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Pigeond: Request sat info msgs (#27529)

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request sat info msgs
This commit is contained in:
Harald Schäfer
2023-03-08 13:07:33 -08:00
committed by GitHub
parent 3ff8fc110c
commit 231e9a950d
4 changed files with 6 additions and 0 deletions
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selfdrive/locationd/test/ublox.py
+1
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@@ -54,6 +54,7 @@ MSG_NAV_DOP = 0x04
MSG_NAV_EKFSTATUS = 0x40
MSG_NAV_SBAS = 0x32
MSG_NAV_SOL = 0x06
MSG_NAV_SAT = 0x35
# RXM messages
MSG_RXM_RAW = 0x15
selfdrive/locationd/test/ubloxd.py
+1
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@@ -60,6 +60,7 @@ def configure_ublox(dev):
dev.configure_message_rate(ublox.CLASS_RXM, ublox.MSG_RXM_SFRBX, 1)
dev.configure_message_rate(ublox.CLASS_MON, ublox.MSG_MON_HW, 1)
dev.configure_message_rate(ublox.CLASS_MON, ublox.MSG_MON_HW2, 1)
dev.configure_message_rate(ublox.CLASS_NAV, ublox.MSG_NAV_SAT, 1)
# Query the backup restore status
print("backup restore polling message (implement custom response handler!):")
selfdrive/locationd/ublox_msg.cc
+3
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@@ -126,6 +126,9 @@ std::pair<std::string, kj::Array<capnp::word>> UbloxMsgParser::gen_msg() {
return {"ubloxGnss", gen_mon_hw(static_cast<ubx_t::mon_hw_t*>(body))};
case 0x0a0b:
return {"ubloxGnss", gen_mon_hw2(static_cast<ubx_t::mon_hw2_t*>(body))};
case 0x0135:
// TODO return {"ubloxGnss", gen_nav_sat(static_cast<ubx_t::nav_sat_t*>(body))};
return {"ubloxGnss", kj::Array<capnp::word>()};
default:
LOGE("Unknown message type %x", ubx_message.msg_type());
return {"ubloxGnss", kj::Array<capnp::word>()};
system/sensord/pigeond.py
+1
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@@ -183,6 +183,7 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool:
pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C")
pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70")
pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74")
pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x01\x35\x01\x41\xAD")
cloudlog.debug("pigeon configured")
# try restoring almanac backup