mirror of https://github.com/ArduPilot/ardupilot
uncrustify libraries/AP_GPS/AP_GPS_Auto.cpp
This commit is contained in:
uncrustify
Pat Hickey
parent
f5699540a6
commit
45c94412ef
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@ -6,7 +6,7 @@
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#include <FastSerial.h>
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#include <AP_Common.h>
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#include "AP_GPS.h" // includes AP_GPS_Auto.h
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#include "AP_GPS.h" // includes AP_GPS_Auto.h
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// Define this to add NMEA to the auto-detection cycle.
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//
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@ -17,10 +17,10 @@
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//
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//#define WITH_NMEA_MODE 1
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static unsigned int baudrates[] = {38400U, 57600U, 9600U, 4800U};
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static unsigned int baudrates[] = {38400U, 57600U, 9600U, 4800U};
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const prog_char AP_GPS_Auto::_mtk_set_binary[] PROGMEM = MTK_SET_BINARY;
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const prog_char AP_GPS_Auto::_sirf_set_binary[] PROGMEM = SIRF_SET_BINARY;
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const prog_char AP_GPS_Auto::_mtk_set_binary[] PROGMEM = MTK_SET_BINARY;
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const prog_char AP_GPS_Auto::_sirf_set_binary[] PROGMEM = SIRF_SET_BINARY;
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AP_GPS_Auto::AP_GPS_Auto(FastSerial *s, GPS **gps) :
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@ -37,7 +37,7 @@ AP_GPS_Auto::init(enum GPS_Engine_Setting nav_setting)
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{
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idleTimeout = 1200;
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if (callback == NULL) callback = delay;
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_nav_setting = nav_setting;
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_nav_setting = nav_setting;
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}
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@ -54,8 +54,8 @@ AP_GPS_Auto::init(enum GPS_Engine_Setting nav_setting)
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bool
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AP_GPS_Auto::read(void)
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{
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GPS *gps;
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uint8_t i;
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GPS *gps;
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uint8_t i;
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uint32_t then;
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// Loop through possible baudrates trying to detect a GPS at one of them.
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@ -66,7 +66,7 @@ AP_GPS_Auto::read(void)
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//
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for (i = 0; i < (sizeof(baudrates) / sizeof(baudrates[0])); i++) {
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// ensure the serial port has a large enough buffer for any protocol
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// ensure the serial port has a large enough buffer for any protocol
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_fs->begin(baudrates[i], 256, 16);
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if (NULL != (gps = _detect())) {
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@ -99,10 +99,10 @@ GPS *
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AP_GPS_Auto::_detect(void)
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{
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uint32_t then;
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uint8_t fingerprint[4];
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uint8_t tries;
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uint8_t fingerprint[4];
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uint8_t tries;
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uint16_t charcount;
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GPS *gps;
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GPS *gps;
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//
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// Loop attempting to detect a recognized GPS
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@ -128,21 +128,21 @@ AP_GPS_Auto::_detect(void)
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}
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} while ((millis() - then) < 50 && charcount < 5000);
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if (tries == 0) {
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// write configuration strings to put the GPS into the preferred
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// mode
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_write_progstr_block(_fs, _mtk_set_binary, sizeof(_mtk_set_binary));
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_write_progstr_block(_fs, AP_GPS_UBLOX::_ublox_set_binary, AP_GPS_UBLOX::_ublox_set_binary_size);
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_write_progstr_block(_fs, _sirf_set_binary, sizeof(_sirf_set_binary));
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if (tries == 0) {
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// write configuration strings to put the GPS into the preferred
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// mode
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_write_progstr_block(_fs, _mtk_set_binary, sizeof(_mtk_set_binary));
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_write_progstr_block(_fs, AP_GPS_UBLOX::_ublox_set_binary, AP_GPS_UBLOX::_ublox_set_binary_size);
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_write_progstr_block(_fs, _sirf_set_binary, sizeof(_sirf_set_binary));
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// ensure its all been written
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while (_fs->tx_pending()) {
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callback(10);
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}
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// ensure its all been written
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while (_fs->tx_pending()) {
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callback(10);
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}
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// give the GPS time to react to the settings
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callback(100);
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}
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// give the GPS time to react to the settings
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callback(100);
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}
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//
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// Collect four characters to fingerprint a device
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@ -167,8 +167,8 @@ AP_GPS_Auto::_detect(void)
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// it to make the MTK look sort-of like it was talking UBX?)
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//
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if ((0xb5 == fingerprint[0]) &&
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(0x62 == fingerprint[1]) &&
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(0x01 == fingerprint[2])) {
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(0x62 == fingerprint[1]) &&
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(0x01 == fingerprint[2])) {
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// message 5 is MTK pretending to talk UBX
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if (0x05 == fingerprint[3]) {
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@ -185,10 +185,10 @@ AP_GPS_Auto::_detect(void)
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// new style 3DR UBlox (April 2012)x
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if (0xb5 == fingerprint[0] &&
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0x62 == fingerprint[1] &&
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0x0d == fingerprint[2] &&
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0x01 == fingerprint[3]) {
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// new style Ublox
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0x62 == fingerprint[1] &&
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0x0d == fingerprint[2] &&
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0x01 == fingerprint[3]) {
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// new style Ublox
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gps = new AP_GPS_UBLOX(_port);
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Serial.print_P(PSTR(" ublox "));
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break;
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@ -198,8 +198,8 @@ AP_GPS_Auto::_detect(void)
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// MTK v1.6
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//
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if ((0xd0 == fingerprint[0]) &&
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(0xdd == fingerprint[1]) &&
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(0x20 == fingerprint[2])) {
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(0xdd == fingerprint[1]) &&
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(0x20 == fingerprint[2])) {
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gps = new AP_GPS_MTK16(_port);
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Serial.print_P(PSTR(" MTK1.6 "));
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break;
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@ -209,7 +209,7 @@ AP_GPS_Auto::_detect(void)
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// SIRF in binary mode
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//
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if ((0xa0 == fingerprint[0]) &&
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(0xa2 == fingerprint[1])) {
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(0xa2 == fingerprint[1])) {
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gps = new AP_GPS_SIRF(_port);
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Serial.print_P(PSTR(" SiRF "));
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break;
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@ -220,7 +220,7 @@ AP_GPS_Auto::_detect(void)
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// Something talking NMEA
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//
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if (('$' == fingerprint[0]) &&
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(('G' == fingerprint[1]) || ('P' == fingerprint[1]))) {
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(('G' == fingerprint[1]) || ('P' == fingerprint[1]))) {
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// XXX this may be a bit presumptive, might want to give the GPS a couple of
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// iterations around the loop to react to init strings?
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@ -228,7 +228,7 @@ AP_GPS_Auto::_detect(void)
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break;
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}
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#endif
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Serial.printf("?");
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Serial.printf("?");
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}
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return(gps);
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}
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