Merge pull request #374 from openbikesensor/neo8m_experiments

Changes to the GPS logic for newer GPS.

Author: gluap

src/OpenBikeSensorFirmware.cpp

@@ -399,9 +399,10 @@ void setup() {
       esp_bt_mem_release(ESP_BT_MODE_BTDM)); // no bluetooth at all here.
 
     delay(200);
-    startServer(&cfg);
+    obsDisplay->showTextOnGrid(2, obsDisplay->newLine(), "Start GPS...");
     gps.begin();
     gps.setStatisticsIntervalInSeconds(2); // ??
+    startServer(&cfg);
     while (true) {
       yield();
       serverLoop();
@@ -446,7 +447,6 @@ void setup() {
   gps.handle();
 
   setupBluetooth(cfg, trackUniqueIdentifier);
-
   obsDisplay->showTextOnGrid(2, obsDisplay->newLine(), "Wait for GPS");
   obsDisplay->newLine();
   gps.handle();

src/configServer.cpp

@@ -230,6 +230,9 @@ static const char* const development =
 static const char* const rebootIndex =
   "<h3>Device reboots now.</h3>";
 
+static const char* const gpsColdIndex =
+  "<h3>GPS cold start</h3>";
+
 // #########################################
 // Wifi
 // #########################################
@@ -456,6 +459,7 @@ static void handleNotFound(HTTPRequest * req, HTTPResponse * res);
 static void handleIndex(HTTPRequest * req, HTTPResponse * res);
 static void handleAbout(HTTPRequest * req, HTTPResponse * res);
 static void handleReboot(HTTPRequest * req, HTTPResponse * res);
+static void handleColdStartGPS(HTTPRequest * req, HTTPResponse * res);
 static void handleBackup(HTTPRequest * req, HTTPResponse * res);
 static void handleBackupDownload(HTTPRequest * req, HTTPResponse * res);
 static void handleBackupRestore(HTTPRequest * req, HTTPResponse * res);
@@ -546,6 +550,7 @@ void registerPages(HTTPServer * httpServer) {
   httpServer->registerNode(new ResourceNode("/", HTTP_GET, handleIndex));
   httpServer->registerNode(new ResourceNode("/about", HTTP_GET, handleAbout));
   httpServer->registerNode(new ResourceNode("/reboot", HTTP_GET, handleReboot));
+  httpServer->registerNode(new ResourceNode("/cold", HTTP_GET, handleColdStartGPS));
   httpServer->registerNode(new ResourceNode("/settings/backup", HTTP_GET, handleBackup));
   httpServer->registerNode(new ResourceNode("/settings/backup.json", HTTP_GET, handleBackupDownload));
   httpServer->registerNode(new ResourceNode("/settings/restore", HTTP_POST, handleBackupRestore));
@@ -724,7 +729,8 @@ static void wifiConnectedActions() {
   if (WiFiClass::status() == WL_CONNECTED) {
     TimeUtils::setClockByNtpAndWait(WiFi.gatewayIP().toString().c_str());
   }
-  if (SD.begin() && WiFiClass::status() == WL_CONNECTED) {
+  if (SD.begin() && WiFiClass::status() == WL_CONNECTED 
+       && (!gps.moduleIsAlive() || gps.is_neo6())) {
     AlpData::update(obsDisplay);
   }
 
@@ -1065,6 +1071,8 @@ static void handleAbout(HTTPRequest *req, HTTPResponse * res) {
   page += keyValue("GPS satellites", gps.getValidSatellites());
   page += keyValue("GPS uptime", gps.getUptime(), "ms");
   page += keyValue("GPS noise level", gps.getLastNoiseLevel());
+  page += keyValue("GPS Antenna Gain", gps.getLastAntennaGain());
+  page += keyValue("GPS Jamming Level", gps.getLastJamInd());
   page += keyValue("GPS baud rate", gps.getBaudRate());
   page += keyValue("GPS ALP bytes", gps.getNumberOfAlpBytesSent());
   page += keyValue("GPS messages", gps.getMessagesHtml());
@@ -1123,6 +1131,14 @@ static void handleReboot(HTTPRequest *, HTTPResponse * res) {
   ESP.restart();
 }
 
+static void handleColdStartGPS(HTTPRequest *, HTTPResponse * res) {
+  String html = createPage(gpsColdIndex);
+  html = replaceDefault(html, "Navigation");
+  sendHtml(res, html);
+  gps.coldStartGps();
+  res->finalize();
+}
+
 
 static void handleBackup(HTTPRequest *, HTTPResponse * res) {
   String html = createPage(backupIndex, xhrUpload);

src/gps.cpp

@@ -31,14 +31,63 @@ const String Gps::INF_SEVERITY_STRING[] = {
   String("TST"), String("DBG")
 };
 
+bool Gps::is_neo6() const {
+  if (String(hwString).substring(0,4) == String("0004")) {
+    return true;
+  }
+  return false;
+}
+
+bool Gps::is_neo8() const {
+  if (String(hwString).substring(0,4) == String("0008")) {
+    return true;
+  }
+  return false;
+}
+
+bool Gps::is_neo10() const {
+  if (String(hwString).substring(0,4) == String("000A")) {
+    return true;
+  }
+  return false;
+}
+
+String Gps::hw() const {
+  if (is_neo6()){
+    return "Neo6";
+  }
+  if (is_neo8()){
+    return "Neo8";
+  }
+  if (is_neo10()) {
+    return "NeoA";
+  }
+  return "Neo" + String(hwString).substring(3,4);
+}
+
 void Gps::begin() {
   setBaud();
   softResetGps();
   if (mGpsNeedsConfigUpdate) {
     configureGpsModule();
   }
-  enableAlpIfDataIsAvailable();
   pollStatistics();
+  if((!is_neo6()) || (!SD.exists(AID_INI_DATA_FILE_NAME))) {
+    // we're on a non-6 neo and avoid AID_INI because is deprecated
+    // or we're on a neo6 but last boot we didn't get far enough to receive fresh
+    // ALP_INI data after initializing
+    // so restart GPS for good measure.
+    if (is_neo6()) log_i("We found no AID_INI on with neo6 on boot - coldstart gps in case  its in a state where it doesn't get fixes");
+    if (!is_neo6()) log_i("Coldstart because we found that newer neos profit from that.");
+
+    coldStartGps();
+  }  
+  pollStatistics();
+
+  if (is_neo6()) {
+    enableAlpIfDataIsAvailable();
+  }
+  
   if (mLastTimeTimeSet == 0) {
 #ifdef UBX_M10
     setMessageInterval(UBX_CFG_KEY_ID::CFG_MSGOUT_UBX_NAV_TIMEGPS_UART1, 1);
@@ -293,7 +342,6 @@ void Gps::softResetGps() {
   log_i("Soft-RESET GPS!");
   handle();
   const uint8_t UBX_CFG_RST[] = {0x00, 0x00, 0x02, 0x00}; // WARM START
-//  const uint8_t UBX_CFG_RST[] = {0xFF, 0xFF, 0x02, 0x00}; // Cold START
   // we had the case where the reset took several seconds
   // see https://github.com/openbikesensor/OpenBikeSensorFirmware/issues/309
   // Newer firmware (like M10 and likely also M8) will not ack this
@@ -304,6 +352,20 @@ void Gps::softResetGps() {
   log_i("Soft-RESET GPS! Done");
 }
 
+void Gps::coldStartGps() {
+  log_i("Cold-Start GPS!");
+  handle();
+  const uint8_t UBX_CFG_RST[] = {0xFF, 0xFF, 0x00, 0x00}; 
+  // we had the case where the reset took several seconds
+  // see https://github.com/openbikesensor/OpenBikeSensorFirmware/issues/309
+  // Newer firmware (like M10 and likely also M8) will not ack this
+  // message so we do not wait for the ACK
+  sendUbx(UBX_MSG::CFG_RST, UBX_CFG_RST, 4);
+  waitForData(3000);
+  handle();
+  log_i("Cold Start GPS! Done");
+}
+
 /* There had been changes for the satellites used for SBAS
  * in europe since the firmware of our GPS module was built
  * we configure the module to use the 2 satellites that are
@@ -344,11 +406,15 @@ void Gps::enableAlpIfDataIsAvailable() {
 /* Poll or refresh one time statistics, also spends some time
  * to collect the results.
  */
+
 void Gps::pollStatistics() {
-  handle();
-  sendUbx(UBX_MSG::AID_ALP);
   handle();
   sendUbx(UBX_MSG::MON_VER);
+  handle(20);
+  if (is_neo6()){
+    // AID_ALP is a neo6-only thing
+    sendUbx(UBX_MSG::AID_ALP);
+  }
   handle();
   sendUbx(UBX_MSG::MON_HW);
   handle();
@@ -777,21 +843,35 @@ int32_t Gps::getMessagesWithFailedCrcCount() const {
 }
 
 void Gps::showWaitStatus(DisplayDevice const * display) const {
+  static bool clear = false;
+  if (!is_neo6() && !clear) {
+     obsDisplay->clear();
+     clear = true;
+  }
   String satellitesString[2];
   if (mValidMessagesReceived == 0) { // could not get any valid char from GPS module
     satellitesString[0] = "OFF?";
   } else if (mLastTimeTimeSet == 0) {
-    satellitesString[0] = String(mCurrentGpsRecord.mSatellitesUsed) + "sats SN:" + String(mLastNoiseLevel);
+    satellitesString[0] = "aGain:" + String(mLastGain);
+    satellitesString[1] = String(mCurrentGpsRecord.mSatellitesUsed) + "sats SN:" + String(mLastNoiseLevel);
   } else {
-    satellitesString[0] = "GPS " + TimeUtils::timeToString();
+    satellitesString[0] = String(hw()).substring(1) + TimeUtils::timeToString();
     satellitesString[1] = String(mCurrentGpsRecord.mSatellitesUsed) + "sats SN:" + String(mLastNoiseLevel);
   }
+  obsDisplay->showTextOnGrid(2, display->currentLine() - 1, satellitesString[0]);
+  obsDisplay->showTextOnGrid(2, display->currentLine(), satellitesString[1]);
+  if (!is_neo6()){
+    obsDisplay->showTextOnGrid(0, 1, String(hw())+" GPS");
+    obsDisplay->showTextOnGrid(2, 1, "HDOP: " + getHdopAsString() + "D");
 
-  if (satellitesString[1].isEmpty()) {
-    obsDisplay->showTextOnGrid(2, display->currentLine(), satellitesString[0]);
-  } else {
-    obsDisplay->showTextOnGrid(2, display->currentLine() - 1, satellitesString[0]);
-    obsDisplay->showTextOnGrid(2, display->currentLine(), satellitesString[1]);
+    obsDisplay->showTextOnGrid(0, 2, "Jam: " + String(mLastJamInd));
+    obsDisplay->showTextOnGrid(2, 2, "Msgs: " + String(mValidMessagesReceived));
+    obsDisplay->showTextOnGrid(2, 3, "Fix: " + String(mCurrentGpsRecord.mFixStatus) + "D");
+    obsDisplay->showTextOnGrid(0, 3, "lat,lon:");
+
+
+    obsDisplay->showTextOnGrid(0, 4, String(mCurrentGpsRecord.mLatitude));
+    obsDisplay->showTextOnGrid(0, 5, String(mCurrentGpsRecord.mLongitude));
   }
 }
 
@@ -1098,12 +1178,40 @@ void Gps::parseUbxMessage() {
             String(mGpsBuffer.monVer.swVersion).c_str(),
             String(mGpsBuffer.monVer.hwVersion).c_str(),
             mGpsBuffer.ubxHeader.length);
+      for (int i = 0; i < sizeof(hwString) && i < sizeof(mGpsBuffer.monVer.hwVersion) ; i++) {
+        hwString[i]=mGpsBuffer.monVer.hwVersion[i];
+      }
     }
       break;
     case (uint16_t) UBX_MSG::MON_HW: {
-      log_v("MON-HW Antenna Status %d, noise level %d", mGpsBuffer.monHw.aStatus,
-            mGpsBuffer.monHw.noisePerMs);
-      mLastNoiseLevel = mGpsBuffer.monHw.noisePerMs;
+      const char* aStatus;
+      if (is_neo6()) {
+        switch (mGpsBuffer.monHw.aStatus) {
+          case mGpsBuffer.monHw.INIT: aStatus = "init"; break;
+          case mGpsBuffer.monHw.DONTKNOW: aStatus = "?"; break;
+          case mGpsBuffer.monHw.OK: aStatus = "ok"; break;
+          case mGpsBuffer.monHw.SHORT: aStatus = "short"; break;
+          case mGpsBuffer.monHw.OPEN: aStatus = "open"; break;
+          default: aStatus = "invalid";
+        }
+        log_d("MON-HW Antenna Status %d %s, Antenna Power %d, Gain (0-8191) %d, noise level %d", mGpsBuffer.monHw.aStatus, aStatus, mGpsBuffer.monHw.aPower, mGpsBuffer.monHw.agcCnt, mGpsBuffer.monHw.noisePerMs);
+        mLastNoiseLevel = mGpsBuffer.monHw.noisePerMs;
+        mLastGain = mGpsBuffer.monHw.agcCnt;
+        mLastJamInd = mGpsBuffer.monHw.jamInd;
+      } else {
+        switch (mGpsBuffer.monHwNew.aStatus) {
+          case mGpsBuffer.monHwNew.INIT: aStatus = "init"; break;
+          case mGpsBuffer.monHwNew.DONTKNOW: aStatus = "?"; break;
+          case mGpsBuffer.monHwNew.OK: aStatus = "ok"; break;
+          case mGpsBuffer.monHwNew.SHORT: aStatus = "short"; break;
+          case mGpsBuffer.monHwNew.OPEN: aStatus = "open"; break;
+          default: aStatus = "invalid";
+        }
+        log_d("MON-HW Antenna Status %d %s, Antenna Power %d, Gain (0-8191) %d, noise level %d", mGpsBuffer.monHwNew.aStatus, aStatus, mGpsBuffer.monHwNew.aPower, mGpsBuffer.monHwNew.agcCnt, mGpsBuffer.monHwNew.noisePerMs);
+        mLastNoiseLevel = mGpsBuffer.monHwNew.noisePerMs;
+        mLastGain = mGpsBuffer.monHwNew.agcCnt;
+        mLastJamInd = mGpsBuffer.monHwNew.jamInd;
+      }
     }
       break;
     case (uint16_t) UBX_MSG::NAV_STATUS: {
@@ -1113,7 +1221,7 @@ void Gps::parseUbxMessage() {
       mGpsUptime = mGpsBuffer.navStatus.msss;
       if (mGpsBuffer.navStatus.ttff != 0) {
         addStatisticsMessage("TimeToFix: " + String(mGpsBuffer.navStatus.ttff) + "ms");
-      } else if (!mAidIniSent) {
+      } else if (!mAidIniSent and is_neo6()) {
         mAidIniSent = true;
         aidIni();
       }
@@ -1130,7 +1238,7 @@ void Gps::parseUbxMessage() {
     }
       break;
     case (uint16_t) UBX_MSG::NAV_SOL: {
-      log_v("SOL: iTOW: %u, gpsFix: %d, flags: %02x, numSV: %d, pDop: %04d.",
+      log_d("SOL: iTOW: %u, gpsFix: %d, flags: %02x, numSV: %d, pDop: %04d.",
             mGpsBuffer.navSol.iTow, mGpsBuffer.navSol.gpsFix, mGpsBuffer.navSol.flags,
             mGpsBuffer.navSol.numSv, mGpsBuffer.navSol.pDop);
       if (mGpsBuffer.navSol.flags & 4) { // WKNSET
@@ -1148,15 +1256,15 @@ void Gps::parseUbxMessage() {
     }
       break;
     case (uint16_t) UBX_MSG::NAV_PVT: {
-      log_v("PVT: iTOW: %u, fixType: %d, flags: %02x, numSV: %d, pDop: %04d.",
+      log_d("PVT: iTOW: %u, fixType: %d, flags: %02x, numSV: %d, pDop: %04d.",
             mGpsBuffer.navPvt.iTow, mGpsBuffer.navPvt.fixType, mGpsBuffer.navPvt.flags,
             mGpsBuffer.navPvt.numSV, mGpsBuffer.navPvt.pDOP);
       prepareGpsData(mGpsBuffer.navPvt.iTow, mMessageStarted);
       mIncomingGpsRecord.setInfo(mGpsBuffer.navPvt.numSV, mGpsBuffer.navPvt.fixType, mGpsBuffer.navPvt.flags);
     }
       break;
     case (uint16_t) UBX_MSG::NAV_VELNED: {
-      log_v("VELNED: iTOW: %u, speed: %d cm/s, gSpeed: %d cm/s, heading: %d,"
+      log_d("VELNED: iTOW: %u, speed: %d cm/s, gSpeed: %d cm/s, heading: %d,"
             " speedAcc: %d, cAcc: %d",
             mGpsBuffer.navVelned.iTow, mGpsBuffer.navVelned.speed, mGpsBuffer.navVelned.gSpeed,
             mGpsBuffer.navVelned.heading, mGpsBuffer.navVelned.sAcc, mGpsBuffer.navVelned.cAcc);
@@ -1289,7 +1397,7 @@ void Gps::parseUbxMessage() {
       log_d("CFG_GNSS");
       break;
     default:
-      log_e("Got UBX_MESSAGE! Id: 0x%04x Len %d iTOW %d", mGpsBuffer.ubxHeader.ubxMsgId,
+      log_e("Got unparsed UBX_MESSAGE! Id: 0x%04x Len %d iTOW %d", mGpsBuffer.ubxHeader.ubxMsgId,
             mGpsBuffer.ubxHeader.length, mGpsBuffer.navStatus.iTow);
   }
 }
@@ -1314,10 +1422,10 @@ void Gps::handleUbxNavTimeGps(const GpsBuffer::UbxNavTimeGps &message, const uin
     mIncomingGpsRecord.setWeek(mLastGpsWeek);
   }
   if ((message.valid & 0x03) == 0x03  // WEEK && TOW
-      && delayMs < 250
+      && delayMs < 1000
       && message.tAcc < (20 * 1000 * 1000 /* 20ms */)
-      && (mLastTimeTimeSet == 0
-          || (mLastTimeTimeSet + (2 * 60 * 1000 /* 2 minutes */)) < receivedMs)) {
+      && ((mLastTimeTimeSet == 0)
+          || ((mLastTimeTimeSet + (2 * 60 * 1000 /* 2 minutes */)) < receivedMs))) {
     String oldTime = TimeUtils::dateTimeToString();
     TimeUtils::setClockByGps(message.iTow, message.fTow, message.week);
     String newTime = TimeUtils::dateTimeToString();
@@ -1328,10 +1436,12 @@ void Gps::handleUbxNavTimeGps(const GpsBuffer::UbxNavTimeGps &message, const uin
                            + "ms. tAcc:" + String(message.tAcc) + "ns");
     }
     if (mLastTimeTimeSet == 0) {
-      mLastTimeTimeSet = receivedMs;
-      // This triggers another NAV-TIMEGPS message!
+      if (delayMs < 100) { // keep mLastTimeTimeSet at 0 unless reasonable delayMs
+        mLastTimeTimeSet = receivedMs;
+      }
+      // This triggers another NAV-TIMEGPS message! more often until good time is received
 #ifdef UBX_M6
-      setMessageInterval(UBX_MSG::NAV_TIMEGPS, 240, false); // every 4 minutes
+      setMessageInterval(UBX_MSG::NAV_TIMEGPS, (delayMs>100) ? 5 : 240, false); // every 4 minutes
 #endif
 #ifdef UBX_M10
       setMessageInterval(UBX_CFG_KEY_ID::CFG_MSGOUT_UBX_NAV_TIMEGPS_UART1, 240, false); // every 4 minutes
@@ -1411,6 +1521,14 @@ uint16_t Gps::getLastNoiseLevel() const {
   return mLastNoiseLevel;
 }
 
+uint16_t Gps::getLastAntennaGain() const {
+  return mLastGain;
+}
+
+uint8_t Gps::getLastJamInd() const {
+  return mLastJamInd;
+}
+
 uint32_t Gps::getBaudRate() {
   return mSerial.baudRate();
 }