mirror of https://github.com/ArduPilot/ardupilot
139 lines
3.6 KiB
C++
139 lines
3.6 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file AP_GPS_Auto.cpp
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/// @brief Simple GPS auto-detection logic.
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#include <AP_HAL.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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extern const AP_HAL::HAL& hal;
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static const uint32_t baudrates[] PROGMEM = {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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AP_GPS_Auto::AP_GPS_Auto(GPS **gps) :
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GPS(),
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_gps(gps)
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{
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}
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// Do nothing at init time - it may be too early to try detecting the GPS
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//
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void
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AP_GPS_Auto::init(AP_HAL::UARTDriver *s, enum GPS_Engine_Setting nav_setting)
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{
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_port = s;
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idleTimeout = 1200;
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_nav_setting = nav_setting;
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}
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// Called the first time that a client tries to kick the GPS to update.
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//
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// We detect the real GPS, then update the pointer we have been called through
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// and return.
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//
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bool
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AP_GPS_Auto::read(void)
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{
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static uint32_t last_baud_change_ms;
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static uint8_t last_baud;
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GPS *gps;
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uint32_t now = hal.scheduler->millis();
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if (now - last_baud_change_ms > 1200) {
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// its been more than 1.2 seconds without detection on this
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// GPS - switch to another baud rate
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_baudrate = pgm_read_dword(&baudrates[last_baud]);
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//hal.console->printf_P(PSTR("Setting GPS baudrate %u\n"), (unsigned)_baudrate);
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_port->begin(_baudrate, 256, 16);
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last_baud++;
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last_baud_change_ms = now;
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if (last_baud == sizeof(baudrates) / sizeof(baudrates[0])) {
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last_baud = 0;
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}
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// write config strings for the types of GPS we support
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_send_progstr(_port, _mtk_set_binary, sizeof(_mtk_set_binary));
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_send_progstr(_port, AP_GPS_UBLOX::_ublox_set_binary, AP_GPS_UBLOX::_ublox_set_binary_size);
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_send_progstr(_port, _sirf_set_binary, sizeof(_sirf_set_binary));
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}
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_update_progstr();
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if (NULL != (gps = _detect())) {
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// configure the detected GPS
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gps->init(_port, _nav_setting);
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hal.console->println_P(PSTR("OK"));
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*_gps = gps;
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return true;
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}
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return false;
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}
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//
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// Perform one iteration of the auto-detection process.
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//
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GPS *
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AP_GPS_Auto::_detect(void)
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{
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static uint32_t detect_started_ms;
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GPS *new_gps = NULL;
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if (detect_started_ms == 0 && _port->available() > 0) {
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detect_started_ms = hal.scheduler->millis();
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}
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while (_port->available() > 0 && new_gps == NULL) {
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uint8_t data = _port->read();
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/*
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running a uBlox at less than 38400 will lead to packet
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corruption, as we can't receive the packets in the 200ms
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window for 5Hz fixes. The NMEA startup message should force
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the uBlox into 38400 no matter what rate it is configured
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for.
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*/
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if (_baudrate >= 38400 && AP_GPS_UBLOX::_detect(data)) {
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hal.console->print_P(PSTR(" ublox "));
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new_gps = new AP_GPS_UBLOX();
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}
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else if (AP_GPS_MTK19::_detect(data)) {
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hal.console->print_P(PSTR(" MTK19 "));
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new_gps = new AP_GPS_MTK19();
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}
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else if (AP_GPS_MTK::_detect(data)) {
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hal.console->print_P(PSTR(" MTK "));
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new_gps = new AP_GPS_MTK();
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}
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#if !defined( __AVR_ATmega1280__ )
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// save a bit of code space on a 1280
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else if (AP_GPS_SIRF::_detect(data)) {
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hal.console->print_P(PSTR(" SIRF "));
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new_gps = new AP_GPS_SIRF();
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}
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else if (hal.scheduler->millis() - detect_started_ms > 5000) {
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// prevent false detection of NMEA mode in
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// a MTK or UBLOX which has booted in NMEA mode
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if (AP_GPS_NMEA::_detect(data)) {
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hal.console->print_P(PSTR(" NMEA "));
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new_gps = new AP_GPS_NMEA();
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}
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}
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#endif
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}
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if (new_gps != NULL) {
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new_gps->init(_port);
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}
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return new_gps;
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}
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