From 3e20fe5ca1da13f9f682f489c7721973f3ea54dc Mon Sep 17 00:00:00 2001
From: John Klug <john.klug@multitech.com>
Date: Thu, 14 Jan 2021 09:59:40 -0600
Subject: Make baud rate setting reliable, and save gpsd reboot test

---
 recipes-navigation/gpsd/gpsd/gpsd-default     |  53 ++++++++++++++++++++------
 recipes-navigation/gpsd/test/README           |  10 +++++
 recipes-navigation/gpsd/test/gpsd-test.tar.gz | Bin 0 -> 712 bytes
 3 files changed, 52 insertions(+), 11 deletions(-)
 create mode 100644 recipes-navigation/gpsd/test/README
 create mode 100644 recipes-navigation/gpsd/test/gpsd-test.tar.gz

(limited to 'recipes-navigation/gpsd')

diff --git a/recipes-navigation/gpsd/gpsd/gpsd-default b/recipes-navigation/gpsd/gpsd/gpsd-default
index fa67fd1..9bc1eef 100644
--- a/recipes-navigation/gpsd/gpsd/gpsd-default
+++ b/recipes-navigation/gpsd/gpsd/gpsd-default
@@ -52,6 +52,7 @@ GPSFIX="3"
 # should not need to change the baud rate.
 #
 function SET_GPS_SPEED {
+
 if [[ $(mts-io-sysfs show hw-version) =~ ^MTHS- ]] ; then
      if gpsctl -t 'u-blox' -D 5 -x '\x06\x41\x00\x00\x03\x1F\x90\x47\x4F\xB1\xFF\xFF\xEA\xFF' $GPS_LINE ; then
         logger -s -t 'gpsd info' -p daemon.info "GPS LNA set high"
@@ -60,17 +61,47 @@ if [[ $(mts-io-sysfs show hw-version) =~ ^MTHS- ]] ; then
      fi
 fi
 
+((maxtries = 10))
 if [[ $(cat /run/config/gpstype) == u-blox ]] ; then
-	# 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 
-fi  # End of U-Blox GPS type
+    while ((maxtries > 0)) ; do
+        ((maxtries--))
+        if ((maxtries == 5)) ; then
+            # Not going well, so reset the GPS.
+            mts-io-sysfs store gnss-reset 0
+            usleep 50
+            mts-io-sysfs store gnss-reset 1
+            sleep 2
+        fi  # Reset at maxtries == 5
+        
+        # Set the baud rate to default speed if having issues
+        if ((maxtries < 8)) && ((maxtries % 2 == 1)) ; then
+            stty -F $GPS_LINE 9600
+        fi
+            
+        # 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 $GPS_BAUD
+        fi
+        speed=$(stty -F $GPS_LINE speed 2>&1)
+        if [[ $speed = 115200 ]] ; then
+            result=$(gpsctl -T 2 -f $GPS_LINE 2>&1)
+            if [[ $result =~ u-blox[[:space:]]at[[:space:]]115200[[:space:]] ]] ; then
+                break
+            fi # gpsctl has a good status
+        fi # gpsd serial port speed is correct
+    done # Loop until maxtries
+
+    if ((maxtries == 0)) && [[ -n $result ]] ; then
+        logger -s -t 'gpsd info' -p daemon.alert "gpsctl -T 2 -f $GPS_LINE"
+        logger -s -t 'gpsd info' -p daemon.alert "$GPS_LINE: $(stty -F $GPS_LINE speed) baud"
+        logger -s -t 'gpsd info' -p daemon.alert "$result"
+    fi # If out of loop with maxtries exhausted, print error
+fi # If U-Blox GPS type
 }
 
diff --git a/recipes-navigation/gpsd/test/README b/recipes-navigation/gpsd/test/README
new file mode 100644
index 0000000..18d712f
--- /dev/null
+++ b/recipes-navigation/gpsd/test/README
@@ -0,0 +1,10 @@
+Install the test in the root file system
+of a device with ntp and gpsd installed.
+ntp must be configured to use gpsd as
+the time source.
+
+cd /
+sudo tar -xf /tmp/gpsd-test.tar.gz
+
+See /usr/share/gpsd-test/README for more
+details.
diff --git a/recipes-navigation/gpsd/test/gpsd-test.tar.gz b/recipes-navigation/gpsd/test/gpsd-test.tar.gz
new file mode 100644
index 0000000..4d74be3
Binary files /dev/null and b/recipes-navigation/gpsd/test/gpsd-test.tar.gz differ
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