diff options
Diffstat (limited to 'apps/gps/ubx.c')
| -rw-r--r-- | apps/gps/ubx.c | 333 |
1 files changed, 247 insertions, 86 deletions
diff --git a/apps/gps/ubx.c b/apps/gps/ubx.c index 85cdcafbf..33f44287b 100644 --- a/apps/gps/ubx.c +++ b/apps/gps/ubx.c @@ -66,12 +66,16 @@ extern int current_gps_speed; pthread_mutex_t *ubx_mutex; gps_bin_ubx_state_t *ubx_state; +enum UBX_CONFIG_STATE ubx_config_state; static struct vehicle_gps_position_s *ubx_gps; bool gps_nav5_conf_success = false; +unsigned int got_ack = 0; +unsigned int got_nak = 0; + //Definitions for ubx, last two bytes are checksum which is calculated below -uint8_t UBX_CONFIG_MESSAGE_PRT[] = {0xB5 , 0x62 , 0x06 , 0x00 , 0x14 , 0x00 , 0x01 , 0x00 , 0x00 , 0x00 , 0xD0 , 0x08 , 0x00 , 0x00 , 0x80 , 0x25 , 0x00 , 0x00 , 0x07 , 0x00 , 0x01 , 0x00 , 0x00 , 0x00 , 0x00 , 0x00}; +uint8_t UBX_CONFIG_MESSAGE_PRT[] = {0x06, 0x00, 0x14, 0x00, 0x01, 0x00, 0x00, 0x00, 0xD0, 0x08, 0x00, 0x00, 0x00, 0x96, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}; uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_POSLLH[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x01, 0x02, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00}; uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_TIMEUTC[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x01, 0x21, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00}; uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_DOP[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x01, 0x04, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00}; @@ -80,8 +84,8 @@ uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_SOL[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_VELNED[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x01, 0x12, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00}; uint8_t UBX_CONFIG_MESSAGE_MSG_RXM_SVSI[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x02, 0x20, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00}; -uint8_t UBX_CONFIG_MESSAGE_MSG_CFG_NAV5[] = {0xB5, 0x62, 0x06, 0x24, 0x00, 0x01, DYN_MODEL_NO, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}; -uint8_t UBX_CONFIG_MESSAGE_MSG_CFG_NAV5_POLL[] = {0xB5, 0x62, 0x06, 0x00, 0x00}; +//uint8_t UBX_CONFIG_MESSAGE_MSG_CFG_NAV5[] = {0xB5, 0x62, 0x06, 0x24, 0x00, 0x01, DYN_MODEL_NO, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}; +//uint8_t UBX_CONFIG_MESSAGE_MSG_CFG_NAV5_POLL[] = {0xB5, 0x62, 0x06, 0x00, 0x00}; @@ -109,15 +113,17 @@ void ubx_checksum(uint8_t b, uint8_t *ck_a, uint8_t *ck_b) int ubx_parse(uint8_t b, char *gps_rx_buffer) { -// printf("b=%x\n",b); + //printf("b=%x\n",b); if (ubx_state->decode_state == UBX_DECODE_UNINIT) { - if (b == 0xb5) { + if (b == UBX_SYNC_1) { +// printf("got sync1"); ubx_state->decode_state = UBX_DECODE_GOT_SYNC1; } } else if (ubx_state->decode_state == UBX_DECODE_GOT_SYNC1) { - if (b == 0x62) { + if (b == UBX_SYNC_2) { +// printf("got sync2"); ubx_state->decode_state = UBX_DECODE_GOT_SYNC2; } else { @@ -131,12 +137,18 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer) //check for known class switch (b) { - case UBX_CLASS_NAV: //NAV + case UBX_CLASS_ACK: + printf("class ack"); + ubx_state->decode_state = UBX_DECODE_GOT_CLASS; + ubx_state->message_class = ACK; + break; + + case UBX_CLASS_NAV: ubx_state->decode_state = UBX_DECODE_GOT_CLASS; ubx_state->message_class = NAV; break; - case UBX_CLASS_RXM: //RXM + case UBX_CLASS_RXM: ubx_state->decode_state = UBX_DECODE_GOT_CLASS; ubx_state->message_class = RXM; break; @@ -221,6 +233,21 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer) } break; + case ACK: + switch (b) { + case UBX_MESSAGE_ACK_ACK: + ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID; + ubx_state->message_id = ACK_ACK; + break; + case UBX_MESSAGE_ACK_NAK: + ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID; + ubx_state->message_id = ACK_NAK; + break; + default: //unknown class: reset state machine, should not happen + ubx_decode_init(); + break; + } + break; default: //should not happen ubx_decode_init(); break; @@ -254,7 +281,7 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer) //convert to correct struct switch (ubx_state->message_id) { //this enum is unique for all ids --> no need to check the class case NAV_POSLLH: { -// printf("GOT NAV_POSLLH MESSAGE\n"); + printf("GOT NAV_POSLLH MESSAGE\n"); gps_bin_nav_posllh_packet_t *packet = (gps_bin_nav_posllh_packet_t *) gps_rx_buffer; //Check if checksum is valid and the store the gps information @@ -287,7 +314,7 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer) } case NAV_SOL: { -// printf("GOT NAV_SOL MESSAGE\n"); + printf("GOT NAV_SOL MESSAGE\n"); gps_bin_nav_sol_packet_t *packet = (gps_bin_nav_sol_packet_t *) gps_rx_buffer; //Check if checksum is valid and the store the gps information @@ -319,7 +346,7 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer) } case NAV_DOP: { -// printf("GOT NAV_DOP MESSAGE\n"); + printf("GOT NAV_DOP MESSAGE\n"); gps_bin_nav_dop_packet_t *packet = (gps_bin_nav_dop_packet_t *) gps_rx_buffer; //Check if checksum is valid and the store the gps information @@ -351,7 +378,7 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer) } case NAV_TIMEUTC: { -// printf("GOT NAV_TIMEUTC MESSAGE\n"); + printf("GOT NAV_TIMEUTC MESSAGE\n"); gps_bin_nav_timeutc_packet_t *packet = (gps_bin_nav_timeutc_packet_t *) gps_rx_buffer; //Check if checksum is valid and the store the gps information @@ -397,7 +424,7 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer) } case NAV_SVINFO: { -// printf("GOT NAV_SVINFO MESSAGE\n"); + printf("GOT NAV_SVINFO MESSAGE\n"); //this is a more complicated message: the length depends on the number of satellites. This number is extracted from the first part of the message const int length_part1 = 8; @@ -498,7 +525,7 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer) } case NAV_VELNED: { -// printf("GOT NAV_VELNED MESSAGE\n"); + printf("GOT NAV_VELNED MESSAGE\n"); gps_bin_nav_velned_packet_t *packet = (gps_bin_nav_velned_packet_t *) gps_rx_buffer; //Check if checksum is valid and the store the gps information @@ -534,7 +561,7 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer) } case RXM_SVSI: { -// printf("GOT RXM_SVSI MESSAGE\n"); + printf("GOT RXM_SVSI MESSAGE\n"); const int length_part1 = 7; char gps_rx_buffer_part1[length_part1]; memcpy(gps_rx_buffer_part1, gps_rx_buffer, length_part1); @@ -566,26 +593,96 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer) break; } - case CFG_NAV5: { - printf("GOT CFG_NAV5 MESSAGE\n"); - type_gps_bin_cfg_nav5_packet_t *packet = (type_gps_bin_cfg_nav5_packet_t *) gps_rx_buffer; +// case CFG_NAV5: { +// printf("GOT CFG_NAV5 MESSAGE\n"); +// type_gps_bin_cfg_nav5_packet_t *packet = (type_gps_bin_cfg_nav5_packet_t *) gps_rx_buffer; +// +// //Check if checksum is valid +// if (ubx_state->ck_a == gps_rx_buffer[ubx_state->rx_count - 1] && ubx_state->ck_b == gps_rx_buffer[ubx_state->rx_count]) { +// +// // check if dynamic model number is correct +// if (packet->dynModel == DYN_MODEL_NO) { +// printf("[gps] ubx dynamic model set successful\n"); +// gps_nav5_conf_success = true; +// } +// else { +// printf("[gps] ubx dynamic model set failed\n"); +// gps_nav5_conf_success = false; +// } +// ret = 1; +// +// } else { +// if (gps_verbose) printf("[gps] CFG_NAV5: checksum invalid\n"); +// +// ret = 0; +// } +// +// // Reset state machine to decode next packet +// ubx_decode_init(); +// return ret; +// +// break; +// } - //Check if checksum is valid - if (ubx_state->ck_a == gps_rx_buffer[ubx_state->rx_count - 1] && ubx_state->ck_b == gps_rx_buffer[ubx_state->rx_count]) { + case ACK_ACK: { + printf("GOT ACK_ACK\n"); + gps_bin_ack_ack_packet_t *packet = (gps_bin_ack_ack_packet_t *) gps_rx_buffer; - // check if dynamic model number is correct - if (packet->dynModel == DYN_MODEL_NO) { - printf("[gps] ubx dynamic model set successful\n"); - gps_nav5_conf_success = true; - } - else { - printf("[gps] ubx dynamic model set failed\n"); - gps_nav5_conf_success = false; + //Check if checksum is valid + if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) { + + switch (ubx_config_state) { + case UBX_CONFIG_STATE_PRT: + printf("clsID: %d, msgID: %d\n", packet->clsID, packet->msgID); + if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_PRT) + ubx_config_state++; + break; + case UBX_CONFIG_STATE_NAV5: + if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_NAV5) + ubx_config_state++; + break; + case UBX_CONFIG_STATE_MSG_NAV_POSLLH: + case UBX_CONFIG_STATE_MSG_NAV_TIMEUTC: + case UBX_CONFIG_STATE_MSG_NAV_DOP: + case UBX_CONFIG_STATE_MSG_NAV_SVINFO: + case UBX_CONFIG_STATE_MSG_NAV_SOL: + case UBX_CONFIG_STATE_MSG_NAV_VELNED: + case UBX_CONFIG_STATE_MSG_RXM_SVSI: + if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG) + ubx_config_state++; + break; + default: + break; } + + + ret = 1; + + } else { + if (gps_verbose) printf("[gps] ACK_ACK: checksum invalid\n"); + + ret = 0; + } + + // Reset state machine to decode next packet + ubx_decode_init(); + return ret; + + break; + } + + case ACK_NAK: { + printf("GOT ACK_NAK\n"); + gps_bin_ack_nak_packet_t *packet = (gps_bin_ack_nak_packet_t *) gps_rx_buffer; + + //Check if checksum is valid + if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) { + + printf("[gps] the ubx gps returned: not acknowledged\n"); ret = 1; } else { - if (gps_verbose) printf("[gps] CFG_NAV5: checksum invalid\n"); + if (gps_verbose) printf("[gps] ACK_NAK: checksum invalid\n"); ret = 0; } @@ -637,50 +734,93 @@ void calculate_ubx_checksum(uint8_t *message, uint8_t length) int configure_gps_ubx(int *fd) { - //fflush(((FILE *)fd)); - - //TODO: write this in a loop once it is tested - //UBX_CFG_PRT_PART: - write_config_message_ubx(UBX_CONFIG_MESSAGE_PRT, sizeof(UBX_CONFIG_MESSAGE_PRT) / sizeof(uint8_t) , *fd); - usleep(100000); - - //CFG_NAV5 - write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_CFG_NAV5, sizeof(UBX_CONFIG_MESSAGE_MSG_CFG_NAV5) / sizeof(uint8_t), *fd); - usleep(100000); - - //NAV_POSLLH: - write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_POSLLH, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_POSLLH) / sizeof(uint8_t) , *fd); - usleep(100000); - - //NAV_TIMEUTC: - write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_TIMEUTC, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_TIMEUTC) / sizeof(uint8_t) , *fd); - usleep(100000); - - //NAV_DOP: - write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_DOP, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_DOP) / sizeof(uint8_t) , *fd); - usleep(100000); - - //NAV_SOL: - write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_SOL, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_SOL) / sizeof(uint8_t) , *fd); - usleep(100000); - - //NAV_SVINFO: - write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_SVINFO, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_SVINFO) / sizeof(uint8_t) , *fd); - usleep(100000); - - //NAV_VELNED: - write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_VELNED, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_VELNED) / sizeof(uint8_t) , *fd); - usleep(100000); - - //RXM_SVSI: - write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_RXM_SVSI, sizeof(UBX_CONFIG_MESSAGE_MSG_RXM_SVSI) / sizeof(uint8_t) , *fd); - usleep(100000); - - //send CFG_NAV5_POLL to check whether previous CFG_NAV5 has been successful - write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_CFG_NAV5_POLL, sizeof(UBX_CONFIG_MESSAGE_MSG_CFG_NAV5_POLL) / sizeof(uint8_t) , *fd); - usleep(100000); + // only needed once like this + const type_gps_bin_cfg_prt_packet_t cfg_prt_packet = { + .clsID = UBX_CLASS_CFG, + .msgID = UBX_MESSAGE_CFG_PRT, + .length = UBX_CFG_PRT_LENGTH, + .portID = UBX_CFG_PRT_PAYLOAD_PORTID, + .mode = UBX_CFG_PRT_PAYLOAD_MODE, + .baudRate = UBX_CFG_PRT_PAYLOAD_BAUDRATE, + .inProtoMask = UBX_CFG_PRT_PAYLOAD_INPROTOMASK, + .outProtoMask = UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK, + .ck_a = 0, + .ck_b = 0 + }; + + // only needed once like this + const type_gps_bin_cfg_nav5_packet_t cfg_nav5_packet = { + .clsID = UBX_CLASS_CFG, + .msgID = UBX_MESSAGE_CFG_NAV5, + .length = UBX_CFG_NAV5_LENGTH, + .mask = UBX_CFG_NAV5_PAYLOAD_MASK, + .dynModel = UBX_CFG_NAV5_PAYLOAD_DYNMODEL, + .fixMode = UBX_CFG_NAV5_PAYLOAD_FIXMODE, + .ck_a = 0, + .ck_b = 0 + }; + + // this message is reusable for different configuration commands, so not const + type_gps_bin_cfg_msg_packet cfg_msg_packet = { + .clsID = UBX_CLASS_CFG, + .msgID = UBX_MESSAGE_CFG_MSG, + .length = UBX_CFG_MSG_LENGTH, + .rate = UBX_CFG_MSG_PAYLOAD_RATE + }; + + if (gps_verbose) printf("Config state: %d\n", ubx_config_state); + + switch (ubx_config_state) { + case UBX_CONFIG_STATE_PRT: + write_config_message_ubx((uint8_t*)(&cfg_prt_packet), sizeof(cfg_prt_packet), fd); + break; + case UBX_CONFIG_STATE_NAV5: + write_config_message_ubx((uint8_t*)(&cfg_nav5_packet), sizeof(cfg_nav5_packet), fd); + break; + case UBX_CONFIG_STATE_MSG_NAV_POSLLH: + cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_POSLLH; + write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd); + break; + case UBX_CONFIG_STATE_MSG_NAV_TIMEUTC: + cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_TIMEUTC; + write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd); + break; + case UBX_CONFIG_STATE_MSG_NAV_DOP: + cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_DOP; + write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd); + break; + case UBX_CONFIG_STATE_MSG_NAV_SVINFO: + cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SVINFO; + write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd); + break; + case UBX_CONFIG_STATE_MSG_NAV_SOL: + cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SOL; + write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd); + break; + case UBX_CONFIG_STATE_MSG_NAV_VELNED: + cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_VELNED; + write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd); + break; + case UBX_CONFIG_STATE_MSG_RXM_SVSI: + cfg_msg_packet.msgClass_payload = UBX_CLASS_RXM; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_RXM_SVSI; + write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd); + break; + case UBX_CONFIG_STATE_CONFIGURED: + if (gps_verbose) printf("[gps] ubx configuration finished\n"); + return OK; + break; + default: + break; + } - return 0; + return OK; } @@ -748,7 +888,7 @@ int read_gps_ubx(int *fd, char *gps_rx_buffer, int buffer_size) return ret; } -int write_config_message_ubx(uint8_t *message, size_t length, int fd) +int write_config_message_ubx(const uint8_t *message, const size_t length, const int *fd) { //calculate and write checksum to the end uint8_t ck_a = 0; @@ -756,19 +896,38 @@ int write_config_message_ubx(uint8_t *message, size_t length, int fd) unsigned int i; - for (i = 2; i < length; i++) { + uint8_t buffer[2]; + ssize_t result_write = 0; + + for (i = 0; i < length-2; i++) { ck_a = ck_a + message[i]; ck_b = ck_b + ck_a; } -// printf("[%x,%x]\n", ck_a, ck_b); +// printf("chk: [%x,%x]\n", ck_a, ck_b); - unsigned int result_write = write(fd, message, length); - result_write += write(fd, &ck_a, 1); - result_write += write(fd, &ck_b, 1); - fsync(fd); + buffer[0] = UBX_SYNC_1; + buffer[1] = UBX_SYNC_2; - return (result_write != length + 2); //return 0 as success + result_write = write(*fd, buffer, sizeof(buffer)); + result_write += write(*fd, message, length-2); + +// for(i=0; i<length-2; i++) { +// printf("%00#x", message[i]); +// } + + buffer[0] = ck_a; + buffer[1] = ck_b; + result_write += write(*fd, buffer, sizeof(buffer)); + + +//// printf("%00#x", ck_a); + result_write += write(*fd, &ck_b, sizeof(ck_b)); +// printf("%00#x", ck_b); + + fsync(*fd); + if (result_write != length + 2) + return ERROR; } @@ -792,7 +951,7 @@ void *ubx_watchdog_loop(void *args) bool once_ok = false; int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); - + ubx_config_state = UBX_CONFIG_STATE_PRT; //int err_skip_counter = 0; while (!(*thread_should_exit)) { @@ -811,9 +970,9 @@ void *ubx_watchdog_loop(void *args) } } - // check if CFG-NAV5 is correct - if (!gps_nav5_conf_success) - all_okay = false; +// // check if CFG-NAV5 is correct +// if (!gps_nav5_conf_success) +// all_okay = false; pthread_mutex_unlock(ubx_mutex); @@ -867,6 +1026,7 @@ void *ubx_watchdog_loop(void *args) if(gps_verbose) printf("[gps] ubx loop is going to terminate\n"); close(mavlink_fd); + return NULL; } @@ -890,6 +1050,7 @@ void *ubx_loop(void *args) //ubx state ubx_state = malloc(sizeof(gps_bin_ubx_state_t)); + //printf("gps: ubx_state created\n"); ubx_decode_init(); ubx_state->print_errors = false; @@ -933,8 +1094,8 @@ void *ubx_loop(void *args) } } - if(gps_verbose) printf("[gps] ubx read is going to terminate\n"); - close(gps_pub); +// if(gps_verbose) printf("[gps] ubx read is going to terminate\n"); +// close(gps_pub); return NULL; } |