sch16t WIP

Tools/scripts/build_options.py

@@ -458,6 +458,7 @@ def config_option(self):
     Feature('GPS Drivers', 'GSOF', 'AP_GPS_GSOF_ENABLED', 'Enable GSOF GPS', 0, None),
     Feature('GPS Drivers', 'NMEA_GPS', 'AP_GPS_NMEA_ENABLED', 'Enable NMEA GPS', 0, None),
     Feature('GPS Drivers', 'NMEA_UNICORE', 'AP_GPS_NMEA_UNICORE_ENABLED', 'Enable NMEA Unicore GPS', 0, "NMEA_GPS"),
+    Feature('GPS Drivers', 'NMEA_QUECTEL', 'AP_GPS_NMEA_QUECTEL_ENABLED', 'Enable NMEA Quectel GPS', 0, "NMEA_GPS"),
     Feature('GPS Drivers', 'MAV', 'AP_GPS_MAV_ENABLED', 'Enable MAVLink GPS', 0, None),
     Feature('GPS Drivers', 'NOVA', 'AP_GPS_NOVA_ENABLED', 'Enable NOVA GPS', 0, None),
     Feature('GPS Drivers', 'SBF', 'AP_GPS_SBF_ENABLED', 'Enable SBF GPS', 0, None),

Tools/scripts/decode_devid.py

@@ -110,6 +110,7 @@ def num(s):
     0x3B : "DEVTYPE_INS_ICM45686",
     0x3C : "DEVTYPE_INS_SCHA63T",
     0x3D : "DEVTYPE_INS_IIM42653",
+    0x3E : "DEVTYPE_INS_SCH16T",
 }
 
 baro_types = {

Tools/scripts/extract_features.py

@@ -82,6 +82,12 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
             ('AP_RANGEFINDER_LIGHTWARE_GRF_ENABLED', 'AP_RangeFinder_LightWareGRF::get_reading'),
 
             ('AP_GPS_NMEA_UNICORE_ENABLED', r'AP_GPS_NMEA::parse_agrica_field',),
+            ('AP_GPS_NMEA_QUECTEL_ENABLED', r'AP_GPS_NMEA::parse_pqtmver_field',),
+            ('AP_GPS_NMEA_QUECTEL_ENABLED', r'AP_GPS_NMEA::parse_pqtmepe_field',),
+            ('AP_GPS_NMEA_QUECTEL_ENABLED', r'AP_GPS_NMEA::parse_pqtmvel_field',),
+            ('AP_GPS_NMEA_QUECTEL_ENABLED', r'AP_GPS_NMEA::parse_pqtmpvt_field',),
+            ('AP_GPS_NMEA_QUECTEL_ENABLED', r'AP_GPS_NMEA::parse_pqtmtar_field',),
+
             ('AP_GPS_{type}_ENABLED', r'AP_GPS_(?P<type>.*)::read\b',),
 
             ('AP_OPTICALFLOW_ENABLED', 'AP_OpticalFlow::AP_OpticalFlow',),

config_and_rebuild.sh

@@ -0,0 +1,5 @@
+# git clone --recurse-submodules git@github.com:vidma/ardupilot.git
+#./waf configure --board=MambaF405-2022 && ./waf clean && ./waf plane
+
+# ./waf configure --board=Pixhawk6X && ./waf clean && ./waf plane
+./waf configure --board=MicoAir743-Lite && ./waf clean && ./waf plane

libraries/AP_GPS/AP_GPS.cpp

@@ -808,6 +808,9 @@ AP_GPS_Backend *AP_GPS::_detect_instance(const uint8_t instance)
 #if AP_GPS_NMEA_UNICORE_ENABLED
                     type == GPS_TYPE_UNICORE_NMEA ||
                     type == GPS_TYPE_UNICORE_MOVINGBASE_NMEA ||
+#endif
+#if AP_GPS_NMEA_QUECTEL_ENABLED
+                    type == GPS_TYPE_QUECTEL_NMEA ||
 #endif
                     type == GPS_TYPE_ALLYSTAR) &&
                    AP_GPS_NMEA::_detect(dstate->nmea_detect_state, data)) {
@@ -1950,6 +1953,48 @@ void AP_GPS::Write_GPS(uint8_t i)
     };
     AP::logger().WriteBlock(&pkt2, sizeof(pkt2));
 }
+
+void AP_GPS::Write_PPS(uint64_t interrupt_time_us, uint64_t earlier_interrupt_time_us)
+{
+
+    const uint64_t USEC_PER_SEC = 1000000ULL;
+    const float clock_drift_percent = (((float)interrupt_time_us - (float)earlier_interrupt_time_us) - (float)USEC_PER_SEC) * 100.0f / ((float)USEC_PER_SEC);
+
+    // FIXME: should it be dependent on GPS instance? but makes little sense
+    uint8_t instance = 0; // FIXME?
+
+    const GPS_State &istate = state[instance];
+
+    // it makes no sense to report PPS if there's no GPS FIX
+    if ((istate.last_gps_time_ms == 0 && istate.last_corrected_gps_time_us == 0) || istate.time_week == 0) {
+        return;
+    }
+    uint64_t _last_gps_systime_us = istate.last_gps_time_ms * 1000ULL; ///< the system time we got the last GPS timestamp, microseconds
+
+    // FIXME: check if fix still exists!?
+    uint64_t last_gps_fix_time_us = istate_time_to_epoch_ms(istate.time_week, istate.time_week_ms) * 1000ULL; // last GPS time
+
+    // GPS UTC time when the GPIO interrupt was triggered
+	// Last UTC time received from the GPS + elapsed time to the PPS interrupt
+
+    // FIXME: I possibly don't understand what this correction is used for? (based on PX4 PPSCpature driver)
+    // oh it's probably needed in case the GPS time was not received but PPS still fired?
+	uint64_t gps_utc_time_us = last_gps_fix_time_us + (interrupt_time_us - _last_gps_systime_us);
+
+	// (For ubx F9P and NMEA Quectel LG580P) The rising edge of the PPS pulse is aligned to the top of second GPS time base.
+	// So, remove the fraction of second and shift to the next second. The interrupt is triggered
+	// before the matching timestamp is received via a UART message, which means the last received GPS time is always
+	// behind.
+	const uint64_t corrected_utc_time_us = gps_utc_time_us - (gps_utc_time_us % USEC_PER_SEC) + USEC_PER_SEC;
+
+    struct log_PPS pkt {
+        LOG_PACKET_HEADER_INIT(LOG_PPS_MSG),
+        time_us       : interrupt_time_us,
+        utc_time_ms   : corrected_utc_time_us / 1000ULL,
+        clock_drift_percent : clock_drift_percent
+    };
+    AP::logger().WriteBlock(&pkt, sizeof(pkt));
+}
 #endif
 
 bool AP_GPS::is_rtk_base(uint8_t instance) const

libraries/AP_GPS/AP_GPS.h

@@ -112,6 +112,7 @@ class AP_GPS
         GPS_TYPE_UNICORE_NMEA = 24,
         GPS_TYPE_UNICORE_MOVINGBASE_NMEA = 25,
         GPS_TYPE_SBF_DUAL_ANTENNA = 26,
+        GPS_TYPE_QUECTEL_NMEA = 27,
 #if AP_SIM_GPS_ENABLED
         GPS_TYPE_SITL = 100,
 #endif
@@ -791,6 +792,8 @@ class AP_GPS
     // logging support
     void Write_GPS(uint8_t instance);
 
+    void Write_PPS(uint64_t interrupt_time_us, uint64_t earlier_interrupt_time_us);
+
 #if AP_GPS_RTCM_DECODE_ENABLED
     /*
       per mavlink channel RTCM decoder, enabled with RTCM decode