Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-04 23:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_GPS: added lock_port() interface

Browse Source 
used by SERIAL_CONTROL message
This commit is contained in:
Andrew Tridgell 2014-04-05 07:33:34 +11:00
parent b8675b9abc
commit 67ed5b73ef
2 changed files with 29 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
libraries/AP_GPS/AP_GPS.cpp
View File

@ -207,6 +207,11 @@ AP_GPS::update_instance(uint8_t instance)
state[instance].status = NO_GPS;
return;
}
if (locked_ports & (1U<<instance)) {
// the port is locked by another driver
return;
}
if (drivers[instance] == NULL || state[instance].status == NO_GPS) {
// we don't yet know the GPS type of this one, or it has timed
// out and needs to be re-initialised
@ -311,3 +316,21 @@ AP_GPS::setHIL(uint8_t instance, GPS_Status _status, uint64_t time_epoch_ms,
timing[instance].last_fix_time_ms = tnow;
_type[instance].set(GPS_TYPE_HIL);
}
/**
Lock a GPS port, prevening the GPS driver from using it. This can
be used to allow a user to control a GPS port via the
SERIAL_CONTROL protocol
*/
void
AP_GPS::lock_port(uint8_t instance, bool lock)
{
if (instance >= GPS_MAX_INSTANCES) {
return;
}
if (lock) {
locked_ports |= (1U<<instance);
} else {
locked_ports &= ~(1U<<instance);
}
}

6
libraries/AP_GPS/AP_GPS.h
View File

@ -258,6 +258,9 @@ public:
void send_blob_start(uint8_t instance, const prog_char *_blob, uint16_t size);
void send_blob_update(uint8_t instance);
// lock out a GPS port, allowing another application to use the port
void lock_port(uint8_t instance, bool locked);
private:
struct GPS_timing {
// the time we got our last fix in system milliseconds
@ -276,6 +279,9 @@ private:
/// number of GPS instances present
uint8_t num_instances:2;
// which ports are locked
uint8_t locked_ports:2;
// state of auto-detection process, per instance
struct detect_state {
uint32_t detect_started_ms;