From 59577ff375700df533b3ac68f94d9da75574164a Mon Sep 17 00:00:00 2001
From: John Klug <john.klug@multitech.com>
Date: Thu, 14 Mar 2019 18:45:03 -0500
Subject: Move U-Blox specific commands out of /etc/init.d/gpsd, and don't set
 baud rate of Venus.

---
 recipes-navigation/gpsd/gpsd/gpsd         | 15 ++++-------
 recipes-navigation/gpsd/gpsd/gpsd-default | 43 +++++++++++++++++++++++++++++++
 2 files changed, 48 insertions(+), 10 deletions(-)

(limited to 'recipes-navigation')

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
+
+
-- 
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