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Merged
merged 17 commits into from
Mar 3, 2025
Merged

Changes to the GPS logic for newer GPS. #374

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bd41cd8
Add ability for gps cold-start (reset)
Feb 13, 2025
fe3f8ea
Fix Mon-HW
Feb 13, 2025
b0a521e
adapt debug logging
Feb 13, 2025
dae9abc
monitor antenna gain
Feb 13, 2025
db00da7
Show AntennaGain and JammingLevel in about page
Feb 14, 2025
015297e
a bunch of experiments for neo8m and debugoutput on display.
gluap Feb 16, 2025
6f1726c
Runtime check for neo6 or neo8
gluap Feb 16, 2025
8f22258
Merge remote-tracking branch 'jens/cold_start_gps' into neo8m_experim…
gluap Feb 17, 2025
9278e80
Adapt the two implementations of "coldstart"; move the gain display s…
gluap Feb 17, 2025
5b282fa
Make note how to generate the codes with relative ease via pyubx2; be…
gluap Feb 17, 2025
07ac356
ALP only on neo6m; conditional resstarts on neo6m when AID has issues…
gluap Feb 23, 2025
a2b6263
implement reviewer notes
gluap Feb 28, 2025
1d09a7f
change coldstart command
gluap Mar 1, 2025
434aacd
skip ALP download on non-neo6 gpses
gluap Mar 1, 2025
40eac72
differentiate between Neo6m and newer dialects for MON_HW
gluap Mar 1, 2025
1c1956b
reorder GPS display
gluap Mar 2, 2025
ae10650
Fix conditional alp download; increase wait to ensure compliance inc …
gluap Mar 3, 2025
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1 change: 0 additions & 1 deletion src/OpenBikeSensorFirmware.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -446,7 +446,6 @@ void setup() {
gps.handle();

setupBluetooth(cfg, trackUniqueIdentifier);

obsDisplay->showTextOnGrid(2, obsDisplay->newLine(), "Wait for GPS");
obsDisplay->newLine();
gps.handle();
Expand Down
15 changes: 15 additions & 0 deletions src/configServer.cpp
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Expand Up @@ -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
// #########################################
Expand Down Expand Up @@ -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);
Expand Down Expand Up @@ -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));
Expand Down Expand Up @@ -1065,6 +1070,8 @@ 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());
Expand Down Expand Up @@ -1123,6 +1130,14 @@ 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);
Expand Down
155 changes: 133 additions & 22 deletions src/gps.cpp
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Expand Up @@ -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("00040007").substring(0,4)) {
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I also have a module that returns '00040005'. Might be we should use only the 4 leading digits or use assume it is neo6 if none of the other patterns matches. Did you find references for the meaning of this number?

-> Which is what you do but (I just realize ;) ) this is rather confusing. If we do not know better, what about just comparing hwString[3] == '4'?

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I changed this to only look at the first 4 bytes and be more obvious about it - logic says that neo16m will have "0010" there, so just another 8 years or so.

return true;
}
return false;
}

bool Gps::is_neo8() const {
if (String(hwString).substring(0,4) == String("00080000").substring(0,4)) {
return true;
}
return false;
}

bool Gps::is_neo10() const {
if (String(hwString).substring(0,4) == String("000A0000").substring(0,4)) {
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);
Expand Down Expand Up @@ -249,6 +298,14 @@ void Gps::configureGpsModule() {
} else {
addStatisticsMessage("No ack for setting timepulse in either new or old format");
}
const uint8_t UBX_CFG_RATE[] = {0xE8, 0x03, 0x01, 0x00, 0x00, 0x00};
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This looks wrong - below 'UBX_CFG_RATE' is not sent but TP5. A comment would help to understand what this should do

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I wonder where that came from - so I removed it.

if (!sendAndWaitForAck(UBX_MSG::CFG_TP5, UBX_CFG_TP5, sizeof(UBX_CFG_RATE))) {
addStatisticsMessage("Successfully set rate");
obsDisplay->showTextOnGrid(0, 5, "rate set");
} else{
obsDisplay->showTextOnGrid(0, 5, "rate not set");
}

}
#endif

Expand Down Expand Up @@ -293,7 +350,7 @@ 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
//const uint8_t UBX_CFG_RST[] = {0xFF, 0x81, 0x04, 0x00}; // Cold START '0xFF, 0x81, 0x04, 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
Expand All @@ -304,6 +361,26 @@ void Gps::softResetGps() {
log_i("Soft-RESET GPS! Done");
}

void Gps::coldStartGps() {
log_i("Cold-Start GPS!");
handle();
//const uint8_t UBX_CFG_RST[] = {0x00, 0x00, 0x02, 0x00}; // WARM START
const uint8_t UBX_CFG_RST[] = {0xFF, 0x81, 0x04, 0x00}; // Cold START '0xFF, 0x81, 0x04, 0x00'
// https://content.u-blox.com/sites/default/files/products/documents/u-blox8-M8_ReceiverDescrProtSpec_UBX-13003221.pdf?utm_content=UBX-13003221
// eph=1, alm=1, health=1, klob=1, pos=1, clkd=1, osc=1, utc=1, rtc=1, aop=1, resetMode=4, reserved0=0
// can be generated via pyubx2 UBXMessage reset = pyubx2.UBXMessage(...)
// output via ", ".join([f"0x{b:02X}" for b in reset.payload])

// 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(1000);
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
Expand Down Expand Up @@ -344,11 +421,15 @@ 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();
Expand Down Expand Up @@ -777,22 +858,32 @@ int32_t Gps::getMessagesWithFailedCrcCount() const {
}

void Gps::showWaitStatus(DisplayDevice const * display) const {
String satellitesString[2];
static bool clear = false;
if (!is_neo6() && !clear) {
obsDisplay->clear();
clear = true;
}
String satellitesString[3];
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);
}
satellitesString[2] = String(mCurrentGpsRecord.mFixStatus) + "<fx m>" + String(mValidMessagesReceived);

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]);
}
if (!is_neo6()){
obsDisplay->showTextOnGrid(0, 1, String(hw())+" Detail");
obsDisplay->showTextOnGrid(0, 2, "Gain:" + String(mLastGain) + " Jam:" + String(mLastJamInd));
obsDisplay->showTextOnGrid(0, 3, satellitesString[2]);
obsDisplay->showTextOnGrid(0, 4, String(mCurrentGpsRecord.mLatitude));
obsDisplay->showTextOnGrid(0, 5, String(mCurrentGpsRecord.mLongitude));
}
}

bool Gps::moduleIsAlive() const {
Expand Down Expand Up @@ -1098,12 +1189,25 @@ 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);
const char* aStatus;
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;
}
break;
case (uint16_t) UBX_MSG::NAV_STATUS: {
Expand All @@ -1113,7 +1217,7 @@ 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();
}
Expand All @@ -1130,7 +1234,7 @@ 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
Expand All @@ -1148,15 +1252,15 @@ 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);
Expand Down Expand Up @@ -1289,7 +1393,7 @@ 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);
}
}
Expand All @@ -1314,10 +1418,9 @@ void Gps::handleUbxNavTimeGps(const GpsBuffer::UbxNavTimeGps &message, const uin
mIncomingGpsRecord.setWeek(mLastGpsWeek);
}
if ((message.valid & 0x03) == 0x03 // WEEK && TOW
&& delayMs < 250
&& 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();
Expand All @@ -1331,7 +1434,7 @@ void Gps::handleUbxNavTimeGps(const GpsBuffer::UbxNavTimeGps &message, const uin
mLastTimeTimeSet = receivedMs;
// This triggers another NAV-TIMEGPS message!
#ifdef UBX_M6
setMessageInterval(UBX_MSG::NAV_TIMEGPS, 240, false); // every 4 minutes
setMessageInterval(UBX_MSG::NAV_TIMEGPS, (delayMs>200) ? 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
Expand Down Expand Up @@ -1411,6 +1514,14 @@ 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();
}
Expand Down
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