Fixes for GPS support on RAK boards #3051
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@@ -160,38 +160,71 @@ static Adafruit_VL53L0X VL53L0X; | |
| static RAK12035_SoilMoisture RAK12035; | ||
| #endif | ||
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| #ifdef ENV_INCLUDE_RAK12500 | ||
| static bool i2cGPSFlag = false; | ||
| static bool serialGPSFlag = false; | ||
| #ifndef TELEM_RAK12500_ADDRESS | ||
| #define TELEM_RAK12500_ADDRESS 0x42 // RAK12500 u-blox ZOE-M8Q GPS via i2c | ||
| #endif | ||
| #include <SparkFun_u-blox_GNSS_Arduino_Library.h> | ||
| static SFE_UBLOX_GNSS ublox_GNSS; // RAK12500 u-blox ZOE-M8Q GPS via UART | ||
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| class UbloxLocationProvider : public LocationProvider { | ||
| long _lat = 0; | ||
| long _lng = 0; | ||
| long _alt = 0; | ||
| int _sats = 0; | ||
| long _epoch = 0; | ||
| bool _initialised = false; | ||
| bool _fix = false; | ||
| public: | ||
| void setRTC(mesh::RTCClock* clock) { | ||
| _clock = clock; | ||
| } | ||
| long getLatitude() override { return _lat; } | ||
| long getLongitude() override { return _lng; } | ||
| long getAltitude() override { return _alt; } | ||
| long satellitesCount() override { return _sats; } | ||
| bool isValid() override { | ||
| return _initialised && _fix; | ||
| } | ||
| long getTimestamp() override { return _epoch; } | ||
| void sendSentence(const char * sentence) override { } | ||
| void reset() override { } | ||
| void configure() override { | ||
| // Disable NMEA output (the ublox library can use the more efficient proprietary UBX protocol) | ||
| ublox_GNSS.setI2COutput(COM_TYPE_UBX); | ||
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| // Configure constellations | ||
| ublox_GNSS.enableGNSS(true, SFE_UBLOX_GNSS_ID_GPS); | ||
| ublox_GNSS.enableGNSS(true, SFE_UBLOX_GNSS_ID_GALILEO); | ||
| ublox_GNSS.enableGNSS(true, SFE_UBLOX_GNSS_ID_GLONASS); | ||
| ublox_GNSS.enableGNSS(true, SFE_UBLOX_GNSS_ID_SBAS); | ||
| ublox_GNSS.enableGNSS(true, SFE_UBLOX_GNSS_ID_BEIDOU); | ||
| ublox_GNSS.enableGNSS(true, SFE_UBLOX_GNSS_ID_IMES); | ||
| ublox_GNSS.enableGNSS(true, SFE_UBLOX_GNSS_ID_QZSS); | ||
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| ublox_GNSS.setAopCfg(1); // Enable AssistNow Autonomous for faster positioning | ||
| ublox_GNSS.setMeasurementRate(1000); // Take one measurement per second | ||
| ublox_GNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); | ||
| } | ||
| void begin() override { | ||
| pinMode(PIN_3V3_EN, OUTPUT); | ||
| digitalWrite(PIN_3V3_EN, HIGH); | ||
| } | ||
| void stop() override { | ||
| #ifdef ETHERNET_ENABLED | ||
| MESH_DEBUG_PRINTLN("GPS cannot be disabled as this would also disable Ethernet."); | ||
| return; | ||
| #endif | ||
| #ifdef SKY66122 | ||
| MESH_DEBUG_PRINTLN("GPS cannot be disabled as this would also disable SKY66122."); | ||
| return; | ||
| #endif | ||
| pinMode(PIN_3V3_EN, OUTPUT); | ||
| digitalWrite(PIN_3V3_EN, LOW); | ||
| return; | ||
| } | ||
| void loop() override { | ||
| if (ublox_GNSS.getGnssFixOk(8)) { | ||
| _fix = true; | ||
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@@ -201,13 +234,21 @@ class RAK12500LocationProvider : public LocationProvider { | |
| _sats = ublox_GNSS.getSIV(2); | ||
| } else { | ||
| _fix = false; | ||
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| // When the ublox GPS first turns on, GNSS fix reads ok | ||
| // until it realises it doesn't actually have a fix. | ||
| // So we need to wait until fix reads false at least | ||
| // once before we can trust a read of "true". | ||
| _initialised = true; | ||
| } | ||
| _epoch = ublox_GNSS.getUnixEpoch(2); | ||
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| _syncTimeIfNeeded(); | ||
| } | ||
| bool isEnabled() override { return true; } | ||
| }; | ||
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| static UbloxLocationProvider ublox_provider; | ||
| #endif | ||
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| // ============================================================ | ||
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@@ -614,7 +655,7 @@ static const size_t SENSOR_TABLE_SIZE = (sizeof(SENSOR_TABLE) / sizeof(SENSOR_TA | |
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| bool EnvironmentSensorManager::begin() { | ||
| #if ENV_INCLUDE_GPS | ||
| #ifdef ENV_INCLUDE_RAK12500 | ||
| rakGPSInit(); | ||
| #else | ||
| initBasicGPS(); | ||
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@@ -731,7 +772,6 @@ bool EnvironmentSensorManager::setSettingValue(const char* name, const char* val | |
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| #if ENV_INCLUDE_GPS | ||
| void EnvironmentSensorManager::initBasicGPS() { | ||
| Serial1.setPins(PIN_GPS_TX, PIN_GPS_RX); | ||
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| #ifdef GPS_BAUD_RATE | ||
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@@ -760,6 +800,7 @@ void EnvironmentSensorManager::initBasicGPS() { | |
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| if (gps_detected) { | ||
| MESH_DEBUG_PRINTLN("GPS detected"); | ||
| _location->configure(); | ||
| #ifdef PERSISTANT_GPS | ||
| gps_active = true; | ||
| return; | ||
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@@ -773,8 +814,9 @@ void EnvironmentSensorManager::initBasicGPS() { | |
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| // gps code for rak might be moved to MicroNMEALoactionProvider | ||
| // or make a new location provider ... | ||
| #ifdef ENV_INCLUDE_RAK12500 | ||
| void EnvironmentSensorManager::rakGPSInit(){ | ||
| ublox_provider.setRTC(_clock); | ||
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| Serial1.setPins(PIN_GPS_TX, PIN_GPS_RX); | ||
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@@ -784,14 +826,14 @@ void EnvironmentSensorManager::rakGPSInit(){ | |
| Serial1.begin(9600); | ||
| #endif | ||
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| #ifdef PIN_3V3_EN | ||
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Contributor
There was a problem hiding this comment. Except for RAK3401 with 1W with required PIN_3V3_EN at start, most of the RAK boards should have PIN_3V3_EN as INPUT to save power. And we only need to set it HIGH as this is Power switch, not a GPS RESET. Please change this: to this There was a problem hiding this comment.
And RAK Ethernet (RAK13800) ?
Contributor
There was a problem hiding this comment.
I have no idea. If the boards have PIN_3V3_EN as INPUT such as RA4631 and may be other RAK-based boards, digitalWrite(PIN_3V3_EN,HIGH); will not be effective. We can see in start_gps(), we also call pinMode(PIN_3V3_EN, OUTPUT); before digitalWrite(PIN_3V3_EN,HIGH);
Author
There was a problem hiding this comment. Can you link documentation that states that keeping PIN_3V3_EN as INPUT saves power? My understanding is that setting the pin as HIGH shouldn't take power because it's pulled high by default. re: removing the code to pulse PIN_3V3_EN low for 1s at startup, that code appears to be recommended by RAK so I'm hesitant to remove it. I think it ensures that the GPS is in a consistent state when our code initialises.
Contributor
There was a problem hiding this comment.
RAK boards are no magic, but NRF52 boards. They follow the same rules.
Currently, RAK4631 doesnot have pinMode for 3v3 en. Assume you can turn off LoRa for RAK3401, try to remove pin Mode OUT for 3v3 en.
Contributor
There was a problem hiding this comment. At least, we have to put pinMode OUT. You can keep the delay or you can explore what are best values. RAK is a hardware vendor. Their code is sample and on safest side only. |
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| digitalWrite(PIN_3V3_EN,LOW); | ||
| delay(1000); | ||
| digitalWrite(PIN_3V3_EN,HIGH); | ||
| delay(2000); | ||
| #endif | ||
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| if(!gpsIsAwake()){ | ||
| MESH_DEBUG_PRINTLN("No GPS found"); | ||
| gps_active = false; | ||
| gps_detected = false; | ||
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@@ -805,88 +847,51 @@ void EnvironmentSensorManager::rakGPSInit(){ | |
| #endif | ||
| } | ||
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| bool EnvironmentSensorManager::gpsIsAwake(){ | ||
| //Try to init RAK12500 on I2C | ||
| if (ublox_GNSS.begin(Wire) == true){ | ||
| MESH_DEBUG_PRINTLN("RAK12500 I2C GPS init"); | ||
| i2cGPSFlag = true; | ||
| gps_active = true; | ||
| gps_detected = true; | ||
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| _location = &ublox_provider; | ||
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| _location->begin(); | ||
| _location->configure(); | ||
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| return true; | ||
| } else if (Serial1.available()) { | ||
| MESH_DEBUG_PRINTLN("Serial GPS init correctly"); | ||
| serialGPSFlag = true; | ||
| gps_active = true; | ||
| gps_detected = true; | ||
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| _location->configure(); | ||
| return true; | ||
| } | ||
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| return false; | ||
| } | ||
| #endif | ||
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| void EnvironmentSensorManager::start_gps() { | ||
| gps_active = true; | ||
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| _location->begin(); | ||
| _location->reset(); | ||
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| #if !defined(PIN_GPS_EN) && !defined(ENV_INCLUDE_RAK12500) | ||
| MESH_DEBUG_PRINTLN("Start GPS is N/A on this board. Actual GPS state unchanged"); | ||
| #endif | ||
| } | ||
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| void EnvironmentSensorManager::stop_gps() { | ||
| gps_active = false; | ||
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| _location->stop(); | ||
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| #if !defined(PIN_GPS_EN) && !defined(ENV_INCLUDE_RAK12500) | ||
| MESH_DEBUG_PRINTLN("Stop GPS is N/A on this board. Actual GPS state unchanged"); | ||
| #endif | ||
| } | ||
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@@ -903,7 +908,7 @@ void EnvironmentSensorManager::loop() { | |
| if ((long)(millis() - next_gps_update) > 0) { | ||
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| if(gps_active){ | ||
| #ifdef ENV_INCLUDE_RAK12500 | ||
| if ((i2cGPSFlag || serialGPSFlag) && _location->isValid()) { | ||
| node_lat = ((double)_location->getLatitude())/1000000.; | ||
| node_lon = ((double)_location->getLongitude())/1000000.; | ||
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This feels gross but I don't really know how it can be done cleaner. Because I can only provide rtc_clock to an instance of the EnvironmentSensorManager class, but UbloxLocationProvider is initialised statically outside of that class.