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AP_GPS: support newer M10 versions with L1L5

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This commit is contained in:
Andrew Tridgell 2024-01-21 10:46:50 +11:00
parent 6aaf6883ef
commit 754d3df304
1 changed files with 27 additions and 10 deletions
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37
libraries/AP_GPS/AP_GPS_UBLOX.cpp
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@ -50,6 +50,9 @@
// use this to enable debugging of moving baseline configs
#define UBLOX_MB_DEBUGGING 0
// debug VALGET/VALSET configuration
#define UBLOX_CFG_DEBUGGING 0
extern const AP_HAL::HAL& hal;
#if UBLOX_DEBUGGING
@ -78,6 +81,19 @@ extern const AP_HAL::HAL& hal;
# define MB_Debug(fmt, args ...)
#endif
#if UBLOX_CFG_DEBUGGING
#if defined(HAL_BUILD_AP_PERIPH)
extern "C" {
void can_printf(const char *fmt, ...);
}
# define CFG_Debug(fmt, args ...) do {can_printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args);} while(0)
#else
# define CFG_Debug(fmt, args ...) do {hal.console->printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); hal.scheduler->delay(1); } while(0)
#endif
#else
# define CFG_Debug(fmt, args ...)
#endif
AP_GPS_UBLOX::AP_GPS_UBLOX(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port, AP_GPS::GPS_Role _role) :
AP_GPS_Backend(_gps, _state, _port),
_next_message(STEP_PVT),
@ -1031,13 +1047,13 @@ AP_GPS_UBLOX::_parse_gps(void)
likely this device does not support fetching multiple keys at once, go one at a time
*/
if (active_config.fetch_index == -1) {
Debug("NACK starting %u", unsigned(active_config.count));
CFG_Debug("NACK starting %u", unsigned(active_config.count));
active_config.fetch_index = 0;
} else {
// the device does not support the config key we asked for,
// consider the bit as done
active_config.done_mask |= (1U<<active_config.fetch_index);
Debug("NACK %d 0x%x done=0x%x",
CFG_Debug("NACK %d 0x%x done=0x%x",
int(active_config.fetch_index),
unsigned(active_config.list[active_config.fetch_index].key),
unsigned(active_config.done_mask));
@ -1279,9 +1295,10 @@ AP_GPS_UBLOX::_parse_gps(void)
_cfg_needs_save = true;
} else {
active_config.done_mask |= (1U << cfg_idx);
Debug("done %u mask=0x%x",
unsigned(cfg_idx),
unsigned(active_config.done_mask));
CFG_Debug("done %u mask=0x%x all_mask=0x%x",
unsigned(cfg_idx),
unsigned(active_config.done_mask),
(1U<<active_config.count)-1);
if (active_config.done_mask == (1U<<active_config.count)-1) {
// all done!
_unconfigured_messages &= ~active_config.unconfig_bit;
@ -1293,7 +1310,7 @@ AP_GPS_UBLOX::_parse_gps(void)
active_config.fetch_index++;
if (active_config.fetch_index < active_config.count) {
_configure_valget(active_config.list[active_config.fetch_index].key);
Debug("valget %d 0x%x", int(active_config.fetch_index),
CFG_Debug("valget %d 0x%x", int(active_config.fetch_index),
unsigned(active_config.list[active_config.fetch_index].key));
}
}
@ -1352,10 +1369,10 @@ AP_GPS_UBLOX::_parse_gps(void)
}
// check for M10
if (strncmp(_version.hwVersion, "000A0000", 8) == 0) {
if (strncmp(_version.swVersion, "ROM SPG 5", 9) == 0) {
_hardware_generation = UBLOX_M10;
_unconfigured_messages |= CONFIG_M10;
}
_hardware_generation = UBLOX_M10;
_unconfigured_messages |= CONFIG_M10;
// M10 does not support CONFIG_GNSS
_unconfigured_messages &= ~CONFIG_GNSS;
check_L1L5 = true;
}
if (check_L1L5) {