mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-28 01:04:08 +08:00
129 lines
3.7 KiB
C++
129 lines
3.7 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#include <termios.h>
|
|
#include <errno.h>
|
|
#include <systemlib/err.h>
|
|
#include <drivers/drv_hrt.h>
|
|
#include "gps_helper.h"
|
|
|
|
/**
|
|
* @file gps_helper.cpp
|
|
*
|
|
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
|
* @author Julian Oes <joes@student.ethz.ch>
|
|
*/
|
|
|
|
float
|
|
GPS_Helper::get_position_update_rate()
|
|
{
|
|
return _rate_lat_lon;
|
|
}
|
|
|
|
float
|
|
GPS_Helper::get_velocity_update_rate()
|
|
{
|
|
return _rate_vel;
|
|
}
|
|
|
|
void
|
|
GPS_Helper::reset_update_rates()
|
|
{
|
|
_rate_count_vel = 0;
|
|
_rate_count_lat_lon = 0;
|
|
_interval_rate_start = hrt_absolute_time();
|
|
}
|
|
|
|
void
|
|
GPS_Helper::store_update_rates()
|
|
{
|
|
_rate_vel = _rate_count_vel / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f);
|
|
_rate_lat_lon = _rate_count_lat_lon / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f);
|
|
}
|
|
|
|
int
|
|
GPS_Helper::set_baudrate(const int &fd, unsigned baud)
|
|
{
|
|
/* process baud rate */
|
|
int speed;
|
|
|
|
switch (baud) {
|
|
case 9600: speed = B9600; break;
|
|
|
|
case 19200: speed = B19200; break;
|
|
|
|
case 38400: speed = B38400; break;
|
|
|
|
case 57600: speed = B57600; break;
|
|
|
|
case 115200: speed = B115200; break;
|
|
|
|
warnx("try baudrate: %d\n", speed);
|
|
|
|
default:
|
|
warnx("ERROR: Unsupported baudrate: %d\n", baud);
|
|
return -EINVAL;
|
|
}
|
|
|
|
struct termios uart_config;
|
|
|
|
int termios_state;
|
|
|
|
/* fill the struct for the new configuration */
|
|
tcgetattr(fd, &uart_config);
|
|
|
|
/* clear ONLCR flag (which appends a CR for every LF) */
|
|
uart_config.c_oflag &= ~ONLCR;
|
|
/* no parity, one stop bit */
|
|
uart_config.c_cflag &= ~(CSTOPB | PARENB);
|
|
|
|
/* set baud rate */
|
|
if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
|
|
warnx("ERROR setting config: %d (cfsetispeed)\n", termios_state);
|
|
return -1;
|
|
}
|
|
|
|
if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
|
|
warnx("ERROR setting config: %d (cfsetospeed)\n", termios_state);
|
|
return -1;
|
|
}
|
|
|
|
if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
|
|
warnx("ERROR setting baudrate (tcsetattr)\n");
|
|
return -1;
|
|
}
|
|
|
|
/* XXX if resetting the parser here, ensure it does exist (check for null pointer) */
|
|
return 0;
|
|
}
|