fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 01:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Sped up MTK configuration but the detection time can still be improved: timeouts/usleeps

Browse Source
This commit is contained in:
Julian Oes
2013-02-06 23:25:09 -08:00
parent b620136af4
commit d36eb8a3fc
2 changed files with 22 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/drivers/gps/mtk.cpp
+20 -14
View File
@@ -49,6 +49,7 @@
MTK::MTK() : MTK::MTK() :
_config_sent(false),
_mtk_revision(0) _mtk_revision(0)
{ {
decodeInit(); decodeInit();
@@ -67,24 +68,29 @@ MTK::reset()
void void
MTK::configure(const int &fd, bool &baudrate_changed, unsigned &baudrate) MTK::configure(const int &fd, bool &baudrate_changed, unsigned &baudrate)
{ {
if (strlen(MTK_OUTPUT_5HZ) != write(fd, MTK_OUTPUT_5HZ, strlen(MTK_OUTPUT_5HZ))) if (_config_sent == false) {
warnx("mtk: config write failed");
usleep(10000);
if (strlen(MTK_SET_BINARY) != write(fd, MTK_SET_BINARY, strlen(MTK_SET_BINARY))) if (strlen(MTK_OUTPUT_5HZ) != write(fd, MTK_OUTPUT_5HZ, strlen(MTK_OUTPUT_5HZ)))
warnx("mtk: config write failed"); warnx("mtk: config write failed");
usleep(10000); usleep(10000);
if (strlen(SBAS_ON) != write(fd, SBAS_ON, strlen(SBAS_ON))) if (strlen(MTK_SET_BINARY) != write(fd, MTK_SET_BINARY, strlen(MTK_SET_BINARY)))
warnx("mtk: config write failed"); warnx("mtk: config write failed");
usleep(10000); usleep(10000);
if (strlen(WAAS_ON) != write(fd, WAAS_ON, strlen(WAAS_ON))) if (strlen(SBAS_ON) != write(fd, SBAS_ON, strlen(SBAS_ON)))
warnx("mtk: config write failed"); warnx("mtk: config write failed");
usleep(10000); usleep(10000);
if (strlen(MTK_NAVTHRES_OFF) != write(fd, MTK_NAVTHRES_OFF, strlen(MTK_NAVTHRES_OFF))) if (strlen(WAAS_ON) != write(fd, WAAS_ON, strlen(WAAS_ON)))
warnx("mtk: config write failed"); warnx("mtk: config write failed");
usleep(10000);
if (strlen(MTK_NAVTHRES_OFF) != write(fd, MTK_NAVTHRES_OFF, strlen(MTK_NAVTHRES_OFF)))
warnx("mtk: config write failed");
_config_sent = true;
}
return; return;
} }
apps/drivers/gps/mtk.h
+2 -1
View File
@@ -99,7 +99,8 @@ private:
*/ */
void addByteToChecksum(uint8_t); void addByteToChecksum(uint8_t);
mtk_decode_state_t _decode_state; mtk_decode_state_t _decode_state;
bool _config_sent;
uint8_t _mtk_revision; uint8_t _mtk_revision;
uint8_t _rx_buffer[MTK_RECV_BUFFER_SIZE]; uint8_t _rx_buffer[MTK_RECV_BUFFER_SIZE];
unsigned _rx_count; unsigned _rx_count;