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Transition to new per-port & per-function baud rate configuration.

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This commit is contained in:
Dominic Clifton 2015-02-27 01:05:37 +00:00
parent b6509dd1eb
commit 1a8500c768
13 changed files with 97 additions and 35 deletions
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26
src/main/io/gps.c
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@ -100,19 +100,19 @@ static serialPort_t *gpsPort;
typedef struct gpsInitData_t {
uint8_t index;
uint32_t baudrate;
uint8_t baudrateIndex; // see baudRate_e
const char *ubx;
const char *mtk;
} gpsInitData_t;
// NMEA will cycle through these until valid data is received
static const gpsInitData_t gpsInitData[] = {
{ GPS_BAUDRATE_115200, 115200, "$PUBX,41,1,0003,0001,115200,0*1E\r\n", "$PMTK251,115200*1F\r\n" },
{ GPS_BAUDRATE_57600, 57600, "$PUBX,41,1,0003,0001,57600,0*2D\r\n", "$PMTK251,57600*2C\r\n" },
{ GPS_BAUDRATE_38400, 38400, "$PUBX,41,1,0003,0001,38400,0*26\r\n", "$PMTK251,38400*27\r\n" },
{ GPS_BAUDRATE_19200, 19200, "$PUBX,41,1,0003,0001,19200,0*23\r\n", "$PMTK251,19200*22\r\n" },
{ GPS_BAUDRATE_115200, BAUD_115200, "$PUBX,41,1,0003,0001,115200,0*1E\r\n", "$PMTK251,115200*1F\r\n" },
{ GPS_BAUDRATE_57600, BAUD_57600, "$PUBX,41,1,0003,0001,57600,0*2D\r\n", "$PMTK251,57600*2C\r\n" },
{ GPS_BAUDRATE_38400, BAUD_38400, "$PUBX,41,1,0003,0001,38400,0*26\r\n", "$PMTK251,38400*27\r\n" },
{ GPS_BAUDRATE_19200, BAUD_19200, "$PUBX,41,1,0003,0001,19200,0*23\r\n", "$PMTK251,19200*22\r\n" },
// 9600 is not enough for 5Hz updates - leave for compatibility to dumb NMEA that only runs at this speed
{ GPS_BAUDRATE_9600, 9600, "$PUBX,41,1,0003,0001,9600,0*16\r\n", "" }
{ GPS_BAUDRATE_9600, BAUD_9600, "$PUBX,41,1,0003,0001,9600,0*16\r\n", "" }
};
#define GPS_INIT_DATA_ENTRY_COUNT (sizeof(gpsInitData) / sizeof(gpsInitData[0]))
@ -226,7 +226,7 @@ void gpsInit(serialConfig_t *initialSerialConfig, gpsConfig_t *initialGpsConfig)
return;
}
while (gpsInitData[gpsData.baudrateIndex].baudrate != gpsPortConfig->baudrate) {
while (gpsInitData[gpsData.baudrateIndex].baudrateIndex != gpsPortConfig->gps_baudrateIndex) {
gpsData.baudrateIndex++;
if (gpsData.baudrateIndex >= GPS_INIT_DATA_ENTRY_COUNT) {
gpsData.baudrateIndex = DEFAULT_BAUD_RATE_INDEX;
@ -240,7 +240,7 @@ void gpsInit(serialConfig_t *initialSerialConfig, gpsConfig_t *initialGpsConfig)
mode &= ~MODE_TX;
// no callback - buffer will be consumed in gpsThread()
gpsPort = openSerialPort(gpsPortConfig->identifier, FUNCTION_GPS, NULL, gpsInitData[gpsData.baudrateIndex].baudrate, mode, SERIAL_NOT_INVERTED);
gpsPort = openSerialPort(gpsPortConfig->identifier, FUNCTION_GPS, NULL, gpsInitData[gpsData.baudrateIndex].baudrateIndex, mode, SERIAL_NOT_INVERTED);
if (!gpsPort) {
featureClear(FEATURE_GPS);
return;
@ -255,7 +255,7 @@ void gpsInitNmea(void)
switch(gpsData.state) {
case GPS_INITIALIZING:
case GPS_CHANGE_BAUD:
serialSetBaudRate(gpsPort, gpsInitData[gpsData.baudrateIndex].baudrate);
serialSetBaudRate(gpsPort, baudRates[gpsInitData[gpsData.baudrateIndex].baudrateIndex]);
gpsSetState(GPS_RECEIVING_DATA);
break;
}
@ -279,13 +279,13 @@ void gpsInitUblox(void)
if (gpsData.state_position < GPS_INIT_ENTRIES) {
// try different speed to INIT
uint32_t newBaudRate = gpsInitData[gpsData.state_position].baudrate;
baudRate_e newBaudRateIndex = gpsInitData[gpsData.state_position].baudrateIndex;
gpsData.state_ts = now;
if (serialGetBaudRate(gpsPort) != newBaudRate) {
if (lookupBaudRateIndex(serialGetBaudRate(gpsPort)) != newBaudRateIndex) {
// change the rate if needed and wait a little
serialSetBaudRate(gpsPort, newBaudRate);
serialSetBaudRate(gpsPort, baudRates[newBaudRateIndex]);
return;
}
@ -299,7 +299,7 @@ void gpsInitUblox(void)
}
break;
case GPS_CHANGE_BAUD:
serialSetBaudRate(gpsPort, gpsInitData[gpsData.baudrateIndex].baudrate);
serialSetBaudRate(gpsPort, baudRates[gpsInitData[gpsData.baudrateIndex].baudrateIndex]);
gpsSetState(GPS_CONFIGURE);
break;
case GPS_CONFIGURE: