GPS - UBX Parsing OK

Author: brentru

src/components/gps/controller.cpp

@@ -165,6 +165,7 @@ void GPSController::update() {
 
   for (GPSHardware *drv : _gps_drivers) {
     // Get the GPS driver interface from the hardware instance
+    WS_DEBUG_PRINTLN("[gps] Updating GPS driver...");
     Adafruit_GPS *ada_gps = nullptr;
     if (drv->GetDriverType() == GPS_DRV_MTK) {
       // Interface shouldn't matter here because we already set it up in the
@@ -175,6 +176,13 @@ void GPSController::update() {
             "[gps] ERROR: Can't read - GPS instance not initialized!");
         continue;
       }
+    } else if (drv->GetDriverType() == GPS_DRV_UBLOX) {
+      SFE_UBLOX_GNSS *sfe_gps = drv->GetUbxGps();
+      if (sfe_gps == nullptr) {
+        WS_DEBUG_PRINTLN(
+            "[gps] ERROR: Can't read - UBLOX instance not initialized!");
+        continue;
+      }
     } else {
       WS_DEBUG_PRINTLN(
           "[gps] ERROR: Unsupported GPS driver type, skipping update()!");

src/components/gps/hardware.cpp

@@ -106,36 +106,54 @@ bool GPSHardware::Handle_GPSConfig(wippersnapper_gps_GPSConfig *gps_config) {
     WS_DEBUG_PRINTLN("[gps] Handling GPSConfig for U-Blox driver...");
     // Iterate through the command sentences and send them to the GPS module
     for (size_t i = 0; i < gps_config->commands_ubxes_count; i++) {
+      I2cReadDiscard();
+      // Write this to the GPS module
       // TODO - We are just printing here to debug
-      WS_DEBUG_PRINT("[gps] UBX CMD #: ");
+      WS_DEBUG_PRINT("[gps] Sending UBX CMD #: ");
       WS_DEBUG_PRINTLN(i);
-      WS_DEBUG_PRINT("[gps] UBX CMDSZ: ");
+      WS_DEBUG_PRINT("\tUBX CMDSZ: ");
       WS_DEBUG_PRINTLN(gps_config->commands_ubxes[i].size);
-      WS_DEBUG_PRINT("[gps] UBX CMD (HEX, spaced out): ");
-      for (pb_size_t i = 0; i < gps_config->commands_ubxes[i].size; i++) {
-        WS_DEBUG_PRINT(gps_config->commands_ubxes[i].bytes[i], HEX);
+      WS_DEBUG_PRINT("\tUBX CMD: ");
+      for (pb_size_t j = 0; j < gps_config->commands_ubxes[i].size; j++) {
+        WS_DEBUG_PRINT(gps_config->commands_ubxes[i].bytes[j], HEX);
         WS_DEBUG_PRINT(" ");
       }
-      // TODO: Push these to the module and ACK
-      WS_DEBUG_PRINT("[gps] Flushing I2C buffers befor send...");
-      I2cReadDiscard();
-      WS_DEBUG_PRINTLN(" done!");
-      // Write this to the GPS module
-      WS_DEBUG_PRINT("[gps] TX'ing");
-      _sfe_gps->pushRawData(
-          gps_config->commands_ubxes[i].bytes,
-          gps_config->commands_ubxes[i].size);
-      WS_DEBUG_PRINTLN(" done!");
+      if (!_sfe_gps->pushRawData(gps_config->commands_ubxes[i].bytes,
+                                 gps_config->commands_ubxes[i].size)) {
+        WS_DEBUG_PRINTLN("[gps] ERROR: Failed to push bytes to module!");
+        return false;
+      }
+      WS_DEBUG_PRINTLN("Sent!");
       // Wait for the ACK response from the GPS module
-/*       WS_DEBUG_PRINT("[gps] Waiting for ACK response...");
-      ulong start_time = millis();
-      while (millis() - start_time < 1000) {
-        _sfe_gps->checkUblox(); //See if new data is available. Process bytes as they come in.
-        if (_sfe_gps->processedAck()) {
-          WS_DEBUG_PRINTLN(" done!");
-          break; // Exit the loop if ACK is received
-        }
-      } */
+      // Build a dummy packet for the ACK response
+      uint8_t payloadAck[2];
+      ubxPacket packetAck = {0,
+                             0,
+                             0,
+                             0,
+                             0,
+                             payloadAck,
+                             0,
+                             0,
+                             SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED,
+                             SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED};
+      uint8_t cmdClass = gps_config->commands_ubxes[i].bytes[2];
+      uint8_t cmdId = gps_config->commands_ubxes[i].bytes[3];
+
+      // Wait for ACK response with timeout
+      sfe_ublox_status_e rc =
+          _sfe_gps->waitForACKResponse(&packetAck, cmdClass, cmdId, 1000);
+      WS_DEBUG_PRINT("waitForACKResponse res: ");
+      WS_DEBUG_PRINTLN(rc);
+      if (rc == SFE_UBLOX_STATUS_DATA_RECEIVED ||
+          rc == SFE_UBLOX_STATUS_DATA_SENT) {
+        WS_DEBUG_PRINTLN("UBX RX'd!");
+        // TODO: We don't need this, we can just check rc != above instead of ==
+        // and handle that case only
+      } else {
+        WS_DEBUG_PRINTLN("UBX timeout or error!");
+        return false;
+      }
     }
   } else {
     WS_DEBUG_PRINTLN("[gps] ERROR: Unsupported GPS driver type!");
@@ -191,7 +209,7 @@ bool GPSHardware::begin() {
     WS_DEBUG_PRINTLN("[gps] ERROR: Failed to query GPS module type!");
     return false;
   }
-  WS_DEBUG_PRINTLN("[gps] Module detected, ready for commands_pmtks!");
+  WS_DEBUG_PRINTLN("[gps] Module detected and ready!");
   return true;
 }
 
@@ -229,10 +247,18 @@ bool GPSHardware::DetectUbxI2C(uint32_t addr) {
   if (!_sfe_gps->begin(*_wire, _addr))
     return false;
   // Configure the u-blox GPS module
-  _sfe_gps->setI2COutput(COM_TYPE_UBX | COM_TYPE_NMEA); //Set the I2C port to output both NMEA and UBX messages
-  _sfe_gps->saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
-  _sfe_gps->setProcessNMEAMask(SFE_UBLOX_FILTER_NMEA_ALL); // Make sure the library is passing all NMEA messages to processNMEA
-  _sfe_gps->setProcessNMEAMask(SFE_UBLOX_FILTER_NMEA_GGA); // Or, we can be kind to MicroNMEA and _only_ pass the GGA messages to it
+  _sfe_gps->setI2COutput(
+      COM_TYPE_UBX |
+      COM_TYPE_NMEA); // Set the I2C port to output both NMEA and UBX messages
+  _sfe_gps->saveConfigSelective(
+      VAL_CFG_SUBSEC_IOPORT); // Save (only) the communications port settings to
+                              // flash and BBR
+  _sfe_gps->setProcessNMEAMask(
+      SFE_UBLOX_FILTER_NMEA_ALL); // Make sure the library is passing all NMEA
+                                  // messages to processNMEA
+  _sfe_gps->setProcessNMEAMask(
+      SFE_UBLOX_FILTER_NMEA_GGA); // Or, we can be kind to MicroNMEA and _only_
+                                  // pass the GGA messages to it
   _driver_type = GPS_DRV_UBLOX;
   return true;
 }
@@ -243,7 +269,7 @@ bool GPSHardware::DetectUbxI2C(uint32_t addr) {
  * @returns True if the driver type was detected successfully, False otherwise.
  */
 bool GPSHardware::QueryModuleType() {
-  WS_DEBUG_PRINTLN("[gps] Attempting to detect GPS module type...");
+  WS_DEBUG_PRINTLN("[gps] Detecting module type...");
   if (_iface_type == GPS_IFACE_UART_HW) {
     // Try to detect MediaTek GPS module
     if (DetectMtkUart()) {
@@ -407,6 +433,12 @@ ulong GPSHardware::GetPollPeriodPrv() { return _period_prv; }
  */
 Adafruit_GPS *GPSHardware::GetAdaGps() { return _ada_gps; }
 
+/*!
+ * @brief Returns the SFE_UBLOX_GNSS instance.
+ * @returns Pointer to the SFE_UBLOX_GNSS instance.
+ */
+SFE_UBLOX_GNSS *GPSHardware::GetUbxGps() { return _sfe_gps; }
+
 /*!
  * @brief Sets the NMEA update rate for GPS data.
  * @param nmea_update_rate

src/components/gps/hardware.h

@@ -74,6 +74,7 @@ class GPSHardware {
   void SetI2CAddress(uint32_t i2c_address);
   bool Handle_GPSConfig(wippersnapper_gps_GPSConfig *gps_config);
   Adafruit_GPS *GetAdaGps();
+  SFE_UBLOX_GNSS *GetUbxGps();
   GpsDriverType GetDriverType();
   GpsInterfaceType GetIfaceType();
   void I2cReadDiscard();

src/protos/gps.pb.c

@@ -6,7 +6,7 @@
 #error Regenerate this file with the current version of nanopb generator.
 #endif
 
-PB_BIND(wippersnapper_gps_GPSConfig, wippersnapper_gps_GPSConfig, 4)
+PB_BIND(wippersnapper_gps_GPSConfig, wippersnapper_gps_GPSConfig, 2)
 
 
 PB_BIND(wippersnapper_gps_GPSDateTime, wippersnapper_gps_GPSDateTime, AUTO)

src/protos/gps.pb.h

@@ -10,17 +10,17 @@
 #endif
 
 /* Struct definitions */
-typedef PB_BYTES_ARRAY_T(512) wippersnapper_gps_GPSConfig_commands_ubxes_t;
+typedef PB_BYTES_ARRAY_T(128) wippersnapper_gps_GPSConfig_commands_ubxes_t;
 /* *
  GPSConfig represents a message containing configuration data to set up and configure a GPS.
  Since GPS devices can output lots of data, this message allows users to select which data they want to receive
  and a resulting command string to initialize the GPS device with the selected options will be generated. */
 typedef struct _wippersnapper_gps_GPSConfig {
     /* NOTE:  Baud rate is not included here as it is included in the UartAdd->UartSerialConfig message. */
     pb_size_t commands_pmtks_count;
-    char commands_pmtks[16][90]; /* * List of PMTK commands in string format. * */
+    char commands_pmtks[8][90]; /* * List of PMTK commands in string format. * */
     pb_size_t commands_ubxes_count;
-    wippersnapper_gps_GPSConfig_commands_ubxes_t commands_ubxes[16]; /* * List of UBX commands in bytes format. * */
+    wippersnapper_gps_GPSConfig_commands_ubxes_t commands_ubxes[8]; /* * List of UBX commands in bytes format. * */
     int32_t period; /* * Desired period to poll the GPS module, in milliseconds */
 } wippersnapper_gps_GPSConfig;
 
@@ -77,12 +77,12 @@ extern "C" {
 #endif
 
 /* Initializer values for message structs */
-#define wippersnapper_gps_GPSConfig_init_default {0, {"", "", "", "", "", "", "", "", "", "", "", "", "", "", "", ""}, 0, {{0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}}, 0}
+#define wippersnapper_gps_GPSConfig_init_default {0, {"", "", "", "", "", "", "", ""}, 0, {{0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}}, 0}
 #define wippersnapper_gps_GPSDateTime_init_default {0, 0, 0, 0, 0, 0, 0}
 #define wippersnapper_gps_GPSRMCResponse_init_default {false, wippersnapper_gps_GPSDateTime_init_default, "", "", "", "", "", "", ""}
 #define wippersnapper_gps_GPGGAResponse_init_default {false, wippersnapper_gps_GPSDateTime_init_default, "", "", "", "", 0, 0, "", "", ""}
 #define wippersnapper_gps_GPSEvent_init_default  {0, {wippersnapper_gps_GPSRMCResponse_init_default, wippersnapper_gps_GPSRMCResponse_init_default, wippersnapper_gps_GPSRMCResponse_init_default, wippersnapper_gps_GPSRMCResponse_init_default, wippersnapper_gps_GPSRMCResponse_init_default, wippersnapper_gps_GPSRMCResponse_init_default, wippersnapper_gps_GPSRMCResponse_init_default, wippersnapper_gps_GPSRMCResponse_init_default, wippersnapper_gps_GPSRMCResponse_init_default, wippersnapper_gps_GPSRMCResponse_init_default}, 0, {wippersnapper_gps_GPGGAResponse_init_default, wippersnapper_gps_GPGGAResponse_init_default, wippersnapper_gps_GPGGAResponse_init_default, wippersnapper_gps_GPGGAResponse_init_default, wippersnapper_gps_GPGGAResponse_init_default, wippersnapper_gps_GPGGAResponse_init_default, wippersnapper_gps_GPGGAResponse_init_default, wippersnapper_gps_GPGGAResponse_init_default, wippersnapper_gps_GPGGAResponse_init_default, wippersnapper_gps_GPGGAResponse_init_default}}
-#define wippersnapper_gps_GPSConfig_init_zero    {0, {"", "", "", "", "", "", "", "", "", "", "", "", "", "", "", ""}, 0, {{0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}}, 0}
+#define wippersnapper_gps_GPSConfig_init_zero    {0, {"", "", "", "", "", "", "", ""}, 0, {{0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}, {0, {0}}}, 0}
 #define wippersnapper_gps_GPSDateTime_init_zero  {0, 0, 0, 0, 0, 0, 0}
 #define wippersnapper_gps_GPSRMCResponse_init_zero {false, wippersnapper_gps_GPSDateTime_init_zero, "", "", "", "", "", "", ""}
 #define wippersnapper_gps_GPGGAResponse_init_zero {false, wippersnapper_gps_GPSDateTime_init_zero, "", "", "", "", 0, 0, "", "", ""}
@@ -189,9 +189,9 @@ extern const pb_msgdesc_t wippersnapper_gps_GPSEvent_msg;
 #define wippersnapper_gps_GPSEvent_fields &wippersnapper_gps_GPSEvent_msg
 
 /* Maximum encoded size of messages (where known) */
-#define WIPPERSNAPPER_GPS_GPS_PB_H_MAX_SIZE      wippersnapper_gps_GPSConfig_size
+#define WIPPERSNAPPER_GPS_GPS_PB_H_MAX_SIZE      wippersnapper_gps_GPSEvent_size
 #define wippersnapper_gps_GPGGAResponse_size     168
-#define wippersnapper_gps_GPSConfig_size         9707
+#define wippersnapper_gps_GPSConfig_size         1787
 #define wippersnapper_gps_GPSDateTime_size       77
 #define wippersnapper_gps_GPSEvent_size          3130
 #define wippersnapper_gps_GPSRMCResponse_size    139

src/protos/i2c.pb.c

@@ -18,7 +18,7 @@ PB_BIND(wippersnapper_i2c_I2cBusScan, wippersnapper_i2c_I2cBusScan, AUTO)
 PB_BIND(wippersnapper_i2c_I2cBusScanned, wippersnapper_i2c_I2cBusScanned, 4)
 
 
-PB_BIND(wippersnapper_i2c_I2cDeviceAddOrReplace, wippersnapper_i2c_I2cDeviceAddOrReplace, 4)
+PB_BIND(wippersnapper_i2c_I2cDeviceAddOrReplace, wippersnapper_i2c_I2cDeviceAddOrReplace, 2)
 
 
 PB_BIND(wippersnapper_i2c_I2cDeviceAddedOrReplaced, wippersnapper_i2c_I2cDeviceAddedOrReplaced, AUTO)

src/protos/i2c.pb.h

@@ -345,11 +345,11 @@ extern const pb_msgdesc_t wippersnapper_i2c_I2cDeviceOutputWrite_msg;
 #define wippersnapper_i2c_I2cDeviceOutputWrite_fields &wippersnapper_i2c_I2cDeviceOutputWrite_msg
 
 /* Maximum encoded size of messages (where known) */
-#define WIPPERSNAPPER_I2C_I2C_PB_H_MAX_SIZE      wippersnapper_i2c_I2cDeviceAddOrReplace_size
+#define WIPPERSNAPPER_I2C_I2C_PB_H_MAX_SIZE      wippersnapper_i2c_I2cBusScanned_size
 #define wippersnapper_i2c_I2cBusDescriptor_size  32
 #define wippersnapper_i2c_I2cBusScan_size        42
 #define wippersnapper_i2c_I2cBusScanned_size     6242
-#define wippersnapper_i2c_I2cDeviceAddOrReplace_size 9837
+#define wippersnapper_i2c_I2cDeviceAddOrReplace_size 1917
 #define wippersnapper_i2c_I2cDeviceAddedOrReplaced_size 56
 #define wippersnapper_i2c_I2cDeviceDescriptor_size 50
 #define wippersnapper_i2c_I2cDeviceOutputWrite_size 569

src/protos/signal.pb.c

@@ -6,7 +6,7 @@
 #error Regenerate this file with the current version of nanopb generator.
 #endif
 
-PB_BIND(wippersnapper_signal_BrokerToDevice, wippersnapper_signal_BrokerToDevice, 4)
+PB_BIND(wippersnapper_signal_BrokerToDevice, wippersnapper_signal_BrokerToDevice, 2)
 
 
 PB_BIND(wippersnapper_signal_DeviceToBroker, wippersnapper_signal_DeviceToBroker, 4)

src/protos/signal.pb.h

@@ -271,7 +271,7 @@ extern const pb_msgdesc_t wippersnapper_signal_DeviceToBroker_msg;
 
 /* Maximum encoded size of messages (where known) */
 #if defined(wippersnapper_digitalio_DigitalIOEvent_size) && defined(wippersnapper_digitalio_DigitalIOWrite_size) && defined(wippersnapper_uart_UartAdd_size) && defined(wippersnapper_uart_UartWrite_size)
-union wippersnapper_signal_BrokerToDevice_payload_size_union {char f12[(6 + wippersnapper_digitalio_DigitalIOEvent_size)]; char f13[(6 + wippersnapper_digitalio_DigitalIOWrite_size)]; char f80[(7 + wippersnapper_uart_UartAdd_size)]; char f82[(7 + wippersnapper_uart_UartWrite_size)]; char f0[9841];};
+union wippersnapper_signal_BrokerToDevice_payload_size_union {char f12[(6 + wippersnapper_digitalio_DigitalIOEvent_size)]; char f13[(6 + wippersnapper_digitalio_DigitalIOWrite_size)]; char f80[(7 + wippersnapper_uart_UartAdd_size)]; char f82[(7 + wippersnapper_uart_UartWrite_size)]; char f0[1921];};
 #endif
 #if defined(wippersnapper_digitalio_DigitalIOEvent_size) && defined(wippersnapper_analogio_AnalogIOEvent_size) && defined(wippersnapper_ds18x20_Ds18x20Event_size) && defined(wippersnapper_uart_UartInputEvent_size) && defined(wippersnapper_i2c_I2cDeviceEvent_size)
 union wippersnapper_signal_DeviceToBroker_payload_size_union {char f10[(6 + wippersnapper_digitalio_DigitalIOEvent_size)]; char f20[(7 + wippersnapper_analogio_AnalogIOEvent_size)]; char f80[(7 + wippersnapper_ds18x20_Ds18x20Event_size)]; char f92[(7 + wippersnapper_uart_UartInputEvent_size)]; char f113[(7 + wippersnapper_i2c_I2cDeviceEvent_size)]; char f0[6246];};

src/protos/uart.pb.c

@@ -18,10 +18,10 @@ PB_BIND(wippersnapper_uart_TrinamicDynamixelConfig, wippersnapper_uart_TrinamicD
 PB_BIND(wippersnapper_uart_PM25AQIConfig, wippersnapper_uart_PM25AQIConfig, AUTO)
 
 
-PB_BIND(wippersnapper_uart_UartDeviceConfig, wippersnapper_uart_UartDeviceConfig, 4)
+PB_BIND(wippersnapper_uart_UartDeviceConfig, wippersnapper_uart_UartDeviceConfig, 2)
 
 
-PB_BIND(wippersnapper_uart_UartAdd, wippersnapper_uart_UartAdd, 4)
+PB_BIND(wippersnapper_uart_UartAdd, wippersnapper_uart_UartAdd, 2)
 
 
 PB_BIND(wippersnapper_uart_UartAdded, wippersnapper_uart_UartAdded, AUTO)