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- add GPS auto change buadrate 4800 to 115200 support

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Larry (TBS) 2015-10-17 12:29:37 +08:00 • committed by borisbstyle
parent 8e2b485eac
commit ab6f1af171
1 changed files with 40 additions and 0 deletions
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40
src/main/io/gps.c
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@ -237,8 +237,10 @@ void gpsInit(serialConfig_t *initialSerialConfig, gpsConfig_t *initialGpsConfig)
portMode_t mode = MODE_RXTX;
// only RX is needed for NMEA-style GPS
#ifndef COLIBRI_RACE
if (gpsConfig->provider == GPS_NMEA)
mode &= ~MODE_TX;
#endif
// no callback - buffer will be consumed in gpsThread()
gpsPort = openSerialPort(gpsPortConfig->identifier, FUNCTION_GPS, NULL, gpsInitData[gpsData.baudrateIndex].baudrateIndex, mode, SERIAL_NOT_INVERTED);
@ -253,11 +255,49 @@ void gpsInit(serialConfig_t *initialSerialConfig, gpsConfig_t *initialGpsConfig)
void gpsInitNmea(void)
{
#ifdef COLIBRI_RACE
uint32_t now;
#endif
switch(gpsData.state) {
case GPS_INITIALIZING:
#ifdef COLIBRI_RACE
now = millis();
if (now - gpsData.state_ts < 1000)
return;
gpsData.state_ts = now;
if (gpsData.state_position < 1) {
serialSetBaudRate(gpsPort, 4800);
gpsData.state_position++;
} else if (gpsData.state_position < 2) {
// print our FIXED init string for the baudrate we want to be at
serialPrint(gpsPort, "$PSRF100,1,115200,8,1,0*05\r\n");
gpsData.state_position++;
} else {
// we're now (hopefully) at the correct rate, next state will switch to it
gpsSetState(GPS_CHANGE_BAUD);
}
break;
#endif
case GPS_CHANGE_BAUD:
#ifdef COLIBRI_RACE
now = millis();
if (now - gpsData.state_ts < 1000)
return;
gpsData.state_ts = now;
if (gpsData.state_position < 1) {
serialSetBaudRate(gpsPort, baudRates[gpsInitData[gpsData.baudrateIndex].baudrateIndex]);
gpsData.state_position++;
} else if (gpsData.state_position < 2) {
serialPrint(gpsPort, "$PSRF103,00,6,00,0*23\r\n");
gpsData.state_position++;
} else {
#else
serialSetBaudRate(gpsPort, baudRates[gpsInitData[gpsData.baudrateIndex].baudrateIndex]);
#endif
gpsSetState(GPS_RECEIVING_DATA);
#ifdef COLIBRI_RACE
}
#endif
break;
}
}