ardupilot/libraries/AP_GPS/AP_GPS_Auto.cpp

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/// @file AP_GPS_Auto.cpp
/// @brief Simple GPS auto-detection logic.
#include <AP_HAL.h>
#include <AP_Common.h>
#include "AP_GPS.h" // includes AP_GPS_Auto.h
extern const AP_HAL::HAL& hal;
static const uint32_t baudrates[] PROGMEM = {38400U, 57600U, 9600U, 4800U};
const prog_char AP_GPS_Auto::_mtk_set_binary[] PROGMEM = MTK_SET_BINARY;
const prog_char AP_GPS_Auto::_sirf_set_binary[] PROGMEM = SIRF_SET_BINARY;
AP_GPS_Auto::AP_GPS_Auto(AP_HAL::UARTDriver *u, GPS **gps) :
GPS(u),
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_gps(gps)
{
}
// Do nothing at init time - it may be too early to try detecting the GPS
//
void
AP_GPS_Auto::init(enum GPS_Engine_Setting nav_setting)
{
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idleTimeout = 1200;
_nav_setting = nav_setting;
}
// Called the first time that a client tries to kick the GPS to update.
//
// We detect the real GPS, then update the pointer we have been called through
// and return.
//
bool
AP_GPS_Auto::read(void)
{
static uint32_t last_baud_change_ms;
static uint8_t last_baud;
GPS *gps;
uint32_t now = hal.scheduler->millis();
if (now - last_baud_change_ms > 1200) {
// its been more than 1.2 seconds without detection on this
// GPS - switch to another baud rate
_port->begin(pgm_read_dword(&baudrates[last_baud]), 256, 16);
last_baud++;
last_baud_change_ms = now;
if (last_baud == sizeof(baudrates) / sizeof(baudrates[0])) {
last_baud = 0;
}
// write config strings for the types of GPS we support
_send_progstr(_port, _mtk_set_binary, sizeof(_mtk_set_binary));
_send_progstr(_port, AP_GPS_UBLOX::_ublox_set_binary, AP_GPS_UBLOX::_ublox_set_binary_size);
_send_progstr(_port, _sirf_set_binary, sizeof(_sirf_set_binary));
}
_update_progstr();
if (NULL != (gps = _detect())) {
// configure the detected GPS
gps->init(_nav_setting);
hal.console->println_P(PSTR("OK"));
*_gps = gps;
return true;
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}
return false;
}
//
// Perform one iteration of the auto-detection process.
//
GPS *
AP_GPS_Auto::_detect(void)
{
static uint32_t detect_started_ms;
if (detect_started_ms == 0 && _port->available() > 0) {
detect_started_ms = hal.scheduler->millis();
}
while (_port->available() > 0) {
uint8_t data = _port->read();
if (AP_GPS_UBLOX::_detect(data)) {
hal.console->print_P(PSTR(" ublox "));
return new AP_GPS_UBLOX(_port);
}
if (AP_GPS_MTK16::_detect(data)) {
hal.console->print_P(PSTR(" MTK16 "));
return new AP_GPS_MTK16(_port);
}
if (AP_GPS_MTK::_detect(data)) {
hal.console->print_P(PSTR(" MTK "));
return new AP_GPS_MTK(_port);
}
#if !defined( __AVR_ATmega1280__ )
// save a bit of code space on a 1280
if (AP_GPS_SIRF::_detect(data)) {
hal.console->print_P(PSTR(" SIRF "));
return new AP_GPS_SIRF(_port);
}
if (hal.scheduler->millis() - detect_started_ms > 5000) {
// prevent false detection of NMEA mode in
// a MTK or UBLOX which has booted in NMEA mode
if (AP_GPS_NMEA::_detect(data)) {
hal.console->print_P(PSTR(" NMEA "));
return new AP_GPS_NMEA(_port);
}
}
#endif
}
return NULL;
}