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Lazy probe of GPS (#2781)

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* First attempt at lazy config of GPS

* More GPS rework
Break GPS init into smaller, interruptable steps
Move more GPS commands into ubx.h
Combine Setup functions

* Move the rest of UBX messages to ubs.h
This commit is contained in:
Jonathan Bennett
2023-09-10 22:21:14 -05:00
committed by GitHub
co-authored by GitHub
parent d6d51bc3f4
commit e1839e33f2
7 changed files with 431 additions and 538 deletions
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src/gps/GPS.h
+29 -10
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@@ -37,6 +37,10 @@ class GPS : private concurrency::OSThread
{
private:
uint32_t lastWakeStartMsec = 0, lastSleepStartMsec = 0, lastWhileActiveMsec = 0;
const int serialSpeeds[6] = {9600, 4800, 38400, 57600, 115200, 9600};
int speedSelect = 0;
int probeTries = 2;
/**
* hasValidLocation - indicates that the position variables contain a complete
@@ -52,6 +56,9 @@ class GPS : private concurrency::OSThread
bool hasGPS = false; // Do we have a GPS we are talking to
bool GPSInitFinished = false; // Init thread finished?
bool GPSInitStarted = false; // Init thread finished?
uint8_t numSatellites = 0;
CallbackObserver<GPS, void *> notifySleepObserver = CallbackObserver<GPS, void *>(this, &GPS::prepareSleep);
@@ -62,10 +69,24 @@ class GPS : private concurrency::OSThread
/** If !NULL we will use this serial port to construct our GPS */
static HardwareSerial *_serial_gps;
static const uint8_t _message_PMREQ[8];
static const uint8_t _message_CFG_RXM_PSM[2];
static const uint8_t _message_CFG_RXM_ECO[2];
static const uint8_t _message_CFG_PM2[44];
static const uint8_t _message_PMREQ[];
static const uint8_t _message_CFG_RXM_PSM[];
static const uint8_t _message_CFG_RXM_ECO[];
static const uint8_t _message_CFG_PM2[];
static const uint8_t _message_GNSS_7[];
static const uint8_t _message_GNSS[];
static const uint8_t _message_JAM[];
static const uint8_t _message_NAVX5[];
static const uint8_t _message_1HZ[];
static const uint8_t _message_GGL[];
static const uint8_t _message_GSA[];
static const uint8_t _message_GSV[];
static const uint8_t _message_VTG[];
static const uint8_t _message_RMC[];
static const uint8_t _message_GGA[];
static const uint8_t _message_PMS[];
static const uint8_t _message_SAVE[];
meshtastic_Position p = meshtastic_Position_init_default;
GPS() : concurrency::OSThread("GPS") {}
@@ -111,10 +132,11 @@ class GPS : private concurrency::OSThread
// scratch space for creating ublox packets
uint8_t UBXscratch[250] = {0};
protected:
/// Do gps chipset specific init, return true for success
virtual bool setupGPS();
int getACK(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t requestedID, uint32_t waitMillis);
GPS_RESPONSE getACK(uint8_t c, uint8_t i, uint32_t waitMillis);
GPS_RESPONSE getACK(const char *message, uint32_t waitMillis);
protected:
/// If possible force the GPS into sleep/low power mode
virtual void sleep();
@@ -189,9 +211,6 @@ class GPS : private concurrency::OSThread
String getNMEA();
GnssModel_t probe(int serialSpeed);
int getACK(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t requestedID, uint32_t waitMillis);
GPS_RESPONSE getACK(uint8_t c, uint8_t i, uint32_t waitMillis);
GPS_RESPONSE getACK(const char *message, uint32_t waitMillis);
// delay counter to allow more sats before fixed position stops GPS thread
uint8_t fixeddelayCtr = 0;