fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-30 15:44:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

ubx gps driver: configure both USB & UART interfaces

Browse Source
This commit is contained in:
Beat Küng 2016-04-08 10:21:34 +02:00 committed by tumbili
parent 8c64e2b801
commit dde7907da4
2 changed files with 26 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

39
src/drivers/gps/ubx.cpp
View File

@ -112,6 +112,7 @@ UBX::configure(unsigned &baudrate)
const unsigned baudrates[] = {9600, 38400, 19200, 57600, 115200};
unsigned baud_i;
ubx_payload_tx_cfg_prt_t cfg_prt[2];
for (baud_i = 0; baud_i < sizeof(baudrates) / sizeof(baudrates[0]); baud_i++) {
baudrate = baudrates[baud_i];
@ -124,14 +125,19 @@ UBX::configure(unsigned &baudrate)
/* Send a CFG-PRT message to set the UBX protocol for in and out
* and leave the baudrate as it is, we just want an ACK-ACK for this */
memset(&_buf.payload_tx_cfg_prt, 0, sizeof(_buf.payload_tx_cfg_prt));
_buf.payload_tx_cfg_prt.portID = UBX_TX_CFG_PRT_PORTID;
_buf.payload_tx_cfg_prt.mode = UBX_TX_CFG_PRT_MODE;
_buf.payload_tx_cfg_prt.baudRate = baudrate;
_buf.payload_tx_cfg_prt.inProtoMask = UBX_TX_CFG_PRT_INPROTOMASK;
_buf.payload_tx_cfg_prt.outProtoMask = UBX_TX_CFG_PRT_OUTPROTOMASK;
memset(cfg_prt, 0, 2 * sizeof(ubx_payload_tx_cfg_prt_t));
cfg_prt[0].portID = UBX_TX_CFG_PRT_PORTID;
cfg_prt[0].mode = UBX_TX_CFG_PRT_MODE;
cfg_prt[0].baudRate = baudrate;
cfg_prt[0].inProtoMask = UBX_TX_CFG_PRT_INPROTOMASK;
cfg_prt[0].outProtoMask = UBX_TX_CFG_PRT_OUTPROTOMASK;
cfg_prt[1].portID = UBX_TX_CFG_PRT_PORTID_USB;
cfg_prt[1].mode = UBX_TX_CFG_PRT_MODE;
cfg_prt[1].baudRate = baudrate;
cfg_prt[1].inProtoMask = UBX_TX_CFG_PRT_INPROTOMASK;
cfg_prt[1].outProtoMask = UBX_TX_CFG_PRT_OUTPROTOMASK;
if (!send_message(UBX_MSG_CFG_PRT, (uint8_t *)&_buf, sizeof(_buf.payload_tx_cfg_prt))) {
if (!send_message(UBX_MSG_CFG_PRT, (uint8_t *)cfg_prt, 2 * sizeof(ubx_payload_tx_cfg_prt_t))) {
continue;
}
@ -141,14 +147,19 @@ UBX::configure(unsigned &baudrate)
}
/* Send a CFG-PRT message again, this time change the baudrate */
memset(&_buf.payload_tx_cfg_prt, 0, sizeof(_buf.payload_tx_cfg_prt));
_buf.payload_tx_cfg_prt.portID = UBX_TX_CFG_PRT_PORTID;
_buf.payload_tx_cfg_prt.mode = UBX_TX_CFG_PRT_MODE;
_buf.payload_tx_cfg_prt.baudRate = UBX_TX_CFG_PRT_BAUDRATE;
_buf.payload_tx_cfg_prt.inProtoMask = UBX_TX_CFG_PRT_INPROTOMASK;
_buf.payload_tx_cfg_prt.outProtoMask = UBX_TX_CFG_PRT_OUTPROTOMASK;
memset(cfg_prt, 0, 2 * sizeof(ubx_payload_tx_cfg_prt_t));
cfg_prt[0].portID = UBX_TX_CFG_PRT_PORTID;
cfg_prt[0].mode = UBX_TX_CFG_PRT_MODE;
cfg_prt[0].baudRate = UBX_TX_CFG_PRT_BAUDRATE;
cfg_prt[0].inProtoMask = UBX_TX_CFG_PRT_INPROTOMASK;
cfg_prt[0].outProtoMask = UBX_TX_CFG_PRT_OUTPROTOMASK;
cfg_prt[1].portID = UBX_TX_CFG_PRT_PORTID_USB;
cfg_prt[1].mode = UBX_TX_CFG_PRT_MODE;
cfg_prt[1].baudRate = UBX_TX_CFG_PRT_BAUDRATE;
cfg_prt[1].inProtoMask = UBX_TX_CFG_PRT_INPROTOMASK;
cfg_prt[1].outProtoMask = UBX_TX_CFG_PRT_OUTPROTOMASK;
if (!send_message(UBX_MSG_CFG_PRT, (uint8_t *)&_buf, sizeof(_buf.payload_tx_cfg_prt))) {
if (!send_message(UBX_MSG_CFG_PRT, (uint8_t *)cfg_prt, 2 * sizeof(ubx_payload_tx_cfg_prt_t))) {
continue;
}

1
src/drivers/gps/ubx.h
View File

@ -117,6 +117,7 @@
/* TX CFG-PRT message contents */
#define UBX_TX_CFG_PRT_PORTID 0x01 /**< UART1 */
#define UBX_TX_CFG_PRT_PORTID_USB 0x03 /**< USB */
#define UBX_TX_CFG_PRT_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */
#define UBX_TX_CFG_PRT_BAUDRATE 38400 /**< choose 38400 as GPS baudrate */
#define UBX_TX_CFG_PRT_INPROTOMASK 0x01 /**< UBX in */