diff options
Diffstat (limited to 'apps/drivers/gps/gps.cpp')
| -rw-r--r-- | apps/drivers/gps/gps.cpp | 53 |
1 files changed, 6 insertions, 47 deletions
diff --git a/apps/drivers/gps/gps.cpp b/apps/drivers/gps/gps.cpp index 45f18158f..3e1aca810 100644 --- a/apps/drivers/gps/gps.cpp +++ b/apps/drivers/gps/gps.cpp @@ -72,6 +72,7 @@ #include <uORB/topics/vehicle_gps_position.h> #include "ubx.h" +#include "mtk.h" #define SEND_BUFFER_LENGTH 100 #define TIMEOUT 1000000 //1s @@ -238,30 +239,6 @@ GPS::ioctl(struct file *filp, int cmd, unsigned long arg) int ret = OK; switch (cmd) { - case GPS_CONFIGURE_UBX: - if (_mode != GPS_DRIVER_MODE_UBX) { - _mode = GPS_DRIVER_MODE_UBX; - _mode_changed = true; - } - break; - case GPS_CONFIGURE_MTK19: - if (_mode != GPS_DRIVER_MODE_MTK19) { - _mode = GPS_DRIVER_MODE_MTK19; - _mode_changed = true; - } - break; - case GPS_CONFIGURE_MTK16: - if (_mode != GPS_DRIVER_MODE_MTK16) { - _mode = GPS_DRIVER_MODE_MTK16; - _mode_changed = true; - } - break; - case GPS_CONFIGURE_NMEA: - if (_mode != GPS_DRIVER_MODE_NMEA) { - _mode = GPS_DRIVER_MODE_NMEA; - _mode_changed = true; - } - break; case SENSORIOCRESET: cmd_reset(); break; @@ -275,19 +252,7 @@ GPS::ioctl(struct file *filp, int cmd, unsigned long arg) void GPS::config() { - int length = 0; - uint8_t send_buffer[SEND_BUFFER_LENGTH]; - - _Helper->configure(send_buffer, length, SEND_BUFFER_LENGTH, _baudrate_changed, _baudrate); - - /* The config message is sent sent at the old baudrate */ - if (length > 0) { - - if (length != ::write(_serial_fd, send_buffer, length)) { - debug("write config failed"); - return; - } - } + _Helper->configure(_serial_fd, _baudrate_changed, _baudrate); /* Sometimes the baudrate needs to be changed, for instance UBX with factory settings are changed * from 9600 to 38400 @@ -356,11 +321,8 @@ GPS::task_main() case GPS_DRIVER_MODE_UBX: _Helper = new UBX(); break; - case GPS_DRIVER_MODE_MTK19: - //_Helper = new MTK19(); - break; - case GPS_DRIVER_MODE_MTK16: - //_Helper = new MTK16(); + case GPS_DRIVER_MODE_MTK: + _Helper = new MTK(); break; case GPS_DRIVER_MODE_NMEA: //_Helper = new NMEA(); @@ -530,11 +492,8 @@ GPS::print_info() case GPS_DRIVER_MODE_UBX: warnx("protocol: UBX"); break; - case GPS_DRIVER_MODE_MTK19: - warnx("protocol: MTK 1.9"); - break; - case GPS_DRIVER_MODE_MTK16: - warnx("protocol: MTK 1.6"); + case GPS_DRIVER_MODE_MTK: + warnx("protocol: MTK"); break; case GPS_DRIVER_MODE_NMEA: warnx("protocol: NMEA"); |