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Add GPS Profile support. #8515

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96 changes: 91 additions & 5 deletions src/gps/GPS.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -221,6 +221,20 @@ uint8_t GPS::makeCASPacket(uint8_t class_id, uint8_t msg_id, uint8_t payload_siz
return (payload_size + 10);
}

// Create our custom CAS packet, with specified Dynamic Mode from GPS profile
uint8_t GPS::makeCASNAVXPacket(uint8_t dynamicMode)
{
// Base configuration (mutable copy of _message_CAS_CFG_NAVX_CONF)
static uint8_t config[sizeof(_message_CAS_CFG_NAVX_CONF)];
memcpy(config, _message_CAS_CFG_NAVX_CONF, sizeof(_message_CAS_CFG_NAVX_CONF));

// Update Dynamic Mode (index 4)
config[4] = dynamicMode;

// Create CAS packet with updated configuration
return makeCASPacket(0x06, 0x07, sizeof(config), config);
}

GPS_RESPONSE GPS::getACK(const char *message, uint32_t waitMillis)
{
uint8_t buffer[768] = {0};
Expand Down Expand Up @@ -535,8 +549,21 @@ bool GPS::setup()
// only ask for RMC and GGA
_serial_gps->write("$PCAS03,1,0,0,0,1,0,0,0,0,0,,,0,0*02\r\n");
delay(250);
// Switch to Vehicle Mode, since SoftRF enables Aviation < 2g
_serial_gps->write("$PCAS11,3*1E\r\n");

// Set Dynamic Mode based on GPS Profile
if (config.position.gps_profile == meshtastic_Config_PositionConfig_GpsProfile_FIXED_POSITION) {
_serial_gps->write("$PCAS11,1*1C\r\n");
} else if (config.position.gps_profile == meshtastic_Config_PositionConfig_GpsProfile_PEDESTRIAN) {
_serial_gps->write("$PCAS11,2*1F\r\n");
} else if (config.position.gps_profile == meshtastic_Config_PositionConfig_GpsProfile_VEHICLE) {
_serial_gps->write("$PCAS11,3*1E\r\n");
} else if (config.position.gps_profile == meshtastic_Config_PositionConfig_GpsProfile_AIRBORNE) {
_serial_gps->write("$PCAS11,6*1B\r\n");
} else {
// Default to pedestrian mode
_serial_gps->write("$PCAS11,2*1F\r\n");
}

delay(250);
} else if (gnssModel == GNSS_MODEL_MTK_L76B) {
// Waveshare Pico-GPS hat uses the L76B with 9600 baud
Expand All @@ -555,8 +582,19 @@ bool GPS::setup()
// Enable PPS for 2D/3D fix only
_serial_gps->write("$PMTK285,3,100*3F\r\n");
delay(250);
// Switch to Fitness Mode, for running and walking purpose with low speed (<5 m/s)
_serial_gps->write("$PMTK886,1*29\r\n");
// Set Dynamic Mode based on GPS Profile
if (config.position.gps_profile == meshtastic_Config_PositionConfig_GpsProfile_FIXED_POSITION) {
_serial_gps->write("$PMTK886,1*29\r\n"); // No fixed mode, so limit to pedestrian.
} else if (config.position.gps_profile == meshtastic_Config_PositionConfig_GpsProfile_PEDESTRIAN) {
_serial_gps->write("$PMTK886,1*29\r\n");
} else if (config.position.gps_profile == meshtastic_Config_PositionConfig_GpsProfile_VEHICLE) {
_serial_gps->write("$PMTK886,0*28\r\n");
} else if (config.position.gps_profile == meshtastic_Config_PositionConfig_GpsProfile_AIRBORNE) {
_serial_gps->write("$PMTK886,3*2B\r\n"); // technically balloon mode, since Aviation mode has 10 ft cieling
} else {
// Default to Fitness Mode, for running and walking purpose with low speed (<5 m/s)
_serial_gps->write("$PMTK886,1*29\r\n");
}
delay(250);
} else if (gnssModel == GNSS_MODEL_MTK_PA1010D) {
// PA1010D is used in the Pimoroni GPS board.
Expand All @@ -571,6 +609,13 @@ bool GPS::setup()
// Enable SBAS / WAAS
_serial_gps->write("$PMTK301,2*2E\r\n");
delay(250);
// PA1010D doesn't support dynamic modes,
// we set FIXED_POSITION so it doesn't change anything if speed < 2 m/s (maximum value supported)
if (config.position.gps_profile == meshtastic_Config_PositionConfig_GpsProfile_FIXED_POSITION) {
_serial_gps->write("$PMTK386,2.0*3F\r\n");
} else {
_serial_gps->write("$PMTK386,0.0*3C\r\n"); // turn off if we're not in fixed position mode
}
} else if (gnssModel == GNSS_MODEL_MTK_PA1616S) {
// PA1616S is used in some GPS breakout boards from Adafruit
// PA1616S does not have GLONASS capability. PA1616D does, but is not implemented here.
Expand All @@ -583,9 +628,28 @@ bool GPS::setup()
// Enable SBAS / WAAS
_serial_gps->write("$PMTK301,2*2E\r\n");
delay(250);
// PA1616S doesn't support dynamic modes,
// we set FIXED_POSITION so it doesn't change anything if speed < 2 m/s (maximum value supported)
if (config.position.gps_profile == meshtastic_Config_PositionConfig_GpsProfile_FIXED_POSITION) {
_serial_gps->write("$PMTK386,2.0*3F\r\n");
} else {
_serial_gps->write("$PMTK386,0.0*3C\r\n"); // turn off if we're not in fixed position mode
}

} else if (gnssModel == GNSS_MODEL_ATGM336H) {
// Set the intial configuration of the device - these _should_ work for most AT6558 devices
msglen = makeCASPacket(0x06, 0x07, sizeof(_message_CAS_CFG_NAVX_CONF), _message_CAS_CFG_NAVX_CONF);
if (config.position.gps_profile == meshtastic_Config_PositionConfig_GpsProfile_FIXED_POSITION) {
msglen = makeCASNAVXPacket(0x01);
} else if (config.position.gps_profile == meshtastic_Config_PositionConfig_GpsProfile_PEDESTRIAN) {
msglen = makeCASNAVXPacket(0x02);
} else if (config.position.gps_profile == meshtastic_Config_PositionConfig_GpsProfile_VEHICLE) {
msglen = makeCASNAVXPacket(0x03);
} else if (config.position.gps_profile == meshtastic_Config_PositionConfig_GpsProfile_AIRBORNE) {
msglen = makeCASNAVXPacket(0x06); // Airborne <2g acceleration. OK for jets, need 0x07 for rockets.
} else {
// Default to pedestrian mode
msglen = makeCASNAVXPacket(0x02);
}
_serial_gps->write(UBXscratch, msglen);
if (getACKCas(0x06, 0x07, 250) != GNSS_RESPONSE_OK) {
LOG_WARN("ATGM336H: Could not set Config");
Expand Down Expand Up @@ -629,6 +693,13 @@ bool GPS::setup()
delay(250);
_serial_gps->write("$CFGMSG,6,1,0\r\n");
delay(250);
// UC6580 doesn't support dynamic modes (UM620 does - but we've never seen it in the wild),
// we set FIXED_POSITION so it doesn't change anything if speed < 31500 cm/s (maximum value supported)
if (config.position.gps_profile == meshtastic_Config_PositionConfig_GpsProfile_FIXED_POSITION) {
_serial_gps->write("$CFGDYN,h11,0,51500\r\n");
} else {
_serial_gps->write("$CFGDYN,h11,0,0\r\n"); // turn off if we're not in fixed position mode
}
} else if (IS_ONE_OF(gnssModel, GNSS_MODEL_AG3335, GNSS_MODEL_AG3352)) {

if (config.lora.region == meshtastic_Config_LoRaConfig_RegionCode_IN ||
Expand All @@ -652,6 +723,21 @@ bool GPS::setup()

delay(250);
_serial_gps->write("$PAIR513*3D\r\n"); // save configuration

// Set Dynamic Mode based on GPS Profile
if (config.position.gps_profile == meshtastic_Config_PositionConfig_GpsProfile_FIXED_POSITION) {
_serial_gps->write("$PAIR080,4*2A\r\n");
} else if (config.position.gps_profile == meshtastic_Config_PositionConfig_GpsProfile_PEDESTRIAN) {
_serial_gps->write("$PAIR080,1*2F\r\n");
} else if (config.position.gps_profile == meshtastic_Config_PositionConfig_GpsProfile_VEHICLE) {
_serial_gps->write("$PAIR080,0*2E\r\n"); // technically 'normal' mode
} else if (config.position.gps_profile == meshtastic_Config_PositionConfig_GpsProfile_AIRBORNE) {
_serial_gps->write("$PAIR080,3*2D\r\n"); // technically balloon mode
} else {
// Default to pedestrian mode
_serial_gps->write("$PAIR080,1*2F\r\n");
}

} else if (gnssModel == GNSS_MODEL_UBLOX6) {
clearBuffer();
SEND_UBX_PACKET(0x06, 0x02, _message_DISABLE_TXT_INFO, "disable text info messages", 500);
Expand Down
1 change: 1 addition & 0 deletions src/gps/GPS.h
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Original file line number Diff line number Diff line change
Expand Up @@ -201,6 +201,7 @@ class GPS : private concurrency::OSThread
// Create a ublox packet for editing in memory
uint8_t makeUBXPacket(uint8_t class_id, uint8_t msg_id, uint8_t payload_size, const uint8_t *msg);
uint8_t makeCASPacket(uint8_t class_id, uint8_t msg_id, uint8_t payload_size, const uint8_t *msg);
uint8_t makeCASNAVXPacket(uint8_t dynamicMode);

// scratch space for creating ublox packets
uint8_t UBXscratch[250] = {0};
Expand Down
126 changes: 80 additions & 46 deletions src/mesh/NodeDB.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -623,28 +623,7 @@ void NodeDB::installDefaultConfig(bool preserveKey = false)
config.security.private_key.size = 0;
}
config.security.public_key.size = 0;
#ifdef PIN_GPS_EN
config.position.gps_en_gpio = PIN_GPS_EN;
#endif
#if defined(USERPREFS_CONFIG_GPS_MODE)
config.position.gps_mode = USERPREFS_CONFIG_GPS_MODE;
#elif !HAS_GPS || GPS_DEFAULT_NOT_PRESENT
config.position.gps_mode = meshtastic_Config_PositionConfig_GpsMode_NOT_PRESENT;
#elif !defined(GPS_RX_PIN)
if (config.position.rx_gpio == 0)
config.position.gps_mode = meshtastic_Config_PositionConfig_GpsMode_NOT_PRESENT;
else
config.position.gps_mode = meshtastic_Config_PositionConfig_GpsMode_DISABLED;
#else
config.position.gps_mode = meshtastic_Config_PositionConfig_GpsMode_ENABLED;
#endif
#ifdef USERPREFS_CONFIG_SMART_POSITION_ENABLED
config.position.position_broadcast_smart_enabled = USERPREFS_CONFIG_SMART_POSITION_ENABLED;
#else
config.position.position_broadcast_smart_enabled = true;
#endif
config.position.broadcast_smart_minimum_distance = 100;
config.position.broadcast_smart_minimum_interval_secs = 30;

if (config.device.role != meshtastic_Config_DeviceConfig_Role_ROUTER)
config.device.node_info_broadcast_secs = default_node_info_broadcast_secs;
config.security.serial_enabled = true;
Expand Down Expand Up @@ -691,12 +670,6 @@ void NodeDB::installDefaultConfig(bool preserveKey = false)
config.bluetooth.mode = hasScreen ? meshtastic_Config_BluetoothConfig_PairingMode_RANDOM_PIN
: meshtastic_Config_BluetoothConfig_PairingMode_FIXED_PIN;
#endif
// for backward compat, default position flags are ALT+MSL
config.position.position_flags =
(meshtastic_Config_PositionConfig_PositionFlags_ALTITUDE | meshtastic_Config_PositionConfig_PositionFlags_ALTITUDE_MSL |
meshtastic_Config_PositionConfig_PositionFlags_SPEED | meshtastic_Config_PositionConfig_PositionFlags_HEADING |
meshtastic_Config_PositionConfig_PositionFlags_DOP | meshtastic_Config_PositionConfig_PositionFlags_SATINVIEW);

// Set default value for 'Mesh via UDP'
#if HAS_UDP_MULTICAST
#ifdef USERPREFS_NETWORK_ENABLED_PROTOCOLS
Expand Down Expand Up @@ -746,21 +719,11 @@ void NodeDB::installDefaultConfig(bool preserveKey = false)
#endif

initConfigIntervals();
initConfigGPS();
}

void NodeDB::initConfigIntervals()
{
#ifdef USERPREFS_CONFIG_GPS_UPDATE_INTERVAL
config.position.gps_update_interval = USERPREFS_CONFIG_GPS_UPDATE_INTERVAL;
#else
config.position.gps_update_interval = default_gps_update_interval;
#endif
#ifdef USERPREFS_CONFIG_POSITION_BROADCAST_INTERVAL
config.position.position_broadcast_secs = USERPREFS_CONFIG_POSITION_BROADCAST_INTERVAL;
#else
config.position.position_broadcast_secs = default_broadcast_interval_secs;
#endif

config.power.ls_secs = default_ls_secs;
config.power.min_wake_secs = default_min_wake_secs;
config.power.sds_secs = default_sds_secs;
Expand All @@ -775,6 +738,77 @@ void NodeDB::initConfigIntervals()
#endif
}

void NodeDB::initConfigGPS()
{
#ifdef PIN_GPS_EN
config.position.gps_en_gpio = PIN_GPS_EN;
#endif
#if defined(USERPREFS_CONFIG_GPS_MODE)
config.position.gps_mode = USERPREFS_CONFIG_GPS_MODE;
#elif !HAS_GPS || GPS_DEFAULT_NOT_PRESENT
config.position.gps_mode = meshtastic_Config_PositionConfig_GpsMode_NOT_PRESENT;
#elif !defined(GPS_RX_PIN)
if (config.position.rx_gpio == 0)
config.position.gps_mode = meshtastic_Config_PositionConfig_GpsMode_NOT_PRESENT;
else
config.position.gps_mode = meshtastic_Config_PositionConfig_GpsMode_DISABLED;
#else
config.position.gps_mode = meshtastic_Config_PositionConfig_GpsMode_ENABLED;
#endif
#ifdef USERPREFS_CONFIG_SMART_POSITION_ENABLED
config.position.position_broadcast_smart_enabled = USERPREFS_CONFIG_SMART_POSITION_ENABLED;
#else
config.position.position_broadcast_smart_enabled = true;
#endif

const uint32_t base_flags =
(meshtastic_Config_PositionConfig_PositionFlags_DOP | meshtastic_Config_PositionConfig_PositionFlags_SATINVIEW |
meshtastic_Config_PositionConfig_PositionFlags_ALTITUDE);

if (config.position.gps_profile == meshtastic_Config_PositionConfig_GpsProfile_FIXED_POSITION ||
IS_ONE_OF(config.device.role, meshtastic_Config_DeviceConfig_Role_ROUTER, meshtastic_Config_DeviceConfig_Role_ROUTER_LATE,
meshtastic_Config_DeviceConfig_Role_CLIENT_BASE)) {
config.position.position_flags = base_flags;
config.position.position_broadcast_smart_enabled = false;
config.position.position_broadcast_secs = ONE_DAY / 2;
} else if (config.position.gps_profile == meshtastic_Config_PositionConfig_GpsProfile_PEDESTRIAN) {
config.position.position_flags = (base_flags | meshtastic_Config_PositionConfig_PositionFlags_SPEED |
meshtastic_Config_PositionConfig_PositionFlags_HEADING);
config.position.broadcast_smart_minimum_distance = 50;
config.position.broadcast_smart_minimum_interval_secs = 60;
config.position.position_broadcast_secs = 900;
} else if (config.position.gps_profile == meshtastic_Config_PositionConfig_GpsProfile_VEHICLE) {

config.position.position_flags = (base_flags | meshtastic_Config_PositionConfig_PositionFlags_SPEED |
meshtastic_Config_PositionConfig_PositionFlags_HEADING);
config.position.broadcast_smart_minimum_distance = 500;
config.position.broadcast_smart_minimum_interval_secs = 120;
config.position.position_broadcast_secs = 900;
} else if (config.position.gps_profile == meshtastic_Config_PositionConfig_GpsProfile_AIRBORNE) {
config.position.position_flags =
(base_flags | meshtastic_Config_PositionConfig_PositionFlags_ALTITUDE_MSL |
meshtastic_Config_PositionConfig_PositionFlags_GEOIDAL_SEPARATION |
meshtastic_Config_PositionConfig_PositionFlags_SPEED | meshtastic_Config_PositionConfig_PositionFlags_HEADING);
config.position.broadcast_smart_minimum_distance = 200;
config.position.broadcast_smart_minimum_interval_secs = 60;
config.position.position_broadcast_secs = 900;

} else { // original settings
config.position.position_flags =
(base_flags | meshtastic_Config_PositionConfig_PositionFlags_ALTITUDE_MSL |
meshtastic_Config_PositionConfig_PositionFlags_SPEED | meshtastic_Config_PositionConfig_PositionFlags_HEADING);
config.position.broadcast_smart_minimum_distance = 100;
config.position.broadcast_smart_minimum_interval_secs = 30;
config.position.position_broadcast_secs = 900;
}
#ifdef USERPREFS_CONFIG_GPS_UPDATE_INTERVAL
config.position.gps_update_interval = USERPREFS_CONFIG_GPS_UPDATE_INTERVAL;
#endif
#ifdef USERPREFS_CONFIG_POSITION_BROADCAST_INTERVAL
config.position.position_broadcast_secs = USERPREFS_CONFIG_POSITION_BROADCAST_INTERVAL;
#endif
}

void NodeDB::installDefaultModuleConfig()
{
LOG_INFO("Install default ModuleConfig");
Expand Down Expand Up @@ -905,6 +939,7 @@ void NodeDB::installRoleDefaults(meshtastic_Config_DeviceConfig_Role role)
if (role == meshtastic_Config_DeviceConfig_Role_ROUTER) {
initConfigIntervals();
initModuleConfigIntervals();
initConfigGPS();
moduleConfig.telemetry.device_update_interval = default_telemetry_broadcast_interval_secs;
config.device.rebroadcast_mode = meshtastic_Config_DeviceConfig_RebroadcastMode_CORE_PORTNUMS_ONLY;
owner.has_is_unmessagable = true;
Expand Down Expand Up @@ -1214,11 +1249,10 @@ void NodeDB::loadFromDisk()
&meshtastic_DeviceState_msg, &devicestate);

// See https://github.com/meshtastic/firmware/issues/4184#issuecomment-2269390786
// It is very important to try and use the saved prefs even if we fail to read meshtastic_DeviceState. Because most of our
// critical config may still be valid (in the other files - loaded next).
// Also, if we did fail on reading we probably failed on the enormous (and non critical) nodeDB. So DO NOT install default
// device state.
// if (state != LoadFileResult::LOAD_SUCCESS) {
// It is very important to try and use the saved prefs even if we fail to read meshtastic_DeviceState. Because most of
// our critical config may still be valid (in the other files - loaded next). Also, if we did fail on reading we probably
// failed on the enormous (and non critical) nodeDB. So DO NOT install default device state. if (state !=
// LoadFileResult::LOAD_SUCCESS) {
// installDefaultDeviceState(); // Our in RAM copy might now be corrupt
//} else {
if ((state != LoadFileResult::LOAD_SUCCESS) || (devicestate.version < DEVICESTATE_MIN_VER)) {
Expand Down Expand Up @@ -1829,8 +1863,8 @@ bool NodeDB::isFromOrToFavoritedNode(const meshtastic_MeshPacket &p)
if (seenFrom && seenTo)
return false; // we've seen both, and neither is a favorite, so we can stop searching early

// Note: if we knew that sortMeshDB was always called after any change to is_favorite, we could exit early after searching
// all favorited nodes first.
// Note: if we knew that sortMeshDB was always called after any change to is_favorite, we could exit early after
// searching all favorited nodes first.
}

return false;
Expand Down
2 changes: 1 addition & 1 deletion src/mesh/NodeDB.h
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Original file line number Diff line number Diff line change
Expand Up @@ -229,7 +229,7 @@ class NodeDB
*/
size_t getNumOnlineMeshNodes(bool localOnly = false);

void initConfigIntervals(), initModuleConfigIntervals(), resetNodes(), removeNodeByNum(NodeNum nodeNum);
void initConfigIntervals(), initModuleConfigIntervals(), initConfigGPS(), resetNodes(), removeNodeByNum(NodeNum nodeNum);

bool factoryReset(bool eraseBleBonds = false);

Expand Down
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