messages, we don't really care about which and where the sats are, maybe someday.
|
||||
uart_controller_write_bytes(uart, (const uint8_t*)"$CFGMSG,0,3,0\r\n", 15, 250);
|
||||
delay_millis(250);
|
||||
// Turn off GSA messages, TinyGPS++ doesn't use this message.
|
||||
uart_controller_write_bytes(uart, (const uint8_t*)"$CFGMSG,0,2,0\r\n", 15, 250);
|
||||
delay_millis(250);
|
||||
// Turn off NOTICE __TXT messages, these may provide Unicore some info but we don't care.
|
||||
uart_controller_write_bytes(uart, (const uint8_t*)"$CFGMSG,6,0,0\r\n", 15, 250);
|
||||
delay_millis(250);
|
||||
uart_controller_write_bytes(uart, (const uint8_t*)"$CFGMSG,6,1,0\r\n", 15, 250);
|
||||
delay_millis(250);
|
||||
return true;
|
||||
}
|
||||
|
||||
bool init_atgm336h(Device* uart) {
|
||||
uint8_t buffer[256];
|
||||
|
||||
// Set the intial configuration of the device - these _should_ work for most AT6558 devices
|
||||
int msglen = make_cas_packet(buffer, 0x06, 0x07, sizeof(CAS_MESSAGE_CFG_NAVX_CONF), CAS_MESSAGE_CFG_NAVX_CONF);
|
||||
uart_controller_write_bytes(uart, buffer, msglen, 250);
|
||||
if (get_ack_cas(uart, 0x06, 0x07, 250) != GpsResponse::Ok) {
|
||||
LOG_W(TAG, "ATGM336H: Could not set Config");
|
||||
}
|
||||
|
||||
// Set the update frequence to 1Hz
|
||||
msglen = make_cas_packet(buffer, 0x06, 0x04, sizeof(CAS_MESSAGE_CFG_RATE_1HZ), CAS_MESSAGE_CFG_RATE_1HZ);
|
||||
uart_controller_write_bytes(uart, buffer, msglen, 250);
|
||||
if (get_ack_cas(uart, 0x06, 0x04, 250) != GpsResponse::Ok) {
|
||||
LOG_W(TAG, "ATGM336H: Could not set Update Frequency");
|
||||
}
|
||||
|
||||
// Set the NEMA output messages
|
||||
// Ask for only RMC and GGA
|
||||
uint8_t fields[] = {CAS_NEMA_RMC, CAS_NEMA_GGA};
|
||||
for (unsigned int i = 0; i < sizeof(fields); i++) {
|
||||
// Construct a CAS-CFG-MSG packet
|
||||
uint8_t cas_cfg_msg_packet[] = {0x4e, fields[i], 0x01, 0x00};
|
||||
msglen = make_cas_packet(buffer, 0x06, 0x01, sizeof(cas_cfg_msg_packet), cas_cfg_msg_packet);
|
||||
uart_controller_write_bytes(uart, buffer, msglen, 250);
|
||||
if (get_ack_cas(uart, 0x06, 0x01, 250) != GpsResponse::Ok) {
|
||||
LOG_W(TAG, "ATGM336H: Could not enable NMEA MSG: %u", fields[i]);
|
||||
}
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
bool init_mtk_pa1616s(Device* uart) {
|
||||
// PA1616S is used in some GPS breakout boards from Adafruit
|
||||
// PA1616S does not have GLONASS capability. PA1616D does, but is not implemented here.
|
||||
uart_controller_write_bytes(uart, (const uint8_t*)"$PMTK353,1,0,0,0,0*2A\r\n", 23, 250);
|
||||
// Above command will reset the GPS and takes longer before it will accept new commands
|
||||
delay_millis(1000);
|
||||
// Only ask for RMC and GGA (GNRMC and GNGGA)
|
||||
uart_controller_write_bytes(uart, (const uint8_t*)"$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n", 51, 250);
|
||||
delay_millis(250);
|
||||
// Enable SBAS / WAAS
|
||||
uart_controller_write_bytes(uart, (const uint8_t*)"$PMTK301,2*2E\r\n", 15, 250);
|
||||
delay_millis(250);
|
||||
return true;
|
||||
}
|
||||
|
||||
bool init_mtk_l76b(Device* uart) {
|
||||
// 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
|
||||
uart_controller_write_bytes(uart, (const uint8_t*)"$PMTK353,1,1,0,0,0*2B\r\n", 23, 250);
|
||||
// Above command will reset the GPS and takes longer before it will accept new commands
|
||||
delay_millis(1000);
|
||||
// only ask for RMC and GGA (GNRMC and GNGGA)
|
||||
// See note in L76_Series_GNSS_Protocol_Specification, chapter 2.1
|
||||
uart_controller_write_bytes(uart, (const uint8_t*)"$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n", 51, 250);
|
||||
delay_millis(250);
|
||||
// Enable SBAS
|
||||
uart_controller_write_bytes(uart, (const uint8_t*)"$PMTK301,2*2E\r\n", 15, 250);
|
||||
delay_millis(250);
|
||||
// Enable PPS for 2D/3D fix only
|
||||
uart_controller_write_bytes(uart, (const uint8_t*)"$PMTK285,3,100*3F\r\n", 19, 250);
|
||||
delay_millis(250);
|
||||
// Switch to Fitness Mode, for running and walking purpose with low speed (<5 m/s)
|
||||
uart_controller_write_bytes(uart, (const uint8_t*)"$PMTK886,1*29\r\n", 15, 250);
|
||||
delay_millis(250);
|
||||
return true;
|
||||
}
|
||||
|
||||
bool init_mtk(Device* uart) {
|
||||
// Initialize the L76K Chip, use GPS + GLONASS + BEIDOU
|
||||
uart_controller_write_bytes(uart, (const uint8_t*)"$PCAS04,7*1E\r\n", 14, 250);
|
||||
delay_millis(250);
|
||||
// only ask for RMC and GGA
|
||||
uart_controller_write_bytes(uart, (const uint8_t*)"$PCAS03,1,0,0,0,1,0,0,0,0,0,,,0,0*02\r\n", 38, 250);
|
||||
delay_millis(250);
|
||||
// Switch to Vehicle Mode, since SoftRF enables Aviation < 2g
|
||||
uart_controller_write_bytes(uart, (const uint8_t*)"$PCAS11,3*1E\r\n", 14, 250);
|
||||
delay_millis(250);
|
||||
return true;
|
||||
}
|
||||
@@ -1,19 +1,11 @@
|
||||
// SPDX-License-Identifier: GPL-3.0-or-later
|
||||
#include <tactility/driver.h>
|
||||
#include <tactility/module.h>
|
||||
|
||||
extern "C" {
|
||||
|
||||
extern Driver generic_gps_driver;
|
||||
|
||||
static Driver* const gps_generic_drivers[] = {
|
||||
&generic_gps_driver,
|
||||
nullptr
|
||||
};
|
||||
|
||||
Module gps_generic_module = {
|
||||
.name = "gps-generic",
|
||||
.drivers = gps_generic_drivers
|
||||
Module gps_meshtastic_module = {
|
||||
.name = "gps-meshtastic",
|
||||
.drivers = nullptr
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
@@ -1,120 +0,0 @@
|
||||
// SPDX-License-Identifier: GPL-3.0-or-later
|
||||
#include <gps_generic/private/gps_response.h>
|
||||
#include <gps_generic/private/probe.h>
|
||||
#include <gps_generic/private/ublox.h>
|
||||
|
||||
#include <tactility/delay.h>
|
||||
#include <tactility/device.h>
|
||||
#include <tactility/drivers/uart_controller.h>
|
||||
#include <tactility/log.h>
|
||||
#include <tactility/time.h>
|
||||
|
||||
#include <cstring>
|
||||
|
||||
constexpr auto* TAG = "Gps";
|
||||
|
||||
static char* probe_strnstr(const char* s, const char* find, size_t slen) {
|
||||
char c;
|
||||
if ((c = *find++) != '\0') {
|
||||
char sc;
|
||||
size_t len;
|
||||
|
||||
len = strlen(find);
|
||||
do {
|
||||
do {
|
||||
if (slen-- < 1 || (sc = *s++) == '\0')
|
||||
return (nullptr);
|
||||
} while (sc != c);
|
||||
if (len > slen)
|
||||
return (nullptr);
|
||||
} while (strncmp(s, find, len) != 0);
|
||||
s--;
|
||||
}
|
||||
return ((char*)s);
|
||||
}
|
||||
|
||||
static GpsResponse get_ack(Device* uart, const char* message, uint32_t wait_millis) {
|
||||
uint8_t buffer[768] = {0};
|
||||
uint8_t b;
|
||||
int bytes_read = 0;
|
||||
uint32_t start_timeout = get_millis() + wait_millis;
|
||||
while (get_millis() < start_timeout) {
|
||||
size_t available = 0;
|
||||
uart_controller_get_available(uart, &available);
|
||||
if (available > 0) {
|
||||
uart_controller_read_byte(uart, &b, 1);
|
||||
|
||||
buffer[bytes_read] = b;
|
||||
bytes_read++;
|
||||
if ((bytes_read == 767) || (b == '\r')) {
|
||||
if (probe_strnstr((char*)buffer, message, bytes_read) != nullptr) {
|
||||
return GpsResponse::Ok;
|
||||
} else {
|
||||
bytes_read = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
return GpsResponse::None;
|
||||
}
|
||||
|
||||
#define PROBE_SIMPLE(UART, CHIP, TOWRITE, RESPONSE, DRIVER, TIMEOUT, ...) \
|
||||
do { \
|
||||
LOG_I(TAG, "Probing for %s (%s)", CHIP, TOWRITE); \
|
||||
uart_controller_flush_input(UART); \
|
||||
uart_controller_write_bytes(UART, (const uint8_t*)(TOWRITE "\r\n"), strlen(TOWRITE "\r\n"), TIMEOUT); \
|
||||
if (get_ack(UART, RESPONSE, TIMEOUT) == GpsResponse::Ok) { \
|
||||
LOG_I(TAG, "Probe detected %s %s", CHIP, #DRIVER); \
|
||||
return DRIVER; \
|
||||
} \
|
||||
} while (0)
|
||||
|
||||
GpsModel gps_probe(Device* uart) {
|
||||
// Close all NMEA sentences
|
||||
// Valid for L76K, ATGM336H and likely other AT6558 devices
|
||||
uart_controller_write_bytes(uart, reinterpret_cast<const uint8_t*>("$PCAS03,0,0,0,0,0,0,0,0,0,0,,,0,0*02\r\n"), 40, 500);
|
||||
delay_millis(20);
|
||||
|
||||
// Close NMEA sequences on Ublox
|
||||
uart_controller_write_bytes(uart, reinterpret_cast<const uint8_t*>("$PUBX,40,GLL,0,0,0,0,0,0*5C\r\n"), 29, 500);
|
||||
uart_controller_write_bytes(uart, reinterpret_cast<const uint8_t*>("$PUBX,40,GSV,0,0,0,0,0,0*59\r\n"), 29, 500);
|
||||
uart_controller_write_bytes(uart, reinterpret_cast<const uint8_t*>("$PUBX,40,VTG,0,0,0,0,0,0*5E\r\n"), 29, 500);
|
||||
delay_millis(20);
|
||||
|
||||
// Unicore UFirebirdII Series: UC6580, UM620, UM621, UM670A, UM680A, or UM681A
|
||||
PROBE_SIMPLE(uart, "UC6580", "$PDTINFO", "UC6580", GpsModel::GPS_MODEL_UC6580, 500);
|
||||
PROBE_SIMPLE(uart, "UM600", "$PDTINFO", "UM600", GpsModel::GPS_MODEL_UC6580, 500);
|
||||
PROBE_SIMPLE(uart, "ATGM336H", "$PCAS06,1*1A", "$GPTXT,01,01,02,HW=ATGM336H", GpsModel::GPS_MODEL_ATGM336H, 500);
|
||||
|
||||
// ATGM332D series (-11(GPS), -21(BDS), -31(GPS+BDS), -51(GPS+GLONASS), -71-0(GPS+BDS+GLONASS)) based on AT6558
|
||||
PROBE_SIMPLE(uart, "ATGM332D", "$PCAS06,1*1A", "$GPTXT,01,01,02,HW=ATGM332D", GpsModel::GPS_MODEL_ATGM336H, 500);
|
||||
|
||||
// Airoha (Mediatek) AG3335A/M/S, A3352Q, Quectel L89 2.0, SimCom SIM65M
|
||||
// GSA OFF, reduce volume
|
||||
uart_controller_write_bytes(uart, reinterpret_cast<const uint8_t*>("$PAIR062,2,0*3C\r\n"), 17, 500);
|
||||
// GSV OFF, reduce volume
|
||||
uart_controller_write_bytes(uart, reinterpret_cast<const uint8_t*>("$PAIR062,3,0*3D\r\n"), 17, 500);
|
||||
// Save configuration
|
||||
uart_controller_write_bytes(uart, reinterpret_cast<const uint8_t*>("$PAIR513*3D\r\n"), 13, 500);
|
||||
PROBE_SIMPLE(uart, "AG3335", "$PAIR021*39", "$PAIR021,AG3335", GpsModel::GPS_MODEL_AG3335, 500);
|
||||
PROBE_SIMPLE(uart, "AG3352", "$PAIR021*39", "$PAIR021,AG3352", GpsModel::GPS_MODEL_AG3352, 500);
|
||||
PROBE_SIMPLE(uart, "LC86", "$PQTMVERNO*58", "$PQTMVERNO,LC86", GpsModel::GPS_MODEL_AG3352, 500);
|
||||
|
||||
PROBE_SIMPLE(uart, "L76K", "$PCAS06,0*1B", "$GPTXT,01,01,02,SW=", GpsModel::GPS_MODEL_MTK, 500);
|
||||
|
||||
// Close all NMEA sentences
|
||||
// Valid for L76B MTK
|
||||
uart_controller_write_bytes(uart, reinterpret_cast<const uint8_t*>("$PMTK514,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*2E\r\n"), 51, 500);
|
||||
delay_millis(20);
|
||||
|
||||
PROBE_SIMPLE(uart, "L76B", "$PMTK605*31", "Quectel-L76B", GpsModel::GPS_MODEL_MTK_L76B, 500);
|
||||
PROBE_SIMPLE(uart, "PA1616S", "$PMTK605*31", "1616S", GpsModel::GPS_MODEL_MTK_PA1616S, 500);
|
||||
|
||||
auto ublox_result = gps_ublox::probe(uart);
|
||||
if (ublox_result != GPS_MODEL_UNKNOWN) {
|
||||
return ublox_result;
|
||||
} else {
|
||||
LOG_W(TAG, "No GNSS Module");
|
||||
return GPS_MODEL_UNKNOWN;
|
||||
}
|
||||
}
|
||||
@@ -1,476 +0,0 @@
|
||||
// SPDX-License-Identifier: GPL-3.0-or-later
|
||||
#include <gps_generic/private/ublox.h>
|
||||
#include <gps_generic/private/gps_response.h>
|
||||
#include <gps_generic/private/ublox_messages.h>
|
||||
|
||||
#include <gps/gps.h>
|
||||
|
||||
#include <tactility/delay.h>
|
||||
#include <tactility/device.h>
|
||||
#include <tactility/drivers/uart_controller.h>
|
||||
#include <tactility/log.h>
|
||||
#include <tactility/time.h>
|
||||
|
||||
#include <cstring>
|
||||
#include <cstdlib>
|
||||
|
||||
namespace gps_ublox {
|
||||
|
||||
constexpr auto* TAG = "Ublox";
|
||||
|
||||
bool init_ublox_6(Device* uart);
|
||||
bool init_ublox_789(Device* uart, GpsModel model);
|
||||
bool init_ublox_10(Device* uart);
|
||||
|
||||
#define SEND_UBX_PACKET(UART, BUFFER, TYPE, ID, DATA, ERRMSG, TIMEOUT_MILLIS) \
|
||||
do { \
|
||||
auto msglen = make_packet(TYPE, ID, DATA, sizeof(DATA), BUFFER); \
|
||||
uart_controller_write_bytes(UART, BUFFER, msglen, TIMEOUT_MILLIS / portTICK_PERIOD_MS); \
|
||||
if (get_ack(UART, TYPE, ID, TIMEOUT_MILLIS) != GpsResponse::Ok) { \
|
||||
LOG_I(TAG, "Sending packet failed: %s", #ERRMSG); \
|
||||
} \
|
||||
} while (0)
|
||||
|
||||
void checksum(uint8_t* message, size_t length) {
|
||||
uint8_t CK_A = 0, CK_B = 0;
|
||||
|
||||
// Calculate the checksum, starting from the CLASS field (which is message[2])
|
||||
for (size_t i = 2; i < length - 2; i++) {
|
||||
CK_A = (CK_A + message[i]) & 0xFF;
|
||||
CK_B = (CK_B + CK_A) & 0xFF;
|
||||
}
|
||||
|
||||
// Place the calculated checksum values in the message
|
||||
message[length - 2] = CK_A;
|
||||
message[length - 1] = CK_B;
|
||||
}
|
||||
|
||||
uint8_t make_packet(uint8_t class_id, uint8_t message_id, const uint8_t* payload, uint8_t payload_size, uint8_t* buffer_out) {
|
||||
// Construct the UBX packet
|
||||
buffer_out[0] = 0xB5U; // header
|
||||
buffer_out[1] = 0x62U; // header
|
||||
buffer_out[2] = class_id; // class
|
||||
buffer_out[3] = message_id; // id
|
||||
buffer_out[4] = payload_size; // length
|
||||
buffer_out[5] = 0x00U;
|
||||
|
||||
buffer_out[6 + payload_size] = 0x00U; // CK_A
|
||||
buffer_out[7 + payload_size] = 0x00U; // CK_B
|
||||
|
||||
for (int i = 0; i < payload_size; i++) {
|
||||
buffer_out[6 + i] = payload[i];
|
||||
}
|
||||
checksum(buffer_out, (payload_size + 8U));
|
||||
return (payload_size + 8U);
|
||||
}
|
||||
|
||||
GpsResponse get_ack(Device* uart, uint8_t class_id, uint8_t msg_id, uint32_t wait_millis) {
|
||||
uint8_t b;
|
||||
uint8_t ack = 0;
|
||||
const uint8_t ackP[2] = {class_id, msg_id};
|
||||
uint8_t buf[10] = {0xB5, 0x62, 0x05, 0x01, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00};
|
||||
uint32_t start_time = get_ticks();
|
||||
TickType_t wait_ticks = pdMS_TO_TICKS(wait_millis);
|
||||
const char frame_errors[] = "More than 100 frame errors";
|
||||
int sCounter = 0;
|
||||
|
||||
for (int j = 2; j < 6; j++) {
|
||||
buf[8] += buf[j];
|
||||
buf[9] += buf[8];
|
||||
}
|
||||
|
||||
for (int j = 0; j < 2; j++) {
|
||||
buf[6 + j] = ackP[j];
|
||||
buf[8] += buf[6 + j];
|
||||
buf[9] += buf[8];
|
||||
}
|
||||
|
||||
while (get_ticks() - start_time < wait_ticks) {
|
||||
if (ack > 9) {
|
||||
return GpsResponse::Ok; // ACK received
|
||||
}
|
||||
size_t available = 0;
|
||||
uart_controller_get_available(uart, &available);
|
||||
if (available > 0) {
|
||||
uart_controller_read_byte(uart, &b, 1);
|
||||
if (b == frame_errors[sCounter]) {
|
||||
sCounter++;
|
||||
if (sCounter == 26) {
|
||||
return GpsResponse::FrameErrors;
|
||||
}
|
||||
} else {
|
||||
sCounter = 0;
|
||||
}
|
||||
if (b == buf[ack]) {
|
||||
ack++;
|
||||
} else {
|
||||
if (ack == 3 && b == 0x00) { // UBX-ACK-NAK message
|
||||
LOG_W(TAG, "Got NAK for class %02X message %02X", class_id, msg_id);
|
||||
return GpsResponse::NotAck; // NAK received
|
||||
}
|
||||
ack = 0; // Reset the acknowledgement counter
|
||||
}
|
||||
}
|
||||
}
|
||||
LOG_W(TAG, "No response for class %02X message %02X", class_id, msg_id);
|
||||
return GpsResponse::None; // No response received within timeout
|
||||
}
|
||||
|
||||
static int get_ack(Device* uart, uint8_t* buffer, uint16_t size, uint8_t requested_class, uint8_t requested_id, uint32_t timeout_millis) {
|
||||
uint16_t ubx_frame_counter = 0;
|
||||
TickType_t start_time = get_ticks();
|
||||
TickType_t timeout_ticks = pdMS_TO_TICKS(timeout_millis);
|
||||
uint16_t need_read = 0;
|
||||
|
||||
while ((get_ticks() - start_time) < timeout_ticks) {
|
||||
size_t available = 0;
|
||||
uart_controller_get_available(uart, &available);
|
||||
while (available > 0) {
|
||||
uint8_t c;
|
||||
uart_controller_read_byte(uart, &c, 1);
|
||||
available--;
|
||||
|
||||
switch (ubx_frame_counter) {
|
||||
case 0:
|
||||
if (c == 0xB5) {
|
||||
ubx_frame_counter++;
|
||||
}
|
||||
break;
|
||||
case 1:
|
||||
if (c == 0x62) {
|
||||
ubx_frame_counter++;
|
||||
} else {
|
||||
ubx_frame_counter = 0;
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if (c == requested_class) {
|
||||
ubx_frame_counter++;
|
||||
} else {
|
||||
ubx_frame_counter = 0;
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if (c == requested_id) {
|
||||
ubx_frame_counter++;
|
||||
} else {
|
||||
ubx_frame_counter = 0;
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
need_read = c;
|
||||
ubx_frame_counter++;
|
||||
break;
|
||||
case 5: {
|
||||
// Payload length msb
|
||||
need_read |= (c << 8);
|
||||
ubx_frame_counter++;
|
||||
// Check for buffer overflow
|
||||
if (need_read >= size) {
|
||||
ubx_frame_counter = 0;
|
||||
break;
|
||||
}
|
||||
auto read_bytes = 0U;
|
||||
uart_controller_read_bytes(uart, buffer, need_read, 250 / portTICK_PERIOD_MS);
|
||||
if (read_bytes != need_read) {
|
||||
ubx_frame_counter = 0;
|
||||
} else {
|
||||
// return payload length
|
||||
return need_read;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
static struct UbloxGnssModelInfo {
|
||||
char swVersion[30];
|
||||
char hwVersion[10];
|
||||
uint8_t extensionNo;
|
||||
char extension[10][30];
|
||||
uint8_t protocol_version;
|
||||
} ublox_info;
|
||||
|
||||
GpsModel probe(Device* uart) {
|
||||
LOG_I(TAG, "Probing for U-blox");
|
||||
|
||||
uint8_t cfg_rate[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x00, 0x00};
|
||||
checksum(cfg_rate, sizeof(cfg_rate));
|
||||
uart_controller_flush_input(uart);
|
||||
uart_controller_write_bytes(uart, cfg_rate, sizeof(cfg_rate), 500 / portTICK_PERIOD_MS);
|
||||
// Check that the returned response class and message ID are correct
|
||||
GpsResponse response = get_ack(uart, 0x06, 0x08, 750);
|
||||
if (response == GpsResponse::None) {
|
||||
LOG_W(TAG, "No GNSS Module");
|
||||
return GpsModel::GPS_MODEL_UNKNOWN;
|
||||
} else if (response == GpsResponse::FrameErrors) {
|
||||
LOG_W(TAG, "UBlox Frame Errors");
|
||||
}
|
||||
|
||||
uint8_t buffer[256];
|
||||
memset(buffer, 0, sizeof(buffer));
|
||||
uint8_t message_monver[8] = {
|
||||
0xB5, 0x62, // Sync message for UBX protocol
|
||||
0x0A, 0x04, // Message class and ID (UBX-MON-VER)
|
||||
0x00, 0x00, // Length of payload (we're asking for an answer, so no payload)
|
||||
0x00, 0x00 // Checksum
|
||||
};
|
||||
// Get Ublox gnss module hardware and software info
|
||||
checksum(message_monver, sizeof(message_monver));
|
||||
uart_controller_flush_input(uart);
|
||||
uart_controller_write_bytes(uart, message_monver, sizeof(message_monver), 500);
|
||||
|
||||
uint16_t ack_response_len = get_ack(uart, buffer, sizeof(buffer), 0x0A, 0x04, 1200);
|
||||
if (ack_response_len) {
|
||||
uint16_t position = 0;
|
||||
for (char& i: ublox_info.swVersion) {
|
||||
i = buffer[position];
|
||||
position++;
|
||||
}
|
||||
for (char& i: ublox_info.hwVersion) {
|
||||
i = buffer[position];
|
||||
position++;
|
||||
}
|
||||
|
||||
while (ack_response_len >= position + 30) {
|
||||
for (int i = 0; i < 30; i++) {
|
||||
ublox_info.extension[ublox_info.extensionNo][i] = buffer[position];
|
||||
position++;
|
||||
}
|
||||
ublox_info.extensionNo++;
|
||||
if (ublox_info.extensionNo > 9)
|
||||
break;
|
||||
}
|
||||
|
||||
LOG_I(TAG, "Module Info:");
|
||||
LOG_I(TAG, "Soft version: %s", ublox_info.swVersion);
|
||||
LOG_I(TAG, "Hard version: %s", ublox_info.hwVersion);
|
||||
LOG_I(TAG, "Extensions: %u", ublox_info.extensionNo);
|
||||
for (int i = 0; i < ublox_info.extensionNo; i++) {
|
||||
LOG_I(TAG, " %s", ublox_info.extension[i]);
|
||||
}
|
||||
|
||||
memset(buffer, 0, sizeof(buffer));
|
||||
|
||||
// tips: extensionNo field is 0 on some 6M GNSS modules
|
||||
for (int i = 0; i < ublox_info.extensionNo; ++i) {
|
||||
if (!strncmp(ublox_info.extension[i], "MOD=", 4)) {
|
||||
strncpy((char*)buffer, &(ublox_info.extension[i][4]), sizeof(buffer));
|
||||
} else if (!strncmp(ublox_info.extension[i], "PROTVER", 7)) {
|
||||
char* ptr = nullptr;
|
||||
memset(buffer, 0, sizeof(buffer));
|
||||
strncpy((char*)buffer, &(ublox_info.extension[i][8]), sizeof(buffer));
|
||||
LOG_I(TAG, "Protocol Version: %s", (char*)buffer);
|
||||
if (strlen((char*)buffer)) {
|
||||
ublox_info.protocol_version = strtoul((char*)buffer, &ptr, 10);
|
||||
LOG_I(TAG, "ProtVer=%u", ublox_info.protocol_version);
|
||||
} else {
|
||||
ublox_info.protocol_version = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
#define DETECTED_MESSAGE "%s detected, using %s Module"
|
||||
if (strncmp(ublox_info.hwVersion, "00040007", 8) == 0) {
|
||||
LOG_I(TAG, DETECTED_MESSAGE, "U-blox 6", "6");
|
||||
return GPS_MODEL_UBLOX6;
|
||||
} else if (strncmp(ublox_info.hwVersion, "00070000", 8) == 0) {
|
||||
LOG_I(TAG, DETECTED_MESSAGE, "U-blox 7", "7");
|
||||
return GPS_MODEL_UBLOX7;
|
||||
} else if (strncmp(ublox_info.hwVersion, "00080000", 8) == 0) {
|
||||
LOG_I(TAG, DETECTED_MESSAGE, "U-blox 8", "8");
|
||||
return GPS_MODEL_UBLOX8;
|
||||
} else if (strncmp(ublox_info.hwVersion, "00190000", 8) == 0) {
|
||||
LOG_I(TAG, DETECTED_MESSAGE, "U-blox 9", "9");
|
||||
return GPS_MODEL_UBLOX9;
|
||||
} else if (strncmp(ublox_info.hwVersion, "000A0000", 8) == 0) {
|
||||
LOG_I(TAG, DETECTED_MESSAGE, "U-blox 10", "10");
|
||||
return GPS_MODEL_UBLOX10;
|
||||
}
|
||||
}
|
||||
|
||||
return GPS_MODEL_UNKNOWN;
|
||||
}
|
||||
|
||||
bool init(Device* uart, GpsModel model) {
|
||||
LOG_I(TAG, "U-blox init");
|
||||
switch (model) {
|
||||
case GPS_MODEL_UBLOX6:
|
||||
return init_ublox_6(uart);
|
||||
case GPS_MODEL_UBLOX7:
|
||||
case GPS_MODEL_UBLOX8:
|
||||
case GPS_MODEL_UBLOX9:
|
||||
return init_ublox_789(uart, model);
|
||||
case GPS_MODEL_UBLOX10:
|
||||
return init_ublox_10(uart);
|
||||
default:
|
||||
LOG_E(TAG, "Unknown or unsupported U-blox model");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool init_ublox_10(Device* uart) {
|
||||
uint8_t buffer[256];
|
||||
delay_millis(1000);
|
||||
uart_controller_flush_input(uart);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_NMEA_RAM, "disable NMEA messages in M10 RAM", 300);
|
||||
delay_millis(750);
|
||||
uart_controller_flush_input(uart);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_NMEA_BBR, "disable NMEA messages in M10 BBR", 300);
|
||||
delay_millis(750);
|
||||
uart_controller_flush_input(uart);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_TXT_INFO_RAM, "disable Info messages for M10 GPS RAM", 300);
|
||||
delay_millis(750);
|
||||
uart_controller_flush_input(uart);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_TXT_INFO_BBR, "disable Info messages for M10 GPS BBR", 300);
|
||||
delay_millis(750);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_PM_RAM, "enable powersave for M10 GPS RAM", 300);
|
||||
delay_millis(750);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_PM_BBR, "enable powersave for M10 GPS BBR", 300);
|
||||
delay_millis(750);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_ITFM_RAM, "enable jam detection M10 GPS RAM", 300);
|
||||
delay_millis(750);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_ITFM_BBR, "enable jam detection M10 GPS BBR", 300);
|
||||
delay_millis(750);
|
||||
// Here is where the init commands should go to do further M10 initialization.
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_SBAS_RAM, "disable SBAS M10 GPS RAM", 300);
|
||||
delay_millis(750); // will cause a receiver restart so wait a bit
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_SBAS_BBR, "disable SBAS M10 GPS BBR", 300);
|
||||
delay_millis(750); // will cause a receiver restart so wait a bit
|
||||
|
||||
// Done with initialization
|
||||
|
||||
// Enable wanted NMEA messages in BBR layer so they will survive a periodic sleep
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_ENABLE_NMEA_BBR, "enable messages for M10 GPS BBR", 300);
|
||||
delay_millis(750);
|
||||
// Enable wanted NMEA messages in RAM layer
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_ENABLE_NMEA_RAM, "enable messages for M10 GPS RAM", 500);
|
||||
delay_millis(750);
|
||||
|
||||
// As the M10 has no flash, the best we can do to preserve the config is to set it in RAM and BBR.
|
||||
// BBR will survive a restart, and power off for a while, but modules with small backup
|
||||
// batteries or super caps will not retain the config for a long power off time.
|
||||
auto packet_size = make_packet(0x06, 0x09, _message_SAVE_10, sizeof(_message_SAVE_10), buffer);
|
||||
uart_controller_write_bytes(uart, buffer, packet_size, 2000 / portTICK_PERIOD_MS);
|
||||
if (get_ack(uart, 0x06, 0x09, 2000) != GpsResponse::Ok) {
|
||||
LOG_W(TAG, "Unable to save GNSS module config");
|
||||
} else {
|
||||
LOG_I(TAG, "GNSS module configuration saved!");
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
bool init_ublox_789(Device* uart, GpsModel model) {
|
||||
uint8_t buffer[256];
|
||||
if (model == GpsModel::GPS_MODEL_UBLOX7) {
|
||||
LOG_D(TAG, "Set GPS+SBAS");
|
||||
auto msglen = make_packet(0x06, 0x3e, _message_GNSS_7, sizeof(_message_GNSS_7), buffer);
|
||||
uart_controller_write_bytes(uart, buffer, msglen, 800 / portTICK_PERIOD_MS);
|
||||
} else { // 8,9
|
||||
auto msglen = make_packet(0x06, 0x3e, _message_GNSS_8, sizeof(_message_GNSS_8), buffer);
|
||||
uart_controller_write_bytes(uart, buffer, msglen, 800 / portTICK_PERIOD_MS);
|
||||
}
|
||||
|
||||
if (get_ack(uart, 0x06, 0x3e, 800) == GpsResponse::NotAck) {
|
||||
// It's not critical if the module doesn't acknowledge this configuration.
|
||||
LOG_D(TAG, "reconfigure GNSS - defaults maintained. Is this module GPS-only?");
|
||||
} else {
|
||||
if (model == GpsModel::GPS_MODEL_UBLOX7) {
|
||||
LOG_I(TAG, "GPS+SBAS configured");
|
||||
} else { // 8,9
|
||||
LOG_I(TAG, "GPS+SBAS+GLONASS+Galileo configured");
|
||||
}
|
||||
// Documentation say, we need wait at least 0.5s after reconfiguration of GNSS module, before sending next
|
||||
// commands for the M8 it tends to be more. 1 sec should be enough
|
||||
delay_millis(1000);
|
||||
}
|
||||
|
||||
uart_controller_flush_input(uart);
|
||||
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x02, _message_DISABLE_TXT_INFO, "disable text info messages", 500);
|
||||
|
||||
if (model == GpsModel::GPS_MODEL_UBLOX8) { // 8
|
||||
uart_controller_flush_input(uart);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x39, _message_JAM_8, "enable interference resistance", 500);
|
||||
|
||||
uart_controller_flush_input(uart);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x23, _message_NAVX5_8, "configure NAVX5_8 settings", 500);
|
||||
} else { // 6,7,9
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x39, _message_JAM_6_7, "enable interference resistance", 500);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x23, _message_NAVX5, "configure NAVX5 settings", 500);
|
||||
}
|
||||
|
||||
// Turn off unwanted NMEA messages, set update rate
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x08, _message_1HZ, "set GPS update rate", 500);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_GLL, "disable NMEA GLL", 500);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_GSA, "enable NMEA GSA", 500);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_GSV, "disable NMEA GSV", 500);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_VTG, "disable NMEA VTG", 500);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_RMC, "enable NMEA RMC", 500);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_GGA, "enable NMEA GGA", 500);
|
||||
|
||||
if (ublox_info.protocol_version >= 18) {
|
||||
uart_controller_flush_input(uart);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x86, _message_PMS, "enable powersave for GPS", 500);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x3B, _message_CFG_PM2, "enable powersave details for GPS", 500);
|
||||
|
||||
// For M8 we want to enable NMEA version 4.10 so we can see the additional satellites.
|
||||
if (model == GpsModel::GPS_MODEL_UBLOX8) {
|
||||
uart_controller_flush_input(uart);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x17, _message_NMEA, "enable NMEA 4.10", 500);
|
||||
}
|
||||
} else {
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x11, _message_CFG_RXM_PSM, "enable powersave mode for GPS", 500);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x3B, _message_CFG_PM2, "enable powersave details for GPS", 500);
|
||||
}
|
||||
|
||||
auto packet_size = make_packet(0x06, 0x09, _message_SAVE, sizeof(_message_SAVE), buffer);
|
||||
uart_controller_write_bytes(uart, buffer, packet_size, 2000 / portTICK_PERIOD_MS);
|
||||
if (get_ack(uart, 0x06, 0x09, 2000) != GpsResponse::Ok) {
|
||||
LOG_W(TAG, "Unable to save GNSS module config");
|
||||
} else {
|
||||
LOG_I(TAG, "GNSS module configuration saved!");
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
bool init_ublox_6(Device* uart) {
|
||||
uint8_t buffer[256];
|
||||
|
||||
uart_controller_flush_input(uart);
|
||||
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x02, _message_DISABLE_TXT_INFO, "disable text info messages", 500);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x39, _message_JAM_6_7, "enable interference resistance", 500);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x23, _message_NAVX5, "configure NAVX5 settings", 500);
|
||||
|
||||
// Turn off unwanted NMEA messages, set update rate
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x08, _message_1HZ, "set GPS update rate", 500);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_GLL, "disable NMEA GLL", 500);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_GSA, "enable NMEA GSA", 500);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_GSV, "disable NMEA GSV", 500);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_VTG, "disable NMEA VTG", 500);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_RMC, "enable NMEA RMC", 500);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_GGA, "enable NMEA GGA", 500);
|
||||
|
||||
uart_controller_flush_input(uart);
|
||||
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x11, _message_CFG_RXM_ECO, "enable powersave ECO mode for Neo-6", 500);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x3B, _message_CFG_PM2, "enable powersave details for GPS", 500);
|
||||
SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_AID, "disable UBX-AID", 500);
|
||||
|
||||
auto packet_size = make_packet(0x06, 0x09, _message_SAVE, sizeof(_message_SAVE), buffer);
|
||||
uart_controller_write_bytes(uart, buffer, packet_size, 2000);
|
||||
if (get_ack(uart, 0x06, 0x09, 2000) != GpsResponse::Ok) {
|
||||
LOG_W(TAG, "Unable to save GNSS module config");
|
||||
} else {
|
||||
LOG_I(TAG, "GNSS module config saved!");
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
}
|
||||
Reference in New Issue
Block a user