bool GPS_Init(void) {
// Initialize pins
TRACE_INFO("GPS > Init pins");
palSetPadMode(PORT(GPS_RESET), PIN(GPS_RESET), PAL_MODE_OUTPUT_PUSHPULL); // GPS reset
palSetPadMode(PORT(GPS_EN), PIN(GPS_EN), PAL_MODE_OUTPUT_PUSHPULL); // GPS off
palSetPadMode(PORT(GPS_TIMEPULSE), PIN(GPS_TIMEPULSE), PAL_MODE_INPUT); // GPS timepulse
// Switch MOSFET
TRACE_INFO("GPS > Switch on");
palSetPad(PORT(GPS_RESET), PIN(GPS_RESET)); // Pull up GPS reset
palSetPad(PORT(GPS_EN), PIN(GPS_EN)); // Switch on GPS
// Wait for GPS startup
chThdSleepMilliseconds(3000);
uint8_t status = 1;
// Configure GPS
TRACE_INFO("GPS > Initialize GPS");
if(gps_disable_nmea_output()) {
TRACE_INFO("GPS > Disable NMEA output OK");
} else {
TRACE_ERROR("GPS > Disable NMEA output FAILED");
status = 0;
}
#if GPS_TYPE == MAX7 || GPS_TYPE == MAX8
// MAX6 does not support anything else than GPS
if(gps_set_gps_only()) {
TRACE_INFO("GPS > Set GPS only OK");
} else {
TRACE_ERROR("GPS > Set GPS only FAILED");
status = 0;
}
#endif
if(gps_set_airborne_model()) {
TRACE_INFO("GPS > Set airborne model OK");
} else {
TRACE_ERROR("GPS > Set airborne model FAILED");
status = 0;
}
if(gps_set_power_save()) {
TRACE_INFO("GPS > Configure power save OK");
} else {
TRACE_ERROR("GPS > Configure power save FAILED");
status = 0;
}
if(gps_power_save(0)) {
TRACE_INFO("GPS > Disable power save OK");
} else {
TRACE_ERROR("GPS > Disable power save FAILED");
status = 0;
}
return status;
}
/**
* Switches GPS on (if MOSFET switch available) and initializes
* ublox MAX7/8 GPS receivers:
* - Activates NMEA compactibility
* - Switches off unnecessary NMEA sentences (only GPRMC and GPGGA are left)
* - Activates high altitude support
* - Configures power save mode
* - Disables power save mode (has to be activated separately)
*/
void GPS_PowerOn(void) {
#ifdef USE_GPS_HW_SW
gps_hw_switch(true); // Power up GPS
delay(3000); // Just to be sure GPS has booted completely
#endif
// gps_set_nmeaCompatibility(); // Configure compatibility mode, this must be done because the code assumes specific NMEA parameter lengths
// delay(100);
gps_set_gps_only(); // Switch off GLONASS, Baidoo, QZSS, Galileo
delay(100);
gps_configureActiveNMEASentences(); // Switch off unnecessary NMEA sentences (only GPRMC and GPGGA needed)
delay(100);
gps_set_airborne_model(); // Switch to airborne model (activates GPS support over 12km altitude)
delay(100);
gps_configure_power_save(); // Configure power save mode
delay(100);
gps_disable_power_save(); // Switch off power save mode
isOn = true;
}
