rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #25 from disq/gps_baudfix 

GPS Autoconfigure fix
This commit is contained in:
dongie 2013-12-24 06:40:18 -08:00
parent 72c879560e d9c9cbfb9f
commit ac3b1fab64
1 changed files with 12 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
src/gps.c
View File

@ -9,6 +9,7 @@
#define GPS_TIMEOUT (2500)
// How many entries in gpsInitData array below
#define GPS_INIT_ENTRIES (5)
#define GPS_BAUD_DELAY (100)
typedef struct gpsInitData_t {
uint32_t baudrate;
@ -70,6 +71,7 @@ typedef struct gpsData_t {
uint32_t lastLastMessage; // last-last valid GPS message. Used to calculate delta.
uint32_t state_position; // incremental variable for loops
uint32_t state_ts; // timestamp for last state_position increment
} gpsData_t;
@ -83,6 +85,7 @@ static void gpsSetState(uint8_t state)
{
gpsData.state = state;
gpsData.state_position = 0;
gpsData.state_ts = millis();
}
void gpsInit(uint8_t baudrate)
@ -114,7 +117,7 @@ void gpsInitHardware(void)
// nothing to do, just set baud rate and try receiving some stuff and see if it parses
serialSetBaudRate(core.gpsport, gpsInitData[gpsData.baudrateIndex].baudrate);
gpsSetState(GPS_RECEIVINGDATA);
return;
break;
case GPS_UBLOX:
// UBX will run at mcfg.baudrate, it shouldn't be "autodetected". So here we force it to that rate
@ -124,6 +127,10 @@ void gpsInitHardware(void)
break;
if (gpsData.state == GPS_INITIALIZING) {
uint32_t m = millis();
if (m - gpsData.state_ts < GPS_BAUD_DELAY)
return;
if (gpsData.state_position < GPS_INIT_ENTRIES) {
// try different speed to INIT
serialSetBaudRate(core.gpsport, gpsInitData[gpsData.state_position].baudrate);
@ -131,6 +138,7 @@ void gpsInitHardware(void)
serialPrint(core.gpsport, gpsInitData[mcfg.gps_baudrate].ubx);
gpsData.state_position++;
gpsData.state_ts = m;
} else {
// we're now (hopefully) at the correct rate, next state will switch to it
gpsData.baudrateIndex = mcfg.gps_baudrate;