Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-15 12:25:20 +03:00
Code Issues Wiki Activity

gps: keep state position use it to execute partial initialization code, get rid of delay() calls

Browse source
This commit is contained in:
Kemal Hadimli 2013-10-31 21:08:48 +02:00
parent 77d455f82b
commit 567e7f7cc8
1 changed files with 29 additions and 20 deletions
Download patch file Download diff file Expand all files Collapse all files

49
src/gps.c
View file

@ -69,7 +69,7 @@ typedef struct gpsData_t {
uint32_t lastMessage; // last time valid GPS data was received (millis)
uint32_t lastLastMessage; // last-last valid GPS message. Used to calculate delta.
uint32_t state_position; // incremental variable for loops
} gpsData_t;
@ -78,13 +78,18 @@ gpsData_t gpsData;
static void gpsNewData(uint16_t c);
static bool gpsNewFrameNMEA(char c);
static bool gpsNewFrameUBLOX(uint8_t data);
static void gpsSetState(uint8_t state)
{
gpsData.state = state;
gpsData.state_position = 0;
}
void gpsInit(uint8_t baudrate)
{
portMode_t mode = MODE_RXTX;
// init gpsData structure. if we're not actually enabled, don't bother doing anything else
gpsData.state = GPS_UNKNOWN;
gpsSetState(GPS_UNKNOWN);
if (!feature(FEATURE_GPS))
return;
@ -98,42 +103,46 @@ void gpsInit(uint8_t baudrate)
gpsSetPIDs();
core.gpsport = uartOpen(USART2, gpsNewData, gpsInitData[baudrate].baudrate, mode);
// signal GPS "thread" to initialize when it gets to it
gpsData.state = GPS_INITIALIZING;
gpsSetState(GPS_INITIALIZING);
}
void gpsInitHardware(void)
{
int i;
switch (mcfg.gps_type) {
case GPS_NMEA:
// nothing to do, just set baud rate and try receiving some stuff and see if it parses
serialSetBaudRate(core.gpsport, gpsInitData[gpsData.baudrateIndex].baudrate);
gpsData.state = GPS_RECEIVINGDATA;
gpsSetState(GPS_RECEIVINGDATA);
return;
case GPS_UBLOX:
// UBX will run at mcfg.baudrate, it shouldn't be "autodetected". So here we force it to that rate
if (gpsData.state == GPS_INITIALIZING) {
for (i = 0; i < GPS_INIT_ENTRIES; i++) {
gpsData.state_position++;
if (gpsData.state_position <= GPS_INIT_ENTRIES) {
// try different speed to INIT
serialSetBaudRate(core.gpsport, gpsInitData[i].baudrate);
serialSetBaudRate(core.gpsport, gpsInitData[gpsData.state_position - 1].baudrate);
// but print our FIXED init string for the baudrate we want to be at
serialPrint(core.gpsport, gpsInitData[mcfg.gps_baudrate].ubx);
delay(200);
} else {
// we're now (hopefully) at the correct rate, next state will switch to it
gpsData.baudrateIndex = mcfg.gps_baudrate;
gpsSetState(GPS_INITDONE);
}
// we're now (hopefully) at the correct rate, next state will switch to it
gpsData.baudrateIndex = mcfg.gps_baudrate;
gpsData.state = GPS_INITDONE;
} else {
// GPS_INITDONE, set our real baud rate and push some ublox config strings
serialSetBaudRate(core.gpsport, gpsInitData[gpsData.baudrateIndex].baudrate);
for (i = 0; i < sizeof(ubloxInit); i++) {
serialWrite(core.gpsport, ubloxInit[i]); // send ubx init binary
delay(4);
if (gpsData.state_position == 0)
serialSetBaudRate(core.gpsport, gpsInitData[gpsData.baudrateIndex].baudrate);
gpsData.state_position++;
if (gpsData.state_position <= sizeof(ubloxInit)) {
serialWrite(core.gpsport, ubloxInit[gpsData.state_position - 1]); // send ubx init binary
} else {
// ublox should be init'd, time to try receiving some junk
gpsSetState(GPS_RECEIVINGDATA);
}
// ublox should be init'd, time to try receiving some junk
gpsData.state = GPS_RECEIVINGDATA;
}
break;
case GPS_MTK_NMEA:
@ -166,7 +175,7 @@ void gpsThread(void)
// TODO - move some / all of these into gpsData
GPS_numSat = 0;
f.GPS_FIX = 0;
gpsData.state = GPS_INITIALIZING;
gpsSetState(GPS_INITIALIZING);
break;
case GPS_RECEIVINGDATA:
@ -174,7 +183,7 @@ void gpsThread(void)
if (millis() - gpsData.lastMessage > GPS_TIMEOUT) {
// remove GPS from capability
sensorsClear(SENSOR_GPS);
gpsData.state = GPS_LOSTCOMMS;
gpsSetState(GPS_LOSTCOMMS);
}
break;
}