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Update GPS.cpp

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This commit is contained in:
HarukiToreda
2026-05-25 00:59:34 -04:00
parent c1daf7a342
commit bd09453015
1 changed files with 47 additions and 56 deletions
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103
src/gps/GPS.cpp
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@@ -74,7 +74,8 @@ static struct uBloxGnssModelInfo {
#define GPS_SOL_EXPIRY_MS 5000 // in millis. give 1 second time to combine different sentences. NMEA Frequency isn't higher anyway
#define NMEA_MSG_GXGSA "GNGSA" // GSA message (GPGSA, GNGSA etc)
namespace {
namespace
{
// Versioned on-disk record for persisted GPS probe results.
constexpr uint32_t GPS_PROBE_CACHE_MAGIC = 0x47504348UL; // "GPCH"
constexpr uint16_t GPS_PROBE_CACHE_VERSION = 1;
@@ -88,18 +89,20 @@ struct GPSProbeCacheRecord {
uint8_t model;
};
bool isValidGnssModel(uint8_t model) {
bool isValidGnssModel(uint8_t model)
{
// Keep persisted values bounded to known enum range.
return model <= static_cast<uint8_t>(GNSS_MODEL_CM121);
}
bool isValidProbeBaud(uint32_t baud) {
bool isValidProbeBaud(uint32_t baud)
{
// Conservative sanity range for UART baud values.
return baud >= 1200 && baud <= 921600;
}
template <typename T>
bool sawNmeaSentenceAtBaud(T *serialGps, uint32_t timeoutMs) {
template <typename T> bool sawNmeaSentenceAtBaud(T *serialGps, uint32_t timeoutMs)
{
// Lightweight passive check: look for at least one complete
// "$...,<field>\n" style NMEA sentence.
const uint32_t deadline = millis() + timeoutMs;
@@ -107,25 +110,25 @@ bool sawNmeaSentenceAtBaud(T *serialGps, uint32_t timeoutMs) {
bool sawComma = false;
while ((int32_t)(millis() - deadline) < 0) {
while (serialGps->available()) {
char c = static_cast<char>(serialGps->read());
if (c == '$') {
sawDollar = true;
sawComma = false;
continue;
while (serialGps->available()) {
char c = static_cast<char>(serialGps->read());
if (c == '$') {
sawDollar = true;
sawComma = false;
continue;
}
if (c == ',') {
sawComma = true;
}
if (c == '\n' || c == '\r') {
if (sawDollar && sawComma) {
return true;
}
sawDollar = false;
sawComma = false;
}
}
if (c == ',') {
sawComma = true;
}
if (c == '\n' || c == '\r') {
if (sawDollar && sawComma) {
return true;
}
sawDollar = false;
sawComma = false;
}
}
delay(10);
delay(10);
}
return false;
@@ -553,7 +556,8 @@ static const int rareSerialSpeeds[3] = {4800, 57600, GPS_BAUDRATE};
#define GPS_PROBETRIES 2
#endif
bool GPS::loadProbeCache() {
bool GPS::loadProbeCache()
{
#ifdef FSCom
// Load the last known-good GPS model/baud pair so we can avoid a full probe
// sweep on every boot.
@@ -571,12 +575,9 @@ bool GPS::loadProbeCache() {
file.close();
spiLock->unlock();
const bool headerValid = (bytesRead == sizeof(record)) &&
(record.magic == GPS_PROBE_CACHE_MAGIC) &&
(record.version == GPS_PROBE_CACHE_VERSION) &&
(record.reserved == 0U);
if (!headerValid || !isValidGnssModel(record.model) ||
!isValidProbeBaud(record.baud)) {
const bool headerValid = (bytesRead == sizeof(record)) && (record.magic == GPS_PROBE_CACHE_MAGIC) &&
(record.version == GPS_PROBE_CACHE_VERSION) && (record.reserved == 0U);
if (!headerValid || !isValidGnssModel(record.model) || !isValidProbeBaud(record.baud)) {
clearProbeCache(); // Drop corrupt/invalid cache so next boot can
// recover.
return false;
@@ -593,7 +594,8 @@ bool GPS::loadProbeCache() {
#endif
}
void GPS::clearProbeCache() {
void GPS::clearProbeCache()
{
// Invalidate in-memory and on-disk cache so next boot is forced to do a
// full probe.
hasProbeCache = false;
@@ -609,10 +611,10 @@ void GPS::clearProbeCache() {
#endif
}
bool GPS::saveProbeCache() const {
bool GPS::saveProbeCache() const
{
#ifdef FSCom
if (gnssModel == GNSS_MODEL_UNKNOWN ||
!isValidGnssModel(static_cast<uint8_t>(gnssModel)) ||
if (gnssModel == GNSS_MODEL_UNKNOWN || !isValidGnssModel(static_cast<uint8_t>(gnssModel)) ||
!isValidProbeBaud(detectedBaud)) {
return false;
}
@@ -621,17 +623,12 @@ bool GPS::saveProbeCache() const {
FSCom.mkdir("/prefs");
spiLock->unlock();
GPSProbeCacheRecord record = {
GPS_PROBE_CACHE_MAGIC,
GPS_PROBE_CACHE_VERSION,
0,
static_cast<uint32_t>(detectedBaud),
static_cast<uint8_t>(gnssModel),
GPS_PROBE_CACHE_MAGIC, GPS_PROBE_CACHE_VERSION, 0, static_cast<uint32_t>(detectedBaud), static_cast<uint8_t>(gnssModel),
};
auto file = SafeFile(GPS_PROBE_CACHE_FILE, true);
spiLock->lock();
const size_t written =
file.write(reinterpret_cast<const uint8_t *>(&record), sizeof(record));
const size_t written = file.write(reinterpret_cast<const uint8_t *>(&record), sizeof(record));
spiLock->unlock();
return (written == sizeof(record)) && file.close();
#else
@@ -639,9 +636,9 @@ bool GPS::saveProbeCache() const {
#endif
}
bool GPS::verifyCachedProbePresence() {
if (!hasProbeCache || cachedProbeModel == GNSS_MODEL_UNKNOWN ||
!isValidProbeBaud(cachedProbeBaud)) {
bool GPS::verifyCachedProbePresence()
{
if (!hasProbeCache || cachedProbeModel == GNSS_MODEL_UNKNOWN || !isValidProbeBaud(cachedProbeBaud)) {
return false;
}
@@ -703,8 +700,7 @@ bool GPS::verifyCachedProbePresence() {
case GNSS_MODEL_UC6580:
cachedProbeModelName = "UC6580/UM600";
_serial_gps->write("$PDTINFO\r\n");
present = (getACK("UC6580", 900) == GNSS_RESPONSE_OK) ||
(getACK("UM600", 900) == GNSS_RESPONSE_OK);
present = (getACK("UC6580", 900) == GNSS_RESPONSE_OK) || (getACK("UM600", 900) == GNSS_RESPONSE_OK);
break;
case GNSS_MODEL_CM121:
cachedProbeModelName = "CM121";
@@ -743,8 +739,7 @@ bool GPS::verifyCachedProbePresence() {
present = sawNmeaSentenceAtBaud(_serial_gps, 3000);
}
if (!present) {
LOG_WARN("Cached GPS probe is stale (%s @ %d), clearing cache",
cachedProbeModelName, cachedProbeBaud);
LOG_WARN("Cached GPS probe is stale (%s @ %d), clearing cache", cachedProbeModelName, cachedProbeBaud);
clearProbeCache();
cachedProbeFailedThisBoot = true;
return false;
@@ -752,8 +747,7 @@ bool GPS::verifyCachedProbePresence() {
detectedBaud = cachedProbeBaud;
gnssModel = cachedProbeModel;
LOG_INFO("Using cached GPS probe: %s @ %d", cachedProbeModelName,
detectedBaud);
LOG_INFO("Using cached GPS probe: %s @ %d", cachedProbeModelName, detectedBaud);
return true;
}
@@ -793,8 +787,7 @@ bool GPS::setup()
gnssModel = probe(serialSpeeds[speedSelect]);
if (gnssModel != GNSS_MODEL_UNKNOWN) {
detectedBaud = serialSpeeds[speedSelect];
} else if (currentStep == 0 &&
++speedSelect == array_count(serialSpeeds)) {
} else if (currentStep == 0 && ++speedSelect == array_count(serialSpeeds)) {
speedSelect = 0;
++probeTries;
}
@@ -806,10 +799,8 @@ bool GPS::setup()
gnssModel = probe(rareSerialSpeeds[speedSelect]);
if (gnssModel != GNSS_MODEL_UNKNOWN) {
detectedBaud = rareSerialSpeeds[speedSelect];
} else if (currentStep == 0 &&
++speedSelect == array_count(rareSerialSpeeds)) {
LOG_WARN("Give up on GPS probe and set to %d",
GPS_BAUDRATE);
} else if (currentStep == 0 && ++speedSelect == array_count(rareSerialSpeeds)) {
LOG_WARN("Give up on GPS probe and set to %d", GPS_BAUDRATE);
return true;
}
}