static void gpsHandlePassthrough(uint8_t data)
{
gpsNewData(data);
#ifdef DISPLAY
if (feature(FEATURE_DISPLAY)) {
updateDisplay();
}
#endif
}
void gpsThread(void)
{
// read out available GPS bytes
if (gpsPort) {
while (serialRxBytesWaiting(gpsPort))
gpsNewData(serialRead(gpsPort));
}
switch (gpsData.state) {
case GPS_UNKNOWN:
break;
case GPS_INITIALIZING:
case GPS_CHANGE_BAUD:
case GPS_CONFIGURE:
gpsInitHardware();
break;
case GPS_LOST_COMMUNICATION:
gpsData.timeouts++;
if (gpsConfig()->autoBaud) {
// try another rate
gpsData.baudrateIndex++;
gpsData.baudrateIndex %= GPS_INIT_ENTRIES;
}
gpsData.lastMessage = millis();
// TODO - move some / all of these into gpsData
GPS_numSat = 0;
DISABLE_STATE(GPS_FIX);
gpsSetState(GPS_INITIALIZING);
break;
case GPS_RECEIVING_DATA:
// check for no data/gps timeout/cable disconnection etc
if (millis() - gpsData.lastMessage > GPS_TIMEOUT) {
// remove GPS from capability
sensorsClear(SENSOR_GPS);
gpsSetState(GPS_LOST_COMMUNICATION);
}
break;
}
}
void gpsThread(void)
{
// read out available GPS bytes
if (core.gpsport) {
while (serialTotalBytesWaiting(core.gpsport))
gpsNewData(serialRead(core.gpsport));
}
switch (gpsData.state) {
case GPS_UNKNOWN:
break;
case GPS_INITIALIZING:
case GPS_INITDONE:
gpsInitHardware();
break;
case GPS_LOSTCOMMS:
gpsData.errors++;
// try another rate
gpsData.baudrateIndex++;
gpsData.baudrateIndex %= GPS_INIT_ENTRIES;
gpsData.lastMessage = millis();
// TODO - move some / all of these into gpsData
GPS_numSat = 0;
f.GPS_FIX = 0;
gpsSetState(GPS_INITIALIZING);
break;
case GPS_RECEIVINGDATA:
// check for no data/gps timeout/cable disconnection etc
if (millis() - gpsData.lastMessage > GPS_TIMEOUT) {
// remove GPS from capability
sensorsClear(SENSOR_GPS);
gpsSetState(GPS_LOSTCOMMS);
}
break;
}
}
void gpsEnablePassthrough(serialPort_t *gpsPassthroughPort)
{
waitForSerialPortToFinishTransmitting(gpsPort);
waitForSerialPortToFinishTransmitting(gpsPassthroughPort);
if(!(gpsPort->mode & MODE_TX))
serialSetMode(gpsPort, gpsPort->mode | MODE_TX);
LED0_OFF;
LED1_OFF;
#ifdef DISPLAY
if (feature(FEATURE_DISPLAY)) {
displayShowFixedPage(PAGE_GPS);
}
#endif
char c;
while(1) {
if (serialRxBytesWaiting(gpsPort)) {
LED0_ON;
c = serialRead(gpsPort);
gpsNewData(c);
serialWrite(gpsPassthroughPort, c);
LED0_OFF;
}
if (serialRxBytesWaiting(gpsPassthroughPort)) {
LED1_ON;
c = serialRead(gpsPassthroughPort);
serialWrite(gpsPort, c);
LED1_OFF;
}
#ifdef DISPLAY
if (feature(FEATURE_DISPLAY)) {
updateDisplay();
}
#endif
}
}
