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AP_GPS: add build options for GPS backends

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Hwurzburg 2022-01-09 17:15:32 -06:00 committed by Andrew Tridgell
parent 8bbdd4825f
commit 3d4f6cc2c4
19 changed files with 113 additions and 12 deletions
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41
libraries/AP_GPS/AP_GPS.cpp
View File

@ -140,12 +140,14 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
// @User: Advanced
AP_GROUPINFO("_INJECT_TO", 7, AP_GPS, _inject_to, GPS_RTK_INJECT_TO_ALL),
#if AP_GPS_SBP2_ENABLED || AP_GPS_SBP_ENABLED
// @Param: _SBP_LOGMASK
// @DisplayName: Swift Binary Protocol Logging Mask
// @Description: Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged
// @Values: 0:None (0x0000),-1:All (0xFFFF),-256:External only (0xFF00)
// @User: Advanced
AP_GROUPINFO("_SBP_LOGMASK", 8, AP_GPS, _sbp_logmask, -256),
#endif //AP_GPS_SBP2_ENABLED || AP_GPS_SBP_ENABLED
// @Param: _RAW_DATA
// @DisplayName: Raw data logging
@ -303,6 +305,7 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
AP_GROUPINFO("_DRV_OPTIONS", 22, AP_GPS, _driver_options, 0),
#endif
#if AP_GPS_SBF_ENABLED
// @Param: _COM_PORT
// @DisplayName: GPS physical COM port
// @Description: The physical COM port on the connected device, currently only applies to SBF GPS
@ -322,6 +325,7 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
// @RebootRequired: True
AP_GROUPINFO("_COM_PORT2", 24, AP_GPS, _com_port[1], HAL_GPS_COM_PORT_DEFAULT),
#endif
#endif //AP_GPS_SBF_ENABLED
#if GPS_MOVING_BASELINE
@ -568,9 +572,11 @@ void AP_GPS::detect_instance(uint8_t instance)
// do not try to detect the MAV type, assume it's there
case GPS_TYPE_MAV:
#ifndef HAL_BUILD_AP_PERIPH
#if AP_GPS_MAV_ENABLED
dstate->auto_detected_baud = false; // specified, not detected
new_gps = new AP_GPS_MAV(*this, state[instance], nullptr);
goto found_gps;
#endif //AP_GPS_MAV_ENABLED
#endif
break;
@ -612,19 +618,22 @@ void AP_GPS::detect_instance(uint8_t instance)
// don't build the less common GPS drivers on F1 AP_Periph
#if !defined(HAL_BUILD_AP_PERIPH) || !defined(STM32F1)
switch (_type[instance]) {
#if AP_GPS_SBF_ENABLED
// by default the sbf/trimble gps outputs no data on its port, until configured.
case GPS_TYPE_SBF:
new_gps = new AP_GPS_SBF(*this, state[instance], _port[instance]);
break;
#endif //AP_GPS_SBF_ENABLED
#if AP_GPS_GSOF_ENABLED
case GPS_TYPE_GSOF:
new_gps = new AP_GPS_GSOF(*this, state[instance], _port[instance]);
break;
#endif //AP_GPS_GSOF_ENABLED
#if AP_GPS_NOVA_ENABLED
case GPS_TYPE_NOVA:
new_gps = new AP_GPS_NOVA(*this, state[instance], _port[instance]);
break;
#endif //AP_GPS_NOVA_ENABLED
default:
break;
}
@ -644,8 +653,9 @@ void AP_GPS::detect_instance(uint8_t instance)
dstate->last_baud_change_ms = now;
if (_auto_config >= GPS_AUTO_CONFIG_ENABLE_SERIAL_ONLY && new_gps == nullptr) {
if (_type[instance] == GPS_TYPE_HEMI) {
send_blob_start(instance, AP_GPS_NMEA_HEMISPHERE_INIT_STRING, strlen(AP_GPS_NMEA_HEMISPHERE_INIT_STRING));
if (_type[instance] == GPS_TYPE_UBLOX && (_driver_options & AP_GPS_Backend::DriverOptions::UBX_Use115200)) {
static const char blob[] = UBLOX_SET_BINARY_115200;
send_blob_start(instance, blob, sizeof(blob));
} else if ((_type[instance] == GPS_TYPE_UBLOX_RTK_BASE ||
_type[instance] == GPS_TYPE_UBLOX_RTK_ROVER) &&
((_driver_options.get() & AP_GPS_Backend::DriverOptions::UBX_MBUseUart2) == 0)) {
@ -655,9 +665,10 @@ void AP_GPS::detect_instance(uint8_t instance)
// link to the flight controller
static const char blob[] = UBLOX_SET_BINARY_460800;
send_blob_start(instance, blob, sizeof(blob));
} else if (_type[instance] == GPS_TYPE_UBLOX && (_driver_options & AP_GPS_Backend::DriverOptions::UBX_Use115200)) {
static const char blob[] = UBLOX_SET_BINARY_115200;
send_blob_start(instance, blob, sizeof(blob));
#if AP_GPS_NMEA_ENABLED
} else if (_type[instance] == GPS_TYPE_HEMI) {
send_blob_start(instance, AP_GPS_NMEA_HEMISPHERE_INIT_STRING, strlen(AP_GPS_NMEA_HEMISPHERE_INIT_STRING));
#endif // AP_GPS_NMEA_ENABLED
} else {
send_blob_start(instance, _initialisation_blob, sizeof(_initialisation_blob));
}
@ -702,29 +713,39 @@ void AP_GPS::detect_instance(uint8_t instance)
new_gps = new AP_GPS_UBLOX(*this, state[instance], _port[instance], role);
}
#ifndef HAL_BUILD_AP_PERIPH
#if AP_GPS_SBP2_ENABLED
else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SBP) &&
AP_GPS_SBP2::_detect(dstate->sbp2_detect_state, data)) {
new_gps = new AP_GPS_SBP2(*this, state[instance], _port[instance]);
}
#endif //AP_GPS_SBP2_ENABLED
#if AP_GPS_SBP_ENABLED
else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SBP) &&
AP_GPS_SBP::_detect(dstate->sbp_detect_state, data)) {
new_gps = new AP_GPS_SBP(*this, state[instance], _port[instance]);
}
#if !HAL_MINIMIZE_FEATURES
#endif //AP_GPS_SBP_ENABLED
#if !HAL_MINIMIZE_FEATURES && AP_GPS_SIRF_ENABLED
else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SIRF) &&
AP_GPS_SIRF::_detect(dstate->sirf_detect_state, data)) {
new_gps = new AP_GPS_SIRF(*this, state[instance], _port[instance]);
}
#endif
#if AP_GPS_ERB_ENABLED
else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_ERB) &&
AP_GPS_ERB::_detect(dstate->erb_detect_state, data)) {
new_gps = new AP_GPS_ERB(*this, state[instance], _port[instance]);
} else if ((_type[instance] == GPS_TYPE_NMEA ||
}
#endif // AP_GPS_ERB_ENABLED
#if AP_GPS_NMEA_ENABLED
else if ((_type[instance] == GPS_TYPE_NMEA ||
_type[instance] == GPS_TYPE_HEMI ||
_type[instance] == GPS_TYPE_ALLYSTAR) &&
AP_GPS_NMEA::_detect(dstate->nmea_detect_state, data)) {
new_gps = new AP_GPS_NMEA(*this, state[instance], _port[instance]);
}
#endif //AP_GPS_NMEA_ENABLED
#endif // HAL_BUILD_AP_PERIPH
if (new_gps) {
goto found_gps;

3
libraries/AP_GPS/AP_GPS_ERB.cpp
View File

@ -20,6 +20,8 @@
#include "AP_GPS.h"
#include "AP_GPS_ERB.h"
#if AP_GPS_ERB_ENABLED
#define ERB_DEBUGGING 0
#define STAT_FIX_VALID 0x01
@ -285,3 +287,4 @@ reset:
}
return false;
}
#endif

6
libraries/AP_GPS/AP_GPS_ERB.h
View File

@ -24,6 +24,11 @@
#include "AP_GPS.h"
#include "GPS_Backend.h"
#ifndef AP_GPS_ERB_ENABLED
#define AP_GPS_ERB_ENABLED 1
#endif
#if AP_GPS_ERB_ENABLED
class AP_GPS_ERB : public AP_GPS_Backend
{
public:
@ -153,3 +158,4 @@ private:
// used to update fix between status and position packets
AP_GPS::GPS_Status next_fix = AP_GPS::NO_FIX;
};
#endif

4
libraries/AP_GPS/AP_GPS_GSOF.cpp
View File

@ -24,6 +24,8 @@
#include "AP_GPS_GSOF.h"
#include <AP_Logger/AP_Logger.h>
#if AP_GPS_GSOF_ENABLED
extern const AP_HAL::HAL& hal;
#define gsof_DEBUGGING 0
@ -343,4 +345,4 @@ AP_GPS_GSOF::process_message(void)
return false;
}
#endif

6
libraries/AP_GPS/AP_GPS_GSOF.h
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@ -22,6 +22,11 @@
#include "AP_GPS.h"
#include "GPS_Backend.h"
#ifndef AP_GPS_GSOF_ENABLED
#define AP_GPS_GSOF_ENABLED 1
#endif
#if AP_GPS_GSOF_ENABLED
class AP_GPS_GSOF : public AP_GPS_Backend
{
public:
@ -82,3 +87,4 @@ private:
uint8_t gsofmsgreq_index = 0;
uint8_t gsofmsgreq[5] = {1,2,8,9,12};
};
#endif

3
libraries/AP_GPS/AP_GPS_MAV.cpp
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@ -19,6 +19,8 @@
#include "AP_GPS_MAV.h"
#include <stdint.h>
#if AP_GPS_MAV_ENABLED
// Reading does nothing in this class; we simply return whether or not
// the latest reading has been consumed. By calling this function we assume
// the caller is consuming the new data;
@ -172,3 +174,4 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t &msg)
break;
}
}
#endif

6
libraries/AP_GPS/AP_GPS_MAV.h
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@ -25,6 +25,11 @@
#include "AP_GPS.h"
#include "GPS_Backend.h"
#ifndef AP_GPS_MAV_ENABLED
#define AP_GPS_MAV_ENABLED 1
#endif
#if AP_GPS_MAV_ENABLED
class AP_GPS_MAV : public AP_GPS_Backend {
public:
@ -43,3 +48,4 @@ private:
uint32_t first_week;
JitterCorrection jitter{2000};
};
#endif

2
libraries/AP_GPS/AP_GPS_NMEA.cpp
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@ -38,6 +38,7 @@
#include "AP_GPS_NMEA.h"
#if AP_GPS_NMEA_ENABLED
extern const AP_HAL::HAL& hal;
// Convenience macros //////////////////////////////////////////////////////////
@ -603,3 +604,4 @@ AP_GPS_NMEA::_detect(struct NMEA_detect_state &state, uint8_t data)
}
return false;
}
#endif

6
libraries/AP_GPS/AP_GPS_NMEA.h
View File

@ -46,6 +46,11 @@
#include "AP_GPS.h"
#include "GPS_Backend.h"
#ifndef AP_GPS_NMEA_ENABLED
#define AP_GPS_NMEA_ENABLED 1
#endif
#if AP_GPS_NMEA_ENABLED
/// NMEA parser
///
class AP_GPS_NMEA : public AP_GPS_Backend
@ -199,3 +204,4 @@ private:
"$JASC,GPVTG,5\r\n" /* VTG at 5Hz */ \
"$JASC,GPHDT,5\r\n" /* HDT at 5Hz */ \
"$JMODE,SBASR,YES\r\n" /* Enable SBAS */
#endif

3
libraries/AP_GPS/AP_GPS_NOVA.cpp
View File

@ -21,6 +21,8 @@
#include "AP_GPS_NOVA.h"
#include <AP_Logger/AP_Logger.h>
#if AP_GPS_NOVA_ENABLED
extern const AP_HAL::HAL& hal;
#define NOVA_DEBUGGING 0
@ -304,3 +306,4 @@ uint32_t AP_GPS_NOVA::CalculateBlockCRC32(uint32_t length, uint8_t *buffer, uint
}
return( crc );
}
#endif

6
libraries/AP_GPS/AP_GPS_NOVA.h
View File

@ -22,6 +22,11 @@
#include "AP_GPS.h"
#include "GPS_Backend.h"
#ifndef AP_GPS_NOVA_ENABLED
#define AP_GPS_NOVA_ENABLED 1
#endif
#if AP_GPS_NOVA_ENABLED
class AP_GPS_NOVA : public AP_GPS_Backend
{
public:
@ -175,3 +180,4 @@ private:
uint16_t read;
} nova_msg;
};
#endif

2
libraries/AP_GPS/AP_GPS_SBF.cpp
View File

@ -25,6 +25,7 @@
#include <stdio.h>
#include <ctype.h>
#if AP_GPS_SBF_ENABLED
extern const AP_HAL::HAL& hal;
#define SBF_DEBUGGING 0
@ -614,3 +615,4 @@ bool AP_GPS_SBF::prepare_for_arming(void) {
return is_logging;
}
#endif

7
libraries/AP_GPS/AP_GPS_SBF.h
View File

@ -22,6 +22,12 @@
#include "AP_GPS.h"
#include "GPS_Backend.h"
#ifndef AP_GPS_SBF_ENABLED
#define AP_GPS_SBF_ENABLED 1
#endif
#if AP_GPS_SBF_ENABLED
#define SBF_DISK_ACTIVITY (1 << 7)
#define SBF_DISK_FULL (1 << 8)
#define SBF_DISK_MOUNTED (1 << 9)
@ -262,3 +268,4 @@ private:
uint8_t portLength;
bool readyForCommand;
};
#endif

4
libraries/AP_GPS/AP_GPS_SBP.cpp
View File

@ -20,10 +20,13 @@
// Swift Binary Protocol format: http://docs.swift-nav.com/
//
#include "AP_GPS.h"
#include "AP_GPS_SBP.h"
#include <AP_Logger/AP_Logger.h>
#if AP_GPS_SBP_ENABLED
extern const AP_HAL::HAL& hal;
#define SBP_DEBUGGING 1
@ -456,3 +459,4 @@ AP_GPS_SBP::logging_log_raw_sbp(uint16_t msg_type,
};
#endif // SBP_HW_LOGGING
#endif // AP_GPS_SBP_ENABLED

6
libraries/AP_GPS/AP_GPS_SBP.h
View File

@ -24,6 +24,11 @@
#include "AP_GPS.h"
#include "GPS_Backend.h"
#ifndef AP_GPS_SBP_ENABLED
#define AP_GPS_SBP_ENABLED 1
#endif
#if AP_GPS_SBP_ENABLED
class AP_GPS_SBP : public AP_GPS_Backend
{
public:
@ -185,3 +190,4 @@ private:
};
#endif

4
libraries/AP_GPS/AP_GPS_SBP2.cpp
View File

@ -20,12 +20,15 @@
// Swift Binary Protocol format: http://docs.swift-nav.com/
//
#include "AP_GPS.h"
#include "AP_GPS_SBP2.h"
#include <AP_Logger/AP_Logger.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <GCS_MAVLink/GCS.h>
#if AP_GPS_SBP2_ENABLED
extern const AP_HAL::HAL& hal;
#define SBP_DEBUGGING 0
@ -522,3 +525,4 @@ AP_GPS_SBP2::logging_ext_event() {
};
AP::logger().WriteBlock(&pkt, sizeof(pkt));
};
#endif //AP_GPS_SBP2_ENABLED

7
libraries/AP_GPS/AP_GPS_SBP2.h
View File

@ -24,6 +24,11 @@
#include "AP_GPS.h"
#include "GPS_Backend.h"
#ifndef AP_GPS_SBP2_ENABLED
#define AP_GPS_SBP2_ENABLED 1
#endif
#if AP_GPS_SBP2_ENABLED
class AP_GPS_SBP2 : public AP_GPS_Backend
{
public:
@ -201,4 +206,4 @@ private:
int32_t distMod(int32_t tow1_ms, int32_t tow2_ms, int32_t mod);
};
#endif

2
libraries/AP_GPS/AP_GPS_SIRF.cpp
View File

@ -21,6 +21,7 @@
#include "AP_GPS_SIRF.h"
#include <stdint.h>
#if AP_GPS_SIRF_ENABLED
// Initialisation messages
//
// Turn off all messages except for 0x29.
@ -245,3 +246,4 @@ bool AP_GPS_SIRF::_detect(struct SIRF_detect_state &state, uint8_t data)
}
return false;
}
#endif

7
libraries/AP_GPS/AP_GPS_SIRF.h
View File

@ -25,6 +25,12 @@
#include "AP_GPS.h"
#include "GPS_Backend.h"
#ifndef AP_GPS_SIRF_ENABLED
#define AP_GPS_SIRF_ENABLED 1
#endif
#if AP_GPS_SIRF_ENABLED
#define SIRF_SET_BINARY "$PSRF100,0,38400,8,1,0*3C\r\n"
class AP_GPS_SIRF : public AP_GPS_Backend {
@ -107,3 +113,4 @@ private:
static const uint8_t _initialisation_blob[];
};
#endif