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Changed the default baudrate handling around a little to make it cleaner

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This commit is contained in:
Eric Katzfey
2023-07-20 10:39:30 -07:00
parent 83f3bc4dff
commit 14a3df8b60
3 changed files with 29 additions and 20 deletions
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src/drivers/gps/gps.cpp
+25 -8
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@@ -472,12 +472,12 @@ int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout)
int ret = 0;
const unsigned character_count = 32; // minimum bytes that we want to read
const int max_timeout = 50;
int _timeout = math::min(max_timeout, timeout);
int timeout_adjusted = math::min(max_timeout, timeout);
handleInjectDataTopic();
if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
ret = _uart->readAtLeast(buf, buf_length, character_count, _timeout);
ret = _uart->readAtLeast(buf, buf_length, character_count, timeout_adjusted);
// SPI is only supported on LInux
#if defined(__PX4_LINUX)
@@ -495,7 +495,7 @@ int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout)
fds[0].fd = _spi_fd;
fds[0].events = POLLIN;
ret = poll(fds, sizeof(fds) / sizeof(fds[0]), _timeout);
ret = poll(fds, sizeof(fds) / sizeof(fds[0]), timeout_adjusted);
if (ret > 0) {
/* if we have new data from GPS, go handle it */
@@ -614,8 +614,8 @@ bool GPS::injectData(uint8_t *data, size_t len)
int GPS::setBaudrate(unsigned baud)
{
if (_interface == GPSHelper::Interface::UART) {
if (_uart) {
return _uart->setBaudrate(baud);
if ((_uart) && (_uart->setBaudrate(baud))) {
return 0;
}
#ifdef __PX4_LINUX
@@ -786,7 +786,9 @@ GPS::run()
}
if ((_interface == GPSHelper::Interface::UART) && (_uart == nullptr)) {
_uart = new Serial(_port, _configured_baudrate);
// Create the UART port instance
_uart = new Serial(_port);
if (_uart == nullptr) {
PX4_ERR("Error creating serial device %s", _port);
@@ -794,7 +796,22 @@ GPS::run()
continue;
}
_uart->open();
// Configure the desired baudrate if one was specified by the user.
// Otherwise the default baudrate will be used.
if (_configured_baudrate) {
if (! _uart->setBaudrate(_configured_baudrate)) {
PX4_ERR("Error setting baudrate to %u on %s", _configured_baudrate, _port);
px4_sleep(1);
continue;
}
}
// Open the UART. If this is successful then the UART is ready to use.
if (! _uart->open()) {
PX4_ERR("Error opening serial device %s", _port);
px4_sleep(1);
continue;
}
#ifdef __PX4_LINUX
@@ -1010,7 +1027,7 @@ GPS::run()
}
if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
_uart->close();
(void) _uart->close();
delete _uart;
#ifdef __PX4_LINUX