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AP_GPS: cleanup driver option access

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use option_set() to make code clearer
This commit is contained in:
Andrew Tridgell 2022-06-15 06:43:04 +10:00
parent 8f3405d308
commit 509f03f946
6 changed files with 25 additions and 22 deletions
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8
libraries/AP_GPS/AP_GPS.cpp
View File

@ -560,7 +560,7 @@ void AP_GPS::send_blob_start(uint8_t instance, const char *_blob, uint16_t size)
*/
void AP_GPS::send_blob_start(uint8_t instance)
{
if (_type[instance] == GPS_TYPE_UBLOX && (_driver_options & AP_GPS_Backend::DriverOptions::UBX_Use115200)) {
if (_type[instance] == GPS_TYPE_UBLOX && option_set(DriverOptions::UBX_Use115200)) {
static const char blob[] = UBLOX_SET_BINARY_115200;
send_blob_start(instance, blob, sizeof(blob));
return;
@ -569,7 +569,7 @@ void AP_GPS::send_blob_start(uint8_t instance)
#if GPS_MOVING_BASELINE
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)) {
!option_set(DriverOptions::UBX_MBUseUart2)) {
// we use 460800 when doing moving baseline as we need
// more bandwidth. We don't do this if using UART2, as
// in that case the RTCMv3 data doesn't go over the
@ -738,13 +738,13 @@ void AP_GPS::detect_instance(uint8_t instance)
if ((_type[instance] == GPS_TYPE_AUTO ||
_type[instance] == GPS_TYPE_UBLOX) &&
((!_auto_config && _baudrates[dstate->current_baud] >= 38400) ||
(_baudrates[dstate->current_baud] >= 115200 && (_driver_options & AP_GPS_Backend::DriverOptions::UBX_Use115200)) ||
(_baudrates[dstate->current_baud] >= 115200 && option_set(DriverOptions::UBX_Use115200)) ||
_baudrates[dstate->current_baud] == 230400) &&
AP_GPS_UBLOX::_detect(dstate->ublox_detect_state, data)) {
new_gps = new AP_GPS_UBLOX(*this, state[instance], _port[instance], GPS_ROLE_NORMAL);
}
const uint32_t ublox_mb_required_baud = (_driver_options.get() & AP_GPS_Backend::DriverOptions::UBX_MBUseUart2)?230400:460800;
const uint32_t ublox_mb_required_baud = option_set(DriverOptions::UBX_MBUseUart2)?230400:460800;
if ((_type[instance] == GPS_TYPE_UBLOX_RTK_BASE ||
_type[instance] == GPS_TYPE_UBLOX_RTK_ROVER) &&
_baudrates[dstate->current_baud] == ublox_mb_required_baud &&

12
libraries/AP_GPS/AP_GPS.h
View File

@ -588,6 +588,18 @@ protected:
uint32_t _log_gps_bit = -1;
enum DriverOptions : int16_t {
UBX_MBUseUart2 = (1U << 0U),
SBF_UseBaseForYaw = (1U << 1U),
UBX_Use115200 = (1U << 2U),
UAVCAN_MBUseDedicatedBus = (1 << 3U),
};
// check if an option is set
bool option_set(const DriverOptions option) const {
return (uint8_t(_driver_options.get()) & uint8_t(option)) != 0;
}
private:
static AP_GPS *_singleton;
HAL_Semaphore rsem;

4
libraries/AP_GPS/AP_GPS_SBF.cpp
View File

@ -68,7 +68,7 @@ AP_GPS_SBF::AP_GPS_SBF(AP_GPS &_gps, AP_GPS::GPS_State &_state,
// if we ever parse RTK observations it will always be of type NED, so set it once
state.rtk_baseline_coords_type = RTK_BASELINE_COORDINATE_SYSTEM_NED;
if (driver_options() & DriverOptions::SBF_UseBaseForYaw) {
if (option_set(AP_GPS::DriverOptions::SBF_UseBaseForYaw)) {
state.gps_yaw_configured = true;
}
}
@ -533,7 +533,7 @@ AP_GPS_SBF::process_message(void)
#if GPS_MOVING_BASELINE
// copy the baseline data as a yaw source
if (driver_options() & DriverOptions::SBF_UseBaseForYaw) {
if (option_set(AP_GPS::DriverOptions::SBF_UseBaseForYaw)) {
calculate_moving_base_yaw(temp.info.Azimuth * 0.01f + 180.0f,
Vector3f(temp.info.DeltaNorth, temp.info.DeltaEast, temp.info.DeltaUp).length(),
-temp.info.DeltaUp);

4
libraries/AP_GPS/AP_GPS_UAVCAN.cpp
View File

@ -955,14 +955,14 @@ bool AP_GPS_UAVCAN::handle_param_get_set_response_int(AP_UAVCAN* ap_uavcan, uint
}
if (strcmp(name, "GPS_MB_ONLY_PORT") == 0 && cfg_step == STEP_SET_MB_CAN_TX) {
if ((gps._driver_options & UAVCAN_MBUseDedicatedBus) && !value) {
if (option_set(AP_GPS::UAVCAN_MBUseDedicatedBus) && !value) {
// set up so that another CAN port is used for the Moving Baseline Data
// setting this value will allow another CAN port to be used as dedicated
// line for the Moving Baseline Data
value = 1;
requires_save_and_reboot = true;
return true;
} else if (!(gps._driver_options & UAVCAN_MBUseDedicatedBus) && value) {
} else if (!option_set(AP_GPS::UAVCAN_MBUseDedicatedBus) && value) {
// set up so that all CAN ports are used for the Moving Baseline Data
value = 0;
requires_save_and_reboot = true;

2
libraries/AP_GPS/AP_GPS_UBLOX.h
View File

@ -757,7 +757,7 @@ private:
#if GPS_MOVING_BASELINE
// see if we should use uart2 for moving baseline config
bool mb_use_uart2(void) const {
return (driver_options() & DriverOptions::UBX_MBUseUart2)?true:false;
return option_set(AP_GPS::DriverOptions::UBX_MBUseUart2)?true:false;
}
#endif

17
libraries/AP_GPS/GPS_Backend.h
View File

@ -98,12 +98,10 @@ public:
return (_pseudo_itow_delta_ms == 0)?(_last_itow_ms):((_pseudo_itow/1000ULL) + _pseudo_itow_delta_ms);
}
enum DriverOptions : int16_t {
UBX_MBUseUart2 = (1U << 0U),
SBF_UseBaseForYaw = (1U << 1U),
UBX_Use115200 = (1U << 2U),
UAVCAN_MBUseDedicatedBus = (1 << 3U),
};
// check if an option is set
bool option_set(const AP_GPS::DriverOptions option) const {
return gps.option_set(option);
}
protected:
AP_HAL::UARTDriver *port; ///< UART we are attached to
@ -141,13 +139,6 @@ protected:
void check_new_itow(uint32_t itow, uint32_t msg_length);
/*
access to driver option bits
*/
DriverOptions driver_options(void) const {
return DriverOptions(gps._driver_options.get());
}
#if GPS_MOVING_BASELINE
bool calculate_moving_base_yaw(const float reported_heading_deg, const float reported_distance, const float reported_D);
bool calculate_moving_base_yaw(AP_GPS::GPS_State &interim_state, const float reported_heading_deg, const float reported_distance, const float reported_D);