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#include <termios.h>
#include <errno.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include "gps_helper.h"
/**
* @file gps_helper.cpp
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*/
float
GPS_Helper::get_position_update_rate()
{
return _rate_lat_lon;
}
float
GPS_Helper::get_velocity_update_rate()
{
return _rate_vel;
}
void
GPS_Helper::reset_update_rates()
{
_rate_count_vel = 0;
_rate_count_lat_lon = 0;
_interval_rate_start = hrt_absolute_time();
}
void
GPS_Helper::store_update_rates()
{
_rate_vel = _rate_count_vel / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f);
_rate_lat_lon = _rate_count_lat_lon / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f);
}
int
GPS_Helper::set_baudrate(const int &fd, unsigned baud)
{
/* process baud rate */
int speed;
switch (baud) {
case 9600: speed = B9600; break;
case 19200: speed = B19200; break;
case 38400: speed = B38400; break;
case 57600: speed = B57600; break;
case 115200: speed = B115200; break;
default:
warnx("ERR: baudrate: %d\n", baud);
return -EINVAL;
}
struct termios uart_config;
int termios_state;
/* fill the struct for the new configuration */
tcgetattr(fd, &uart_config);
/* clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* no parity, one stop bit */
uart_config.c_cflag &= ~(CSTOPB | PARENB);
/* set baud rate */
if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
warnx("ERR: %d (cfsetispeed)\n", termios_state);
return -1;
}
if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
warnx("ERR: %d (cfsetospeed)\n", termios_state);
return -1;
}
if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
warnx("ERR: %d (tcsetattr)\n", termios_state);
return -1;
}
return 0;
}