Phase 3 of the GPS rework (#3220)
* 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 * Add VALSET commands for u-blox M10 receivers * Add VALSET commands for u-blox M10 receivers tweak M8 commands add comments for VALSET configuration commands * Add commands to init M10 receivers, tweak the M8 init sequence, this is a WIP as there are still some issues during init. Add M10 version of PMREQ. * Add wakeup source of uartrx to PMREQ_10 The M10 does not respond to commands when asleep, may need to do this for the M8 as well --------- Co-authored-by: Jonathan Bennett <jbennett@incomsystems.biz> Co-authored-by: Ben Meadors <benmmeadors@gmail.com>
This commit is contained in:
Ken McGuire
co-authored by
GitHub
Jonathan Bennett
Ben Meadors
GitHub
Jonathan Bennett
Ben Meadors
parent
0b466fdca9
commit
d2a74a5329
+164
-11
@@ -1,16 +1,16 @@
|
||||
// Power Management
|
||||
|
||||
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, 0x00, 0x00, // 4 bytes duration of request task (milliseconds)
|
||||
0x02, 0x00, 0x00, 0x00 // Bitfield, set backup = 1
|
||||
};
|
||||
|
||||
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
|
||||
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
|
||||
};
|
||||
|
||||
const uint8_t GPS::_message_CFG_RXM_PSM[] PROGMEM = {
|
||||
@@ -46,6 +46,9 @@ const uint8_t GPS::_message_CFG_PM2[] PROGMEM = {
|
||||
0x00, 0x00, 0x00, 0x00 // 0x64, 0x40, 0x01, 0x00 // reserved 11
|
||||
};
|
||||
|
||||
// Constallation setup, none required for Neo-6
|
||||
|
||||
// For Neo-7 GPS & SBAS
|
||||
const uint8_t GPS::_message_GNSS_7[] = {
|
||||
0x00, // msgVer (0 for this version)
|
||||
0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0)
|
||||
@@ -272,6 +275,20 @@ const uint8_t GPS::_message_AID[] = {
|
||||
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
|
||||
const uint8_t GPS::_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.
|
||||
@@ -283,7 +300,7 @@ const uint8_t GPS::_message_AID[] = {
|
||||
// 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 and higher products
|
||||
// This command applies to M8 products
|
||||
const uint8_t GPS::_message_PMS[] = {
|
||||
0x00, // Version (0)
|
||||
0x03, // Power setup value 3 = Agresssive 1Hz
|
||||
@@ -297,4 +314,140 @@ const uint8_t GPS::_message_SAVE[] = {
|
||||
0xFF, 0xFF, 0x00, 0x00, // saveMask: save all sections
|
||||
0x00, 0x00, 0x00, 0x00, // loadMask: no sections loaded
|
||||
0x17 // deviceMask: BBR, Flash, EEPROM, and SPI Flash
|
||||
};
|
||||
};
|
||||
|
||||
// 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.
|
||||
|
||||
// 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.
|
||||
/*
|
||||
CFG-PM2 has been replaced by many CFG-PM commands
|
||||
OPERATEMODE E1 2 (0 | 1 | 2)
|
||||
POSUPDATEPERIOD U4 1000ms for M10 must be >= 5s try 5
|
||||
ACQPERIOD U4 10 seems ok for M10 def ok
|
||||
GRIDOFFSET U4 0 seems ok for M10 def ok
|
||||
ONTIME U2 1 will try 1
|
||||
MINACQTIME U1 0 will try 0 def ok
|
||||
MAXACQTIME U1 stick with default of 0 def ok
|
||||
DONOTENTEROFF L 1 stay at 1
|
||||
WAITTIMEFIX L 1 stay with 1
|
||||
UPDATEEPH L 1 changed to 1 for gps rework default is 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 stay with 1
|
||||
*/
|
||||
// CFG-PMS has been removed
|
||||
|
||||
// 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
|
||||
|
||||
const uint8_t GPS::_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};
|
||||
const uint8_t GPS::_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
|
||||
*/
|
||||
const uint8_t GPS::_message_VALSET_ITFM_RAM[] = {0x00, 0x01, 0x00, 0x00, 0x0d, 0x00, 0x41,
|
||||
0x10, 0x01, 0x13, 0x00, 0x41, 0x10, 0x01};
|
||||
const uint8_t GPS::_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
|
||||
|
||||
const uint8_t GPS::_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};
|
||||
|
||||
const uint8_t GPS::_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 GSA, GGA, RMC messages on:
|
||||
// Ram layer config message:
|
||||
// b5 62 06 8a 13 00 00 01 00 00 c0 00 91 20 01 bb 00 91 20 01 ac 00 91 20 01 e1 3b
|
||||
|
||||
// BBR layer config message:
|
||||
// b5 62 06 8a 13 00 00 02 00 00 c0 00 91 20 01 bb 00 91 20 01 ac 00 91 20 01 e2 4d
|
||||
|
||||
const uint8_t GPS::_message_VALSET_DISABLE_TXT_INFO_RAM[] = {0x00, 0x01, 0x00, 0x00, 0x07, 0x00, 0x92, 0x20, 0x03};
|
||||
const uint8_t GPS::_message_VALSET_DISABLE_TXT_INFO_BBR[] = {0x00, 0x02, 0x00, 0x00, 0x07, 0x00, 0x92, 0x20, 0x03};
|
||||
const uint8_t GPS::_message_VALSET_ENABLE_NMEA_RAM[] = {0x00, 0x01, 0x00, 0x00, 0xc0, 0x00, 0x91, 0x20, 0x01, 0xbb,
|
||||
0x00, 0x91, 0x20, 0x01, 0xac, 0x00, 0x91, 0x20, 0x01};
|
||||
const uint8_t GPS::_message_VALSET_ENABLE_NMEA_BBR[] = {0x00, 0x02, 0x00, 0x00, 0xc0, 0x00, 0x91, 0x20, 0x01, 0xbb,
|
||||
0x00, 0x91, 0x20, 0x01, 0xac, 0x00, 0x91, 0x20, 0x01};
|
||||
const uint8_t GPS::_message_VALSET_DISABLE_SBAS_RAM[] = {0x00, 0x01, 0x00, 0x00, 0x20, 0x00, 0x31,
|
||||
0x10, 0x00, 0x05, 0x00, 0x31, 0x10, 0x00};
|
||||
const uint8_t GPS::_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 visability 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
|
||||
*/
|
||||
Reference in New Issue
Block a user