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gnss: limit to supported baudrates #23374

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gnss: limit to supported baudrates #23374

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10 changes: 5 additions & 5 deletions src/drivers/gnss/septentrio/septentrio.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -140,7 +140,7 @@ constexpr const char *k_frequency_25_0hz = "msec40";
constexpr const char *k_frequency_50_0hz = "msec20";

px4::atomic<SeptentrioDriver *> SeptentrioDriver::_secondary_instance {nullptr};
uint32_t SeptentrioDriver::k_supported_baud_rates[] {0, 38400, 57600, 115200, 230400, 460800, 500000, 576000, 921600, 1000000, 1500000};
uint32_t SeptentrioDriver::k_supported_baud_rates[] {0, 38400, 57600, 115200, 230400, 460800, 921600};
uint32_t SeptentrioDriver::k_default_baud_rate {230400};
orb_advert_t SeptentrioDriver::k_mavlink_log_pub {nullptr};

Expand Down Expand Up @@ -289,7 +289,7 @@ void SeptentrioDriver::run()
}

case State::DetectingBaudRate: {
static uint32_t expected_baud_rates[] = {k_septentrio_receiver_default_baud_rate, 115200, 230400, 57600, 460800, 500000, 576000, 38400, 921600, 1000000, 1500000};
static uint32_t expected_baud_rates[] = {k_septentrio_receiver_default_baud_rate, 115200, 230400, 57600, 460800, 38400, 921600};
expected_baud_rates[0] = _chosen_baud_rate != 0 ? _chosen_baud_rate : k_septentrio_receiver_default_baud_rate;

if (detect_receiver_baud_rate(expected_baud_rates[_current_baud_rate_index], true)) {
Expand Down Expand Up @@ -549,7 +549,7 @@ int SeptentrioDriver::print_usage(const char *reason)
Driver for Septentrio GNSS receivers.
It can automatically configure them and make their output available for the rest of the system.
A secondary receiver is supported for redundancy, logging and dual-receiver heading.
Septentrio receiver baud rates from 57600 to 1500000 are supported.
Septentrio receiver baud rates from 57600 to 921600 are supported.
If others are used, the driver will use 230400 and give a warning.

### Examples
Expand All @@ -567,9 +567,9 @@ Perform warm reset of the receivers:
PRINT_MODULE_USAGE_NAME("septentrio", "driver");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, "<file:dev>", "Primary receiver port", false);
PRINT_MODULE_USAGE_PARAM_INT('b', 0, 57600, 1500000, "Primary receiver baud rate", true);
PRINT_MODULE_USAGE_PARAM_INT('b', 0, 57600, 921600, "Primary receiver baud rate", true);
PRINT_MODULE_USAGE_PARAM_STRING('e', nullptr, "<file:dev>", "Secondary receiver port", true);
PRINT_MODULE_USAGE_PARAM_INT('g', 0, 57600, 1500000, "Secondary receiver baud rate", true);
PRINT_MODULE_USAGE_PARAM_INT('g', 0, 57600, 921600, "Secondary receiver baud rate", true);

PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
PRINT_MODULE_USAGE_COMMAND_DESCR("reset", "Reset connected receiver");
Expand Down
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