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Merged mtk16 and mtk19 helper classes, configure() now writes directly instead of buffering

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This commit is contained in:
Julian Oes
2013-02-06 18:47:32 -08:00
parent d962e6c403
commit 6ed5d97aea
5 changed files with 41 additions and 101 deletions
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apps/drivers/gps/gps.cpp
+6 -47
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@@ -72,6 +72,7 @@
#include <uORB/topics/vehicle_gps_position.h>
#include "ubx.h"
#include "mtk.h"
#define SEND_BUFFER_LENGTH 100
#define TIMEOUT 1000000 //1s
@@ -238,30 +239,6 @@ GPS::ioctl(struct file *filp, int cmd, unsigned long arg)
int ret = OK;
switch (cmd) {
case GPS_CONFIGURE_UBX:
if (_mode != GPS_DRIVER_MODE_UBX) {
_mode = GPS_DRIVER_MODE_UBX;
_mode_changed = true;
}
break;
case GPS_CONFIGURE_MTK19:
if (_mode != GPS_DRIVER_MODE_MTK19) {
_mode = GPS_DRIVER_MODE_MTK19;
_mode_changed = true;
}
break;
case GPS_CONFIGURE_MTK16:
if (_mode != GPS_DRIVER_MODE_MTK16) {
_mode = GPS_DRIVER_MODE_MTK16;
_mode_changed = true;
}
break;
case GPS_CONFIGURE_NMEA:
if (_mode != GPS_DRIVER_MODE_NMEA) {
_mode = GPS_DRIVER_MODE_NMEA;
_mode_changed = true;
}
break;
case SENSORIOCRESET:
cmd_reset();
break;
@@ -275,19 +252,7 @@ GPS::ioctl(struct file *filp, int cmd, unsigned long arg)
void
GPS::config()
{
int length = 0;
uint8_t send_buffer[SEND_BUFFER_LENGTH];
_Helper->configure(send_buffer, length, SEND_BUFFER_LENGTH, _baudrate_changed, _baudrate);
/* The config message is sent sent at the old baudrate */
if (length > 0) {
if (length != ::write(_serial_fd, send_buffer, length)) {
debug("write config failed");
return;
}
}
_Helper->configure(_serial_fd, _baudrate_changed, _baudrate);
/* Sometimes the baudrate needs to be changed, for instance UBX with factory settings are changed
* from 9600 to 38400
@@ -356,11 +321,8 @@ GPS::task_main()
case GPS_DRIVER_MODE_UBX:
_Helper = new UBX();
break;
case GPS_DRIVER_MODE_MTK19:
//_Helper = new MTK19();
break;
case GPS_DRIVER_MODE_MTK16:
//_Helper = new MTK16();
case GPS_DRIVER_MODE_MTK:
_Helper = new MTK();
break;
case GPS_DRIVER_MODE_NMEA:
//_Helper = new NMEA();
@@ -530,11 +492,8 @@ GPS::print_info()
case GPS_DRIVER_MODE_UBX:
warnx("protocol: UBX");
break;
case GPS_DRIVER_MODE_MTK19:
warnx("protocol: MTK 1.9");
break;
case GPS_DRIVER_MODE_MTK16:
warnx("protocol: MTK 1.6");
case GPS_DRIVER_MODE_MTK:
warnx("protocol: MTK");
break;
case GPS_DRIVER_MODE_NMEA:
warnx("protocol: NMEA");