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U-blox driver rework, step 3

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More sat info isolation
Flush input after changing baudrate to allow driver restart w/o GNSS
module restart
This commit is contained in:
Kynos
2014-06-08 14:05:35 +02:00
parent 9bad828bc0
commit 9f754e0e9a
4 changed files with 126 additions and 118 deletions
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src/drivers/gps/ubx.h
+5 -5
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@@ -48,9 +48,7 @@
#include "gps_helper.h"
/* TODO: processing of NAV_SVINFO disabled, has to be re-written as an optional feature */
/* TODO: make this a command line option, allocate buffer dynamically */
#undef UBX_ENABLE_NAV_SVINFO
#define UBX_ENABLE_NAV_SVINFO 1 /* TODO: make this a command line option, allocate buffer(s) dynamically */
#define UBX_SYNC1 0xB5
#define UBX_SYNC2 0x62
@@ -378,7 +376,7 @@ typedef enum {
/* calculate parser rx buffer size dependent on NAV_SVINFO enabled or not */
/* TODO: make this a command line option, allocate buffer dynamically */
#define RECV_BUFFER_OVERHEAD 10 // add this to the maximum Rx msg payload size to account for msg overhead */
#ifdef UBX_ENABLE_NAV_SVINFO
#if (UBX_ENABLE_NAV_SVINFO != 0)
#define RECV_BUFFER_SIZE (UBX_NAV_SVINFO_RX_PAYLOAD_SIZE + RECV_BUFFER_OVERHEAD)
#else
#define RECV_BUFFER_SIZE (UBX_MAX_RX_PAYLOAD_SIZE + RECV_BUFFER_OVERHEAD)
@@ -387,7 +385,7 @@ typedef enum {
class UBX : public GPS_Helper
{
public:
UBX(const int &fd, struct vehicle_gps_position_s *gps_position);
UBX(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info, const bool &enable_sat_info);
~UBX();
int receive(unsigned timeout);
int configure(unsigned &baudrate);
@@ -434,6 +432,8 @@ private:
int _fd;
struct vehicle_gps_position_s *_gps_position;
struct satellite_info_s *_satellite_info;
bool _enable_sat_info;
bool _configured;
bool _waiting_for_ack;
uint8_t _message_class_needed;