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authorJohn Klug <john.klug@multitech.com>2019-03-14 18:45:03 -0500
committerJohn Klug <john.klug@multitech.com>2019-03-14 18:45:03 -0500
commit1c0c5ea008b2f2bff9171e2ec47826cb65756413 (patch)
treeb2b4a5d929d44931da1b853f0ac5c5a84a1f853c /recipes-navigation
parentdf5570910360e06a237c4e4cce8579ce6435d5fa (diff)
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Move U-Blox specific commands out of /etc/init.d/gpsd, and don't set baud rate of Venus.
Diffstat (limited to 'recipes-navigation')
-rwxr-xr-xrecipes-navigation/gpsd/gpsd/gpsd15
-rw-r--r--recipes-navigation/gpsd/gpsd/gpsd-default43
2 files changed, 48 insertions, 10 deletions
diff --git a/recipes-navigation/gpsd/gpsd/gpsd b/recipes-navigation/gpsd/gpsd/gpsd
index 781e109..33a8470 100755
--- a/recipes-navigation/gpsd/gpsd/gpsd
+++ b/recipes-navigation/gpsd/gpsd/gpsd
@@ -71,16 +71,11 @@ do_start()
# 0 if daemon has been started
# 1 if daemon was already running
# 2 if daemon could not be started
- # Set the baud rate. Works better with ntp at a higher baud rate.
- if ! gpsctl -T 20 -t 'u-blox' -s $GPS_BAUD -b -f $GPS_LINE ; then
- echo 'WARNING: Unable to set GPS serial port speed.'
- else
- # The next line is needed due to a bug in gpsctl.
- # We will go back to the default baud rate if we don't do this step.
- echo Expect a timeout error here. Need this error.
- gpsctl -T 2 -f $GPS_LINE
- stty -F $GPS_LINE $GPS_BAUD
- fi
+
+ if [[ -n ${SET_GPS_SPEED} ]] ; then
+ eval "${SET_GPS_SPEED}"
+ fi
+
/usr/sbin/start-stop-daemon -N -20 --start --quiet --pidfile $PIDFILE --exec $DAEMON -- \
$GPSD_OPTIONS -P $PIDFILE $GPS_DEVICES \
|| return 2
diff --git a/recipes-navigation/gpsd/gpsd/gpsd-default b/recipes-navigation/gpsd/gpsd/gpsd-default
index 5c59791..bb4df93 100644
--- a/recipes-navigation/gpsd/gpsd/gpsd-default
+++ b/recipes-navigation/gpsd/gpsd/gpsd-default
@@ -27,3 +27,46 @@ GPS_FIXFILE=/var/run/gpsfix
# 04 GPS + dead reckoning combined
# 05 Time only fix
GPSFIX="03 05"
+
+# U-Blox defaults to 9600. If the
+# default speed is not set before changing
+# the baud rate, this does not work
+# except right after a boot when the speed
+# is 9600 baud.
+#
+# 115200 baud is preferred to reduce the CPU
+# load. Also, u-blox mode is preferred to
+# nmea, as it is more efficient.
+#
+# We check for U-Blox first, because
+# we do not set the baud rate of other
+# GPS types.
+#
+# This gpsctl does not always work, because
+# the line speed might be wrong, so if we
+# fail, we change the baud rate and try again.
+#
+# There should only be two speeds, 115200
+# or 9600.
+#
+# If the line speed is already 115200, we
+# should not need to change the baud rate.
+#
+read -r -d '' SET_GPS_SPEED <<"EOF"
+if [[ $(cat /run/config/gpstype) == u-blox ]] ; then
+ logger -t gpsd -p daemon.info "Attempting to set baud rate to ${GPS_BAUD}"
+ if ! gpsctl -T 20 -t u-blox -s $GPS_BAUD -b -f $GPS_LINE ; then
+ logger -t gpsd -p daemon.info "WARNING: Unable to set GPS serial port speed."
+ stty -F $GPS_LINE 9600
+ if ! gpsctl -T 20 -t u-blox -s $GPS_BAUD -b -f $GPS_LINE ; then
+ logger -t gpsd -p daemon.info "WARNING: Unable to set GPS serial port speed."
+ fi
+ fi
+ stty -F $GPS_LINE $GPS_BAUD
+ logger -t gpsd -p daemon.info "Expect a timeout error here. Need this error."
+ gpsctl -T 2 -f $GPS_LINE
+ stty -F $GPS_LINE $GPS_BAUD
+fi
+EOF
+
+