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GPS.h cleanups round 3.
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No effective behavior change.

Protected members can be private so make it so.  (Supporting
subclasses needs a lot more work.)

Moves uBloxGnssModelInfo into file scope.

Moves uBloxProtocolVersion into uBloxGnssModelInfo.

Moves baud rate arrays into file scope.

Removes unused/ unimplemented powerStateToString.

Signed-off-by: Christopher Hoover <[email protected]>
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@charlieh0tel @fifieldt
charlieh0tel authored and fifieldt committed Nov 26, 2024
1 parent 502a83b commit b2f177b
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Showing 2 changed files with 52 additions and 50 deletions.
78 changes: 49 additions & 29 deletions src/gps/GPS.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,11 @@
#define GPS_RESET_MODE HIGH
#endif

// Not all platforms have std::size().
template <typename T, std::size_t N>
std::size_t array_count(const T(&) [N]) { return N; }


#if defined(NRF52840_XXAA) || defined(NRF52833_XXAA) || defined(ARCH_ESP32) || defined(ARCH_PORTDUINO)
HardwareSerial *GPS::_serial_gps = &Serial1;
#elif defined(ARCH_RP2040)
Expand All @@ -46,8 +51,14 @@ static GPSUpdateScheduling scheduling;
/// only init that port once.
static bool didSerialInit;

static struct uBloxGnssModelInfo info;
static uint8_t uBloxProtocolVersion;
static struct uBloxGnssModelInfo {
char swVersion[30];
char hwVersion[10];
uint8_t extensionNo;
char extension[10][30];
uint8_t protocol_version;
} ublox_info;

#define GPS_SOL_EXPIRY_MS 5000 // in millis. give 1 second time to combine different sentences. NMEA Frequency isn't higher anyway
#define NMEA_MSG_GXGSA "GNGSA" // GSA message (GPGSA, GNGSA etc)

Expand Down Expand Up @@ -412,6 +423,15 @@ int GPS::getACK(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t
return 0;
}

#if GPS_BAUDRATE_FIXED
// if GPS_BAUDRATE is specified in variant, only try that.
static const int serialSpeeds[1] = {GPS_BAUDRATE};
static const int rareSerialSpeeds[1] = {GPS_BAUDRATE};
#else
static const int serialSpeeds[3] = {9600, 115200, 38400};
static const int rareSerialSpeeds[3] = {4800, 57600, GPS_BAUDRATE};
#endif

/**
* @brief Setup the GPS based on the model detected.
* We detect the GPS by cycling through a set of baud rates, first common then rare.
Expand All @@ -428,7 +448,7 @@ bool GPS::setup()
LOG_DEBUG("Probe for GPS at %d", serialSpeeds[speedSelect]);
gnssModel = probe(serialSpeeds[speedSelect]);
if (gnssModel == GNSS_MODEL_UNKNOWN) {
if (++speedSelect == sizeof(serialSpeeds) / sizeof(int)) {
if (++speedSelect == array_count(serialSpeeds)) {
speedSelect = 0;
++probeTries;
}
Expand All @@ -439,7 +459,7 @@ bool GPS::setup()
LOG_DEBUG("Probe for GPS at %d", rareSerialSpeeds[speedSelect]);
gnssModel = probe(rareSerialSpeeds[speedSelect]);
if (gnssModel == GNSS_MODEL_UNKNOWN) {
if (++speedSelect == sizeof(rareSerialSpeeds) / sizeof(int)) {
if (++speedSelect == array_count(rareSerialSpeeds)) {
LOG_WARN("Give up on GPS probe and set to %d", GPS_BAUDRATE);
return true;
}
Expand Down Expand Up @@ -635,7 +655,7 @@ bool GPS::setup()
SEND_UBX_PACKET(0x06, 0x01, _message_RMC, "enable NMEA RMC", 500);
SEND_UBX_PACKET(0x06, 0x01, _message_GGA, "enable NMEA GGA", 500);

if (uBloxProtocolVersion >= 18) {
if (ublox_info.protocol_version >= 18) {
clearBuffer();
SEND_UBX_PACKET(0x06, 0x86, _message_PMS, "enable powersave for GPS", 500);
SEND_UBX_PACKET(0x06, 0x3B, _message_CFG_PM2, "enable powersave details for GPS", 500);
Expand Down Expand Up @@ -1131,7 +1151,7 @@ GnssModel_t GPS::probe(int serialSpeed)
}
#endif

memset(&info, 0, sizeof(struct uBloxGnssModelInfo));
memset(&ublox_info, 0, sizeof(ublox_info));
uint8_t buffer[768] = {0};
delay(100);

Expand Down Expand Up @@ -1198,64 +1218,64 @@ GnssModel_t GPS::probe(int serialSpeed)
if (len) {
uint16_t position = 0;
for (int i = 0; i < 30; i++) {
info.swVersion[i] = buffer[position];
ublox_info.swVersion[i] = buffer[position];
position++;
}
for (int i = 0; i < 10; i++) {
info.hwVersion[i] = buffer[position];
ublox_info.hwVersion[i] = buffer[position];
position++;
}

while (len >= position + 30) {
for (int i = 0; i < 30; i++) {
info.extension[info.extensionNo][i] = buffer[position];
ublox_info.extension[ublox_info.extensionNo][i] = buffer[position];
position++;
}
info.extensionNo++;
if (info.extensionNo > 9)
ublox_info.extensionNo++;
if (ublox_info.extensionNo > 9)
break;
}

LOG_DEBUG("Module Info : ");
LOG_DEBUG("Soft version: %s", info.swVersion);
LOG_DEBUG("Hard version: %s", info.hwVersion);
LOG_DEBUG("Extensions:%d", info.extensionNo);
for (int i = 0; i < info.extensionNo; i++) {
LOG_DEBUG(" %s", info.extension[i]);
LOG_DEBUG("Soft version: %s", ublox_info.swVersion);
LOG_DEBUG("Hard version: %s", ublox_info.hwVersion);
LOG_DEBUG("Extensions:%d", ublox_info.extensionNo);
for (int i = 0; i < ublox_info.extensionNo; i++) {
LOG_DEBUG(" %s", ublox_info.extension[i]);
}

memset(buffer, 0, sizeof(buffer));

// tips: extensionNo field is 0 on some 6M GNSS modules
for (int i = 0; i < info.extensionNo; ++i) {
if (!strncmp(info.extension[i], "MOD=", 4)) {
strncpy((char *)buffer, &(info.extension[i][4]), sizeof(buffer));
} else if (!strncmp(info.extension[i], "PROTVER", 7)) {
for (int i = 0; i < ublox_info.extensionNo; ++i) {
if (!strncmp(ublox_info.extension[i], "MOD=", 4)) {
strncpy((char *)buffer, &(ublox_info.extension[i][4]), sizeof(buffer));
} else if (!strncmp(ublox_info.extension[i], "PROTVER", 7)) {
char *ptr = nullptr;
memset(buffer, 0, sizeof(buffer));
strncpy((char *)buffer, &(info.extension[i][8]), sizeof(buffer));
strncpy((char *)buffer, &(ublox_info.extension[i][8]), sizeof(buffer));
LOG_DEBUG("Protocol Version:%s", (char *)buffer);
if (strlen((char *)buffer)) {
uBloxProtocolVersion = strtoul((char *)buffer, &ptr, 10);
LOG_DEBUG("ProtVer=%d", uBloxProtocolVersion);
ublox_info.protocol_version = strtoul((char *)buffer, &ptr, 10);
LOG_DEBUG("ProtVer=%d", ublox_info.protocol_version);
} else {
uBloxProtocolVersion = 0;
ublox_info.protocol_version = 0;
}
}
}
if (strncmp(info.hwVersion, "00040007", 8) == 0) {
if (strncmp(ublox_info.hwVersion, "00040007", 8) == 0) {
LOG_INFO(DETECTED_MESSAGE, "U-blox 6", "6");
return GNSS_MODEL_UBLOX6;
} else if (strncmp(info.hwVersion, "00070000", 8) == 0) {
} else if (strncmp(ublox_info.hwVersion, "00070000", 8) == 0) {
LOG_INFO(DETECTED_MESSAGE, "U-blox 7", "7");
return GNSS_MODEL_UBLOX7;
} else if (strncmp(info.hwVersion, "00080000", 8) == 0) {
} else if (strncmp(ublox_info.hwVersion, "00080000", 8) == 0) {
LOG_INFO(DETECTED_MESSAGE, "U-blox 8", "8");
return GNSS_MODEL_UBLOX8;
} else if (strncmp(info.hwVersion, "00190000", 8) == 0) {
} else if (strncmp(ublox_info.hwVersion, "00190000", 8) == 0) {
LOG_INFO(DETECTED_MESSAGE, "U-blox 9", "9");
return GNSS_MODEL_UBLOX9;
} else if (strncmp(info.hwVersion, "000A0000", 8) == 0) {
} else if (strncmp(ublox_info.hwVersion, "000A0000", 8) == 0) {
LOG_INFO(DETECTED_MESSAGE, "U-blox 10", "10");
return GNSS_MODEL_UBLOX10;
}
Expand Down
24 changes: 3 additions & 21 deletions src/gps/GPS.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -16,13 +16,6 @@
#define GPS_EN_ACTIVE 1
#endif

struct uBloxGnssModelInfo {
char swVersion[30];
char hwVersion[10];
uint8_t extensionNo;
char extension[10][30];
};

typedef enum {
GNSS_MODEL_ATGM336H,
GNSS_MODEL_MTK,
Expand Down Expand Up @@ -119,7 +112,9 @@ class GPS : private concurrency::OSThread
// Let the GPS hardware save power between updates
void down();

protected:
private:
GPS() : concurrency::OSThread("GPS") {}

/// Record that we have a GPS
void setConnected();

Expand Down Expand Up @@ -147,9 +142,6 @@ class GPS : private concurrency::OSThread

GnssModel_t gnssModel = GNSS_MODEL_UNKNOWN;

private:
GPS() : concurrency::OSThread("GPS") {}

TinyGPSPlus reader;
uint8_t fixQual = 0; // fix quality from GPGGA
uint32_t lastChecksumFailCount = 0;
Expand All @@ -161,14 +153,6 @@ class GPS : private concurrency::OSThread
TinyGPSCustom gsapdop; // custom extract PDOP from GPGSA
uint8_t fixType = 0; // fix type from GPGSA
#endif
#if GPS_BAUDRATE_FIXED
// if GPS_BAUDRATE is specified in variant, only try that.
const int serialSpeeds[1] = {GPS_BAUDRATE};
const int rareSerialSpeeds[1] = {GPS_BAUDRATE};
#else
const int serialSpeeds[3] = {9600, 115200, 38400};
const int rareSerialSpeeds[3] = {4800, 57600, GPS_BAUDRATE};
#endif

uint32_t lastWakeStartMsec = 0, lastSleepStartMsec = 0, lastFixStartMsec = 0;
uint32_t rx_gpio = 0;
Expand Down Expand Up @@ -252,8 +236,6 @@ class GPS : private concurrency::OSThread

// delay counter to allow more sats before fixed position stops GPS thread
uint8_t fixeddelayCtr = 0;

const char *powerStateToString();
};

extern GPS *gps;
Expand Down

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