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OP-1464 GPS autobaud - stash while debugging newobject issue
This commit is contained in:
Cliff Geerdes
parent
112a79cfbe
commit
92295559b0
@ -60,8 +60,8 @@ PERF_DEFINE_COUNTER(counterParse);
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// ****************
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// Private functions
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static void gpsTask(void *parameters);
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static void updateHwSettings(UAVObjEvent *ev);
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static void gpsTask(__attribute__((unused)) void *parameters);
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static void updateHwSettings(__attribute__((unused)) UAVObjEvent *ev);
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#ifdef PIOS_GPS_SETS_HOMELOCATION
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static void setHomeLocation(GPSPositionSensorData *gpsData);
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@ -69,9 +69,9 @@ static float GravityAccel(float latitude, float longitude, float altitude);
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#endif
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#ifdef PIOS_INCLUDE_GPS_UBX_PARSER
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void AuxMagSettingsUpdatedCb(UAVObjEvent *ev);
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void AuxMagSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev);
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#ifndef PIOS_GPS_MINIMAL
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void updateGpsSettings(UAVObjEvent *ev);
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void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev);
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#endif
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#endif
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@ -88,18 +88,18 @@ void updateGpsSettings(UAVObjEvent *ev);
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#ifdef PIOS_GPS_SETS_HOMELOCATION
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// Unfortunately need a good size stack for the WMM calculation
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#define STACK_SIZE_BYTES 1024
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#define STACK_SIZE_BYTES 1024+64
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#else
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#if defined(PIOS_GPS_MINIMAL)
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#define GPS_READ_BUFFER 32
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#ifdef PIOS_INCLUDE_GPS_NMEA_PARSER
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#define STACK_SIZE_BYTES 580 // NMEA
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#define STACK_SIZE_BYTES 580+64 // NMEA
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#else
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#define STACK_SIZE_BYTES 440 // UBX
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#define STACK_SIZE_BYTES 440+64 // UBX
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#endif // PIOS_INCLUDE_GPS_NMEA_PARSER
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#else
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#define STACK_SIZE_BYTES 650
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#define STACK_SIZE_BYTES 650+64
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#endif // PIOS_GPS_MINIMAL
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#endif // PIOS_GPS_SETS_HOMELOCATION
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@ -114,7 +114,8 @@ void updateGpsSettings(UAVObjEvent *ev);
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static GPSSettingsData gpsSettings;
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static uint32_t gpsPort;
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//static uint32_t gpsPort;
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#define gpsPort PIOS_COM_GPS
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static bool gpsEnabled = false;
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static xTaskHandle gpsTaskHandle;
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@ -138,12 +139,12 @@ static struct GPS_RX_STATS gpsRxStats;
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int32_t GPSStart(void)
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{
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if (gpsEnabled) {
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if (gpsPort) {
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// if (gpsPort) {
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// Start gps task
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xTaskCreate(gpsTask, "GPS", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &gpsTaskHandle);
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PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_GPS, gpsTaskHandle);
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return 0;
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}
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// }
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}
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return -1;
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}
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@ -156,7 +157,7 @@ int32_t GPSStart(void)
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int32_t GPSInitialize(void)
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{
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gpsPort = PIOS_COM_GPS;
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// gpsPort = PIOS_COM_GPS;
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HwSettingsInitialize();
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#ifdef MODULE_GPS_BUILTIN
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@ -197,7 +198,8 @@ int32_t GPSInitialize(void)
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// must updateHwSettings() before updateGpsSettings() so baud rate is set before GPS serial code starts running
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updateHwSettings(0);
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#else /* if defined(REVOLUTION) */
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if (gpsPort && gpsEnabled) {
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// if (gpsPort && gpsEnabled) {
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if (gpsEnabled) {
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GPSPositionSensorInitialize();
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GPSVelocitySensorInitialize();
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#if !defined(PIOS_GPS_MINIMAL)
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@ -215,7 +217,8 @@ int32_t GPSInitialize(void)
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}
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#endif /* if defined(REVOLUTION) */
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if (gpsPort && gpsEnabled) {
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// if (gpsPort && gpsEnabled) {
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if (gpsEnabled) {
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#if defined(PIOS_INCLUDE_GPS_NMEA_PARSER) && defined(PIOS_INCLUDE_GPS_UBX_PARSER)
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gps_rx_buffer = pios_malloc((sizeof(struct UBXPacket) > NMEA_MAX_PACKET_LENGTH) ? sizeof(struct UBXPacket) : NMEA_MAX_PACKET_LENGTH);
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#elif defined(PIOS_INCLUDE_GPS_UBX_PARSER)
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@ -269,16 +272,19 @@ static void gpsTask(__attribute__((unused)) void *parameters)
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PERF_INIT_COUNTER(counterBytesIn, 0x97510001);
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PERF_INIT_COUNTER(counterRate, 0x97510002);
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PERF_INIT_COUNTER(counterParse, 0x97510003);
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uint8_t c[GPS_READ_BUFFER];
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// uint8_t c[GPS_READ_BUFFER];
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uint8_t c[GPS_READ_BUFFER+8];
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uint16_t bytes_remaining = 0;
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// Loop forever
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while (1) {
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if (gpsPort) {
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#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
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if (gpsSettings.DataProtocol == GPSSETTINGS_DATAPROTOCOL_UBX) {
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char *buffer = 0;
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uint16_t count = 0;
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ubx_autoconfig_run(&buffer, &count);
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gps_ubx_autoconfig_run(&buffer, &count);
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// Something to send?
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if (count) {
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// clear ack/nak
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@ -310,7 +316,9 @@ static void gpsTask(__attribute__((unused)) void *parameters)
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// This blocks the task until there is something on the buffer (or 100ms? passes)
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uint16_t cnt;
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cnt = PIOS_COM_ReceiveBuffer(gpsPort, c, GPS_READ_BUFFER, xDelay);
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uint16_t bytes_used;
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cnt = PIOS_COM_ReceiveBuffer(gpsPort, &c[bytes_remaining], GPS_READ_BUFFER-bytes_remaining, xDelay);
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// cnt = PIOS_COM_ReceiveBuffer(gpsPort, c, GPS_READ_BUFFER, xDelay);
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if (cnt > 0) {
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PERF_TIMED_SECTION_START(counterParse);
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PERF_TRACK_VALUE(counterBytesIn, cnt);
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@ -324,7 +332,13 @@ static void gpsTask(__attribute__((unused)) void *parameters)
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#endif
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#if defined(PIOS_INCLUDE_GPS_UBX_PARSER)
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case GPSSETTINGS_DATAPROTOCOL_UBX:
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res = parse_ubx_stream(c, cnt, gps_rx_buffer, &gpspositionsensor, &gpsRxStats);
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cnt += bytes_remaining;
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res = parse_ubx_stream(c, cnt, gps_rx_buffer, &gpspositionsensor, &gpsRxStats, &bytes_used);
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// res = parse_ubx_stream(c, cnt, gps_rx_buffer, &gpspositionsensor, &gpsRxStats, &bytes_used);
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#if 1
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bytes_remaining = cnt - bytes_used;
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memmove(c, &c[bytes_used], bytes_remaining);
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#endif
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break;
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#endif
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default:
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@ -380,8 +394,9 @@ static void gpsTask(__attribute__((unused)) void *parameters)
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AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_CRITICAL);
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}
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}
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} // if (gpsPort)
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vTaskDelayUntil(&xLastWakeTime, GPS_LOOP_DELAY_MS / portTICK_RATE_MS);
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}
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} // while (1)
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}
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#ifdef PIOS_GPS_SETS_HOMELOCATION
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@ -436,6 +451,93 @@ static void setHomeLocation(GPSPositionSensorData *gpsData)
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}
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#endif /* ifdef PIOS_GPS_SETS_HOMELOCATION */
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uint32_t hwsettings_gpsspeed_enum_to_baud(uint8_t baud)
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{
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switch (baud) {
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case HWSETTINGS_GPSSPEED_2400:
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return(2400);
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case HWSETTINGS_GPSSPEED_4800:
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return(4800);
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default:
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case HWSETTINGS_GPSSPEED_9600:
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return(9600);
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case HWSETTINGS_GPSSPEED_19200:
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return(19200);
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case HWSETTINGS_GPSSPEED_38400:
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return(38400);
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case HWSETTINGS_GPSSPEED_57600:
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return(57600);
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case HWSETTINGS_GPSSPEED_115200:
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return(115200);
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case HWSETTINGS_GPSSPEED_230400:
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return(230400);
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}
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}
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//void debugindex(__attribute__((unused)) int index, __attribute__((unused)) uint8_t c)
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void debugindex(int index, uint8_t c)
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{
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//#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
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static GPSExtendedStatusData olddata;
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static GPSExtendedStatusData data;
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if (index < 8) {
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data.FirmwareHash[index] = c;
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} else {
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data.BoardType[index-8] = c;
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}
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if (memcmp(&data, &olddata, sizeof(data))) {
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olddata = data;
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static uint8_t mutex; // = 0
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if (__sync_fetch_and_add(&mutex, 1) == 0) {
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GPSExtendedStatusSet(&data);
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}
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--mutex;
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}
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//#endif
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}
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// having already set the GPS's baud rate with a serial command, set the local Revo port baud rate
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void gps_set_fc_baud_from_arg(uint8_t baud, __attribute__((unused)) uint8_t addit)
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{
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static uint8_t mutex; // = 0
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if (__sync_fetch_and_add(&mutex, 1) == 0) {
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// Set Revo port hwsettings_baud
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PIOS_COM_ChangeBaud(PIOS_COM_GPS, hwsettings_gpsspeed_enum_to_baud(baud));
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GPSPositionSensorCurrentBaudRateSet(&baud);
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} else {
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static uint8_t c;
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debugindex(9, ++c);
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if (c > 254) c=254;
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}
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--mutex;
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debugindex(6, baud);
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{
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static uint8_t c;
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debugindex(7, ++c);
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}
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}
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#if 0
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void gps_set_fc_baud_from_settings()
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{
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HwSettingsGPSSpeedOptions speed;
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// Retrieve settings
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HwSettingsGPSSpeedGet(&speed);
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gps_set_fc_baud_from_arg((uint8_t) speed);
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}
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#endif
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/**
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* Update the GPS settings, called on startup.
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* FIXME: This should be in the GPSSettings object. But objects have
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@ -509,71 +611,236 @@ static void updateHwSettings(UAVObjEvent __attribute__((unused)) *ev)
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// since 9600 baud and lower are not usable, and are best left at NEMA, I could have coded it to do a factory reset
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// - if set to 9600 baud (or lower)
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if (gpsPort) {
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HwSettingsGPSSpeedOptions speed;
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// if GPS (UBX or NEMA) is enabled at all
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static uint32_t previousGpsPort=0xf0f0f0f0; // = 0 means deconfigured and at power up it is deconfigured
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if (gpsPort && gpsEnabled) {
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//we didn't have a gpsPort when we booted, and disabled did not find GPS's
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//but booting with gpsPort valid immediately worked
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//oh, PIOS_COM_GPS is certainly set during init and not elsewhere
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//and that means changing the GPS port will not be recognized till reboot
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/*
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it autobauds even if autoconfig is disabled
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initial thought is disable that, but is it a good thing to leave in?
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we could have several levels, autobaud, autoconfig, save
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on one hand, always autobaud is good for user
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on other hand, always autobaud is somewhat disruptive to experimentation? I can't think why. To test simulated GPS failure without rewiring?
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#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
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// use 9600 baud during startup if autoconfig is enabled
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// that is the flag that the code should assumes a factory default baud rate
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if (ev == NULL && gpsSettings.UbxAutoConfig != GPSSETTINGS_UBXAUTOCONFIG_DISABLED) {
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speed = HWSETTINGS_GPSSPEED_9600;
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} else
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#endif
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{
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// Retrieve settings
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HwSettingsGPSSpeedGet(&speed);
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}
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gps at 2400 baud with autoconfig disabled appears to not have autobauded correctly
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and autoconfig runs forever if it gets enabled
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yes it did work, but why is SensorType Unknown?
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is it running the first step over and over which resets sensor type?
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no date so no updates means alarmset()
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and all it takes is a MON_VER to make it OK
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but why did it work at 57600 and 38400 autobauds?
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makes me wonder if 2400 is so slow that it never completes before timeout
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so try 9600 etc.
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gpstime is working, so baud rate is correct at least part of the time
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is it possible that once it gets 2400, it can't get out?
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GPSPositionSensor.Status jumps around from NoGPS to NoFix to Fix3D
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all else fails try putting gpsPort back the way it was for a test
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could be that alarm is disabling gpsPort? that would be stupid
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// must always set the baud here, even if it looks like it is the same
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// e.g. startup sets 9600 here, ubx_autoconfig sets 57600 there, then the user selects a change back to 9600 here
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Oh!!!!
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It got stuck because I configured it to 57600 and then let it autobaud to 2400 so it has all messages at 2400
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so autobaud is not good without deconfiguring for low baud rates
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the previous procedure was, first change to a new baud rate (assuming it was a higher rate)
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then ALWAYS configure (including removing messages for 9600 and lower)
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so the code would never let it get it in a bad way (2400 with OP messages)
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how about starting at 57600 and going to 2400?
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doesn't seem like that should work in the old code
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// on startup (ev == NULL) we must set the Revo port baud rate
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// after startup (ev != NULL) we must set the Revo port baud rate only if autoconfig is disabled
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So do we need to disable messages somehow at start of config?
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maybe disable ubx in port
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maybe disable known messages
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could use a flag with same tables and don't wait for ack???
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will MON_VER work if outProtoMask = 0?
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if so, then maybe all rates <= 9600 (19200?) should set outProtoMask = 0
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remember that autoconfig=disabled and u-center is an option for dev experimentation
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I really want to let them try 19200 with sentences
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do we want baud rate to autobaud always?
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is then there any reason for manual setting of baud?
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well these fixes maybe make it so it won't get into trouble
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but will it get someone out of their own trouble?
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first version of new code
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4800 works but 2400 does not
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2400 works if no data
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if increasing timeouts fixes it
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maybe we can make timeouts proportional to inverse baud rate
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doubling timeouts did not fix it
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IMPORTANT
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with autoconfig disabled, when you change the baud rate
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you just get autobauded back to the original baud rate, but don't know it
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that is confusing
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it needs one extra step to set desired baud rate after autobauding?
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changing baud without configuring at all is dangerous
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changing from 57600 to 2400 and leaving messages enabled
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if we disable messages, then it is not baud only and it is not baud + configure
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and that is confusing
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it appears that outprotocol=0 means the MON_VER request doesn't reply
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after setting baud to 2400??? with 0 and flashing, it did not get MON_VER
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it will go into 2400 but won't come out
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it still might be possible to use outprotocol=0 if we set it back to 1
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but that is no good, MON_VER will still be bad then
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well it won't come out of 2400 with messages, even with outprotocol=0
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it truely never gets started on the FSM because MON_VER is blocked
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well if MON_VER responds, we could set outprotocol=0 just before MON_VER???
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so the big problem is MOV_VER
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but there are some messages coming back and it must be MON_VER?
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could try commenting out MON_VER send and see if messages go away
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it still bounces NoGPS to NoFix to Fix3D even with MON_VER turned off
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well this is 2400 with messages so that makes sense
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How to get it out of 2400 with messages
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maybe the problem is that it took a bunch of retries before
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and now it takes 10 times as many because it has to try all baud rates
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maybe we can change the cycle factor and make all messages come every 99 cycles at 1000ms per cycle
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as part of the MON_VER packet
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maybe only allow autobaud if autoconfig is enabled
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test old version
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test version where it only uses hwsettings_baud (and thus autobaud is disabled)
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maybe it is a loop to set gpssettings.ubxautoconfig from a task awakened by gpssettings callback
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where did 38400 come from
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38400 is boot up HwSettings.GPSSpeed
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but I had set HwSettings.GPSSpeed to 2400
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it toggled back and forth between 2400 and 38400 and then locked on 38400
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it locked at the time the SensorType went to UBX7
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There are no GPSSatellites messages being received for UBX7
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Is there a reentrancy?
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maybe we need to just set flags in one thread and do it all from the other thread
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maybe from ubx_autoconfig.c I should just set hwsettings and let GPS.c do the real baud rate set.
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and for gps_ubx_reset_sensor_type() I can just skip it (just GPSPositionSensorSensorTypeSet()) if already being called
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nobody set the baud, but it quit working when I changed baud in GCS
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that might imply that calling HwSettingsGPSSpeedSet() actually change the baud rate.
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if that is true, (and it probably is) then it is not possible to use the gcs HwSettings.GPSSpeed to change first the GPS and then the port.
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we need a NewGpsSpeed in GpsSettings.
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if we already have a baud rate and configure is enabled,
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we don't want autobaud running to mess up the acquired baud rate
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OTOH we need changing the baud to reaquire in case they changed GPS's?
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we could say that you must reboot after changing a GPS or unplugging/plugging a cable
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should autobaud connect also set the GPS baud to HwSettings?
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autobaud connect (set Revo to GPS baud rate)
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autobaud change (set GPS to HwSettings.GPSSpeed)
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configure
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save
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disable
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should disable still do autobaud connect on startup and changes?
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get GPS at 2400 with sentences
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see what it does now
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after baud is correct and we set GPSSpeed, it resets sensortype
|
||||
which causes it to set baud to set baud to GPSSpeed before FSM ran to set GPS baud
|
||||
|
||||
design the flow, disabled does nothing
|
||||
if disabled
|
||||
callback sets baud
|
||||
callback resets sensortype
|
||||
ac sees invalid sensor type and ...
|
||||
|
||||
how to handle "connection" i.e. when baud is right or when it is wrong
|
||||
want to skip some things in some cases when connection is already correct
|
||||
that will make baud changes quick
|
||||
want to do some things in some cases when connection is already correct
|
||||
that will allow them to know real status
|
||||
at startup, don't assume connection is valid, test it
|
||||
autobaud does bauds in probability order
|
||||
starting with hwsettings.gpsspeed so it almost isn't even an autobaud
|
||||
once connection is made, we need to avoid resetting sensortype
|
||||
unless what ... 'what' is
|
||||
maybe monitor MON_VER somehow to see if cable gets unplugged
|
||||
maybe don't bother and tell them not to disconnect cables
|
||||
and when something new goes bad, start over with autobaud
|
||||
should we monitor MON_VER to know when connection goes down?
|
||||
if so, we need a better way than resetting sensor type
|
||||
a simple ack would be good.
|
||||
|
||||
reset sensor type
|
||||
reduce to just startup and error
|
||||
no, it isn't a problem, it is the baud rate setting that is now associated with it
|
||||
yes, reduce it, it should not be popping back and forth between good and bad just to poll it
|
||||
baud_to_try_index is reset there, where should it be reset?
|
||||
|
||||
at least have a procedure for starting over without reboot
|
||||
like when plugging in a different GPS
|
||||
currently the sensortype global is what drives the autoconfig process, so it must be validated
|
||||
as part of the FSM
|
||||
so it is initially detected outside FSM, and then for each configure, it is detected again, but without resetting it
|
||||
that can be done with an FSM wait after sending MON_VER again.
|
||||
error will reset sensor type
|
||||
|
||||
how to set baud rate in callback without causing unsyncing
|
||||
for synced baud rate and when allowing autobaud in ... huh?
|
||||
|
||||
IMPORTANT
|
||||
the ubx parser doesn't handle partially received buffers
|
||||
|
||||
*/
|
||||
//new code: at startup does it always need to be HwSettings.GPSSpeed? yes
|
||||
|
||||
// must always set the baud here, even if it looks like it is the same
|
||||
// e.g. startup sets 9600 here, ubx_autoconfig sets 57600 there, then the user selects a change back to 9600 here
|
||||
|
||||
// on first use of this port (previousGpsPort != gpsPort) we must set the Revo port baud rate
|
||||
// after startup (previousGpsPort == gpsPort) we must set the Revo port baud rate only if autoconfig is disabled
|
||||
// always we must set the Revo port baud rate if not using UBX
|
||||
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
|
||||
if (ev == NULL || gpsSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_DISABLED || gpsSettings.DataProtocol != GPSSETTINGS_DATAPROTOCOL_UBX)
|
||||
if (ev == NULL
|
||||
// test prevport
|
||||
|| previousGpsPort != gpsPort
|
||||
|| gpsSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_DISABLED
|
||||
// this needs to be disabled if we allow it to autobaud when autoconfig is disabled
|
||||
|| gpsSettings.DataProtocol != GPSSETTINGS_DATAPROTOCOL_UBX)
|
||||
#endif
|
||||
{
|
||||
// Set Revo port speed
|
||||
switch (speed) {
|
||||
case HWSETTINGS_GPSSPEED_2400:
|
||||
PIOS_COM_ChangeBaud(gpsPort, 2400);
|
||||
break;
|
||||
case HWSETTINGS_GPSSPEED_4800:
|
||||
PIOS_COM_ChangeBaud(gpsPort, 4800);
|
||||
break;
|
||||
case HWSETTINGS_GPSSPEED_9600:
|
||||
PIOS_COM_ChangeBaud(gpsPort, 9600);
|
||||
break;
|
||||
case HWSETTINGS_GPSSPEED_19200:
|
||||
PIOS_COM_ChangeBaud(gpsPort, 19200);
|
||||
break;
|
||||
case HWSETTINGS_GPSSPEED_38400:
|
||||
PIOS_COM_ChangeBaud(gpsPort, 38400);
|
||||
break;
|
||||
case HWSETTINGS_GPSSPEED_57600:
|
||||
PIOS_COM_ChangeBaud(gpsPort, 57600);
|
||||
break;
|
||||
case HWSETTINGS_GPSSPEED_115200:
|
||||
PIOS_COM_ChangeBaud(gpsPort, 115200);
|
||||
break;
|
||||
case HWSETTINGS_GPSSPEED_230400:
|
||||
PIOS_COM_ChangeBaud(gpsPort, 230400);
|
||||
break;
|
||||
}
|
||||
#if 1
|
||||
uint8_t speed;
|
||||
// Retrieve settings
|
||||
HwSettingsGPSSpeedGet(&speed);
|
||||
// set fc baud
|
||||
gps_set_fc_baud_from_arg(speed, 1);
|
||||
debugindex(2, speed);
|
||||
{
|
||||
static uint8_t c;
|
||||
debugindex(3, ++c);
|
||||
}
|
||||
#endif
|
||||
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
|
||||
// even changing the baud rate will make it re-verify the sensor type
|
||||
// that way the user can just try some baud rates and it when the sensor type is valid, the baud rate is correct
|
||||
ubx_reset_sensor_type();
|
||||
// that way the user can just try some baud rates and when the sensor type is valid, the baud rate is correct
|
||||
gps_ubx_reset_sensor_type();
|
||||
//careful here if the sensor type is connected to autobaud
|
||||
|
||||
// make sure that normal autoconfig still works
|
||||
// that you can set just Revo baud manually and both automatically
|
||||
#endif
|
||||
}
|
||||
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
|
||||
else {
|
||||
// it will never do this during startup because ev == NULL
|
||||
ubx_autoconfig_set(NULL);
|
||||
gps_ubx_autoconfig_set(NULL);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
previousGpsPort = gpsPort;
|
||||
}
|
||||
|
||||
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
|
||||
@ -588,16 +855,31 @@ void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev)
|
||||
|
||||
GPSSettingsGet(&gpsSettings);
|
||||
|
||||
#if 0
|
||||
// if GPS is enabled and UBX GPS is enabled
|
||||
if (gpsPort && gpsEnabled && gpsSettings.UbxAutoConfig != GPSSETTINGS_UBXAUTOCONFIG_DISABLED) {
|
||||
newconfig.UbxAutoConfig = gpsSettings.UbxAutoConfig;
|
||||
} else {
|
||||
newconfig.UbxAutoConfig = GPSSETTINGS_UBXAUTOCONFIG_DISABLED;
|
||||
}
|
||||
#else
|
||||
// it's OK that ubx auto config is inited and ready to go, when GPS is disabled or running NEMA
|
||||
// because ubx auto config never gets called
|
||||
// setting it up completely means that if we switch from initial NEMA to UBX or disabled to enabled, that it will start normally
|
||||
newconfig.UbxAutoConfig = gpsSettings.UbxAutoConfig;
|
||||
#endif
|
||||
|
||||
newconfig.navRate = gpsSettings.UbxRate;
|
||||
|
||||
newconfig.autoconfigEnabled = gpsSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_DISABLED ? false : true;
|
||||
newconfig.storeSettings = gpsSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_CONFIGUREANDSTORE;
|
||||
// newconfig.autoconfigEnabled = gpsSettings.UbxAutoConfig != GPSSETTINGS_UBXAUTOCONFIG_DISABLED;
|
||||
// newconfig.storeSettings = gpsSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_CONFIGUREANDSTORE;
|
||||
// newconfig.configStoreAndDisable = gpsSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_CONFIGSTOREANDDISABLE;
|
||||
|
||||
newconfig.dynamicModel = gpsSettings.UbxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_PORTABLE ? UBX_DYNMODEL_PORTABLE :
|
||||
newconfig.dynamicModel = gpsSettings.UbxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_PORTABLE ? UBX_DYNMODEL_PORTABLE :
|
||||
gpsSettings.UbxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_STATIONARY ? UBX_DYNMODEL_STATIONARY :
|
||||
gpsSettings.UbxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_PEDESTRIAN ? UBX_DYNMODEL_PEDESTRIAN :
|
||||
gpsSettings.UbxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_AUTOMOTIVE ? UBX_DYNMODEL_AUTOMOTIVE :
|
||||
gpsSettings.UbxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_SEA ? UBX_DYNMODEL_SEA :
|
||||
gpsSettings.UbxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_SEA ? UBX_DYNMODEL_SEA :
|
||||
gpsSettings.UbxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_AIRBORNE1G ? UBX_DYNMODEL_AIRBORNE1G :
|
||||
gpsSettings.UbxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_AIRBORNE2G ? UBX_DYNMODEL_AIRBORNE2G :
|
||||
gpsSettings.UbxDynamicModel == GPSSETTINGS_UBXDYNAMICMODEL_AIRBORNE4G ? UBX_DYNMODEL_AIRBORNE4G :
|
||||
@ -638,11 +920,11 @@ void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev)
|
||||
|
||||
newconfig.SBASChannelsUsed = gpsSettings.UbxSBASChannelsUsed;
|
||||
|
||||
newconfig.SBASSats = gpsSettings.UbxSBASSats == GPSSETTINGS_UBXSBASSATS_WAAS ? UBX_SBAS_SATS_WAAS :
|
||||
newconfig.SBASSats = gpsSettings.UbxSBASSats == GPSSETTINGS_UBXSBASSATS_WAAS ? UBX_SBAS_SATS_WAAS :
|
||||
gpsSettings.UbxSBASSats == GPSSETTINGS_UBXSBASSATS_EGNOS ? UBX_SBAS_SATS_EGNOS :
|
||||
gpsSettings.UbxSBASSats == GPSSETTINGS_UBXSBASSATS_MSAS ? UBX_SBAS_SATS_MSAS :
|
||||
gpsSettings.UbxSBASSats == GPSSETTINGS_UBXSBASSATS_MSAS ? UBX_SBAS_SATS_MSAS :
|
||||
gpsSettings.UbxSBASSats == GPSSETTINGS_UBXSBASSATS_GAGAN ? UBX_SBAS_SATS_GAGAN :
|
||||
gpsSettings.UbxSBASSats == GPSSETTINGS_UBXSBASSATS_SDCM ? UBX_SBAS_SATS_SDCM : UBX_SBAS_SATS_AUTOSCAN;
|
||||
gpsSettings.UbxSBASSats == GPSSETTINGS_UBXSBASSATS_SDCM ? UBX_SBAS_SATS_SDCM : UBX_SBAS_SATS_AUTOSCAN;
|
||||
|
||||
switch (gpsSettings.UbxGNSSMode) {
|
||||
case GPSSETTINGS_UBXGNSSMODE_GPSGLONASS:
|
||||
@ -677,7 +959,7 @@ void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev)
|
||||
break;
|
||||
}
|
||||
|
||||
ubx_autoconfig_set(&newconfig);
|
||||
gps_ubx_autoconfig_set(&newconfig);
|
||||
}
|
||||
#endif /* if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL) */
|
||||
/**
|
||||
|
||||
@ -107,7 +107,7 @@ struct UBX_ACK_NAK ubxLastNak;
|
||||
#define UBX_PVT_TIMEOUT (1000)
|
||||
// parse incoming character stream for messages in UBX binary format
|
||||
|
||||
int parse_ubx_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPositionSensorData *GpsData, struct GPS_RX_STATS *gpsRxStats)
|
||||
int parse_ubx_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPositionSensorData *GpsData, struct GPS_RX_STATS *gpsRxStats, __attribute__((unused)) uint16_t *bytes_used)
|
||||
{
|
||||
int ret = PARSER_INCOMPLETE; // message not (yet) complete
|
||||
enum proto_states {
|
||||
@ -127,8 +127,14 @@ int parse_ubx_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
|
||||
static uint16_t rx_count = 0;
|
||||
struct UBXPacket *ubx = (struct UBXPacket *)gps_rx_buffer;
|
||||
|
||||
#if 0
|
||||
for (int i = 0; i < len; i++) {
|
||||
c = rx[i];
|
||||
#else
|
||||
int i = 0;
|
||||
while (i < len) {
|
||||
c = rx[i++];
|
||||
#endif
|
||||
switch (proto_state) {
|
||||
case START: // detect protocol
|
||||
if (c == UBX_SYNC1) { // first UBX sync char found
|
||||
@ -170,10 +176,13 @@ int parse_ubx_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
|
||||
if (++rx_count == ubx->header.len) {
|
||||
proto_state = UBX_CHK1;
|
||||
}
|
||||
} else {
|
||||
}
|
||||
#if 0 // will never happen
|
||||
else {
|
||||
gpsRxStats->gpsRxOverflow++;
|
||||
proto_state = START;
|
||||
}
|
||||
#endif
|
||||
break;
|
||||
case UBX_CHK1:
|
||||
ubx->header.ck_a = c;
|
||||
@ -198,8 +207,10 @@ int parse_ubx_stream(uint8_t *rx, uint16_t len, char *gps_rx_buffer, GPSPosition
|
||||
gpsRxStats->gpsRxReceived++;
|
||||
proto_state = START;
|
||||
ret = PARSER_COMPLETE; // message complete & processed
|
||||
break;
|
||||
}
|
||||
}
|
||||
*bytes_used = i;
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
||||
@ -54,6 +54,8 @@ struct GPS_RX_STATS {
|
||||
};
|
||||
|
||||
int32_t GPSInitialize(void);
|
||||
void gps_set_fc_baud_from_arg(uint8_t baud, uint8_t addit);
|
||||
uint32_t hwsettings_gpsspeed_enum_to_baud(uint8_t baud);
|
||||
|
||||
#endif // GPS_H
|
||||
|
||||
|
||||
@ -619,7 +619,7 @@ extern struct UBX_ACK_NAK ubxLastNak;
|
||||
bool checksum_ubx_message(struct UBXPacket *);
|
||||
uint32_t parse_ubx_message(struct UBXPacket *, GPSPositionSensorData *);
|
||||
|
||||
int parse_ubx_stream(uint8_t *rx, uint16_t len, char *, GPSPositionSensorData *, struct GPS_RX_STATS *);
|
||||
int parse_ubx_stream(uint8_t *rx, uint16_t len, char *, GPSPositionSensorData *, struct GPS_RX_STATS *, uint16_t *bytes_used);
|
||||
void load_mag_settings();
|
||||
|
||||
#endif /* UBX_H */
|
||||
|
||||
@ -49,6 +49,7 @@
|
||||
// later versions dropped this and drop data when the send buffer is full and that could be even longer
|
||||
// rather than have long timeouts, we will let timeouts * retries handle that if it happens
|
||||
|
||||
#if 0
|
||||
// timeout for ack reception
|
||||
#define UBX_REPLY_TIMEOUT (500 * 1000)
|
||||
// timeout for a settings save, in case it has to erase flash
|
||||
@ -59,7 +60,18 @@
|
||||
#define UBX_VERIFIED_STEP_WAIT_TIME (50 * 1000)
|
||||
// pause between each unverifiably correct configuration step
|
||||
#define UBX_UNVERIFIED_STEP_WAIT_TIME (500 * 1000)
|
||||
|
||||
#else
|
||||
// timeout for ack reception
|
||||
#define UBX_REPLY_TIMEOUT (2000 * 1000)
|
||||
// timeout for a settings save, in case it has to erase flash
|
||||
#define UBX_REPLY_TO_SAVE_TIMEOUT (3000 * 1000)
|
||||
// max retries in case of timeout
|
||||
#define UBX_MAX_RETRIES 5
|
||||
// pause between each verifiably correct configuration step
|
||||
#define UBX_VERIFIED_STEP_WAIT_TIME (1000 * 1000)
|
||||
// pause between each unverifiably correct configuration step
|
||||
#define UBX_UNVERIFIED_STEP_WAIT_TIME (2000 * 1000)
|
||||
#endif
|
||||
#define UBX_CFG_CFG_OP_STORE_SETTINGS \
|
||||
(UBX_CFG_CFG_SETTINGS_IOPORT | \
|
||||
UBX_CFG_CFG_SETTINGS_MSGCONF | \
|
||||
@ -85,9 +97,9 @@ typedef enum {
|
||||
|
||||
#define UBX_
|
||||
typedef struct {
|
||||
bool autoconfigEnabled;
|
||||
bool storeSettings;
|
||||
|
||||
// bool autoconfigEnabled;
|
||||
// bool storeSettings;
|
||||
GPSSettingsUbxAutoConfigOptions UbxAutoConfig;
|
||||
bool SBASRanging;
|
||||
bool SBASCorrection;
|
||||
bool SBASIntegrity;
|
||||
@ -100,6 +112,7 @@ typedef struct {
|
||||
bool enableGPS;
|
||||
bool enableGLONASS;
|
||||
bool enableBeiDou;
|
||||
// bool configStoreAndDisable;
|
||||
} ubx_autoconfig_settings_t;
|
||||
|
||||
// Sent messages for configuration support
|
||||
@ -114,9 +127,9 @@ typedef struct UBX_CFG_GNSS ubx_cfg_gnss_t;
|
||||
typedef struct UBXSENTHEADER UBXSentHeader_t;
|
||||
typedef union UBXSENTPACKET UBXSentPacket_t;
|
||||
|
||||
void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send);
|
||||
void ubx_autoconfig_set(ubx_autoconfig_settings_t *config);
|
||||
void ubx_reset_sensor_type();
|
||||
void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send);
|
||||
void gps_ubx_autoconfig_set(ubx_autoconfig_settings_t *config);
|
||||
void gps_ubx_reset_sensor_type();
|
||||
|
||||
int32_t ubx_autoconfig_get_status();
|
||||
#endif /* UBX_AUTOCONFIG_H_ */
|
||||
|
||||
@ -29,6 +29,7 @@
|
||||
*/
|
||||
#include <openpilot.h>
|
||||
#include "hwsettings.h"
|
||||
#include "gpssettings.h"
|
||||
|
||||
#include "inc/ubx_autoconfig.h"
|
||||
#include <pios_mem.h>
|
||||
@ -38,6 +39,8 @@
|
||||
typedef enum {
|
||||
INIT_STEP_DISABLED = 0,
|
||||
INIT_STEP_START,
|
||||
INIT_STEP_SEND_MON_VER,
|
||||
INIT_STEP_WAIT_MON_VER_ACK,
|
||||
INIT_STEP_RESET_GPS,
|
||||
INIT_STEP_REVO_9600_BAUD,
|
||||
INIT_STEP_GPS_BAUD,
|
||||
@ -150,7 +153,9 @@ static volatile bool current_step_touched = false;
|
||||
// both the pointer and what it points to are volatile. Yuk.
|
||||
static volatile status_t *volatile status = 0;
|
||||
static uint8_t hwsettings_baud;
|
||||
|
||||
//static HwSettingsGPSSpeedOptions hwsettings_baud;
|
||||
static uint8_t baud_to_try_index = 255;
|
||||
void debugindex(int index, uint8_t c);
|
||||
|
||||
static void append_checksum(UBXSentPacket_t *packet)
|
||||
{
|
||||
@ -210,11 +215,21 @@ static void set_current_step_if_untouched(initSteps_t new_steps)
|
||||
}
|
||||
|
||||
|
||||
void ubx_reset_sensor_type()
|
||||
void gps_ubx_reset_sensor_type()
|
||||
{
|
||||
ubxHwVersion = -1;
|
||||
sensorType = GPSPOSITIONSENSOR_SENSORTYPE_UNKNOWN;
|
||||
GPSPositionSensorSensorTypeSet((uint8_t *)&sensorType);
|
||||
static uint8_t mutex; // = 0
|
||||
|
||||
if (__sync_fetch_and_add(&mutex, 1) == 0) {
|
||||
ubxHwVersion = -1;
|
||||
baud_to_try_index -= 1; // undo postincrement and start with the one that was most recently successful
|
||||
sensorType = GPSPOSITIONSENSOR_SENSORTYPE_UNKNOWN;
|
||||
GPSPositionSensorSensorTypeSet(&sensorType);
|
||||
} else {
|
||||
static uint8_t c;
|
||||
debugindex(8, ++c);
|
||||
if (c > 254) c=254;
|
||||
}
|
||||
--mutex;
|
||||
}
|
||||
|
||||
|
||||
@ -238,78 +253,23 @@ static void config_reset(uint16_t *bytes_to_send)
|
||||
|
||||
// set the GPS baud rate to the user specified baud rate
|
||||
// because we may have started up with 9600 baud (for a GPS with no permanent settings)
|
||||
//static void config_gps_baud(uint16_t *bytes_to_send, uint8_t baud, uint16_t outProtoMask)
|
||||
static void config_gps_baud(uint16_t *bytes_to_send)
|
||||
{
|
||||
memset((uint8_t *)status->working_packet.buffer, 0, sizeof(UBXSentHeader_t) + sizeof(ubx_cfg_prt_t));
|
||||
status->working_packet.message.payload.cfg_prt.mode = UBX_CFG_PRT_MODE_DEFAULT; // 8databits, 1stopbit, noparity, and non-zero reserved
|
||||
status->working_packet.message.payload.cfg_prt.portID = 1; // 1 = UART1, 2 = UART2
|
||||
// for protocol masks, bit 0 is UBX enable, bit 1 is NEMA enable
|
||||
status->working_packet.message.payload.cfg_prt.inProtoMask = 1; // 1 = UBX only (bit 0)
|
||||
status->working_packet.message.payload.cfg_prt.outProtoMask = 1; // 1 = UBX only (bit 0)
|
||||
// disable current UBX messages for low baud rates
|
||||
// status->working_packet.message.payload.cfg_prt.outProtoMask = (hwsettings_baud<=HWSETTINGS_GPSSPEED_9600) ? 0 : 1; // 1 = UBX only (bit 0)
|
||||
status->working_packet.message.payload.cfg_prt.outProtoMask = 1;
|
||||
// Ask GPS to change it's speed
|
||||
switch (hwsettings_baud) {
|
||||
case HWSETTINGS_GPSSPEED_2400:
|
||||
status->working_packet.message.payload.cfg_prt.baudRate = 2400;
|
||||
break;
|
||||
case HWSETTINGS_GPSSPEED_4800:
|
||||
status->working_packet.message.payload.cfg_prt.baudRate = 4800;
|
||||
break;
|
||||
case HWSETTINGS_GPSSPEED_9600:
|
||||
status->working_packet.message.payload.cfg_prt.baudRate = 9600;
|
||||
break;
|
||||
case HWSETTINGS_GPSSPEED_19200:
|
||||
status->working_packet.message.payload.cfg_prt.baudRate = 19200;
|
||||
break;
|
||||
case HWSETTINGS_GPSSPEED_38400:
|
||||
status->working_packet.message.payload.cfg_prt.baudRate = 38400;
|
||||
break;
|
||||
case HWSETTINGS_GPSSPEED_57600:
|
||||
status->working_packet.message.payload.cfg_prt.baudRate = 57600;
|
||||
break;
|
||||
case HWSETTINGS_GPSSPEED_115200:
|
||||
status->working_packet.message.payload.cfg_prt.baudRate = 115200;
|
||||
break;
|
||||
case HWSETTINGS_GPSSPEED_230400:
|
||||
status->working_packet.message.payload.cfg_prt.baudRate = 230400;
|
||||
break;
|
||||
}
|
||||
|
||||
status->working_packet.message.payload.cfg_prt.baudRate = hwsettings_gpsspeed_enum_to_baud(hwsettings_baud);
|
||||
*bytes_to_send = prepare_packet((UBXSentPacket_t *)&status->working_packet, UBX_CLASS_CFG, UBX_ID_CFG_PRT, sizeof(ubx_cfg_prt_t));
|
||||
}
|
||||
|
||||
|
||||
// having already set the GPS's baud rate with a serial command, set the local Revo port baud rate
|
||||
static void config_baud(uint8_t baud)
|
||||
{
|
||||
// Set Revo port hwsettings_baud
|
||||
switch (baud) {
|
||||
case HWSETTINGS_GPSSPEED_2400:
|
||||
PIOS_COM_ChangeBaud(PIOS_COM_GPS, 2400);
|
||||
break;
|
||||
case HWSETTINGS_GPSSPEED_4800:
|
||||
PIOS_COM_ChangeBaud(PIOS_COM_GPS, 4800);
|
||||
break;
|
||||
case HWSETTINGS_GPSSPEED_9600:
|
||||
PIOS_COM_ChangeBaud(PIOS_COM_GPS, 9600);
|
||||
break;
|
||||
case HWSETTINGS_GPSSPEED_19200:
|
||||
PIOS_COM_ChangeBaud(PIOS_COM_GPS, 19200);
|
||||
break;
|
||||
case HWSETTINGS_GPSSPEED_38400:
|
||||
PIOS_COM_ChangeBaud(PIOS_COM_GPS, 38400);
|
||||
break;
|
||||
case HWSETTINGS_GPSSPEED_57600:
|
||||
PIOS_COM_ChangeBaud(PIOS_COM_GPS, 57600);
|
||||
break;
|
||||
case HWSETTINGS_GPSSPEED_115200:
|
||||
PIOS_COM_ChangeBaud(PIOS_COM_GPS, 115200);
|
||||
break;
|
||||
case HWSETTINGS_GPSSPEED_230400:
|
||||
PIOS_COM_ChangeBaud(PIOS_COM_GPS, 230400);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
static void config_rate(uint16_t *bytes_to_send)
|
||||
{
|
||||
memset((uint8_t *)status->working_packet.buffer, 0, sizeof(UBXSentHeader_t) + sizeof(ubx_cfg_rate_t));
|
||||
@ -622,7 +582,7 @@ static void enable_sentences(__attribute__((unused)) uint16_t *bytes_to_send)
|
||||
// This is good in case we change some settings in a future release
|
||||
|
||||
|
||||
void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
{
|
||||
*bytes_to_send = 0;
|
||||
*buffer = (char *)status->working_packet.buffer;
|
||||
@ -653,11 +613,93 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) < UBX_REPLY_TIMEOUT) {
|
||||
return;
|
||||
}
|
||||
|
||||
// this is where the autobaud code needs to go as it won't get farther till MON_VER returns something
|
||||
// at this point we have already waited for the MON_VER reply to time out (except the first time where it times out without being sent)
|
||||
// and the fact we are here says that ubxHwVersion has not been set (it is set externally)
|
||||
// so this retry at this baud rate has failed
|
||||
// we need gps_ubx_reset_sensor_type() (or what else?) to reset this FSM (baud_to_try_index==-1) and the retry count
|
||||
// need a state machine that counts retries and:
|
||||
// no, no retries, just loop through the baud rate over and over till it locks
|
||||
// that may be a bit slower if it misses just one MON_VER than trying twice on the first few (sorted in likelyhood order) baud rates
|
||||
// but it gets to the other baud rates faster and loops faster
|
||||
|
||||
// if we get here
|
||||
// select the next baud rate, skipping ahead if new baud rate is HwSettings.GPSSpeed
|
||||
// set Revo baud rate to current++ value (immediate change so we can send right after that) and send the MON_VER request
|
||||
|
||||
// baud rate search order (most likely matches first)
|
||||
// HwSettings.GPSSpeed, 57600, 9600, 38400, 115200,
|
||||
// all values from #2 on are only tried if GPSSpeed!=them
|
||||
// no, init to HwSettings.GPSSpeed only at power up and if it fails just run the whole list over and over?
|
||||
|
||||
// the order to try the baud rates with the most likely first
|
||||
// these come after trying HwSettings.GPSSpeed but will not duplicate the HwSettings.GPSSpeed test
|
||||
|
||||
// without an if for this block, it autobauds even with autoconfig disabled
|
||||
// if (status->currentSettings.UbxAutoConfig != GPSSETTINGS_UBXAUTOCONFIG_DISABLED)
|
||||
// this is the same thing
|
||||
// if (enabled)
|
||||
{
|
||||
uint8_t baud_to_try;
|
||||
//HwSettingsGPSSpeedOptions baud_to_try;
|
||||
#if 0
|
||||
static uint8_t baud_array[] = {
|
||||
HWSETTINGS_GPSSPEED_57600,
|
||||
HWSETTINGS_GPSSPEED_9600,
|
||||
HWSETTINGS_GPSSPEED_115200,
|
||||
HWSETTINGS_GPSSPEED_38400,
|
||||
HWSETTINGS_GPSSPEED_19200,
|
||||
HWSETTINGS_GPSSPEED_230400,
|
||||
HWSETTINGS_GPSSPEED_4800,
|
||||
HWSETTINGS_GPSSPEED_2400
|
||||
};
|
||||
|
||||
do {
|
||||
if (baud_to_try_index >= sizeof(baud_array)/sizeof(baud_array[0])) {
|
||||
HwSettingsGPSSpeedGet(&hwsettings_baud);
|
||||
baud_to_try = hwsettings_baud;
|
||||
baud_to_try_index = 0;
|
||||
break;
|
||||
} else {
|
||||
baud_to_try = baud_array[baud_to_try_index++];
|
||||
}
|
||||
} while (baud_to_try == hwsettings_baud);
|
||||
#else
|
||||
HwSettingsGPSSpeedGet(&hwsettings_baud);
|
||||
baud_to_try = hwsettings_baud;
|
||||
debugindex(0, hwsettings_baud);
|
||||
{
|
||||
static uint8_t c;
|
||||
debugindex(1, ++c);
|
||||
}
|
||||
#endif
|
||||
|
||||
// set the Revo baud rate
|
||||
gps_set_fc_baud_from_arg(baud_to_try, 2);
|
||||
}
|
||||
|
||||
build_request((UBXSentPacket_t *)&status->working_packet, UBX_CLASS_MON, UBX_ID_MON_VER, bytes_to_send);
|
||||
// keep timeouts running properly, we (will have) just sent a packet that generates a reply
|
||||
status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
|
||||
return;
|
||||
}
|
||||
|
||||
{
|
||||
static uint8_t c;
|
||||
uint8_t baud;
|
||||
GPSPositionSensorCurrentBaudRateOptions trythis;
|
||||
trythis=GPSPOSITIONSENSOR_CURRENTBAUDRATE_9600;
|
||||
GPSPositionSensorCurrentBaudRateGet(&baud);
|
||||
debugindex(8, baud);
|
||||
if (baud != hwsettings_baud) {
|
||||
debugindex(9, ++c);
|
||||
// big hack to keep the malfunctioning GPSPositionSensor.CurrentBaudRate correct
|
||||
// for some reason it keeps going back to boot value (or default if xml has a default)
|
||||
GPSPositionSensorCurrentBaudRateSet(&trythis);
|
||||
}
|
||||
}
|
||||
|
||||
if (!enabled) {
|
||||
// keep resetting the timeouts here if we are not actually going to run the configure code
|
||||
// not really necessary, but it keeps the timer from wrapping every 50 seconds
|
||||
@ -669,19 +711,98 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
// don't allow constant reconfiging when offline
|
||||
// don't even allow program bugs that could constantly toggle between connected and disconnected to cause configuring
|
||||
if (status->currentStep == INIT_STEP_DONE || status->currentStep == INIT_STEP_ERROR) {
|
||||
//do we want this here
|
||||
// status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
|
||||
return;
|
||||
}
|
||||
|
||||
switch (status->currentStep) {
|
||||
#if 0
|
||||
// if here, we have just verified that the baud rates are in sync
|
||||
case INIT_STEP_START:
|
||||
// we should look for the GPS version again
|
||||
ubx_reset_sensor_type();
|
||||
// we should look for the GPS version again (user may plug in a different GPS and then do autoconfig again)
|
||||
//gps_ubx_reset_sensor_type();
|
||||
// do not fall through to next state
|
||||
// or it might try to get the sensor type when the baud rate is half changed
|
||||
set_current_step_if_untouched(INIT_STEP_RESET_GPS);
|
||||
// note that resetting sensor type causes it to send MON_VER msg and wait for reply before coming back here
|
||||
#if 0
|
||||
set_current_step_if_untouched(INIT_STEP_DISABLE_MSGS);
|
||||
// allow it to get the sensor type immmediately by not setting status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
|
||||
break;
|
||||
|
||||
case INIT_STEP_DISABLE_MSGS:
|
||||
config_gps_baud(bytes_to_send, baud_to_try, 0);
|
||||
// do not fall through to next state
|
||||
// or it might try to get the sensor type when the baud rate is half changed
|
||||
// note that resetting sensor type causes it to send MON_VER msg and wait for reply before coming back here
|
||||
#endif
|
||||
set_current_step_if_untouched(INIT_STEP_RESET_GPS);
|
||||
status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
|
||||
break;
|
||||
#endif
|
||||
// if here, we have verified that the baud rates are in sync sometime in the past
|
||||
case INIT_STEP_START:
|
||||
// we should look for the GPS version again (user may plug in a different GPS and then do autoconfig again)
|
||||
// zero retries for the next state that needs it (INIT_STEP_SAVE)
|
||||
status->retryCount = 0;
|
||||
set_current_step_if_untouched(INIT_STEP_SEND_MON_VER);
|
||||
// fall through to next state
|
||||
// we can do that if we choose because we haven't sent any data in this state
|
||||
// break;
|
||||
|
||||
case INIT_STEP_SEND_MON_VER:
|
||||
build_request((UBXSentPacket_t *)&status->working_packet, UBX_CLASS_MON, UBX_ID_MON_VER, bytes_to_send);
|
||||
// keep timeouts running properly, we (will have) just sent a packet that generates a reply
|
||||
set_current_step_if_untouched(INIT_STEP_WAIT_MON_VER_ACK);
|
||||
status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
|
||||
break;
|
||||
|
||||
case INIT_STEP_WAIT_MON_VER_ACK:
|
||||
#if 0
|
||||
debugindex(0, status->requiredAck.clsID);
|
||||
debugindex(1, ubxLastAck.clsID);
|
||||
debugindex(2, status->requiredAck.msgID);
|
||||
debugindex(3, ubxLastAck.msgID);
|
||||
debugindex(4, ubxLastNak.clsID);
|
||||
debugindex(5, ubxLastNak.msgID);
|
||||
#endif
|
||||
#if 0
|
||||
if (ubxLastAck.clsID == status->requiredAck.clsID && ubxLastAck.msgID == status->requiredAck.msgID) {
|
||||
// Continue with next configuration option
|
||||
set_current_step_if_untouched(INIT_STEP_RESET_GPS);
|
||||
// note that we increase the reply timeout in case the GPS must do a flash erase
|
||||
} else if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) < UBX_REPLY_TIMEOUT &&
|
||||
(ubxLastNak.clsID != status->requiredAck.clsID || ubxLastNak.msgID != status->requiredAck.msgID)) {
|
||||
// allow timeouts to count up by not setting status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
|
||||
break;
|
||||
} else {
|
||||
// timeout or NAK, resend the message or abort
|
||||
status->retryCount++;
|
||||
if (status->retryCount > UBX_MAX_RETRIES) {
|
||||
// give up on the retries
|
||||
set_current_step_if_untouched(INIT_STEP_ERROR);
|
||||
status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
|
||||
} else {
|
||||
// retry a few times
|
||||
set_current_step_if_untouched(INIT_STEP_SEND_MON_VER);
|
||||
}
|
||||
}
|
||||
break;
|
||||
#else
|
||||
// wait for previous step
|
||||
// extra wait time might well be unnecessary but we want to make sure
|
||||
// that we don't stop waiting too soon
|
||||
if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) < UBX_UNVERIFIED_STEP_WAIT_TIME) {
|
||||
return;
|
||||
}
|
||||
// Continue with next configuration option
|
||||
set_current_step_if_untouched(INIT_STEP_RESET_GPS);
|
||||
// fall through to next state
|
||||
// we can do that if we choose because we haven't sent any data in this state
|
||||
// break;
|
||||
#endif
|
||||
|
||||
// if here, we have just verified that the baud rates are in sync (again)
|
||||
case INIT_STEP_RESET_GPS:
|
||||
// make sure we don't change the baud rate too soon and garble the packet being sent
|
||||
// even after pios says the buffer is empty, the serial port buffer still has data in it
|
||||
@ -691,6 +812,14 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
|
||||
// Retrieve desired GPS baud rate once for use throughout this module
|
||||
HwSettingsGPSSpeedGet(&hwsettings_baud);
|
||||
#if 0
|
||||
debugindex(2, hwsettings_baud);
|
||||
{
|
||||
static uint8_t c;
|
||||
debugindex(3, ++c);
|
||||
}
|
||||
#endif
|
||||
//move this up higher / earlier?
|
||||
#if !defined(ALWAYS_RESET)
|
||||
// ALWAYS_RESET is undefined because it causes stored settings to change even with autoconfig.nostore
|
||||
// but with it off, some settings may be enabled that should really be disabled (but aren't) after autoconfig.nostore
|
||||
@ -699,7 +828,8 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
// if user requests that settings be saved, we will reset here too
|
||||
// that makes sure that all strange settings are reset to factory default
|
||||
// else these strange settings may persist because we don't reset all settings by table
|
||||
if (status->currentSettings.storeSettings)
|
||||
if (status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_CONFIGUREANDSTORE
|
||||
|| status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_CONFIGSTOREANDDISABLE)
|
||||
#endif
|
||||
{
|
||||
// reset all GPS parameters to factory default (configure low rate NEMA for low baud rates)
|
||||
@ -712,6 +842,7 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
set_current_step_if_untouched(INIT_STEP_REVO_9600_BAUD);
|
||||
break;
|
||||
|
||||
// GPS was just reset, so GPS is running 9600 baud, and Revo is running whatever baud it was before
|
||||
case INIT_STEP_REVO_9600_BAUD:
|
||||
#if !defined(ALWAYS_RESET)
|
||||
// if user requests a low baud rate then we just reset and leave it set to NEMA
|
||||
@ -719,23 +850,34 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
// if user requests that settings be saved, we will reset here too
|
||||
// that makes sure that all strange settings are reset to factory default
|
||||
// else these strange settings may persist because we don't reset all settings by hand
|
||||
if (status->currentSettings.storeSettings)
|
||||
if (status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_CONFIGUREANDSTORE
|
||||
|| status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_CONFIGSTOREANDDISABLE)
|
||||
#endif
|
||||
{
|
||||
// wait for previous step
|
||||
// extra wait time might well be unnecessary but we want to make very sure
|
||||
// that we don't stop waiting too soon as that could leave us at an unknown baud rate
|
||||
// (i.e. set or not set) if the the transmit buffer was full and we were running at a low baud rate
|
||||
if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) < UBX_UNVERIFIED_STEP_WAIT_TIME) {
|
||||
return;
|
||||
}
|
||||
#if 0
|
||||
debugindex(8, hwsettings_baud);
|
||||
if (hwsettings_baud >= 8) {
|
||||
debugindex(9, hwsettings_baud);
|
||||
}
|
||||
#endif
|
||||
// set the Revo GPS port to 9600 baud to match the reset to factory default that has already been done
|
||||
config_baud(HWSETTINGS_GPSSPEED_9600);
|
||||
gps_set_fc_baud_from_arg(HWSETTINGS_GPSSPEED_9600, 0);
|
||||
}
|
||||
// at most, we just set Revo baud and that doesn't send any data
|
||||
// fall through to next state
|
||||
// we can do that if we choose because we haven't sent any data in this state
|
||||
// set_current_step_if_untouched(INIT_STEP_GPS_BAUD);
|
||||
// allow it enter the next state immmediately by not setting status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
|
||||
// break;
|
||||
// at most, we just set Revo baud and that doesn't send any data
|
||||
// fall through to next state
|
||||
// we can do that if we choose because we haven't sent any data in this state
|
||||
// set_current_step_if_untouched(INIT_STEP_GPS_BAUD);
|
||||
// allow it enter the next state immmediately by not setting status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
|
||||
// break;
|
||||
|
||||
// Revo and GPS are both at 9600 baud
|
||||
case INIT_STEP_GPS_BAUD:
|
||||
// https://www.u-blox.com/images/downloads/Product_Docs/u-bloxM8_ReceiverDescriptionProtocolSpec_%28UBX-13003221%29_Public.pdf
|
||||
// It is possible to change the current communications port settings using a UBX-CFG-CFG message. This could
|
||||
@ -752,18 +894,25 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
// so we ignore the ack from this. it has proven to be reliable (with the addition of two dummy bytes after the packet)
|
||||
|
||||
// set the GPS internal baud rate to the user configured value
|
||||
// config_gps_baud(bytes_to_send, hwsettings_baud, 1);
|
||||
config_gps_baud(bytes_to_send);
|
||||
set_current_step_if_untouched(INIT_STEP_REVO_BAUD);
|
||||
status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
|
||||
break;
|
||||
|
||||
// GPS is at final baud and Revo is at old baud (old is 9600 or initial detected baud)
|
||||
case INIT_STEP_REVO_BAUD:
|
||||
// wait for previous step
|
||||
if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) < UBX_UNVERIFIED_STEP_WAIT_TIME) {
|
||||
return;
|
||||
}
|
||||
// set the Revo GPS port baud rate to the (same) user configured value
|
||||
config_baud(hwsettings_baud);
|
||||
debugindex(4, hwsettings_baud);
|
||||
{
|
||||
static uint8_t c;
|
||||
debugindex(5, ++c);
|
||||
}
|
||||
gps_set_fc_baud_from_arg(hwsettings_baud, 3);
|
||||
status->lastConfigSent = LAST_CONFIG_SENT_START;
|
||||
status->retryCount = 0;
|
||||
// skip enabling UBX sentences for low baud rates
|
||||
@ -835,8 +984,11 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
break;
|
||||
}
|
||||
|
||||
// all configurations have been made
|
||||
case INIT_STEP_SAVE:
|
||||
if (status->currentSettings.storeSettings) {
|
||||
// now decide whether to save them permanently into the GPS
|
||||
if (status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_CONFIGUREANDSTORE
|
||||
|| status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_CONFIGSTOREANDDISABLE) {
|
||||
config_save(bytes_to_send);
|
||||
set_current_step_if_untouched(INIT_STEP_SAVE_WAIT_ACK);
|
||||
status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
|
||||
@ -849,6 +1001,7 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
// we could remove this state
|
||||
// if we retry, it writes to settings storage a few more times
|
||||
// and it is probably the ack that was dropped, with the save actually performed correctly
|
||||
// because e.g. OP sentences at 19200 baud don't fit and stuff (like acks) gets dropped
|
||||
case INIT_STEP_SAVE_WAIT_ACK:
|
||||
if (ubxLastAck.clsID == status->requiredAck.clsID && ubxLastAck.msgID == status->requiredAck.msgID) {
|
||||
// Continue with next configuration option
|
||||
@ -872,18 +1025,35 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
}
|
||||
break;
|
||||
|
||||
// an error, such as retries exhausted, has occurred
|
||||
case INIT_STEP_ERROR:
|
||||
// on error we should get the GPS version immediately
|
||||
ubx_reset_sensor_type();
|
||||
// fall through
|
||||
gps_ubx_reset_sensor_type();
|
||||
break;
|
||||
|
||||
// user has disable the autoconfig
|
||||
case INIT_STEP_DISABLED:
|
||||
break;
|
||||
|
||||
// the autoconfig has completed normally
|
||||
case INIT_STEP_DONE:
|
||||
// determine if we need to disable autoconfig via the autoconfig==CONFIGSTOREANDDISABLE setting
|
||||
if (status->currentSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_CONFIGSTOREANDDISABLE) {
|
||||
enabled = false;
|
||||
status->currentSettings.UbxAutoConfig = GPSSETTINGS_UBXAUTOCONFIG_DISABLED;
|
||||
// like it says
|
||||
GPSSettingsUbxAutoConfigSet((GPSSettingsUbxAutoConfigOptions *) &status->currentSettings.UbxAutoConfig);
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void ubx_autoconfig_set(ubx_autoconfig_settings_t *config)
|
||||
// this can be called from a different thread
|
||||
// so everything it touches must be declared volatile
|
||||
// I hope that I took care of all the concurrency issues that are likely to happen in the lifetime of OpenPilot
|
||||
// by lowering the probability from 1 in 50,000 calls to this function (my SWAG) to one in 50,000**3 (forgive my Fortran)
|
||||
void gps_ubx_autoconfig_set(ubx_autoconfig_settings_t *config)
|
||||
{
|
||||
initSteps_t new_step;
|
||||
|
||||
@ -899,11 +1069,12 @@ void ubx_autoconfig_set(ubx_autoconfig_settings_t *config)
|
||||
if (config != NULL) {
|
||||
status->currentSettings = *config;
|
||||
}
|
||||
if (status->currentSettings.autoconfigEnabled) {
|
||||
if (status->currentSettings.UbxAutoConfig != GPSSETTINGS_UBXAUTOCONFIG_DISABLED) {
|
||||
new_step = INIT_STEP_START;
|
||||
} else {
|
||||
new_step = INIT_STEP_DISABLED;
|
||||
}
|
||||
status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
|
||||
|
||||
// assume this one byte initSteps_t is atomic
|
||||
// take care of some but not all concurrency issues
|
||||
@ -914,11 +1085,16 @@ void ubx_autoconfig_set(ubx_autoconfig_settings_t *config)
|
||||
status->currentStep = new_step;
|
||||
status->currentStepSave = new_step;
|
||||
|
||||
if (status->currentSettings.autoconfigEnabled) {
|
||||
if (status->currentSettings.UbxAutoConfig != GPSSETTINGS_UBXAUTOCONFIG_DISABLED) {
|
||||
enabled = true;
|
||||
} else {
|
||||
// this forces the sensor type detection to occur outside the FSM
|
||||
// and also engages the autobaud detection that is outside the FSM
|
||||
gps_ubx_reset_sensor_type();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
int32_t ubx_autoconfig_get_status()
|
||||
{
|
||||
if (!status || !enabled) {
|
||||
|
||||
@ -14,6 +14,7 @@
|
||||
<field name="VDOP" units="" type="float" elements="1"/>
|
||||
<field name="SensorType" units="" type="enum" elements="1" options="Unknown,NMEA,UBX,UBX7,UBX8" defaultvalue="Unknown" />
|
||||
<field name="AutoConfigStatus" units="" type="enum" elements="1" options="DISABLED,RUNNING,DONE,ERROR" defaultvalue="DISABLED" />
|
||||
<field name="CurrentBaudRate" units="" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200,230400"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="false" updatemode="manual" period="0"/>
|
||||
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
|
||||
|
||||
@ -6,7 +6,7 @@
|
||||
<field name="MaxPDOP" units="" type="float" elements="1" defaultvalue="3.5"/>
|
||||
<!-- Ubx self configuration. Enable to allow the flight board to auto configure ubx GPS options,
|
||||
store does AutoConfig and save GPS settings (i.e. to prevent issues if gps is power cycled) -->
|
||||
<field name="UbxAutoConfig" units="" type="enum" elements="1" options="Disabled,Configure,ConfigureAndStore" defaultvalue="Disabled"/>
|
||||
<field name="UbxAutoConfig" units="" type="enum" elements="1" options="Disabled,Configure,ConfigureAndStore,ConfigStoreAndDisable" defaultvalue="ConfigStoreAndDisable"/>
|
||||
<!-- Ubx position update rate, -1 for auto -->
|
||||
<field name="UbxRate" units="Hz" type="int8" elements="1" defaultvalue="5" />
|
||||
<!-- Ubx dynamic model, see UBX datasheet for more details -->
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user