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Improve GPS stale probe recovery (#10714)

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* Improve GPS stale probe recovery

* Address GPS review feedback
This commit is contained in:
Benjamin Faershtein
2026-06-14 06:30:20 -05:00
committed by GitHub
co-authored by GitHub
parent 5d1c4f15b7
commit 882ca0a216
3 changed files with 75 additions and 23 deletions
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src/gps/GPS.cpp
+71 -17
View File
@@ -80,6 +80,12 @@ namespace
constexpr uint32_t GPS_PROBE_CACHE_MAGIC = 0x47504348UL; // "GPCH"
constexpr uint16_t GPS_PROBE_CACHE_VERSION = 1;
constexpr const char *GPS_PROBE_CACHE_FILE = "/prefs/gps_probe_cache.dat";
constexpr int MIN_PLAUSIBLE_GPS_YEAR = 2020;
constexpr int MAX_PLAUSIBLE_GPS_YEAR = 2100;
#ifdef TRACKER_T1000_E
constexpr uint32_t T1000_E_AIROHA_WAKE_MS = 1000;
constexpr uint32_t T1000_E_AIROHA_WAKE_INTERVAL_MS = 40;
#endif
struct GPSProbeCacheRecord {
uint32_t magic;
@@ -101,6 +107,45 @@ bool isValidProbeBaud(uint32_t baud)
return baud >= 1200 && baud <= 921600;
}
template <typename T> void wakeAirohaForActiveProbe(T *serialGps)
{
#ifdef TRACKER_T1000_E
digitalWrite(PIN_GPS_EN, GPS_EN_ACTIVE);
digitalWrite(GPS_RTC_INT, HIGH);
delay(3);
digitalWrite(GPS_RTC_INT, LOW);
delay(50);
const uint32_t start = millis();
do {
serialGps->write("$PAIR382,1*2E\r\n");
delay(T1000_E_AIROHA_WAKE_INTERVAL_MS);
} while (Throttle::isWithinTimespanMs(start, T1000_E_AIROHA_WAKE_MS));
#elif defined(GNSS_AIROHA)
serialGps->write("$PAIR382,1*2E\r\n");
delay(20);
#else
(void)serialGps;
#endif
}
bool isPlausibleNmeaTime(const struct tm &t)
{
const int year = t.tm_year + 1900;
if (year < MIN_PLAUSIBLE_GPS_YEAR || year > MAX_PLAUSIBLE_GPS_YEAR) {
return false;
}
#ifdef BUILD_EPOCH
const int64_t candidate = static_cast<int64_t>(gm_mktime(&t));
const int64_t minEpoch = static_cast<int64_t>(BUILD_EPOCH);
const int64_t maxEpoch = minEpoch + static_cast<int64_t>(FORTY_YEARS);
return candidate >= minEpoch && candidate <= maxEpoch;
#else
return true;
#endif
}
template <typename T> bool sawNmeaSentenceAtBaud(T *serialGps, uint32_t timeoutMs)
{
// Lightweight passive check: look for at least one complete
@@ -689,6 +734,7 @@ bool GPS::verifyCachedProbePresence()
case GNSS_MODEL_AG3352:
if (cachedProbeModel == GNSS_MODEL_AG3352)
cachedProbeModelName = "AG3352";
wakeAirohaForActiveProbe(_serial_gps);
_serial_gps->write("$PAIR021*39\r\n");
present = (getACK("$PAIR021,", 900) == GNSS_RESPONSE_OK);
break;
@@ -741,7 +787,6 @@ bool GPS::verifyCachedProbePresence()
if (!present) {
LOG_WARN("Cached GPS probe is stale (%s @ %d), clearing cache", cachedProbeModelName, cachedProbeBaud);
clearProbeCache();
cachedProbeFailedThisBoot = true;
return false;
}
@@ -762,13 +807,6 @@ bool GPS::setup()
{
if (!didSerialInit) {
int msglen = 0;
if (cachedProbeFailedThisBoot) {
// If cached verification failed, suppress further probing until
// reboot.
didSerialInit = true;
return true;
}
if (tx_gpio && gnssModel == GNSS_MODEL_UNKNOWN) {
if (!hasProbeCache && !triedProbeCache) {
(void)loadProbeCache();
@@ -777,12 +815,13 @@ bool GPS::setup()
if (hasProbeCache && !triedProbeCache) {
triedProbeCache = true;
if (!verifyCachedProbePresence()) {
// Cache was stale and got wiped; skip scanning this boot
// and let next boot do a full probe.
didSerialInit = true;
return true;
currentStep = 0;
speedSelect = 0;
probeTries = 0;
}
} else if (probeTries < GPS_PROBETRIES) {
}
if (gnssModel == GNSS_MODEL_UNKNOWN && probeTries < GPS_PROBETRIES) {
// No usable cache: walk common baud rates first.
gnssModel = probe(serialSpeeds[speedSelect]);
if (gnssModel != GNSS_MODEL_UNKNOWN) {
@@ -794,7 +833,7 @@ bool GPS::setup()
}
// Rare Serial Speeds
#ifndef CONFIG_IDF_TARGET_ESP32C6
else if (probeTries == GPS_PROBETRIES) {
else if (gnssModel == GNSS_MODEL_UNKNOWN && probeTries == GPS_PROBETRIES) {
// Then try less common baud rates before giving up.
gnssModel = probe(rareSerialSpeeds[speedSelect]);
if (gnssModel != GNSS_MODEL_UNKNOWN) {
@@ -1125,6 +1164,15 @@ void GPS::setPowerState(GPSPowerState newState, uint32_t sleepTime)
break;
if (oldState != GPS_ACTIVE && oldState != GPS_IDLE) // If hardware just waking now, clear buffer
clearBuffer();
#ifdef TRACKER_T1000_E
pinMode(GPS_VRTC_EN, OUTPUT);
digitalWrite(GPS_VRTC_EN, HIGH);
pinMode(GPS_SLEEP_INT, OUTPUT);
digitalWrite(GPS_SLEEP_INT, HIGH);
pinMode(GPS_RTC_INT, OUTPUT);
digitalWrite(GPS_RTC_INT, LOW);
pinMode(GPS_RESETB_OUT, INPUT_PULLUP);
#endif
powerMon->setState(meshtastic_PowerMon_State_GPS_Active); // Report change for power monitoring (during testing)
writePinEN(true); // Power (EN pin): on
setPowerPMU(true); // Power (PMU): on
@@ -1383,9 +1431,8 @@ int32_t GPS::runOnce()
if (!setup())
return currentDelay; // Setup failed, re-run in two seconds
if (cachedProbeFailedThisBoot || gnssModel == GNSS_MODEL_UNKNOWN) {
LOG_WARN("GPS not detected at cached settings; marked not present "
"for this boot");
if (gnssModel == GNSS_MODEL_UNKNOWN) {
LOG_WARN("GPS not detected; marked not present for this boot");
return disable();
}
@@ -1585,6 +1632,9 @@ GnssModel_t GPS::probe(int serialSpeed)
digitalWrite(PIN_GPS_RESET, GPS_RESET_MODE); // assert for 10ms
delay(10);
digitalWrite(PIN_GPS_RESET, !GPS_RESET_MODE);
#ifdef TRACKER_T1000_E
delay(100);
#endif
// attempt to detect the chip based on boot messages
std::vector<ChipInfo> passive_detect = {
@@ -1637,6 +1687,7 @@ GnssModel_t GPS::probe(int serialSpeed)
}
case 3: {
/* Airoha (Mediatek) AG3335A/M/S, A3352Q, Quectel L89 2.0, SimCom SIM65M */
wakeAirohaForActiveProbe(_serial_gps);
_serial_gps->write("$PAIR062,2,0*3C\r\n"); // GSA OFF to reduce volume
_serial_gps->write("$PAIR062,3,0*3D\r\n"); // GSV OFF to reduce volume
_serial_gps->write("$PAIR513*3D\r\n"); // save configuration
@@ -1968,6 +2019,9 @@ The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of s
t.tm_year = d.year() - 1900;
t.tm_isdst = false;
if (t.tm_mon > -1) {
if (!isPlausibleNmeaTime(t)) {
return false;
}
if (perhapsSetRTC(RTCQualityGPS, t) == RTCSetResultSuccess) {
LOG_DEBUG("NMEA GPS time set %02d-%02d-%02d %02d:%02d:%02d age %d", d.year(), d.month(), t.tm_mday, t.tm_hour,
t.tm_min, t.tm_sec, ti.age());
src/gps/GPS.h
-2
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@@ -193,8 +193,6 @@ class GPS : private concurrency::OSThread
bool hasProbeCache = false;
// Ensures cached probe is attempted once per boot.
bool triedProbeCache = false;
// Latched when cached presence check fails
bool cachedProbeFailedThisBoot = false;
/**
* hasValidLocation - indicates that the position variables contain a complete
variants/nrf52840/tracker-t1000-e/variant.cpp
+4 -4
View File
@@ -45,13 +45,13 @@ void initVariant()
digitalWrite(BUZZER_EN_PIN, HIGH);
pinMode(PIN_GPS_EN, OUTPUT);
digitalWrite(PIN_GPS_EN, LOW);
digitalWrite(PIN_GPS_EN, GPS_EN_ACTIVE);
pinMode(GPS_VRTC_EN, OUTPUT);
digitalWrite(GPS_VRTC_EN, HIGH);
pinMode(PIN_GPS_RESET, OUTPUT);
digitalWrite(PIN_GPS_RESET, LOW);
digitalWrite(PIN_GPS_RESET, !GPS_RESET_MODE);
pinMode(GPS_SLEEP_INT, OUTPUT);
digitalWrite(GPS_SLEEP_INT, HIGH);
@@ -59,5 +59,5 @@ void initVariant()
pinMode(GPS_RTC_INT, OUTPUT);
digitalWrite(GPS_RTC_INT, LOW);
pinMode(GPS_RESETB_OUT, INPUT);
}
pinMode(GPS_RESETB_OUT, INPUT_PULLUP);
}