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[GPS] Support for M9N module and other u-blox 9 receivers #6269

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Merged
merged 1 commit into from
Nov 7, 2020
Merged

[GPS] Support for M9N module and other u-blox 9 receivers #6269

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103 changes: 72 additions & 31 deletions src/main/io/gps_ublox.c
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Original file line number Diff line number Diff line change
Expand Up @@ -274,6 +274,8 @@ enum {
MSG_VELNED = 0x12,
MSG_TIMEUTC = 0x21,
MSG_SVINFO = 0x30,
MSG_NAV_SAT = 0x35,
MSG_NAV_SIG = 0x35,
MSG_CFG_PRT = 0x00,
MSG_CFG_RATE = 0x08,
MSG_CFG_SET_RATE = 0x01,
Expand Down Expand Up @@ -739,58 +741,97 @@ STATIC_PROTOTHREAD(gpsConfigure)
// Configure UBX binary messages
gpsSetProtocolTimeout(GPS_SHORT_TIMEOUT);

if ((gpsState.gpsConfig->provider == GPS_UBLOX) || (gpsState.hwVersion < 70000)) {
configureMSG(MSG_CLASS_UBX, MSG_POSLLH, 1);
// u-Blox 9
// M9N does not support some of the UBX 6/7/8 messages, so we have to configure it using special sequence
if (gpsState.hwVersion >= 190000) {
configureMSG(MSG_CLASS_UBX, MSG_POSLLH, 0);
ptWait(_ack_state == UBX_ACK_GOT_ACK);

configureMSG(MSG_CLASS_UBX, MSG_STATUS, 1);
configureMSG(MSG_CLASS_UBX, MSG_STATUS, 0);
ptWait(_ack_state == UBX_ACK_GOT_ACK);

configureMSG(MSG_CLASS_UBX, MSG_SOL, 1);
configureMSG(MSG_CLASS_UBX, MSG_VELNED, 0);
ptWait(_ack_state == UBX_ACK_GOT_ACK);

configureMSG(MSG_CLASS_UBX, MSG_VELNED, 1);
configureMSG(MSG_CLASS_UBX, MSG_TIMEUTC, 0);
ptWait(_ack_state == UBX_ACK_GOT_ACK);

configureMSG(MSG_CLASS_UBX, MSG_TIMEUTC, 10);
configureMSG(MSG_CLASS_UBX, MSG_PVT, 1);
ptWait(_ack_state == UBX_ACK_GOT_ACK);

// This may fail on old UBLOX units, advance forward on both ACK and NAK
configureMSG(MSG_CLASS_UBX, MSG_PVT, 0);
ptWait(_ack_state == UBX_ACK_GOT_ACK || _ack_state == UBX_ACK_GOT_NAK);
}
else {
configureMSG(MSG_CLASS_UBX, MSG_POSLLH, 0);
configureMSG(MSG_CLASS_UBX, MSG_NAV_SAT, 0);
ptWait(_ack_state == UBX_ACK_GOT_ACK);

configureMSG(MSG_CLASS_UBX, MSG_STATUS, 0);
configureMSG(MSG_CLASS_UBX, MSG_NAV_SIG, 0);
ptWait(_ack_state == UBX_ACK_GOT_ACK);

configureMSG(MSG_CLASS_UBX, MSG_SOL, 0);
// u-Blox 9 receivers such as M9N can do 10Hz as well, but the number of used satellites will be restricted to 16.
// Not mentioned in the datasheet
configureRATE(200);
ptWait(_ack_state == UBX_ACK_GOT_ACK);
}
else {
// u-Blox 6/7/8
// u-Blox 6 doesn't support PVT, use legacy config
if ((gpsState.gpsConfig->provider == GPS_UBLOX) || (gpsState.hwVersion < 70000)) {
configureMSG(MSG_CLASS_UBX, MSG_POSLLH, 1);
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_STATUS, 1);
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_SOL, 1);
ptWait(_ack_state == UBX_ACK_GOT_ACK);

configureMSG(MSG_CLASS_UBX, MSG_PVT, 1);
ptWait(_ack_state == UBX_ACK_GOT_ACK);
}
configureMSG(MSG_CLASS_UBX, MSG_VELNED, 1);
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_TIMEUTC, 10);
ptWait(_ack_state == UBX_ACK_GOT_ACK);

// Configure data rate
gpsSetProtocolTimeout(GPS_SHORT_TIMEOUT);
if ((gpsState.gpsConfig->provider == GPS_UBLOX7PLUS) && (gpsState.hwVersion >= 70000)) {
configureRATE(100); // 10Hz
}
else {
configureRATE(200); // 5Hz
// This may fail on old UBLOX units, advance forward on both ACK and NAK
configureMSG(MSG_CLASS_UBX, MSG_PVT, 0);
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(200);
ptWait(_ack_state == UBX_ACK_GOT_ACK);
}
// u-Blox 7-8 support PVT
else {
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);

configureMSG(MSG_CLASS_UBX, MSG_SOL, 1);
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_PVT, 1);
ptWait(_ack_state == UBX_ACK_GOT_ACK);

configureMSG(MSG_CLASS_UBX, MSG_SVINFO, 0);
ptWait(_ack_state == UBX_ACK_GOT_ACK);

if ((gpsState.gpsConfig->provider == GPS_UBLOX7PLUS) && (gpsState.hwVersion >= 70000)) {
configureRATE(100); // 10Hz
}
else {
configureRATE(200); // 5Hz
}
ptWait(_ack_state == UBX_ACK_GOT_ACK);
}
}
ptWait(_ack_state == UBX_ACK_GOT_ACK);

// Configure SBAS
// If particular SBAS setting is not supported by the hardware we'll get a NAK,
Expand Down