fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 06:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added MTK 1.6, works after some seconds, work in progress

Browse Source
This commit is contained in:
Julian Oes
2013-02-06 20:04:49 -08:00
parent 6ed5d97aea
commit 0d54661ce9
3 changed files with 320 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/drivers/gps/gps.cpp
+28 -15
View File
@@ -77,7 +77,7 @@
#define SEND_BUFFER_LENGTH 100
#define TIMEOUT 1000000 //1s
#define NUMBER_OF_BAUDRATES 4
#define NUMBER_OF_TRIES 5
#define CONFIG_TIMEOUT 2000000
/* oddly, ERROR is not defined for c++ */
@@ -113,7 +113,8 @@ private:
int _serial_fd; ///< serial interface to GPS
unsigned _baudrate; ///< current baudrate
char _port[20]; ///< device / serial port path
const unsigned _baudrates_to_try[NUMBER_OF_BAUDRATES]; ///< try different baudrates that GPS could be set to
const unsigned _baudrates_to_try[NUMBER_OF_TRIES]; ///< try different baudrates that GPS could be set to
const gps_driver_mode_t _modes_to_try[NUMBER_OF_TRIES]; ///< try different modes
volatile int _task; //< worker task
bool _config_needed; ///< flag to signal that configuration of GPS is needed
bool _baudrate_changed; ///< flag to signal that the baudrate with the GPS has changed
@@ -170,11 +171,11 @@ GPS *g_dev;
GPS::GPS(const char* uart_path) :
CDev("gps", GPS_DEVICE_PATH),
_task_should_exit(false),
_baudrates_to_try({9600, 38400, 57600, 115200}),
_baudrates_to_try({9600, 38400, 57600, 115200, 38400}),
_modes_to_try({GPS_DRIVER_MODE_UBX, GPS_DRIVER_MODE_UBX, GPS_DRIVER_MODE_UBX, GPS_DRIVER_MODE_UBX, GPS_DRIVER_MODE_MTK}),
_config_needed(true),
_baudrate_changed(false),
_mode_changed(true),
_mode(GPS_DRIVER_MODE_UBX),
_mode_changed(false),
_Helper(nullptr),
_report_pub(-1),
_rate(0.0f)
@@ -295,8 +296,10 @@ GPS::task_main()
/* lock against the ioctl handler */
lock();
unsigned baud_i = 0;
_baudrate = _baudrates_to_try[baud_i];
unsigned try_i = 0;
_baudrate = _baudrates_to_try[try_i];
_mode = _modes_to_try[try_i];
_mode_changed = true;
set_baudrate(_baudrate);
uint64_t time_before_configuration = hrt_absolute_time();
@@ -310,6 +313,23 @@ GPS::task_main()
/* loop handling received serial bytes and also configuring in between */
while (!_task_should_exit) {
/* If a configuration does not finish in the config timeout, change the baudrate */
if (_config_needed && time_before_configuration + CONFIG_TIMEOUT < hrt_absolute_time()) {
/* loop through possible modes/baudrates */
try_i = (try_i + 1) % NUMBER_OF_TRIES;
_baudrate = _baudrates_to_try[try_i];
set_baudrate(_baudrate);
if (_mode != _modes_to_try[try_i]) {
_mode_changed = true;
}
_mode = _modes_to_try[try_i];
if (_Helper != nullptr) {
_Helper->reset();
}
time_before_configuration = hrt_absolute_time();
}
if (_mode_changed) {
if (_Helper != nullptr) {
delete(_Helper);
@@ -333,14 +353,7 @@ GPS::task_main()
_mode_changed = false;
}
/* If a configuration does not finish in the config timeout, change the baudrate */
if (_config_needed && time_before_configuration + CONFIG_TIMEOUT < hrt_absolute_time()) {
baud_i = (baud_i+1)%NUMBER_OF_BAUDRATES;
_baudrate = _baudrates_to_try[baud_i];
set_baudrate(_baudrate);
_Helper->reset();
time_before_configuration = hrt_absolute_time();
}
/* during configuration, the timeout should be small, so that we can send config messages in between parsing,
* but during normal operation, it should never timeout because updates should arrive with 5Hz */