Merge pull request #55 from CarletonURocketry/m10spg-config

Add configuration for dynamic platform and measurement rate

src/collectors/m10spg_clctr.c

@@ -37,7 +37,6 @@ void *m10spg_collector(void *args) {
         err = m10spg_open(&loc);
         if (err != EOK) {
             log_print(stderr, LOG_ERROR, "Could not open M10SPG: %s", strerror(err));
-            return (void *)((uint64_t)err);
         }
     } while (err != EOK);
 

src/drivers/m10spg/m10spg.c

@@ -30,16 +30,16 @@
 #define SYNC_TWO 0x62
 
 /** How long the recieve command for UBX messages should wait between trying to read a message, in usec */
-#define RECV_SLEEP_TIME 10000
+#define RECV_SLEEP_TIME 1000
 
 /** How long m10spg_read should wait for a response in seconds */
-#define DEFAULT_TIMEOUT 10
+#define DEFAULT_TIMEOUT 2
 
-/** A configuration key for enabling or disabling output of NMEA messages on I2C */
-#define NMEA_I2C_OUTPUT_CONFIG_KEY 0x10720002
+/** The confirmation value for the platform model that corresponds to an airborne vehicle doing <4G of acceleration */
+#define DYNMODEL_AIR_4G 8
 
-/** A configuration key for enabling or disabling input of poll requests for NMEA messages on I2C */
-#define NMEA_I2C_INPUT_CONFIG_KEY 0x10710002
+/** The nominal time between gps measurements in milliseconds */
+#define NOMINAL_MEASUREMENT_RATE 300
 
 static const UBXFrame PREMADE_MESSAGES[] = {
     [UBX_NAV_UTC] = {.header = {.class = 0x01, .id = 0x21, .length = 0x00}, .checksum_a = 0x22, .checksum_b = 0x67},
@@ -306,22 +306,49 @@ int m10spg_open(const SensorLocation *loc) {
     UBXValsetPayload valset_payload;
     UBXAckPayload ack_payload;
 
+    // Clear the RAM configuration to ensure our settings are the only ones being used
+    msg.header.class = 0x06;
+    msg.header.id = 0x04;
+    msg.header.length = 4;
+
+    UBXConfigResetPayload reset_payload;
+    reset_payload.navBbrMask[0] = 0x00;
+    reset_payload.navBbrMask[1] = 0x00;
+    reset_payload.resetMode = UBX_SOFT_RESET;
+    msg.payload = &reset_payload;
+    calculate_checksum(&msg, &msg.checksum_a, &msg.checksum_b);
+    send_message(loc, &msg);
+    // Has no response, sleep to wait for reset
+    sleep(1);
+
     // Configure the chip
     msg.payload = &valset_payload;
+
+    // Put our actual configuration on there
     init_valset_message(&msg, RAM_LAYER);
     uint8_t config_disabled = 0;
+    uint8_t config_dynmodel = DYNMODEL_AIR_4G;
+    uint16_t measurement_rate = NOMINAL_MEASUREMENT_RATE;
     // Disable NMEA output on I2C
     add_valset_item(&msg, (uint32_t)NMEA_I2C_OUTPUT_CONFIG_KEY, &config_disabled, UBX_TYPE_L);
     // Disable NMEA input on I2C
     add_valset_item(&msg, (uint32_t)NMEA_I2C_INPUT_CONFIG_KEY, &config_disabled, UBX_TYPE_L);
+    // Set the dynamic platform model to have the maximum speed, acceleration, and height possible
+    add_valset_item(&msg, (uint32_t)DYNMODEL_CONFIG_KEY, &config_dynmodel, UBX_TYPE_U1);
+    // Set the config update rate
+    add_valset_item(&msg, (uint32_t)MEASUREMENT_RATE_CONFIG_KEY, &measurement_rate, UBX_TYPE_U2);
+    // Turn off the BDS satellites, which increases the maximum update rate, but needs a reset of the GPS subsystem
+    add_valset_item(&msg, (uint32_t)BSD_SIGNAL_CONFIG_KEY, &config_disabled, UBX_TYPE_L);
+
     calculate_checksum(&msg, &msg.checksum_a, &msg.checksum_b);
 
     int err = send_message(loc, &msg);
     return_err(err);
 
     // Check if configuration was successful
     msg.payload = &ack_payload;
-    err = recv_message(loc, &msg, sizeof(ack_payload), 1);
+    // Longer timeout for the reboot
+    err = recv_message(loc, &msg, sizeof(ack_payload), DEFAULT_TIMEOUT);
     return_err(err);
     if (msg.header.class == 0x05) {
         if (msg.header.id == 0x01) {
@@ -331,6 +358,9 @@ int m10spg_open(const SensorLocation *loc) {
             return ECANCELED;
         }
     }
+    // Give at least 0.5 seconds for the gps subsystem to restart, because we disabled the BDS signal
+    usleep(500000);
+
     // Some other response interrupted our exchange
     return EINTR;
 }

src/drivers/m10spg/ubx_def.h

@@ -54,6 +54,22 @@ typedef struct {
     uint8_t flags; /**< Flags that describe if this time information is valid (see the interface description) */
 } UBXUTCPayload;
 
+typedef enum {
+    UBX_HARD_RESET = 0x00,      /**< Hardware reset (watchdog), immediate */
+    UBX_SOFT_RESET = 0x01,      /**< Controlled software reset (clears RAM) */
+    UBX_SOFT_GNSS_RESET = 0x02, /**< Controlled software reset, GNSS only */
+    UBX_HARD_WDT_RESET = 0x04,  /**< Hardware reset (watchdog), after shutdown */
+    UBX_STOP_GNSS = 0x08,       /** Controlled GNSS stop */
+    UBX_START_GNSS = 0x09,      /**< Controlled GNSS start */
+} UBXResetMode;
+
+/** A struct representing the UBX-CFG-RST (reset reciever) payload */
+typedef struct {
+    uint8_t navBbrMask[2]; /**< Bit fields that select what BBR data to clear (leave as 0 for a hot start) */
+    uint8_t resetMode;     /**< The type of reset to perform, of type UBXResetMode */
+    uint8_t reserved;      /**< Reserved bytes */
+} UBXConfigResetPayload;
+
 /** Max bytes to be used for valset payload items (limit of 64 items per message) */
 #define MAX_VALSET_ITEM_BYTES 128
 
@@ -65,6 +81,21 @@ typedef struct {
     uint8_t config_items[MAX_VALSET_ITEM_BYTES]; /** An array of keys and value pairs */
 } UBXValsetPayload;
 
+/** A configuration key for enabling or disabling output of NMEA messages on I2C */
+#define NMEA_I2C_OUTPUT_CONFIG_KEY 0x10720002
+
+/** A configuration key for enabling or disabling input of poll requests for NMEA messages on I2C */
+#define NMEA_I2C_INPUT_CONFIG_KEY 0x10710002
+
+/** A configuration key for selecting the platform model of the reciever */
+#define DYNMODEL_CONFIG_KEY 0x20110021
+
+/** A configuration key for enabling or disabling the BeiDou satellites */
+#define BSD_SIGNAL_CONFIG_KEY 0x10310022
+
+/** A configuration key for selecting the number of milliseconds between measurements */
+#define MEASUREMENT_RATE_CONFIG_KEY 0x30210001
+
 /** A struct representing the UBX-NAV-STAT (navigation status) payload */
 typedef struct {
     uint32_t iTOW;   /**< The GPS time of week of the navigation epoch that created this payload */