// 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(_port, _nav_setting);
hal.console->println_P(PSTR("OK"));
*_gps = gps;
return true;
}
return false;
}
AP_Compass_Backend *AP_Compass_HMC5843::detect_mpu6000(Compass &compass)
{
AP_InertialSensor &ins = *AP_InertialSensor::get_instance();
AP_HMC5843_SerialBus *bus = new AP_HMC5843_SerialBus_MPU6000(ins, HMC5843_I2C_ADDR);
if (!bus)
return nullptr;
return _detect(compass, bus);
}
// detect the sensor
AP_Compass_Backend *AP_Compass_HMC5843::detect_i2c(Compass &compass,
AP_HAL::I2CDriver *i2c)
{
AP_HMC5843_SerialBus *bus = new AP_HMC5843_SerialBus_I2C(i2c, HMC5843_I2C_ADDR);
if (!bus)
return nullptr;
return _detect(compass, bus);
}
// 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.
//
/// @todo This routine spends a long time trying to detect a GPS. That's not strictly
/// desirable; it might be a good idea to rethink the logic here to make it
/// more asynchronous, so that other parts of the system can get a chance
/// to run while GPS detection is in progress.
///
bool
AP_GPS_Auto::read(void)
{
GPS *gps;
uint8_t i;
uint32_t then;
// Loop through possible baudrates trying to detect a GPS at one of them.
//
// Note that we need to have a FastSerial rather than a Stream here because
// Stream has no idea of line speeds. FastSerial is quite OK with us calling
// ::begin any number of times.
//
for (i = 0; i < (sizeof(baudrates) / sizeof(baudrates[0])); i++) {
_fs->begin(baudrates[i]);
if (NULL != (gps = _detect())) {
// configure the detected GPS and give it a chance to listen to its device
gps->init();
then = millis();
while ((millis() - then) < 1200) {
// if we get a successful update from the GPS, we are done
gps->new_data = false;
gps->update();
if (gps->new_data) {
Serial.println_P(PSTR("OK"));
Serial.print("GPS:");
Serial.println(baudrates[i]);
*_gps = gps;
return true;
}
}
// GPS driver failed to parse any data from GPS,
// delete the driver and continue the process.
Serial.println_P(PSTR("failed, retrying"));
delete gps;
}
}
return false;
}
