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Replaced Logger usage with LOG_x (#548)

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This commit is contained in:
Ken Van Hoeylandt
2026-07-04 23:49:19 +02:00
committed by GitHub
parent ecad2248d9
commit 9d5993930d
162 changed files with 1776 additions and 1842 deletions
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Tactility/Source/hal/gps/GpsDevice.cpp
+16 -21
View File
@@ -1,26 +1,25 @@
#include <Tactility/hal/gps/GpsDevice.h>
#include <Tactility/hal/gps/GpsInit.h>
#include <Tactility/hal/gps/Probe.h>
#include <Tactility/Logger.h>
#include <tactility/log.h>
#include <tactility/device.h>
#include <tactility/drivers/uart_controller.h>
#include <cstring>
#include <minmea.h>
namespace tt::hal::gps {
constexpr uint32_t GPS_UART_BUFFER_SIZE = 256;
static const auto LOGGER = Logger("GpsDevice");
constexpr auto* TAG = "GpsDevice";
int32_t GpsDevice::threadMain() {
uint8_t buffer[GPS_UART_BUFFER_SIZE];
auto* uart = device_find_by_name(configuration.uartName);
if (uart == nullptr) {
LOGGER.error("Failed to find UART {}", configuration.uartName);
LOG_E(TAG, "Failed to find UART %s", configuration.uartName);
return -1;
}
@@ -33,13 +32,13 @@ int32_t GpsDevice::threadMain() {
error_t error = uart_controller_set_config(uart, &uartConfig);
if (error != ERROR_NONE) {
LOGGER.error("Failed to configure UART {}: {}", configuration.uartName, error_to_string(error));
LOG_E(TAG, "Failed to configure UART %s: %s", configuration.uartName, error_to_string(error));
return -1;
}
error = uart_controller_open(uart);
if (error != ERROR_NONE) {
LOGGER.error("Failed to open UART {}: {}", configuration.uartName, error_to_string(error));
LOG_E(TAG, "Failed to open UART %s: %s", configuration.uartName, error_to_string(error));
return -1;
}
@@ -47,7 +46,7 @@ int32_t GpsDevice::threadMain() {
if (model == GpsModel::Unknown) {
model = probe(uart);
if (model == GpsModel::Unknown) {
LOGGER.error("Probe failed");
LOG_E(TAG, "Probe failed");
setState(State::Error);
return -1;
}
@@ -57,7 +56,7 @@ int32_t GpsDevice::threadMain() {
mutex.unlock();
if (!init(uart, model)) {
LOGGER.error("Init failed");
LOG_E(TAG, "Init failed");
setState(State::Error);
return -1;
}
@@ -76,7 +75,7 @@ int32_t GpsDevice::threadMain() {
if (bytes_read > 0U) {
LOGGER.info("[{}] {}", bytes_read, reinterpret_cast<const char*>(buffer));
LOG_I(TAG, "[%d] %s", (int)bytes_read, reinterpret_cast<const char*>(buffer));
switch (minmea_sentence_id((char*)buffer, false)) {
case MINMEA_SENTENCE_RMC:
@@ -87,11 +86,9 @@ int32_t GpsDevice::threadMain() {
(*subscription.onData)(getId(), rmc_frame);
}
mutex.unlock();
if (LOGGER.isLoggingDebug()) {
LOGGER.debug("RMC {} lat, {} lon, {} m/s", minmea_tocoord(&rmc_frame.latitude), minmea_tocoord(&rmc_frame.longitude), minmea_tofloat(&rmc_frame.speed));
}
LOG_D(TAG, "RMC %f lat, %f lon, %f m/s", minmea_tocoord(&rmc_frame.latitude), minmea_tocoord(&rmc_frame.longitude), minmea_tofloat(&rmc_frame.speed));
} else {
LOGGER.error("RMC parse error: {}", reinterpret_cast<const char*>(buffer));
LOG_E(TAG, "RMC parse error: %s", reinterpret_cast<const char*>(buffer));
}
break;
case MINMEA_SENTENCE_GGA:
@@ -102,11 +99,9 @@ int32_t GpsDevice::threadMain() {
(*subscription.onData)(getId(), gga_frame);
}
mutex.unlock();
if (LOGGER.isLoggingDebug()) {
LOGGER.debug("GGA {} lat, {} lon", minmea_tocoord(&gga_frame.latitude), minmea_tocoord(&gga_frame.longitude));
}
LOG_D(TAG, "GGA %f lat, %f lon", minmea_tocoord(&gga_frame.latitude), minmea_tocoord(&gga_frame.longitude));
} else {
LOGGER.error("GGA parse error: {}", reinterpret_cast<const char*>(buffer));
LOG_E(TAG, "GGA parse error: %s", reinterpret_cast<const char*>(buffer));
}
break;
default:
@@ -116,7 +111,7 @@ int32_t GpsDevice::threadMain() {
}
if (uart_controller_close(uart) != ERROR_NONE) {
LOGGER.warn("Failed to stop UART {}", configuration.uartName);
LOG_W(TAG, "Failed to stop UART %s", configuration.uartName);
}
return 0;
@@ -127,13 +122,13 @@ bool GpsDevice::start() {
lock.lock();
if (thread != nullptr && thread->getState() != Thread::State::Stopped) {
LOGGER.warn("Already started");
LOG_W(TAG, "Already started");
return true;
}
threadInterrupted = false;
LOGGER.info("Starting thread");
LOG_I(TAG, "Starting thread");
setState(State::PendingOn);
thread = std::make_unique<Thread>(
@@ -146,7 +141,7 @@ bool GpsDevice::start() {
thread->setPriority(tt::Thread::Priority::High);
thread->start();
LOGGER.info("Starting finished");
LOG_I(TAG, "Starting finished");
return true;
}
Tactility/Source/hal/gps/GpsInit.cpp
+9 -9
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@@ -1,18 +1,18 @@
#include <Tactility/Logger.h>
#include <tactility/check.h>
#include <Tactility/hal/gps/Cas.h>
#include <Tactility/hal/gps/GpsDevice.h>
#include <Tactility/hal/gps/Ublox.h>
#include <Tactility/kernel/Kernel.h>
#include <tactility/check.h>
#include <tactility/device.h>
#include <tactility/drivers/uart_controller.h>
#include <tactility/log.h>
#include <cstring>
namespace tt::hal::gps {
static const auto LOGGER = Logger("Gps");
constexpr auto* TAG = "Gps";
bool initMtk(::Device* uart);
bool initMtkL76b(::Device* uart);
@@ -118,7 +118,7 @@ GpsResponse getACKCas(::Device* uart, uint8_t class_id, uint8_t msg_id, uint32_t
// 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) {
#ifdef GPS_DEBUG
LOGGER.info("Got ACK for class {:02X} message {:02X} in {} ms", class_id, msg_id, kernel::getMillis() - startTime);
LOG_I(TAG, "Got ACK for class %02X message %02X in %zu ms", class_id, msg_id, kernel::getMillis() - startTime);
#endif
return GpsResponse::Ok;
}
@@ -126,7 +126,7 @@ GpsResponse getACKCas(::Device* uart, uint8_t class_id, uint8_t msg_id, uint32_t
// 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) {
#ifdef GPS_DEBUG
LOGGER.warn("Got NACK for class {:02X} message {:02X} in {} ms", class_id, msg_id, millis() - startTime);
LOG_W(TAG, "Got NACK for class %02X message %02X in %zu ms", class_id, msg_id, millis() - startTime);
#endif
return GpsResponse::NotAck;
}
@@ -169,7 +169,7 @@ bool init(::Device* uart, GpsModel type) {
return initUc6580(uart);
}
LOGGER.info("Init not implemented {}", static_cast<int>(type));
LOG_I(TAG, "Init not implemented %d", static_cast<int>(type));
return false;
}
@@ -219,14 +219,14 @@ bool initAtgm336h(::Device* uart) {
int msglen = makeCASPacket(buffer, 0x06, 0x07, sizeof(_message_CAS_CFG_NAVX_CONF), _message_CAS_CFG_NAVX_CONF);
uart_controller_write_bytes(uart, buffer, msglen, 250);
if (getACKCas(uart, 0x06, 0x07, 250) != GpsResponse::Ok) {
LOGGER.warn("ATGM336H: Could not set Config");
LOG_W(TAG, "ATGM336H: Could not set Config");
}
// Set the update frequence to 1Hz
msglen = makeCASPacket(buffer, 0x06, 0x04, sizeof(_message_CAS_CFG_RATE_1HZ), _message_CAS_CFG_RATE_1HZ);
uart_controller_write_bytes(uart, buffer, msglen, 250);
if (getACKCas(uart, 0x06, 0x04, 250) != GpsResponse::Ok) {
LOGGER.warn("ATGM336H: Could not set Update Frequency");
LOG_W(TAG, "ATGM336H: Could not set Update Frequency");
}
// Set the NEMA output messages
@@ -238,7 +238,7 @@ bool initAtgm336h(::Device* uart) {
msglen = makeCASPacket(buffer, 0x06, 0x01, sizeof(cas_cfg_msg_packet), cas_cfg_msg_packet);
uart_controller_write_bytes(uart, buffer, msglen, 250);
if (getACKCas(uart, 0x06, 0x01, 250) != GpsResponse::Ok) {
LOGGER.warn("ATGM336H: Could not enable NMEA MSG: {}", fields[i]);
LOG_W(TAG, "ATGM336H: Could not enable NMEA MSG: %u", fields[i]);
}
}
return true;
Tactility/Source/hal/gps/Probe.cpp
+7 -7
View File
@@ -1,14 +1,14 @@
#include "Tactility/hal/gps/GpsDevice.h"
#include "Tactility/hal/gps/Ublox.h"
#include <Tactility/Logger.h>
#include <Tactility/kernel/Kernel.h>
#include <tactility/device.h>
#include <tactility/drivers/uart_controller.h>
#include <tactility/log.h>
#include <cstring>
static const auto LOGGER = tt::Logger("Gps");
constexpr auto* TAG = "Gps";
#define GPS_UART_BUFFER_SIZE 256
@@ -65,13 +65,13 @@ GpsResponse getAck(::Device* uart, const char* message, uint32_t waitMillis) {
if ((bytesRead == 767) || (b == '\r')) {
if (strnstr((char*)buffer, message, bytesRead) != nullptr) {
#ifdef GPS_DEBUG
LOGGER.debug("Found: {}", message); // Log the found message
LOG_D(TAG, "Found: %s", message); // Log the found message
#endif
return GpsResponse::Ok;
} else {
bytesRead = 0;
#ifdef GPS_DEBUG
LOGGER.debug("{}", debugmsg);
LOG_D(TAG, "%s", debugmsg.c_str());
#endif
}
}
@@ -85,11 +85,11 @@ GpsResponse getAck(::Device* uart, const char* message, uint32_t waitMillis) {
*/
#define PROBE_SIMPLE(UART, CHIP, TOWRITE, RESPONSE, DRIVER, TIMEOUT, ...) \
do { \
LOGGER.info("Probing for {} ({})", CHIP, TOWRITE); \
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 (getAck(UART, RESPONSE, TIMEOUT) == GpsResponse::Ok) { \
LOGGER.info("Probe detected {} {}", CHIP, #DRIVER); \
LOG_I(TAG, "Probe detected %s %s", CHIP, #DRIVER); \
return DRIVER; \
} \
} while (0)
@@ -138,7 +138,7 @@ GpsModel probe(::Device* uart) {
if (ublox_result != GpsModel::Unknown) {
return ublox_result;
} else {
LOGGER.warn("No GNSS Module");
LOG_W(TAG, "No GNSS Module");
return GpsModel::Unknown;
}
}
Tactility/Source/hal/gps/Satellites.cpp
+8 -17
View File
@@ -1,10 +1,11 @@
#include <Tactility/hal/gps/Satellites.h>
#include <Tactility/kernel/Kernel.h>
#include <Tactility/Logger.h>
#include <tactility/log.h>
namespace tt::hal::gps {
static const auto LOGGER = Logger("Satellites");
constexpr auto* TAG = "Satellites";
constexpr bool hasTimeElapsed(TickType_t now, TickType_t timeInThePast, TickType_t expireTimeInTicks) {
return (TickType_t)(now - timeInThePast) >= expireTimeInTicks;
@@ -33,9 +34,7 @@ SatelliteStorage::SatelliteRecord* SatelliteStorage::findUnusedRecord() {
if (!result.empty()) {
auto* record = &result.front();
record->inUse = true;
if (LOGGER.isLoggingDebug()) {
LOGGER.debug("Found unused record");
}
LOG_D(TAG, "Found unused record");
return record;
} else {
return nullptr;
@@ -53,9 +52,7 @@ SatelliteStorage::SatelliteRecord* SatelliteStorage::findRecordToRecycle() {
for (int i = 0; i < records.size(); ++i) {
// First try to find a record that is "old enough"
if (hasTimeElapsed(now, records[i].lastUpdated, expire_duration)) {
if (LOGGER.isLoggingDebug()) {
LOGGER.debug("! [{}] {} < {}", i, records[i].lastUpdated, expire_duration);
}
LOG_D(TAG, "! [%d] %u < %u", i, records[i].lastUpdated, expire_duration);
candidate_index = i;
break;
}
@@ -64,17 +61,13 @@ SatelliteStorage::SatelliteRecord* SatelliteStorage::findRecordToRecycle() {
if (records[i].inUse && records[i].lastUpdated < candidate_age) {
candidate_index = i;
candidate_age = records[i].lastUpdated;
if (LOGGER.isLoggingDebug()) {
LOGGER.debug("? [{}] {} < {}", i, records[i].lastUpdated, candidate_age);
}
LOG_D(TAG, "? [%d] %u < %u", i, records[i].lastUpdated, candidate_age);
}
}
assert(candidate_index != -1);
if (LOGGER.isLoggingDebug()) {
LOGGER.debug("Recycled record {}", candidate_index);
}
LOG_D(TAG, "Recycled record %d", candidate_index);
return &records[candidate_index];
}
@@ -101,9 +94,7 @@ void SatelliteStorage::notify(const minmea_sat_info& data) {
record->inUse = true;
record->lastUpdated = kernel::getTicks();
record->data = data;
if (LOGGER.isLoggingDebug()) {
LOGGER.debug("Updated satellite {}: elevation {}, azimuth {}, snr {}", record->data.nr, record->data.elevation, record->data.elevation, record->data.snr);
}
LOG_D(TAG, "Updated satellite %d: elevation %d, azimuth %d, snr %d", record->data.nr, record->data.elevation, record->data.elevation, record->data.snr);
}
}
Tactility/Source/hal/gps/Ublox.cpp
+38 -38
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@@ -1,16 +1,16 @@
#include <Tactility/hal/gps/Ublox.h>
#include <Tactility/hal/gps/UbloxMessages.h>
#include <Tactility/kernel/Kernel.h>
#include <Tactility/Logger.h>
#include <tactility/device.h>
#include <tactility/drivers/uart_controller.h>
#include <tactility/log.h>
#include <cstring>
namespace tt::hal::gps::ublox {
static const auto LOGGER = Logger("Ublox");
constexpr auto* TAG = "Ublox";
bool initUblox6(::Device* uart);
bool initUblox789(::Device* uart, GpsModel model);
@@ -21,7 +21,7 @@ bool initUblox10(::Device* uart);
auto msglen = makePacket(TYPE, ID, DATA, sizeof(DATA), BUFFER); \
uart_controller_write_bytes(UART, BUFFER, msglen, TIMEOUT_MILLIS / portTICK_PERIOD_MS); \
if (getAck(UART, TYPE, ID, TIMEOUT_MILLIS) != GpsResponse::Ok) { \
LOGGER.info("Sending packet failed: {}", #ERRMSG); \
LOG_I(TAG, "Sending packet failed: %s", #ERRMSG); \
} \
} while (0)
@@ -85,7 +85,7 @@ GpsResponse getAck(::Device* uart, uint8_t class_id, uint8_t msg_id, uint32_t wa
while (kernel::getTicks() - startTime < waitTicks) {
if (ack > 9) {
#ifdef GPS_DEBUG
LOGGER.info("Got ACK for class {:02X} message {:02X} in {}ms", class_id, msg_id, kernel::getMillis() - startTime);
LOG_I(TAG, "Got ACK for class %02X message %02X in %zums", class_id, msg_id, kernel::getMillis() - startTime);
#endif
return GpsResponse::Ok; // ACK received
}
@@ -98,7 +98,7 @@ GpsResponse getAck(::Device* uart, uint8_t class_id, uint8_t msg_id, uint32_t wa
if (sCounter == 26) {
#ifdef GPS_DEBUG
LOGGER.info("%s", debugmsg.c_str());
LOG_I(TAG, "%s", debugmsg.c_str());
#endif
return GpsResponse::FrameErrors;
}
@@ -113,9 +113,9 @@ GpsResponse getAck(::Device* uart, uint8_t class_id, uint8_t msg_id, uint32_t wa
} else {
if (ack == 3 && b == 0x00) { // UBX-ACK-NAK message
#ifdef GPS_DEBUG
LOGGER.info("%s", debugmsg.c_str());
LOG_I(TAG, "%s", debugmsg.c_str());
#endif
LOGGER.warn("Got NAK for class {:02X} message {:02X}", class_id, msg_id);
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
@@ -123,8 +123,8 @@ GpsResponse getAck(::Device* uart, uint8_t class_id, uint8_t msg_id, uint32_t wa
}
}
#ifdef GPS_DEBUG
LOGGER.info("%s", debugmsg.c_str());
LOGGER.warn("No response for class %02X message %02X", class_id, msg_id);
LOG_I(TAG, "%s", debugmsg.c_str());
LOG_W(TAG, "No response for class %02X message %02X", class_id, msg_id);
#endif
return GpsResponse::None; // No response received within timeout
}
@@ -190,7 +190,7 @@ static int getAck(::Device* uart, uint8_t* buffer, uint16_t size, uint8_t reques
} else {
// return payload length
#ifdef GPS_DEBUG
LOGGER.info("Got ACK for class {:02X} message {:02X} in {}ms", requestedClass, requestedId, kernel::getMillis() - startTime);
LOG_I(TAG, "Got ACK for class %02X message %02X in %zums", requestedClass, requestedId, kernel::getMillis() - startTime);
#endif
return needRead;
}
@@ -214,8 +214,7 @@ static struct uBloxGnssModelInfo {
} ublox_info;
GpsModel probe(::Device* uart) {
LOGGER.info("Probing for U-blox");
constexpr auto DETECTED_MESSAGE = "{} detected, using {} Module";
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));
@@ -224,10 +223,10 @@ GpsModel probe(::Device* uart) {
// Check that the returned response class and message ID are correct
GpsResponse response = getAck(uart, 0x06, 0x08, 750);
if (response == GpsResponse::None) {
LOGGER.warn("No GNSS Module");
LOG_W(TAG, "No GNSS Module");
return GpsModel::Unknown;
} else if (response == GpsResponse::FrameErrors) {
LOGGER.warn("UBlox Frame Errors");
LOG_W(TAG, "UBlox Frame Errors");
}
uint8_t buffer[256];
@@ -265,12 +264,12 @@ GpsModel probe(::Device* uart) {
break;
}
LOGGER.info("Module Info:");
LOGGER.info("Soft version: {}", ublox_info.swVersion);
LOGGER.info("Hard version: {}", ublox_info.hwVersion);
LOGGER.info("Extensions: {}", ublox_info.extensionNo);
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++) {
LOGGER.info(" %s", ublox_info.extension[i]);
LOG_I(TAG, " %s", ublox_info.extension[i]);
}
memset(buffer, 0, sizeof(buffer));
@@ -283,29 +282,30 @@ GpsModel probe(::Device* uart) {
char* ptr = nullptr;
memset(buffer, 0, sizeof(buffer));
strncpy((char*)buffer, &(ublox_info.extension[i][8]), sizeof(buffer));
LOGGER.info("Protocol Version: {}", (char*)buffer);
LOG_I(TAG, "Protocol Version: %s", (char*)buffer);
if (strlen((char*)buffer)) {
ublox_info.protocol_version = strtoul((char*)buffer, &ptr, 10);
LOGGER.info("ProtVer={}", ublox_info.protocol_version);
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) {
LOGGER.info(DETECTED_MESSAGE, "U-blox 6", "6");
LOG_I(TAG, DETECTED_MESSAGE, "U-blox 6", "6");
return GpsModel::UBLOX6;
} else if (strncmp(ublox_info.hwVersion, "00070000", 8) == 0) {
LOGGER.info(DETECTED_MESSAGE, "U-blox 7", "7");
LOG_I(TAG, DETECTED_MESSAGE, "U-blox 7", "7");
return GpsModel::UBLOX7;
} else if (strncmp(ublox_info.hwVersion, "00080000", 8) == 0) {
LOGGER.info(DETECTED_MESSAGE, "U-blox 8", "8");
LOG_I(TAG, DETECTED_MESSAGE, "U-blox 8", "8");
return GpsModel::UBLOX8;
} else if (strncmp(ublox_info.hwVersion, "00190000", 8) == 0) {
LOGGER.info(DETECTED_MESSAGE, "U-blox 9", "9");
LOG_I(TAG, DETECTED_MESSAGE, "U-blox 9", "9");
return GpsModel::UBLOX9;
} else if (strncmp(ublox_info.hwVersion, "000A0000", 8) == 0) {
LOGGER.info(DETECTED_MESSAGE, "U-blox 10", "10");
LOG_I(TAG, DETECTED_MESSAGE, "U-blox 10", "10");
return GpsModel::UBLOX10;
}
}
@@ -314,7 +314,7 @@ GpsModel probe(::Device* uart) {
}
bool init(::Device* uart, GpsModel model) {
LOGGER.info("U-blox init");
LOG_I(TAG, "U-blox init");
switch (model) {
case GpsModel::UBLOX6:
return initUblox6(uart);
@@ -325,7 +325,7 @@ bool init(::Device* uart, GpsModel model) {
case GpsModel::UBLOX10:
return initUblox10(uart);
default:
LOGGER.error("Unknown or unsupported U-blox model");
LOG_E(TAG, "Unknown or unsupported U-blox model");
return false;
}
}
@@ -374,9 +374,9 @@ bool initUblox10(::Device* uart) {
auto packet_size = makePacket(0x06, 0x09, _message_SAVE_10, sizeof(_message_SAVE_10), buffer);
uart_controller_write_bytes(uart, buffer, packet_size, 2000 / portTICK_PERIOD_MS);
if (getAck(uart, 0x06, 0x09, 2000) != GpsResponse::Ok) {
LOGGER.warn("Unable to save GNSS module config");
LOG_W(TAG, "Unable to save GNSS module config");
} else {
LOGGER.info("GNSS module configuration saved!");
LOG_I(TAG, "GNSS module configuration saved!");
}
return true;
}
@@ -384,7 +384,7 @@ bool initUblox10(::Device* uart) {
bool initUblox789(::Device* uart, GpsModel model) {
uint8_t buffer[256];
if (model == GpsModel::UBLOX7) {
LOGGER.debug("Set GPS+SBAS");
LOG_D(TAG, "Set GPS+SBAS");
auto msglen = makePacket(0x06, 0x3e, _message_GNSS_7, sizeof(_message_GNSS_7), buffer);
uart_controller_write_bytes(uart, buffer, msglen, 800 / portTICK_PERIOD_MS);
} else { // 8,9
@@ -394,12 +394,12 @@ bool initUblox789(::Device* uart, GpsModel model) {
if (getAck(uart, 0x06, 0x3e, 800) == GpsResponse::NotAck) {
// It's not critical if the module doesn't acknowledge this configuration.
LOGGER.debug("reconfigure GNSS - defaults maintained. Is this module GPS-only?");
LOG_D(TAG, "reconfigure GNSS - defaults maintained. Is this module GPS-only?");
} else {
if (model == GpsModel::UBLOX7) {
LOGGER.info("GPS+SBAS configured");
LOG_I(TAG, "GPS+SBAS configured");
} else { // 8,9
LOGGER.info("GPS+SBAS+GLONASS+Galileo configured");
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
@@ -448,9 +448,9 @@ bool initUblox789(::Device* uart, GpsModel model) {
auto packet_size = makePacket(0x06, 0x09, _message_SAVE, sizeof(_message_SAVE), buffer);
uart_controller_write_bytes(uart, buffer, packet_size, 2000 / portTICK_PERIOD_MS);
if (getAck(uart, 0x06, 0x09, 2000) != GpsResponse::Ok) {
LOGGER.warn("Unable to save GNSS module config");
LOG_W(TAG, "Unable to save GNSS module config");
} else {
LOGGER.info("GNSS module configuration saved!");
LOG_I(TAG, "GNSS module configuration saved!");
}
return true;
}
@@ -482,9 +482,9 @@ bool initUblox6(::Device* uart) {
auto packet_size = makePacket(0x06, 0x09, _message_SAVE, sizeof(_message_SAVE), buffer);
uart_controller_write_bytes(uart, buffer, packet_size, 2000);
if (getAck(uart, 0x06, 0x09, 2000) != GpsResponse::Ok) {
LOGGER.warn("Unable to save GNSS module config");
LOG_W(TAG, "Unable to save GNSS module config");
} else {
LOGGER.info("GNSS module config saved!");
LOG_I(TAG, "GNSS module config saved!");
}
return true;
}