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|
ENABLED="yes"
# GPSD control socket for sending GPSD commands.
# GPSD_SOCKET="/var/run/gpsd.sock"
GPSD_OPTIONS="-n -D 0"
# Conduit 0.1 GPS devices
GPS_LINE=/dev/gps0
GPS_PPS=/dev/pps0
# Highest speed permitted by uBlox.
GPS_BAUD=115200
# Use this if you must use a specific pps
# that does not exist prior to gpsd running.
# GPS_DEVICES="/dev/gps1 /dev/pps1"
GPS_FIXFILE=/var/run/gpsfix
# GPSD Json TPV object, mode field.
# See: http://www.catb.org/gpsd/gpsd_json.html
#
# 0 Unknown
# 1 No fix
# 2 2D fix
# 3 3D fix
GPSFIX="3"
# 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.
#
function SET_GPS_SPEED {
((maxtries = 20))
if [[ $(cat /run/config/gpstype) == u-blox ]] ; then
# If the U-Blox is connected via USB, it shows
# up as using the ACM serial driver. This greatly
# simplifies setting up the U-Blox GNSS.
if [[ $(readlink $GPS_LINE) =~ ^ttyACM ]] ; then
stty -F $GPS_LINE 115200
return 0
fi
while ((maxtries >= 0)) ; do
((maxtries--))
if ((maxtries % 5 == 0)) ; then
# Not going well, so reset the GPS.
logger -s -t 'gpsd info' -p daemon.alert "u-blox is unresponsive, so reset it"
# reset tty to defaults
stty -F "$GPS_LINE" '500:5:cbd:8a3b:3:1c:7f:15:4:0:1:0:11:13:1a:0:12:f:17:16:0:0:0:0:0:0:0:0:0:0:0:0:0:0:0:0'
mts-io-sysfs store gnss-reset 0
usleep 100
mts-io-sysfs store gnss-reset 1
sleep 5
fi # Reset at maxtries == 5
# Set the baud rate to default speed if having issues
if ((maxtries < 8)) && ((maxtries % 2 == 1)) ; then
stty -F $GPS_LINE 9600
fi
# Set the baud rate. Works better with ntp at a higher baud rate.
gpsctlout=$(gpsctl -T 20 -t 'u-blox' -s $GPS_BAUD -b -f $GPS_LINE 2>&1)
result=$?
if [[ $gpsctlout =~ u-blox.*at[[:space:]]115200 ]] ; then
break
fi
if ((result != 0)) ; then
echo $gpsctlout
echo 'WARNING: Unable to set GPS serial port speed.'
else
# The next line is needed due to a bug in gpsctl.
# We will go back to the default baud rate if we don't do this step.
gpsctlout=$(gpsctl -T 2 -f $GPS_LINE 2>&1)
if [[ $gpsctlout =~ u-blox.*at[[:space:]]115200 ]] ; then
break
fi
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"
elif [[ $(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"
else
logger -s -t 'gpsd info' -p daemon.alert "ERROR: GPS LNA not set"
fi
fi #
fi # If U-Blox GPS type
}
|
