forked from Archive/PX4-Autopilot
Added option to select port name, minor tweaks to status printing, sacrificied 20 bytes for better status / user debuggability
This commit is contained in:
Lorenz Meier
parent
53c11f87cb
commit
368ba0056f
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@ -42,6 +42,7 @@
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdio.h>
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#include <stdbool.h>
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#include <stdlib.h>
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#include <semaphore.h>
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@ -93,7 +94,7 @@ static const int ERROR = -1;
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class GPS : public device::CDev
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{
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public:
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GPS();
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GPS(const char* uart_path);
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~GPS();
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virtual int init();
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@ -107,19 +108,20 @@ public:
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private:
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bool _task_should_exit; ///< flag to make the main worker task exit
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int _serial_fd; ///< serial interface to GPS
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unsigned _baudrate; ///< current baudrate
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const unsigned _baudrates_to_try[NUMBER_OF_BAUDRATES]; ///< try different baudrates that GPS could be set to
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volatile int _task; ///< worker task
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bool _config_needed; ///< flag to signal that configuration of GPS is needed
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bool _baudrate_changed; ///< flag to signal that the baudrate with the GPS has changed
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bool _mode_changed; ///< flag that the GPS mode has changed
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gps_driver_mode_t _mode; ///< current mode
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GPS_Helper *_Helper; ///< Class for a GPS interface
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struct vehicle_gps_position_s _report; ///< uORB topic for gps position
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orb_advert_t _report_pub; ///< uORB pub for gps position
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float _rate; ///< position update rate
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bool _task_should_exit; ///< flag to make the main worker task exit
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int _serial_fd; ///< serial interface to GPS
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unsigned _baudrate; ///< current baudrate
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char _port[20]; ///< device / serial port path
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const unsigned _baudrates_to_try[NUMBER_OF_BAUDRATES]; ///< try different baudrates that GPS could be set to
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volatile int _task; //< worker task
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bool _config_needed; ///< flag to signal that configuration of GPS is needed
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bool _baudrate_changed; ///< flag to signal that the baudrate with the GPS has changed
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bool _mode_changed; ///< flag that the GPS mode has changed
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gps_driver_mode_t _mode; ///< current mode
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GPS_Helper *_Helper; ///< instance of GPS parser
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struct vehicle_gps_position_s _report; ///< uORB topic for gps position
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orb_advert_t _report_pub; ///< uORB pub for gps position
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float _rate; ///< position update rate
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/**
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@ -141,7 +143,7 @@ private:
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/**
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* Set the baudrate of the UART to the GPS
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*/
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int set_baudrate(unsigned baud);
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int set_baudrate(unsigned baud);
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/**
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* Send a reset command to the GPS
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@ -164,7 +166,7 @@ GPS *g_dev;
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}
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GPS::GPS() :
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GPS::GPS(const char* uart_path) :
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CDev("gps", GPS_DEVICE_PATH),
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_task_should_exit(false),
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_baudrates_to_try({9600, 38400, 57600, 115200}),
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@ -176,6 +178,11 @@ GPS::GPS() :
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_report_pub(-1),
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_rate(0.0f)
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{
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/* store port name */
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strncpy(_port, uart_path, sizeof(_port));
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/* enforce null termination */
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_port[sizeof(_port) - 1] = '\0';
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/* we need this potentially before it could be set in task_main */
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g_dev = this;
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memset(&_report, 0, sizeof(_report));
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@ -198,6 +205,7 @@ GPS::~GPS()
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if (_task != -1)
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task_delete(_task);
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g_dev = nullptr;
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}
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int
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@ -302,13 +310,13 @@ GPS::task_main()
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log("starting");
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/* open the serial port */
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_serial_fd = ::open("/dev/ttyS3", O_RDWR); //TODO make the device dynamic depending on startup parameters
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_serial_fd = ::open(_port, O_RDWR); //TODO make the device dynamic depending on startup parameters
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/* buffer to read from the serial port */
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uint8_t buf[32];
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if (_serial_fd < 0) {
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log("failed to open serial port: %d", errno);
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log("failed to open serial port: %s err: %d", _port, errno);
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/* tell the dtor that we are exiting, set error code */
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_task = -1;
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_exit(1);
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@ -318,7 +326,6 @@ GPS::task_main()
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pollfd fds[1];
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fds[0].fd = _serial_fd;
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fds[0].events = POLLIN;
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debug("ready");
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/* lock against the ioctl handler */
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lock();
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@ -418,14 +425,12 @@ GPS::task_main()
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/* This means something went wrong in the parser, let's reconfigure */
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if (!_config_needed) {
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_config_needed = true;
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debug("Lost GPS module");
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}
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config();
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} else if (ret_parse > 0) {
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/* Looks like we got a valid position update, stop configuring and publish it */
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if (_config_needed) {
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_config_needed = false;
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debug("Found GPS module");
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}
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/* opportunistic publishing - else invalid data would end up on the bus */
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@ -530,7 +535,7 @@ GPS::print_info()
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default:
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break;
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}
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warnx("baudrate: %d, status: %s", _baudrate, (_config_needed) ? "NOT OK" : "OK");
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warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_config_needed) ? "NOT OK" : "OK");
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if (_report.timestamp != 0) {
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warnx("position lock: %dD, last update %4.2f seconds ago", (int)_report.fix_type,
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(double)((float)(hrt_absolute_time() - _report.timestamp) / 1000000.0f));
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@ -549,7 +554,7 @@ namespace gps
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GPS *g_dev;
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void start();
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void start(const char *uart_path);
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void stop();
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void test();
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void reset();
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@ -559,7 +564,7 @@ void info();
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* Start the driver.
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*/
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void
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start()
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start(const char *uart_path)
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{
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int fd;
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@ -567,7 +572,7 @@ start()
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errx(1, "already started");
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/* create the driver */
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g_dev = new GPS;
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g_dev = new GPS(uart_path);
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if (g_dev == nullptr)
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goto fail;
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@ -644,7 +649,6 @@ info()
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if (g_dev == nullptr)
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errx(1, "driver not running");
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printf("state @ %p\n", g_dev);
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g_dev->print_info();
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exit(0);
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@ -656,11 +660,24 @@ info()
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int
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gps_main(int argc, char *argv[])
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{
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/* set to default */
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char* device_name = "/dev/ttyS3";
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/*
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* Start/load the driver.
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*/
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if (!strcmp(argv[1], "start"))
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gps::start();
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if (!strcmp(argv[1], "start")) {
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/* work around getopt unreliability */
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if (argc > 3) {
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if (!strcmp(argv[2], "-d")) {
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device_name = argv[3];
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} else {
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goto out;
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}
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}
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gps::start(device_name);
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}
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if (!strcmp(argv[1], "stop"))
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gps::stop();
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@ -682,5 +699,6 @@ gps_main(int argc, char *argv[])
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if (!strcmp(argv[1], "status"))
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gps::info();
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errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status'");
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out:
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errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n]");
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}
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