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GPS rework phase 2 updates for M8 and stub for M10 (#3166)

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* Portduino multiple logging levels

* Fixes based on GPSFan work

* Fix derped logic

* Correct size field for AID message

* Reformat to add comments, beginning of GPS rework

* Update PM2 message for Neo-6

* Correct ECO mode logic as ECO mode is only for Neo-6

* Cleanup ubx.h add a few more comments

* GPS rework, changes for M8 and stub for M10

---------

Co-authored-by: Jonathan Bennett <jbennett@incomsystems.biz>
Co-authored-by: Ben Meadors <benmmeadors@gmail.com>
This commit is contained in:
Ken McGuire
2024-02-05 09:02:30 -06:00
committed by GitHub
co-authored by Jonathan Bennett Ben Meadors
parent 7db02ad722
commit 4c55d5d9e4
3 changed files with 230 additions and 132 deletions
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src/gps/ubx.h
+83 -21
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@@ -2,7 +2,15 @@ uint8_t GPS::_message_PMREQ[] PROGMEM = {
0x00, 0x00, // 4 bytes duration of request task
0x00, 0x00, // (milliseconds)
0x02, 0x00, // Task flag bitfield
0x00, 0x00 // byte index 1 = sleep mode
0x00, 0x00, // byte index 1 = sleep mode
};
uint8_t GPS::_message_PMREQ_10[] PROGMEM = {
0x00, 0x00, // 4 bytes duration of request task
0x00, 0x00, // (milliseconds)
0x02, 0x00, // Task flag bitfield
0x00, 0x00, // byte index 1 = sleep mode
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 // wakeupSources
};
const uint8_t GPS::_message_CFG_RXM_PSM[] PROGMEM = {
@@ -21,8 +29,8 @@ const uint8_t GPS::_message_CFG_PM2[] PROGMEM = {
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 or EPH, doNotEnterOff,
// LimitPeakCurrent
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
@@ -54,36 +62,63 @@ const uint8_t GPS::_message_GNSS_7[] = {
// 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.
const uint8_t GPS::_message_GNSS[] = {
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)
0x03, // numConfigBlocks (number of GNSS systems), most modules support maximum 3 GNSS systems
// GNSS config format: gnssId, resTrkCh, maxTrkCh, reserved1, flags
// For M8 GPS, GLONASS, Galileo, SBAS, QZSS
const uint8_t GPS::_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
0x06, 0x08, 0x0e, 0x00, 0x01, 0x00, 0x01, 0x01 // GLONASS
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
const uint8_t GPS::_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
const uint8_t GPS::_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
const uint8_t GPS::_message_JAM[] = {
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
};
/* // WIP GPS reconfig
// For Neo-6, Max-7 and Neo-7
const uint8_t GPS::_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
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
const uint8_t GPS::_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
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
@@ -118,11 +153,38 @@ const uint8_t GPS::_message_NAVX5[] = {
0x00, 0x00, // Reserved 3
0x00, 0x00, 0x00, 0x00 // Reserved 4
};
// For the M8
const uint8_t GPS::_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
const uint8_t GPS::_message_1HZ[] = {
0xE8, 0x03, // Measurement Rate (1000ms for 1Hz)
0x01, 0x00, // Navigation rate, always 1 in GPS mode