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Still simpler, but 3 cases.

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1) New api, nav_pvt and nav_sig (m9+)
2) Old api, nav_pvt and nav_sat (m7?/m8)
3) Old api, no nav_pvt or nav_sat (time to upgrade)
This commit is contained in:
Marcelo Bezerra 2024-06-26 23:43:42 +02:00
parent e59a635117
commit d0781576ad
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GPG key ID: 718A5AC065848530
1 changed files with 45 additions and 36 deletions
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63
src/main/io/gps_ublox.c
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@ -915,9 +915,7 @@ STATIC_PROTOTHREAD(gpsConfigure)
gpsSetProtocolTimeout(GPS_SHORT_TIMEOUT);
// M9N & M10 does not support some of the UBX 6/7/8 messages, so we have to configure it using special sequence
// > 23.01, don't use configureMSG, and have PVT
if (ubloxVersionGTE(23, 1)) {
if (ubloxVersionGTE(23, 1)) { // M9+, new setting API, PVT and NAV_SIG
ubx_config_data8_payload_t rateValues[] = {
{UBLOX_CFG_MSGOUT_NAV_POSLLH_UART1, 0}, // 0
{UBLOX_CFG_MSGOUT_NAV_STATUS_UART1, 0}, // 1
@ -928,24 +926,33 @@ STATIC_PROTOTHREAD(gpsConfigure)
{UBLOX_CFG_MSGOUT_NAV_SAT_UART1, 0} // 6
};
ubloxSendSetCfgBytes(rateValues, 7);
ptWaitTimeout((_ack_state == UBX_ACK_GOT_ACK || _ack_state == UBX_ACK_GOT_NAK), GPS_CFG_CMD_TIMEOUT_MS);
} else if(ubloxVersionGTE(15,0)) { // M8 and potentially M7, PVT, NAV_SAT, old setting API
configureMSG(MSG_CLASS_UBX, MSG_POSLLH, 0);
ptWait(_ack_state == UBX_ACK_GOT_ACK);
configureMSG(MSG_CLASS_UBX, MSG_STATUS, 0);
ptWait(_ack_state == UBX_ACK_GOT_ACK);
if ((gpsState.gpsConfig->provider == GPS_UBLOX7PLUS) && (gpsState.hwVersion >= UBX_HW_VERSION_UBLOX7)) {
configureRATE(hz2rate(gpsState.gpsConfig->ubloxNavHz)); // default 10Hz
} else {
configureRATE(hz2rate(5)); // 5Hz
gpsConfigMutable()->ubloxNavHz = SETTING_GPS_UBLOX_NAV_HZ_DEFAULT;
}
configureMSG(MSG_CLASS_UBX, MSG_SOL, 0);
ptWait(_ack_state == UBX_ACK_GOT_ACK);
configureMSG(MSG_CLASS_UBX, MSG_VELNED, 0);
ptWait(_ack_state == UBX_ACK_GOT_ACK);
configureMSG(MSG_CLASS_UBX, MSG_TIMEUTC, 0);
ptWait(_ack_state == UBX_ACK_GOT_ACK);
configureMSG(MSG_CLASS_UBX, MSG_SVINFO, 0);
ptWait(_ack_state == UBX_ACK_GOT_ACK);
configureMSG(MSG_CLASS_UBX, MSG_PVT, 1);
ptWait(_ack_state == UBX_ACK_GOT_ACK || _ack_state == UBX_ACK_GOT_NAK);
if(_ack_state == UBX_ACK_GOT_NAK) { // Fallback to safe 5Hz in case of error
configureRATE(hz2rate(5)); // 5Hz
ptWait(_ack_state == UBX_ACK_GOT_ACK);
}
} else {
configureMSG(MSG_CLASS_UBX, MSG_NAV_SAT, 1);
ptWait(_ack_state == UBX_ACK_GOT_ACK || _ack_state == UBX_ACK_GOT_NAK);
} else { // Really old stuff, consider upgrading :), ols setting API, no PVT or NAV_SAT or NAV_SIG
configureMSG(MSG_CLASS_UBX, MSG_POSLLH, 1);
ptWait(_ack_state == UBX_ACK_GOT_ACK);
@ -961,22 +968,24 @@ STATIC_PROTOTHREAD(gpsConfigure)
configureMSG(MSG_CLASS_UBX, MSG_TIMEUTC, 10);
ptWait(_ack_state == UBX_ACK_GOT_ACK);
// Protocol < 23.01 does not have MSG_PVT
//configureMSG(MSG_CLASS_UBX, MSG_PVT, 0);
//ptWait(_ack_state == UBX_ACK_GOT_ACK || _ack_state == UBX_ACK_GOT_NAK);
// This may fail on old UBLOX units, advance forward on both ACK and NAK
configureMSG(MSG_CLASS_UBX, MSG_NAV_SAT, 1);
ptWait(_ack_state == UBX_ACK_GOT_ACK || _ack_state == UBX_ACK_GOT_NAK);
configureMSG(MSG_CLASS_UBX, MSG_SVINFO, 0);
ptWait(_ack_state == UBX_ACK_GOT_ACK);
// Configure data rate to 5HZ
configureRATE(hz2rate(5));
ptWait(_ack_state == UBX_ACK_GOT_ACK);
}// end message config
if ((gpsState.gpsConfig->provider == GPS_UBLOX7PLUS) && (gpsState.hwVersion >= UBX_HW_VERSION_UBLOX7)) {
configureRATE(hz2rate(gpsState.gpsConfig->ubloxNavHz)); // default 10Hz
} else {
configureRATE(hz2rate(5)); // 5Hz
gpsConfigMutable()->ubloxNavHz = SETTING_GPS_UBLOX_NAV_HZ_DEFAULT;
}
ptWait(_ack_state == UBX_ACK_GOT_ACK || _ack_state == UBX_ACK_GOT_NAK);
if(_ack_state == UBX_ACK_GOT_NAK) { // Fallback to safe 5Hz in case of error
configureRATE(hz2rate(5)); // 5Hz
ptWait(_ack_state == UBX_ACK_GOT_ACK);
}
gpsState.flags.pvt = 0;
gpsState.flags.sat = 0;
gpsState.flags.sig = 0;