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uncrustify flight gps updates
This commit is contained in:
abeck70
parent
c6024573e3
commit
525aabe54c
@ -50,7 +50,7 @@
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#include "UBX.h"
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#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
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#include "inc/ubx_autoconfig.h"
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//#include "../../libraries/inc/fifo_buffer.h"
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// #include "../../libraries/inc/fifo_buffer.h"
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#endif
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#include <pios_instrumentation_helper.h>
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@ -196,7 +196,7 @@ int32_t GPSInitialize(void)
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GPSSettingsGet(&gpsSettings);
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// must updateHwSettings() before updateGpsSettings() so baud rate is set before GPS serial code starts running
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updateHwSettings(0);
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#else
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#else /* if defined(REVOLUTION) */
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if (gpsPort && gpsEnabled) {
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GPSPositionSensorInitialize();
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GPSVelocitySensorInitialize();
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@ -294,9 +294,9 @@ static void gpsTask(__attribute__((unused)) void *parameters)
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// need to do this whether there is received data or not, or the status (e.g. gcs) is not always correct
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int32_t ac_status = ubx_autoconfig_get_status();
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static uint8_t lastStatus = GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_DISABLED
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+ GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_RUNNING
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+ GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_DONE
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+ GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_ERROR;
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+ GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_RUNNING
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+ GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_DONE
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+ GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_ERROR;
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gpspositionsensor.AutoConfigStatus =
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ac_status == UBX_AUTOCONFIG_STATUS_DISABLED ? GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_DISABLED :
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ac_status == UBX_AUTOCONFIG_STATUS_DONE ? GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_DONE :
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@ -306,7 +306,7 @@ static void gpsTask(__attribute__((unused)) void *parameters)
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GPSPositionSensorAutoConfigStatusSet(&gpspositionsensor.AutoConfigStatus);
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lastStatus = gpspositionsensor.AutoConfigStatus;
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}
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#endif
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#endif /* if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL) */
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// This blocks the task until there is something on the buffer (or 100ms? passes)
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uint16_t cnt;
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@ -509,72 +509,71 @@ static void updateHwSettings(UAVObjEvent __attribute__((unused)) *ev)
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// since 9600 baud and lower are not usable, and are best left at NEMA, I could have coded it to do a factory reset
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// - if set to 9600 baud (or lower)
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if (gpsPort) {
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if (gpsPort) {
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HwSettingsGPSSpeedOptions speed;
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#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
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// use 9600 baud during startup if autoconfig is enabled
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// that is the flag that the code should assumes a factory default baud rate
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if (ev == NULL && gpsSettings.UbxAutoConfig != GPSSETTINGS_UBXAUTOCONFIG_DISABLED) {
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speed = HWSETTINGS_GPSSPEED_9600;
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}
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else
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// use 9600 baud during startup if autoconfig is enabled
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// that is the flag that the code should assumes a factory default baud rate
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if (ev == NULL && gpsSettings.UbxAutoConfig != GPSSETTINGS_UBXAUTOCONFIG_DISABLED) {
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speed = HWSETTINGS_GPSSPEED_9600;
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} else
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#endif
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{
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// Retrieve settings
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HwSettingsGPSSpeedGet(&speed);
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}
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// must always set the baud here, even if it looks like it is the same
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// e.g. startup sets 9600 here, ubx_autoconfig sets 57600 there, then the user selects a change back to 9600 here
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// on startup (ev == NULL) we must set the Revo port baud rate
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// after startup (ev != NULL) we must set the Revo port baud rate only if autoconfig is disabled
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// always we must set the Revo port baud rate if not using UBX
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{
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// Retrieve settings
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HwSettingsGPSSpeedGet(&speed);
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}
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// must always set the baud here, even if it looks like it is the same
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// e.g. startup sets 9600 here, ubx_autoconfig sets 57600 there, then the user selects a change back to 9600 here
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// on startup (ev == NULL) we must set the Revo port baud rate
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// after startup (ev != NULL) we must set the Revo port baud rate only if autoconfig is disabled
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// always we must set the Revo port baud rate if not using UBX
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#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
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if (ev == NULL || gpsSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_DISABLED || gpsSettings.DataProtocol != GPSSETTINGS_DATAPROTOCOL_UBX)
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if (ev == NULL || gpsSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_DISABLED || gpsSettings.DataProtocol != GPSSETTINGS_DATAPROTOCOL_UBX)
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#endif
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{
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// Set Revo port speed
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switch (speed) {
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case HWSETTINGS_GPSSPEED_2400:
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PIOS_COM_ChangeBaud(gpsPort, 2400);
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break;
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case HWSETTINGS_GPSSPEED_4800:
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PIOS_COM_ChangeBaud(gpsPort, 4800);
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break;
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case HWSETTINGS_GPSSPEED_9600:
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PIOS_COM_ChangeBaud(gpsPort, 9600);
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break;
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case HWSETTINGS_GPSSPEED_19200:
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PIOS_COM_ChangeBaud(gpsPort, 19200);
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break;
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case HWSETTINGS_GPSSPEED_38400:
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PIOS_COM_ChangeBaud(gpsPort, 38400);
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break;
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case HWSETTINGS_GPSSPEED_57600:
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PIOS_COM_ChangeBaud(gpsPort, 57600);
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break;
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case HWSETTINGS_GPSSPEED_115200:
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PIOS_COM_ChangeBaud(gpsPort, 115200);
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break;
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case HWSETTINGS_GPSSPEED_230400:
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PIOS_COM_ChangeBaud(gpsPort, 230400);
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break;
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}
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{
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// Set Revo port speed
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switch (speed) {
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case HWSETTINGS_GPSSPEED_2400:
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PIOS_COM_ChangeBaud(gpsPort, 2400);
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break;
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case HWSETTINGS_GPSSPEED_4800:
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PIOS_COM_ChangeBaud(gpsPort, 4800);
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break;
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case HWSETTINGS_GPSSPEED_9600:
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PIOS_COM_ChangeBaud(gpsPort, 9600);
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break;
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case HWSETTINGS_GPSSPEED_19200:
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PIOS_COM_ChangeBaud(gpsPort, 19200);
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break;
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case HWSETTINGS_GPSSPEED_38400:
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PIOS_COM_ChangeBaud(gpsPort, 38400);
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break;
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case HWSETTINGS_GPSSPEED_57600:
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PIOS_COM_ChangeBaud(gpsPort, 57600);
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break;
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case HWSETTINGS_GPSSPEED_115200:
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PIOS_COM_ChangeBaud(gpsPort, 115200);
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break;
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case HWSETTINGS_GPSSPEED_230400:
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PIOS_COM_ChangeBaud(gpsPort, 230400);
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break;
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}
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#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
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// even changing the baud rate will make it re-verify the sensor type
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// that way the user can just try some baud rates and it when the sensor type is valid, the baud rate is correct
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ubx_reset_sensor_type();
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// even changing the baud rate will make it re-verify the sensor type
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// that way the user can just try some baud rates and it when the sensor type is valid, the baud rate is correct
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ubx_reset_sensor_type();
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#endif
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}
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}
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#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
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else {
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// it will never do this during startup because ev == NULL
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ubx_autoconfig_set(NULL);
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}
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else {
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// it will never do this during startup because ev == NULL
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ubx_autoconfig_set(NULL);
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}
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#endif
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}
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}
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}
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#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
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@ -470,7 +470,7 @@ static void parse_ubx_mon_ver(struct UBXPacket *ubx, __attribute__((unused)) GPS
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((ubxHwVersion >= 70000) ? GPSPOSITIONSENSOR_SENSORTYPE_UBX7 : GPSPOSITIONSENSOR_SENSORTYPE_UBX);
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// send sensor type right now because on UBX NEMA we don't get a full set of messages
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// and we want to be able to see sensor type even on UBX NEMA GPS's
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GPSPositionSensorSensorTypeSet((uint8_t *) &sensorType);
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GPSPositionSensorSensorTypeSet((uint8_t *)&sensorType);
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}
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static void parse_ubx_op_sys(struct UBXPacket *ubx, __attribute__((unused)) GPSPositionSensorData *GpsPosition)
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@ -366,36 +366,36 @@ struct UBX_ACK_NAK {
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// 0008 00 00 D0 08 00 00 80 25
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// 0010 00 00 07 00 03 00 00 00
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// 0018 00 00-A2 B5
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#define UBX_CFG_PRT_PORTID_DDC 0
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#define UBX_CFG_PRT_PORTID_UART1 1
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#define UBX_CFG_PRT_PORTID_UART2 2
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#define UBX_CFG_PRT_PORTID_USB 3
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#define UBX_CFG_PRT_PORTID_SPI 4
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#define UBX_CFG_PRT_MODE_DATABITS5 0x00
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#define UBX_CFG_PRT_MODE_DATABITS6 0x40
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#define UBX_CFG_PRT_MODE_DATABITS7 0x80
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#define UBX_CFG_PRT_MODE_DATABITS8 0xC0
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#define UBX_CFG_PRT_MODE_EVENPARITY 0x000
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#define UBX_CFG_PRT_MODE_ODDPARITY 0x200
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#define UBX_CFG_PRT_MODE_NOPARITY 0x800
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#define UBX_CFG_PRT_PORTID_DDC 0
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#define UBX_CFG_PRT_PORTID_UART1 1
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#define UBX_CFG_PRT_PORTID_UART2 2
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#define UBX_CFG_PRT_PORTID_USB 3
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#define UBX_CFG_PRT_PORTID_SPI 4
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#define UBX_CFG_PRT_MODE_DATABITS5 0x00
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#define UBX_CFG_PRT_MODE_DATABITS6 0x40
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#define UBX_CFG_PRT_MODE_DATABITS7 0x80
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#define UBX_CFG_PRT_MODE_DATABITS8 0xC0
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#define UBX_CFG_PRT_MODE_EVENPARITY 0x000
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#define UBX_CFG_PRT_MODE_ODDPARITY 0x200
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#define UBX_CFG_PRT_MODE_NOPARITY 0x800
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#define UBX_CFG_PRT_MODE_STOPBITS1_0 0x0000
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#define UBX_CFG_PRT_MODE_STOPBITS1_5 0x1000
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#define UBX_CFG_PRT_MODE_STOPBITS2_0 0x2000
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#define UBX_CFG_PRT_MODE_STOPBITS0_5 0x3000
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#define UBX_CFG_PRT_MODE_RESERVED 0x10
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#define UBX_CFG_PRT_MODE_RESERVED 0x10
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#define UBX_CFG_PRT_MODE_DEFAULT (UBX_CFG_PRT_MODE_DATABITS8 | UBX_CFG_PRT_MODE_NOPARITY | UBX_CFG_PRT_MODE_STOPBITS1_0 | UBX_CFG_PRT_MODE_RESERVED)
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#define UBX_CFG_PRT_MODE_DEFAULT (UBX_CFG_PRT_MODE_DATABITS8 | UBX_CFG_PRT_MODE_NOPARITY | UBX_CFG_PRT_MODE_STOPBITS1_0 | UBX_CFG_PRT_MODE_RESERVED)
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struct UBX_CFG_PRT {
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uint8_t portID; // 1 or 2 for UART ports
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uint8_t res0; // reserved
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uint16_t res1; // reserved
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uint32_t mode; // bit masks for databits, stopbits, parity, and non-zero reserved
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uint32_t baudRate; // bits per second, 9600 means 9600
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uint16_t inProtoMask; // bit 0 on = UBX, bit 1 on = NEMA
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uint16_t res1; // reserved
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uint32_t mode; // bit masks for databits, stopbits, parity, and non-zero reserved
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uint32_t baudRate; // bits per second, 9600 means 9600
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uint16_t inProtoMask; // bit 0 on = UBX, bit 1 on = NEMA
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uint16_t outProtoMask; // bit 0 on = UBX, bit 1 on = NEMA
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uint16_t flags; // reserved
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uint16_t pad; // reserved
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uint16_t flags; // reserved
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uint16_t pad; // reserved
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} __attribute__((packed));
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struct UBX_CFG_MSG {
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@ -411,11 +411,11 @@ struct UBX_CFG_RATE {
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} __attribute__((packed));
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// Mask for "all supported devices": battery backed RAM, Flash, EEPROM, SPI Flash
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#define UBX_CFG_CFG_DEVICE_BBR 0x01
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#define UBX_CFG_CFG_DEVICE_FLASH 0x02
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#define UBX_CFG_CFG_DEVICE_EEPROM 0x04
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#define UBX_CFG_CFG_DEVICE_SPIFLASH 0x10
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#define UBX_CFG_CFG_DEVICE_ALL (UBX_CFG_CFG_DEVICE_BBR | UBX_CFG_CFG_DEVICE_FLASH | UBX_CFG_CFG_DEVICE_EEPROM | UBX_CFG_CFG_DEVICE_SPIFLASH)
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#define UBX_CFG_CFG_DEVICE_BBR 0x01
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#define UBX_CFG_CFG_DEVICE_FLASH 0x02
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#define UBX_CFG_CFG_DEVICE_EEPROM 0x04
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#define UBX_CFG_CFG_DEVICE_SPIFLASH 0x10
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#define UBX_CFG_CFG_DEVICE_ALL (UBX_CFG_CFG_DEVICE_BBR | UBX_CFG_CFG_DEVICE_FLASH | UBX_CFG_CFG_DEVICE_EEPROM | UBX_CFG_CFG_DEVICE_SPIFLASH)
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#define UBX_CFG_CFG_SETTINGS_NONE 0x000
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#define UBX_CFG_CFG_SETTINGS_IOPORT 0x001
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#define UBX_CFG_CFG_SETTINGS_MSGCONF 0x002
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@ -426,14 +426,15 @@ struct UBX_CFG_RATE {
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#define UBX_CFG_CFG_SETTINGS_RINVCONF 0x200
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#define UBX_CFG_CFG_SETTINGS_ANTCONF 0x400
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#define UBX_CFG_CFG_SETTINGS_ALL (UBX_CFG_CFG_SETTINGS_IOPORT | \
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UBX_CFG_CFG_SETTINGS_MSGCONF | \
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UBX_CFG_CFG_SETTINGS_INFMSG | \
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UBX_CFG_CFG_SETTINGS_NAVCONF | \
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UBX_CFG_CFG_SETTINGS_TPCONF | \
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UBX_CFG_CFG_SETTINGS_SFDRCONF | \
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UBX_CFG_CFG_SETTINGS_RINVCONF | \
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UBX_CFG_CFG_SETTINGS_ANTCONF)
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#define UBX_CFG_CFG_SETTINGS_ALL \
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(UBX_CFG_CFG_SETTINGS_IOPORT | \
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UBX_CFG_CFG_SETTINGS_MSGCONF | \
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UBX_CFG_CFG_SETTINGS_INFMSG | \
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UBX_CFG_CFG_SETTINGS_NAVCONF | \
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UBX_CFG_CFG_SETTINGS_TPCONF | \
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UBX_CFG_CFG_SETTINGS_SFDRCONF | \
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UBX_CFG_CFG_SETTINGS_RINVCONF | \
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UBX_CFG_CFG_SETTINGS_ANTCONF)
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// Sent messages for configuration support
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struct UBX_CFG_CFG {
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@ -33,9 +33,9 @@
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// defines
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// TODO: NEO8 max rate is for Rom version, flash is limited to 10Hz, need to handle that.
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#define UBX_MAX_RATE_VER8 18
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#define UBX_MAX_RATE_VER7 10
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#define UBX_MAX_RATE 5
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#define UBX_MAX_RATE_VER8 18
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#define UBX_MAX_RATE_VER7 10
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#define UBX_MAX_RATE 5
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// reset to factory (and 9600 baud), and baud changes are not acked
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// it could be 31 (full PIOS buffer) + 60 (gnss) + overhead bytes at 240 bytes per second
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@ -50,28 +50,30 @@
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// rather than have long timeouts, we will let timeouts * retries handle that if it happens
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// timeout for ack reception
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#define UBX_REPLY_TIMEOUT (500 * 1000)
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#define UBX_REPLY_TIMEOUT (500 * 1000)
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// timeout for a settings save, in case it has to erase flash
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#define UBX_REPLY_TO_SAVE_TIMEOUT (3000 * 1000)
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#define UBX_REPLY_TO_SAVE_TIMEOUT (3000 * 1000)
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// max retries in case of timeout
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#define UBX_MAX_RETRIES 5
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#define UBX_MAX_RETRIES 5
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// pause between each verifiably correct configuration step
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#define UBX_VERIFIED_STEP_WAIT_TIME (50 * 1000)
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#define UBX_VERIFIED_STEP_WAIT_TIME (50 * 1000)
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// pause between each unverifiably correct configuration step
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#define UBX_UNVERIFIED_STEP_WAIT_TIME (500 * 1000)
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#define UBX_UNVERIFIED_STEP_WAIT_TIME (500 * 1000)
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#define UBX_CFG_CFG_OP_STORE_SETTINGS (UBX_CFG_CFG_SETTINGS_IOPORT | \
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UBX_CFG_CFG_SETTINGS_MSGCONF | \
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UBX_CFG_CFG_SETTINGS_NAVCONF)
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#define UBX_CFG_CFG_OP_STORE_SETTINGS \
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(UBX_CFG_CFG_SETTINGS_IOPORT | \
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UBX_CFG_CFG_SETTINGS_MSGCONF | \
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UBX_CFG_CFG_SETTINGS_NAVCONF)
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#define UBX_CFG_CFG_OP_CLEAR_SETTINGS ((~UBX_CFG_CFG_OP_STORE_SETTINGS) & UBX_CFG_CFG_SETTINGS_ALL)
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// don't clear rinv as that is just text as configured by the owner
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#define UBX_CFG_CFG_OP_RESET_SETTINGS (UBX_CFG_CFG_SETTINGS_IOPORT | \
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UBX_CFG_CFG_SETTINGS_MSGCONF | \
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UBX_CFG_CFG_SETTINGS_INFMSG | \
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UBX_CFG_CFG_SETTINGS_NAVCONF | \
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UBX_CFG_CFG_SETTINGS_TPCONF | \
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UBX_CFG_CFG_SETTINGS_SFDRCONF | \
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UBX_CFG_CFG_SETTINGS_ANTCONF)
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#define UBX_CFG_CFG_OP_RESET_SETTINGS \
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(UBX_CFG_CFG_SETTINGS_IOPORT | \
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UBX_CFG_CFG_SETTINGS_MSGCONF | \
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UBX_CFG_CFG_SETTINGS_INFMSG | \
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UBX_CFG_CFG_SETTINGS_NAVCONF | \
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UBX_CFG_CFG_SETTINGS_TPCONF | \
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UBX_CFG_CFG_SETTINGS_SFDRCONF | \
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UBX_CFG_CFG_SETTINGS_ANTCONF)
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// types
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typedef enum {
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@ -53,22 +53,22 @@ typedef enum {
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} initSteps_t;
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typedef struct {
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initSteps_t currentStep; // Current configuration "fsm" status
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initSteps_t currentStepSave; // Current configuration "fsm" status
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uint32_t lastStepTimestampRaw; // timestamp of last operation
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uint32_t lastConnectedRaw; // timestamp of last time gps was connected
|
||||
initSteps_t currentStep; // Current configuration "fsm" status
|
||||
initSteps_t currentStepSave; // Current configuration "fsm" status
|
||||
uint32_t lastStepTimestampRaw; // timestamp of last operation
|
||||
uint32_t lastConnectedRaw; // timestamp of last time gps was connected
|
||||
struct {
|
||||
UBXSentPacket_t working_packet; // outbound "buffer"
|
||||
UBXSentPacket_t working_packet; // outbound "buffer"
|
||||
// bufferPaddingForPiosBugAt2400Baud must exist for baud rate change to work at 2400 or 4800
|
||||
// failure mode otherwise:
|
||||
// - send message with baud rate change
|
||||
// - wait 1 second (even at 2400, the baud rate change command should clear even an initially full 31 byte PIOS buffer much more quickly)
|
||||
// - change Revo port baud rate
|
||||
// sometimes fails (much worse for lowest baud rates)
|
||||
uint8_t bufferPaddingForPiosBugAt2400Baud[2]; // must be at least 2 for 2400 to work, probably 1 for 4800 and 0 for 9600+
|
||||
uint8_t bufferPaddingForPiosBugAt2400Baud[2]; // must be at least 2 for 2400 to work, probably 1 for 4800 and 0 for 9600+
|
||||
} __attribute__((packed));
|
||||
volatile ubx_autoconfig_settings_t currentSettings;
|
||||
int8_t lastConfigSent; // index of last configuration string sent
|
||||
int8_t lastConfigSent; // index of last configuration string sent
|
||||
struct UBX_ACK_ACK requiredAck; // Class and id of the message we are waiting for an ACK from GPS
|
||||
uint8_t retryCount;
|
||||
} status_t;
|
||||
@ -140,7 +140,7 @@ ubx_cfg_msg_t msg_config_ubx7[] = {
|
||||
// that is required to do a 100% correct configuration
|
||||
// but is unexpected because it changes the stored configuration when doing autoconfig.nostore
|
||||
// note that a reset is always done with autoconfig.store
|
||||
//#define ALWAYS_RESET
|
||||
// #define ALWAYS_RESET
|
||||
|
||||
// private variables
|
||||
|
||||
@ -148,7 +148,7 @@ ubx_cfg_msg_t msg_config_ubx7[] = {
|
||||
static volatile bool enabled = false;
|
||||
static volatile bool current_step_touched = false;
|
||||
// both the pointer and what it points to are volatile. Yuk.
|
||||
static volatile status_t * volatile status = 0;
|
||||
static volatile status_t *volatile status = 0;
|
||||
static uint8_t hwsettings_baud;
|
||||
|
||||
|
||||
@ -183,10 +183,10 @@ static uint16_t prepare_packet(UBXSentPacket_t *packet, uint8_t classID, uint8_t
|
||||
packet->message.header.len = len;
|
||||
append_checksum(packet);
|
||||
|
||||
status->requiredAck.clsID = classID;
|
||||
status->requiredAck.msgID = messageID;
|
||||
status->requiredAck.clsID = classID;
|
||||
status->requiredAck.msgID = messageID;
|
||||
|
||||
return (len + sizeof(UBXSentHeader_t) + 2 + sizeof(status->bufferPaddingForPiosBugAt2400Baud)); // payload + header + checksum + extra bytes
|
||||
return len + sizeof(UBXSentHeader_t) + 2 + sizeof(status->bufferPaddingForPiosBugAt2400Baud); // payload + header + checksum + extra bytes
|
||||
}
|
||||
|
||||
|
||||
@ -213,8 +213,8 @@ static void set_current_step_if_untouched(initSteps_t new_steps)
|
||||
void ubx_reset_sensor_type()
|
||||
{
|
||||
ubxHwVersion = -1;
|
||||
sensorType = GPSPOSITIONSENSOR_SENSORTYPE_UNKNOWN;
|
||||
GPSPositionSensorSensorTypeSet((uint8_t *) &sensorType);
|
||||
sensorType = GPSPOSITIONSENSOR_SENSORTYPE_UNKNOWN;
|
||||
GPSPositionSensorSensorTypeSet((uint8_t *)&sensorType);
|
||||
}
|
||||
|
||||
|
||||
@ -241,8 +241,8 @@ static void config_reset(uint16_t *bytes_to_send)
|
||||
static void config_gps_baud(uint16_t *bytes_to_send)
|
||||
{
|
||||
memset((uint8_t *)status->working_packet.buffer, 0, sizeof(UBXSentHeader_t) + sizeof(ubx_cfg_prt_t));
|
||||
status->working_packet.message.payload.cfg_prt.mode = UBX_CFG_PRT_MODE_DEFAULT; // 8databits, 1stopbit, noparity, and non-zero reserved
|
||||
status->working_packet.message.payload.cfg_prt.portID = 1; // 1 = UART1, 2 = UART2
|
||||
status->working_packet.message.payload.cfg_prt.mode = UBX_CFG_PRT_MODE_DEFAULT; // 8databits, 1stopbit, noparity, and non-zero reserved
|
||||
status->working_packet.message.payload.cfg_prt.portID = 1; // 1 = UART1, 2 = UART2
|
||||
status->working_packet.message.payload.cfg_prt.inProtoMask = 1; // 1 = UBX only (bit 0)
|
||||
status->working_packet.message.payload.cfg_prt.outProtoMask = 1; // 1 = UBX only (bit 0)
|
||||
// Ask GPS to change it's speed
|
||||
@ -455,7 +455,7 @@ static void configure(uint16_t *bytes_to_send)
|
||||
// Skip and fall through to next step
|
||||
status->lastConfigSent++;
|
||||
}
|
||||
// in the else case we must fall through because we must send something each time because successful send is tested externally
|
||||
// in the else case we must fall through because we must send something each time because successful send is tested externally
|
||||
|
||||
case LAST_CONFIG_SENT_START + 3:
|
||||
config_sbas(bytes_to_send);
|
||||
@ -488,138 +488,138 @@ static void enable_sentences(__attribute__((unused)) uint16_t *bytes_to_send)
|
||||
// End User Documentation
|
||||
|
||||
// There are two baud rates of interest
|
||||
// The baud rate the GPS is talking at
|
||||
// The baud rate Revo is talking at
|
||||
// These two must match for the GPS to work
|
||||
// You only have direct control of the Revo baud rate
|
||||
// The two baud rates must be the same for the Revo to send a command to the GPS
|
||||
// to tell the GPS to change it's baud rate
|
||||
// So you start out by changing Revo's baud rate to match the GPS's
|
||||
// and then enable UbxAutoConfig to tell Revo to change the GPS baud every time, just before it changes the Revo baud
|
||||
// That is the basis of these instructions
|
||||
// The baud rate the GPS is talking at
|
||||
// The baud rate Revo is talking at
|
||||
// These two must match for the GPS to work
|
||||
// You only have direct control of the Revo baud rate
|
||||
// The two baud rates must be the same for the Revo to send a command to the GPS
|
||||
// to tell the GPS to change it's baud rate
|
||||
// So you start out by changing Revo's baud rate to match the GPS's
|
||||
// and then enable UbxAutoConfig to tell Revo to change the GPS baud every time, just before it changes the Revo baud
|
||||
// That is the basis of these instructions
|
||||
|
||||
// There are microprocessors and they each have internal settings
|
||||
// Revo
|
||||
// GPS
|
||||
// and each of these settings can be temporary or permanent
|
||||
// Revo
|
||||
// GPS
|
||||
// and each of these settings can be temporary or permanent
|
||||
|
||||
// To change a Revo setting
|
||||
// Use the System tab in the GCS for all the following
|
||||
// Example: in Settings->GPSSettings click on the VALUE for UbxAutoConfig and change it to Disabled
|
||||
// Click on UbxAutoConfig itself and the line will turn green and blue
|
||||
// To change this setting permanently, press the red up arrow (Save) at the top of the screen
|
||||
// Permanently means that it uses this setting, even if you reboot Revo, e.g. power off and on
|
||||
// To change this setting temporarily, press the green up arrow (Send) at the top of the screen
|
||||
// Temporarily means that it overrides the permanent setting, but it goes back to the permanent setting when you reboot Revo, e.g. power off and on
|
||||
// Use the System tab in the GCS for all the following
|
||||
// Example: in Settings->GPSSettings click on the VALUE for UbxAutoConfig and change it to Disabled
|
||||
// Click on UbxAutoConfig itself and the line will turn green and blue
|
||||
// To change this setting permanently, press the red up arrow (Save) at the top of the screen
|
||||
// Permanently means that it uses this setting, even if you reboot Revo, e.g. power off and on
|
||||
// To change this setting temporarily, press the green up arrow (Send) at the top of the screen
|
||||
// Temporarily means that it overrides the permanent setting, but it goes back to the permanent setting when you reboot Revo, e.g. power off and on
|
||||
|
||||
// To change an internal GPS setting you use the OP GCS System tab to tell Revo to make the GPS changes
|
||||
// This only works correctly after you have matching baud rates so Revo and GPS can talk together
|
||||
// "Settings->GPSSettings->UbxAutoConfig = Configure" sets the internal GPS setting temporarily
|
||||
// "Settings->GPSSettings->UbxAutoConfig = ConfigureAndStore" sets the internal GPS setting permanently
|
||||
// This only works correctly after you have matching baud rates so Revo and GPS can talk together
|
||||
// "Settings->GPSSettings->UbxAutoConfig = Configure" sets the internal GPS setting temporarily
|
||||
// "Settings->GPSSettings->UbxAutoConfig = ConfigureAndStore" sets the internal GPS setting permanently
|
||||
|
||||
// You want to wind up with a set of permanent settings that work together
|
||||
// There are two different sets of permanent settings that work together
|
||||
// GPS at 9600 baud and factory defaults
|
||||
// Revo configured to start out at 9600 baud, but then completely configure the GPS and switch both to 57600 baud
|
||||
// (takes 6 seconds at boot up while you are waiting for it to acquire satellites anyway)
|
||||
// This is the preferred way so that if we change the settings in the future, the new release will automatically use the correct settings
|
||||
// GPS at 57600 baud with all the settings for the current release stored in the GPS
|
||||
// Revo configured to disable UbxAutoConfig since all the GPS settings are permanently stored correctly
|
||||
// May require reconfiguring in a future release
|
||||
// GPS at 9600 baud and factory defaults
|
||||
// Revo configured to start out at 9600 baud, but then completely configure the GPS and switch both to 57600 baud
|
||||
// (takes 6 seconds at boot up while you are waiting for it to acquire satellites anyway)
|
||||
// This is the preferred way so that if we change the settings in the future, the new release will automatically use the correct settings
|
||||
// GPS at 57600 baud with all the settings for the current release stored in the GPS
|
||||
// Revo configured to disable UbxAutoConfig since all the GPS settings are permanently stored correctly
|
||||
// May require reconfiguring in a future release
|
||||
|
||||
// Changable settings of interest
|
||||
// AutoConfig mode
|
||||
// Settings->GPSSettings->UbxAutoConfig (Disabled, Configure, ConfigureAndStore, default=Configure)
|
||||
// Disabled means that changes to the GPS baud setting only affect the Revo port
|
||||
// It doesn't try to change the GPS's internal baud rate setting
|
||||
// Configure means change the GPS's internal baud setting temporarily (GPS settings revert to the permanent values when GPS is powered off/on)
|
||||
// ConfigureAndStore means change the GPS's internal baud setting permanently (even after the GPS is powered off/on)
|
||||
// GPS baud rate
|
||||
// Settings->HwSettings->GPSSpeed
|
||||
// If the baud rates are the same and an AutoConfig mode is enabled this will change both the GPS baud rate and the Revo baud rate
|
||||
// If the baud rates are not the same and an AutoConfig mode is enabled it will fail
|
||||
// If AutoConfig mode is disabled this will only change the Revo baud rate
|
||||
// AutoConfig mode
|
||||
// Settings->GPSSettings->UbxAutoConfig (Disabled, Configure, ConfigureAndStore, default=Configure)
|
||||
// Disabled means that changes to the GPS baud setting only affect the Revo port
|
||||
// It doesn't try to change the GPS's internal baud rate setting
|
||||
// Configure means change the GPS's internal baud setting temporarily (GPS settings revert to the permanent values when GPS is powered off/on)
|
||||
// ConfigureAndStore means change the GPS's internal baud setting permanently (even after the GPS is powered off/on)
|
||||
// GPS baud rate
|
||||
// Settings->HwSettings->GPSSpeed
|
||||
// If the baud rates are the same and an AutoConfig mode is enabled this will change both the GPS baud rate and the Revo baud rate
|
||||
// If the baud rates are not the same and an AutoConfig mode is enabled it will fail
|
||||
// If AutoConfig mode is disabled this will only change the Revo baud rate
|
||||
|
||||
// View only settings of interest
|
||||
// Detected GPS type
|
||||
// Data Objects -> GPSPositionSensor -> SensorType (Unknown, NMEA, UBX, UBX7, UBX8)
|
||||
// When it says something other than Unknown, the GPS and Revo baud rates are synced and talking
|
||||
// Real time progress of the GPS detection process
|
||||
// Data Objects -> GPSPositionSensor -> AutoConfigStatus (DISABLED, RUNNING, DONE, ERROR)
|
||||
// Detected GPS type
|
||||
// Data Objects -> GPSPositionSensor -> SensorType (Unknown, NMEA, UBX, UBX7, UBX8)
|
||||
// When it says something other than Unknown, the GPS and Revo baud rates are synced and talking
|
||||
// Real time progress of the GPS detection process
|
||||
// Data Objects -> GPSPositionSensor -> AutoConfigStatus (DISABLED, RUNNING, DONE, ERROR)
|
||||
|
||||
// Syncing the baud rates means that the GPS's internal baud rate setting is the same as the Revo port setting
|
||||
// This is necessary for the GPS to work with Revo
|
||||
// This is necessary for the GPS to work with Revo
|
||||
// To sync to and find out an unknown GPS baud rate (or sync to and use a known GPS baud rate)
|
||||
// Temporarily change the AutoConfig mode to Disabled
|
||||
// Temporarily change the GPS baud rate to a value you think it might be (or go up the list)
|
||||
// See if that baud rate is correct (Data Objects->GPSPositionSensor->SensorType will be something besides Unknown)
|
||||
// Repeat, changing the GPS baud rate, until found
|
||||
// Temporarily change the AutoConfig mode to Disabled
|
||||
// Temporarily change the GPS baud rate to a value you think it might be (or go up the list)
|
||||
// See if that baud rate is correct (Data Objects->GPSPositionSensor->SensorType will be something besides Unknown)
|
||||
// Repeat, changing the GPS baud rate, until found
|
||||
|
||||
// Some very important facts:
|
||||
// For 9600 baud or lower, the autoconfig will configure it to factory default settings
|
||||
// For 19200 baud or higher, the autoconfig will configure it to OP required settings
|
||||
// If autoconfig is enabled permanently in Revo, it will assume that the GPS is configured to power up at 9600 baud
|
||||
// 57600 baud is recommended for the current release
|
||||
// That can be achieved either by
|
||||
// autoconfiging the GPS from a permanent 9600 baud (and factory settings) to a temporary 57600 (with OP settings) on each power up
|
||||
// or by configuring the GPS with a permanent 57600 (with OP settings) and then permanently disabling autoconfig
|
||||
// Some previous releases used 38400 and had some other settings differences
|
||||
// For 9600 baud or lower, the autoconfig will configure it to factory default settings
|
||||
// For 19200 baud or higher, the autoconfig will configure it to OP required settings
|
||||
// If autoconfig is enabled permanently in Revo, it will assume that the GPS is configured to power up at 9600 baud
|
||||
// 57600 baud is recommended for the current release
|
||||
// That can be achieved either by
|
||||
// autoconfiging the GPS from a permanent 9600 baud (and factory settings) to a temporary 57600 (with OP settings) on each power up
|
||||
// or by configuring the GPS with a permanent 57600 (with OP settings) and then permanently disabling autoconfig
|
||||
// Some previous releases used 38400 and had some other settings differences
|
||||
|
||||
// The user should either:
|
||||
// Permanently configure their GPS to 9600 baud factory settings and tell the Revo configuration to load volatile settings at each startup by:
|
||||
// (Recommended method because new versions could require new settings and this handles future changes automatically)
|
||||
// Syncing the baud rates
|
||||
// Setting it to autoconfig.nostore and waiting for it to complete
|
||||
// Setting HwSettings.GPSSpeed to 9600 and waiting for it to complete
|
||||
// Setting it to autoconfig.store and waiting for it to complete (this tells the GPS to store the 9600 permanently)
|
||||
// Permanently setting it to autoconfig.nostore and waiting for it to complete
|
||||
// Permanently setting HwSettings.GPSSpeed to 57600 and waiting for it to complete
|
||||
// (Recommended method because new versions could require new settings and this handles future changes automatically)
|
||||
// Syncing the baud rates
|
||||
// Setting it to autoconfig.nostore and waiting for it to complete
|
||||
// Setting HwSettings.GPSSpeed to 9600 and waiting for it to complete
|
||||
// Setting it to autoconfig.store and waiting for it to complete (this tells the GPS to store the 9600 permanently)
|
||||
// Permanently setting it to autoconfig.nostore and waiting for it to complete
|
||||
// Permanently setting HwSettings.GPSSpeed to 57600 and waiting for it to complete
|
||||
// Permanently configure their GPS to 57600 baud, including OpenPilot settings and telling the Revo configuration to just set the baud to 57600 at each startup by:
|
||||
// (Less recommended method because new versions could require new settings so you would have to do this again)
|
||||
// Syncing the baud rates
|
||||
// Setting it to autoconfig.nostore and waiting for it to complete
|
||||
// Permanently setting HwSettings.GPSSpeed to 57600 and waiting for it to complete
|
||||
// Setting it to autoconfig.store
|
||||
// Permanently setting it to autoconfig.disabled
|
||||
// (Less recommended method because new versions could require new settings so you would have to do this again)
|
||||
// Syncing the baud rates
|
||||
// Setting it to autoconfig.nostore and waiting for it to complete
|
||||
// Permanently setting HwSettings.GPSSpeed to 57600 and waiting for it to complete
|
||||
// Setting it to autoconfig.store
|
||||
// Permanently setting it to autoconfig.disabled
|
||||
|
||||
// The algorithm is:
|
||||
// If autoconfig is enabled at all
|
||||
// It will assume that the GPS boot up baud rate is 9600 and the user wants that changed to HwSettings.GPSSpeed
|
||||
// and that change can be either volatile (must be done each boot up) or non-volatile (stored in GPS's non-volatile settings storage)
|
||||
// according to whether CONFIGURE is used or CONFIGUREANDSTORE is used
|
||||
// The only user who should need CONFIGUREANDSTORE stored permanently in Revo is Dave, who configures many OP GPS's before shipping
|
||||
// plug a factory default GPS in to a Revo, power up, wait for it to configure and permanently store in the GPS, power down, ship
|
||||
// It will assume that the GPS boot up baud rate is 9600 and the user wants that changed to HwSettings.GPSSpeed
|
||||
// and that change can be either volatile (must be done each boot up) or non-volatile (stored in GPS's non-volatile settings storage)
|
||||
// according to whether CONFIGURE is used or CONFIGUREANDSTORE is used
|
||||
// The only user who should need CONFIGUREANDSTORE stored permanently in Revo is Dave, who configures many OP GPS's before shipping
|
||||
// plug a factory default GPS in to a Revo, power up, wait for it to configure and permanently store in the GPS, power down, ship
|
||||
// If autoconfig is not enabled
|
||||
// it will use HwSettings.GPSSpeed for the baud rate and not do any configuration changes
|
||||
// it will use HwSettings.GPSSpeed for the baud rate and not do any configuration changes
|
||||
// If GPSSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_CONFIGUREANDSTORE it will
|
||||
// 1 Reset the permanent configuration back to factory default
|
||||
// 2 Disable NEMA message settings
|
||||
// 3 Add some volatile UBX settings to the copies of the non-volatile ones that are currently running
|
||||
// 4 Save the current volatile settings to non-volatile storage
|
||||
// 1 Reset the permanent configuration back to factory default
|
||||
// 2 Disable NEMA message settings
|
||||
// 3 Add some volatile UBX settings to the copies of the non-volatile ones that are currently running
|
||||
// 4 Save the current volatile settings to non-volatile storage
|
||||
// If GPSSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_CONFIGURE it will
|
||||
// 2 Disable NEMA message settings
|
||||
// 3 Add some volatile UBX settings to the copies of the non-volatile ones that are currently running
|
||||
// 2 Disable NEMA message settings
|
||||
// 3 Add some volatile UBX settings to the copies of the non-volatile ones that are currently running
|
||||
// If the requested baud rate is 9600 or less it skips the step (3) of adding some volatile UBX settings
|
||||
|
||||
// Talking points to point out:
|
||||
// U-center is no longer needed for any use case with this code
|
||||
// 9600 is factory default for GPS's
|
||||
// Some GPS can't even permanently store settings and must start at 9600 baud?
|
||||
// I have a GPS that sometimes looses settings and reverts to 9600 and this is a fix for that too :)
|
||||
// This code handles a GPS configured either way (9600 with factory default settings or e.g. 57600 with OP settings)
|
||||
// Autoconfig.nostore at each boot for 9600, autoconfig.disabled for the 57600 with OP settings (or custom settings and baud)
|
||||
// This code can permanently configure a GPS to be e.g. 9600 with factory default settings or 57600 with OP settings
|
||||
// GPS's with 9600 baud and factory default settings would be a good default for future OP releases
|
||||
// Changing the GPS internal settings multiple times in the future is handled automatically
|
||||
// This code is written to do a configure from 9600 to 57600
|
||||
// (actually 9600 to whatever is stored in HwSettings.GPSSpeed)
|
||||
// if autoconfig is enabled at boot up
|
||||
// When autoconfiging to 9600 baud or lower, the autoconfig will configure it to factory default settings, not OP settings
|
||||
// That is because 9600 baud drops many of the OP messages and because 9600 baud is factory default
|
||||
// For 19200 baud or higher, the autoconfig will configure it to OP required settings
|
||||
// If autoconfig is enabled permanently in Revo, it will assume that the GPS is configured to power up at 9600 baud
|
||||
// This is good for factory default GPS's
|
||||
// This is good in case we change some settings in a future release
|
||||
// U-center is no longer needed for any use case with this code
|
||||
// 9600 is factory default for GPS's
|
||||
// Some GPS can't even permanently store settings and must start at 9600 baud?
|
||||
// I have a GPS that sometimes looses settings and reverts to 9600 and this is a fix for that too :)
|
||||
// This code handles a GPS configured either way (9600 with factory default settings or e.g. 57600 with OP settings)
|
||||
// Autoconfig.nostore at each boot for 9600, autoconfig.disabled for the 57600 with OP settings (or custom settings and baud)
|
||||
// This code can permanently configure a GPS to be e.g. 9600 with factory default settings or 57600 with OP settings
|
||||
// GPS's with 9600 baud and factory default settings would be a good default for future OP releases
|
||||
// Changing the GPS internal settings multiple times in the future is handled automatically
|
||||
// This code is written to do a configure from 9600 to 57600
|
||||
// (actually 9600 to whatever is stored in HwSettings.GPSSpeed)
|
||||
// if autoconfig is enabled at boot up
|
||||
// When autoconfiging to 9600 baud or lower, the autoconfig will configure it to factory default settings, not OP settings
|
||||
// That is because 9600 baud drops many of the OP messages and because 9600 baud is factory default
|
||||
// For 19200 baud or higher, the autoconfig will configure it to OP required settings
|
||||
// If autoconfig is enabled permanently in Revo, it will assume that the GPS is configured to power up at 9600 baud
|
||||
// This is good for factory default GPS's
|
||||
// This is good in case we change some settings in a future release
|
||||
|
||||
|
||||
void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
@ -685,20 +685,20 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
case INIT_STEP_RESET_GPS:
|
||||
// make sure we don't change the baud rate too soon and garble the packet being sent
|
||||
// even after pios says the buffer is empty, the serial port buffer still has data in it
|
||||
// and changing the baud will screw it up
|
||||
// and changing the baud will screw it up
|
||||
// when the GPS is configured to send a lot of data, but has a low baud rate
|
||||
// it has way too many messages to send and has to drop most of them
|
||||
// it has way too many messages to send and has to drop most of them
|
||||
|
||||
// Retrieve desired GPS baud rate once for use throughout this module
|
||||
HwSettingsGPSSpeedGet(&hwsettings_baud);
|
||||
#if !defined(ALWAYS_RESET)
|
||||
// ALWAYS_RESET is undefined because it causes stored settings to change even with autoconfig.nostore
|
||||
// but with it off, some settings may be enabled that should really be disabled (but aren't) after autoconfig.nostore
|
||||
// but with it off, some settings may be enabled that should really be disabled (but aren't) after autoconfig.nostore
|
||||
// if user requests a low baud rate then we just reset and leave it set to NEMA
|
||||
// because low baud and high OP data rate doesn't play nice
|
||||
// because low baud and high OP data rate doesn't play nice
|
||||
// if user requests that settings be saved, we will reset here too
|
||||
// that makes sure that all strange settings are reset to factory default
|
||||
// else these strange settings may persist because we don't reset all settings by table
|
||||
// else these strange settings may persist because we don't reset all settings by table
|
||||
if (status->currentSettings.storeSettings)
|
||||
#endif
|
||||
{
|
||||
@ -715,10 +715,10 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
case INIT_STEP_REVO_9600_BAUD:
|
||||
#if !defined(ALWAYS_RESET)
|
||||
// if user requests a low baud rate then we just reset and leave it set to NEMA
|
||||
// because low baud and high OP data rate doesn't play nice
|
||||
// because low baud and high OP data rate doesn't play nice
|
||||
// if user requests that settings be saved, we will reset here too
|
||||
// that makes sure that all strange settings are reset to factory default
|
||||
// else these strange settings may persist because we don't reset all settings by hand
|
||||
// else these strange settings may persist because we don't reset all settings by hand
|
||||
if (status->currentSettings.storeSettings)
|
||||
#endif
|
||||
{
|
||||
@ -729,12 +729,12 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
// set the Revo GPS port to 9600 baud to match the reset to factory default that has already been done
|
||||
config_baud(HWSETTINGS_GPSSPEED_9600);
|
||||
}
|
||||
// at most, we just set Revo baud and that doesn't send any data
|
||||
// fall through to next state
|
||||
// we can do that if we choose because we haven't sent any data in this state
|
||||
// set_current_step_if_untouched(INIT_STEP_GPS_BAUD);
|
||||
// allow it enter the next state immmediately by not setting status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
|
||||
// break;
|
||||
// at most, we just set Revo baud and that doesn't send any data
|
||||
// fall through to next state
|
||||
// we can do that if we choose because we haven't sent any data in this state
|
||||
// set_current_step_if_untouched(INIT_STEP_GPS_BAUD);
|
||||
// allow it enter the next state immmediately by not setting status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
|
||||
// break;
|
||||
|
||||
case INIT_STEP_GPS_BAUD:
|
||||
// https://www.u-blox.com/images/downloads/Product_Docs/u-bloxM8_ReceiverDescriptionProtocolSpec_%28UBX-13003221%29_Public.pdf
|
||||
@ -765,7 +765,7 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
// set the Revo GPS port baud rate to the (same) user configured value
|
||||
config_baud(hwsettings_baud);
|
||||
status->lastConfigSent = LAST_CONFIG_SENT_START;
|
||||
status->retryCount = 0;
|
||||
status->retryCount = 0;
|
||||
// skip enabling UBX sentences for low baud rates
|
||||
// low baud rates are not usable, and higher data rates just makes it harder for this code to change the configuration
|
||||
if (hwsettings_baud <= HWSETTINGS_GPSSPEED_9600) {
|
||||
@ -814,7 +814,7 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
status->retryCount = 0;
|
||||
status->lastConfigSent++;
|
||||
} else if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) < UBX_REPLY_TIMEOUT &&
|
||||
(ubxLastNak.clsID != status->requiredAck.clsID || ubxLastNak.msgID != status->requiredAck.msgID)) {
|
||||
(ubxLastNak.clsID != status->requiredAck.clsID || ubxLastNak.msgID != status->requiredAck.msgID)) {
|
||||
// allow timeouts to count up by not setting status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
|
||||
break;
|
||||
} else {
|
||||
@ -853,15 +853,15 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
if (ubxLastAck.clsID == status->requiredAck.clsID && ubxLastAck.msgID == status->requiredAck.msgID) {
|
||||
// Continue with next configuration option
|
||||
set_current_step_if_untouched(INIT_STEP_DONE);
|
||||
// note that we increase the reply timeout in case the GPS must do a flash erase
|
||||
// note that we increase the reply timeout in case the GPS must do a flash erase
|
||||
} else if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) < UBX_REPLY_TO_SAVE_TIMEOUT &&
|
||||
(ubxLastNak.clsID != status->requiredAck.clsID || ubxLastNak.msgID != status->requiredAck.msgID)) {
|
||||
(ubxLastNak.clsID != status->requiredAck.clsID || ubxLastNak.msgID != status->requiredAck.msgID)) {
|
||||
// allow timeouts to count up by not setting status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
|
||||
break;
|
||||
} else {
|
||||
// timeout or NAK, resend the message or abort
|
||||
status->retryCount++;
|
||||
if (status->retryCount > UBX_MAX_RETRIES/2) {
|
||||
if (status->retryCount > UBX_MAX_RETRIES / 2) {
|
||||
// give up on the retries
|
||||
set_current_step_if_untouched(INIT_STEP_ERROR);
|
||||
status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
|
||||
@ -875,7 +875,7 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
case INIT_STEP_ERROR:
|
||||
// on error we should get the GPS version immediately
|
||||
ubx_reset_sensor_type();
|
||||
// fall through
|
||||
// fall through
|
||||
case INIT_STEP_DISABLED:
|
||||
case INIT_STEP_DONE:
|
||||
break;
|
||||
@ -901,7 +901,7 @@ void ubx_autoconfig_set(ubx_autoconfig_settings_t *config)
|
||||
}
|
||||
if (status->currentSettings.autoconfigEnabled) {
|
||||
new_step = INIT_STEP_START;
|
||||
} else {
|
||||
} else {
|
||||
new_step = INIT_STEP_DISABLED;
|
||||
}
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user