7 files changed, 15 insertions, 15 deletions
diff --git a/firmware/zpu/apps/txrx_uhd.c b/firmware/zpu/apps/txrx_uhd.c
index 61a2c1f76..4ccb585e2 100644
--- a/firmware/zpu/apps/txrx_uhd.c
+++ b/firmware/zpu/apps/txrx_uhd.c
@@ -230,7 +230,7 @@ static void handle_udp_ctrl_packet(
       //executes a readline()-style read, up to num_bytes long, up to and including newline
       int num_bytes = ctrl_data_in->data.uart_args.bytes;
       if(num_bytes > 20) num_bytes = 20;
-      num_bytes = fngets_timeout(ctrl_data_in->data.uart_args.dev, (char *) ctrl_data_out.data.uart_args.data, num_bytes);
+      num_bytes = fngets_noblock(ctrl_data_in->data.uart_args.dev, (char *) ctrl_data_out.data.uart_args.data, num_bytes);
       ctrl_data_out.id = USRP2_CTRL_ID_I_HELLA_READ_THAT_UART_DUDE;
       ctrl_data_out.data.uart_args.bytes = num_bytes;
       break;
diff --git a/firmware/zpu/lib/hal_io.c b/firmware/zpu/lib/hal_io.c
index be4c570c7..1d137943c 100644
--- a/firmware/zpu/lib/hal_io.c
+++ b/firmware/zpu/lib/hal_io.c
@@ -253,11 +253,11 @@ fngets(hal_uart_name_t u, char * const s, int len)
 }
 
 int
-fngets_timeout(hal_uart_name_t u, char * const s, int len)
+fngets_noblock(hal_uart_name_t u, char * const s, int len)
 {
   char *x = s;
 
-  while(((*x=(char)hal_uart_getc_timeout(u)) != '\n') && (*x != -1) && ((x-s) < len)) x++;
+  while(((*x=(char)hal_uart_getc_noblock(u)) != '\n') && (*x != 255) && ((x-s) < len)) x++;
   *x = 0;
   //printf("Returning from fngets() with string %d of length %d\n", s[0], x-s);
   return (x-s);
diff --git a/firmware/zpu/lib/hal_io.h b/firmware/zpu/lib/hal_io.h
index 574df7d3e..7a617685c 100644
--- a/firmware/zpu/lib/hal_io.h
+++ b/firmware/zpu/lib/hal_io.h
@@ -28,7 +28,7 @@ char *gets(char * const s);
 int fputstr(hal_uart_name_t u, const char *s);
 int fnputstr(hal_uart_name_t u, const char *s, int len);
 int fngets(hal_uart_name_t u, char * const s, int len);
-int fngets_timeout(hal_uart_name_t u, char * const s, int len);
+int fngets_noblock(hal_uart_name_t u, char * const s, int len);
 
 /*
  * ------------------------------------------------------------------------
diff --git a/firmware/zpu/lib/hal_uart.c b/firmware/zpu/lib/hal_uart.c
index f0921f4f0..6a37cceb6 100644
--- a/firmware/zpu/lib/hal_uart.c
+++ b/firmware/zpu/lib/hal_uart.c
@@ -103,12 +103,13 @@ hal_uart_getc(hal_uart_name_t u)
 }
 
 int 
-hal_uart_getc_timeout(hal_uart_name_t u)
+hal_uart_getc_noblock(hal_uart_name_t u)
 {
-  int timeout = 0;
-  while (((uart_regs[u].rxlevel) == 0) && (timeout++ < HAL_UART_TIMEOUT_MS))
-    mdelay(1);
-  return (timeout >= HAL_UART_TIMEOUT_MS) ? -1 : uart_regs[u].rxchar; //return -1 if nothing there, cause fngets to quit
+//  int timeout = 0;
+//  while (((uart_regs[u].rxlevel) == 0) && (timeout++ < HAL_UART_TIMEOUT_MS))
+//    mdelay(1);
+  if(uart_regs[u].rxlevel == 0) return 255;
+  return uart_regs[u].rxchar;
 }
 
 int hal_uart_rx_flush(hal_uart_name_t u)
diff --git a/firmware/zpu/lib/hal_uart.h b/firmware/zpu/lib/hal_uart.h
index 758c8cb5e..793aface0 100644
--- a/firmware/zpu/lib/hal_uart.h
+++ b/firmware/zpu/lib/hal_uart.h
@@ -27,8 +27,6 @@
 
 #define DEFAULT_UART UART_DEBUG //which UART printf, gets, etc. use
 
-#define HAL_UART_TIMEOUT_MS 300
-
 typedef enum {
   US_9600   = 0,
   US_19200  = 1,
@@ -85,9 +83,9 @@ void hal_uart_putc_nowait(hal_uart_name_t u, int ch);
 int hal_uart_getc(hal_uart_name_t u);
 
 /*
- * \brief Blocking read of next char from serial port with timeout
+ * \brief Non-blocking read of next char from serial port, return -1 if nothing available
  */
-int hal_uart_getc_timeout(hal_uart_name_t u);
+int hal_uart_getc_noblock(hal_uart_name_t u);
 
 int hal_uart_rx_flush(hal_uart_name_t u);
 
diff --git a/host/lib/usrp/usrp2/gps_ctrl.cpp b/host/lib/usrp/usrp2/gps_ctrl.cpp
index 2273b2cd9..9f9b27954 100644
--- a/host/lib/usrp/usrp2/gps_ctrl.cpp
+++ b/host/lib/usrp/usrp2/gps_ctrl.cpp
@@ -60,13 +60,14 @@ public:
       }
       else if(reply.substr(0, 3) == "$GP") i_heard_some_nmea = true; //but keep looking for that "Command Error" response
       else if(reply.length() != 0) i_heard_something_weird = true; //probably wrong baud rate
+      boost::this_thread::sleep(boost::posix_time::milliseconds(FIREFLY_STUPID_DELAY_MS));
     }
 
     if((i_heard_some_nmea) && (gps_type != GPS_TYPE_JACKSON_LABS)) gps_type = GPS_TYPE_GENERIC_NMEA;
 
     //otherwise, we can try some other common baud rates looking to see if a GPS is connected (todo, later)
     if((gps_type == GPS_TYPE_NONE) && i_heard_something_weird) {
-      std::cout << "Invalid reply, possible incorrect baud rate" << std::endl;
+      std::cout << "GPS invalid reply \"" << reply << "\", assuming none available" << std::endl;
     }
 
     bool found_gprmc = false;
diff --git a/host/lib/usrp/usrp2/mboard_impl.cpp b/host/lib/usrp/usrp2/mboard_impl.cpp
index 6d5652e9e..95a3819b3 100644
--- a/host/lib/usrp/usrp2/mboard_impl.cpp
+++ b/host/lib/usrp/usrp2/mboard_impl.cpp
@@ -65,7 +65,7 @@ usrp2_mboard_impl::usrp2_mboard_impl(
     //contruct the interfaces to mboard perifs
     _clock_ctrl = usrp2_clock_ctrl::make(_iface);
     _codec_ctrl = usrp2_codec_ctrl::make(_iface);
-    //_gps_ctrl = usrp2_gps_ctrl::make(_iface);
+    _gps_ctrl = usrp2_gps_ctrl::make(_iface);
 
     //if(_gps_ctrl->gps_detected()) std::cout << "GPS time: " << _gps_ctrl->get_time() << std::endl;