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quectel no sim GPS support (#26227)

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* add no sim gps support

* address comments

* remove xtra assistance enabling

Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com>
This commit is contained in:
Kurt Nistelberger
2022-10-26 13:33:12 -07:00
committed by GitHub
parent 728d969249
commit 16b7d726b3
1 changed files with 22 additions and 7 deletions
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29
selfdrive/sensord/rawgps/rawgpsd.py
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@@ -87,16 +87,24 @@ def try_setup_logs(diag, log_types):
else:
raise Exception(f"setup logs failed, {log_types=}")
def mmcli(cmd: str) -> None:
def at_cmd(cmd: str) -> None:
for _ in range(5):
try:
subprocess.check_call(f"mmcli -m any --timeout 30 {cmd}", shell=True)
subprocess.check_call(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True)
break
except subprocess.CalledProcessError:
cloudlog.exception("rawgps.mmcli_command_failed")
else:
raise Exception(f"failed to execute mmcli command {cmd=}")
def gps_enabled() -> bool:
try:
p = subprocess.check_output("mmcli -m any --command=\"AT+QGPS?\"", shell=True)
return b"QGPS: 1" in p
except subprocess.CalledProcessError as exc:
raise Exception("failed to execute QGPS mmcli command") from exc
def setup_quectel(diag: ModemDiag):
# enable OEMDRE in the NV
# TODO: it has to reboot for this to take effect
@@ -108,11 +116,16 @@ def setup_quectel(diag: ModemDiag):
setup_logs(diag, LOG_TYPES)
if gps_enabled():
at_cmd("AT+QGPSEND")
# disable DPO power savings for more accuracy
mmcli("--command='AT+QGPSCFG=\"dpoenable\",0'")
at_cmd("AT+QGPSCFG=\"dpoenable\",0")
# don't automatically turn on GNSS on powerup
mmcli("--command='AT+QGPSCFG=\"autogps\",0'")
mmcli("--location-enable-gps-raw --location-enable-gps-nmea")
at_cmd("AT+QGPSCFG=\"autogps\",0")
at_cmd("AT+QGPSCFG=\"outport\",\"usbnmea\"")
at_cmd("AT+QGPS=1")
# enable OEMDRE mode
DIAG_SUBSYS_CMD_F = 75
@@ -134,7 +147,9 @@ def setup_quectel(diag: ModemDiag):
))
def teardown_quectel(diag):
mmcli("--location-disable-gps-raw --location-disable-gps-nmea")
at_cmd("AT+QGPSCFG=\"outport\",\"none\"")
if gps_enabled():
at_cmd("AT+QGPSEND")
try_setup_logs(diag, [])
@@ -156,7 +171,7 @@ def main() -> NoReturn:
# wait for ModemManager to come up
cloudlog.warning("waiting for modem to come up")
while True:
ret = subprocess.call("mmcli -m any --timeout 10 --location-status", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True)
ret = subprocess.call("mmcli -m any --timeout 10 --command=\"AT+QGPS?\"", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True)
if ret == 0:
break
time.sleep(0.1)