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Updated GPS driver to use the new platform independent UART driver

This commit is contained in:
Eric Katzfey 2023-12-27 15:39:33 -08:00
parent 4217b43728
commit 4b53be9444
3 changed files with 155 additions and 174 deletions
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1
boards/modalai/voxl2/default.px4board
View File

@ -3,6 +3,7 @@ CONFIG_BOARD_LINUX_TARGET=y
CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"
CONFIG_BOARD_ROOTFSDIR="/data/px4"
CONFIG_DRIVERS_ACTUATORS_MODAL_IO=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_OSD_MSP_OSD=y
CONFIG_DRIVERS_QSHELL_POSIX=y
CONFIG_MODULES_COMMANDER=y

1
src/drivers/gps/CMakeLists.txt
View File

@ -56,4 +56,5 @@ px4_add_module(
module.yaml
DEPENDS
git_gps_devices
drivers__device
)

273
src/drivers/gps/gps.cpp
View File

@ -45,11 +45,11 @@
#include <poll.h>
#endif
#include <termios.h>
#include <cstring>
#include <drivers/drv_sensor.h>
#include <lib/drivers/device/Device.hpp>
#include <lib/drivers/device/Serial.hpp>
#include <lib/parameters/param.h>
#include <mathlib/mathlib.h>
#include <matrix/math.hpp>
@ -81,6 +81,7 @@
#include <linux/spi/spidev.h>
#endif /* __PX4_LINUX */
using namespace device;
using namespace time_literals;
#define TIMEOUT_1HZ 1300 //!< Timeout time in mS, 1000 mS (1Hz) + 300 mS delta for error
@ -169,7 +170,10 @@ public:
void reset_if_scheduled();
private:
int _serial_fd{-1}; ///< serial interface to GPS
#ifdef __PX4_LINUX
int _spi_fd {-1}; ///< SPI interface to GPS
#endif
Serial *_uart = nullptr;
unsigned _baudrate{0}; ///< current baudrate
const unsigned _configured_baudrate{0}; ///< configured baudrate (0=auto-detect)
char _port[20] {}; ///< device / serial port path
@ -329,8 +333,10 @@ GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interfac
char c = _port[strlen(_port) - 1]; // last digit of path (eg /dev/ttyS2)
set_device_bus(c - 48); // sub 48 to convert char to integer
#ifdef __PX4_LINUX
} else if (_interface == GPSHelper::Interface::SPI) {
set_device_bus_type(device::Device::DeviceBusType::DeviceBusType_SPI);
#endif
}
if (_mode == gps_driver_mode_t::None) {
@ -403,10 +409,22 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user)
return num_read;
}
case GPSCallbackType::writeDeviceData:
case GPSCallbackType::writeDeviceData: {
gps->dumpGpsData((uint8_t *)data1, (size_t)data2, gps_dump_comm_mode_t::Full, true);
return ::write(gps->_serial_fd, data1, (size_t)data2);
int ret = 0;
if (gps->_uart) {
ret = gps->_uart->write((void *) data1, (size_t) data2);
#ifdef __PX4_LINUX
} else if (gps->_spi_fd >= 0) {
ret = ::write(gps->_spi_fd, data1, (size_t)data2);
#endif
}
return ret;
}
case GPSCallbackType::setBaudrate:
return gps->setBaudrate(data2);
@ -437,10 +455,11 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user)
// as of 2021 setting the time on Nuttx temporarily pauses interrupts
// so only set the time if it is very wrong.
// TODO: clock slewing of the RTC for small time differences
#ifndef __PX4_QURT
px4_clock_settime(CLOCK_REALTIME, &rtc_gps_time);
#endif
}
break;
}
@ -449,25 +468,33 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user)
int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout)
{
int ret = 0;
const unsigned character_count = 32; // minimum bytes that we want to read
const int max_timeout = 50;
int timeout_adjusted = math::min(max_timeout, timeout);
handleInjectDataTopic();
#if !defined(__PX4_QURT)
if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
ret = _uart->readAtLeast(buf, buf_length, character_count, timeout_adjusted);
/* For non QURT, use the usual polling. */
// SPI is only supported on Linux
#if defined(__PX4_LINUX)
//Poll only for the serial data. In the same thread we also need to handle orb messages,
//so ideally we would poll on both, the serial fd and orb subscription. Unfortunately the
} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd >= 0)) {
//Poll only for the SPI data. In the same thread we also need to handle orb messages,
//so ideally we would poll on both, the SPI fd and orb subscription. Unfortunately the
//two pollings use different underlying mechanisms (at least under posix), which makes this
//impossible. Instead we limit the maximum polling interval and regularly check for new orb
//messages.
//FIXME: add a unified poll() API
const int max_timeout = 50;
pollfd fds[1];
fds[0].fd = _serial_fd;
fds[0].fd = _spi_fd;
fds[0].events = POLLIN;
int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), math::min(max_timeout, timeout));
ret = poll(fds, sizeof(fds) / sizeof(fds[0]), timeout_adjusted);
if (ret > 0) {
/* if we have new data from GPS, go handle it */
@ -479,24 +506,12 @@ int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout)
* If we have all requested data available, read it without waiting.
* If more bytes are available, we'll go back to poll() again.
*/
const unsigned character_count = 32; // minimum bytes that we want to read
unsigned baudrate = _baudrate == 0 ? 115200 : _baudrate;
const unsigned sleeptime = character_count * 1000000 / (baudrate / 10);
#ifdef __PX4_NUTTX
int err = 0;
int bytes_available = 0;
err = ::ioctl(_serial_fd, FIONREAD, (unsigned long)&bytes_available);
if (err != 0 || bytes_available < (int)character_count) {
px4_usleep(sleeptime);
}
#else
px4_usleep(sleeptime);
#endif
ret = ::read(_serial_fd, buf, buf_length);
ret = ::read(_spi_fd, buf, buf_length);
if (ret > 0) {
_num_bytes_read += ret;
@ -507,14 +522,10 @@ int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout)
}
}
return ret;
#else
/* For QURT, just use read for now, since this doesn't block, we need to slow it down
* just a bit. */
px4_usleep(10000);
return ::read(_serial_fd, buf, buf_length);
#endif
}
return ret;
}
void GPS::handleInjectDataTopic()
@ -583,105 +594,38 @@ bool GPS::injectData(uint8_t *data, size_t len)
{
dumpGpsData(data, len, gps_dump_comm_mode_t::Full, true);
size_t written = ::write(_serial_fd, data, len);
::fsync(_serial_fd);
size_t written = 0;
if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
written = _uart->write((const void *) data, len);
#ifdef __PX4_LINUX
} else if (_interface == GPSHelper::Interface::SPI) {
written = ::write(_spi_fd, data, len);
::fsync(_spi_fd);
#endif
}
return written == len;
}
int GPS::setBaudrate(unsigned baud)
{
/* process baud rate */
int speed;
switch (baud) {
case 9600: speed = B9600; break;
case 19200: speed = B19200; break;
case 38400: speed = B38400; break;
case 57600: speed = B57600; break;
case 115200: speed = B115200; break;
case 230400: speed = B230400; break;
#ifndef B460800
#define B460800 460800
#endif
case 460800: speed = B460800; break;
#ifndef B921600
#define B921600 921600
#endif
case 921600: speed = B921600; break;
default:
PX4_ERR("ERR: unknown baudrate: %d", baud);
return -EINVAL;
}
struct termios uart_config;
int termios_state;
/* fill the struct for the new configuration */
tcgetattr(_serial_fd, &uart_config);
/* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */
//
// Input flags - Turn off input processing
//
// convert break to null byte, no CR to NL translation,
// no NL to CR translation, don't mark parity errors or breaks
// no input parity check, don't strip high bit off,
// no XON/XOFF software flow control
//
uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL |
INLCR | PARMRK | INPCK | ISTRIP | IXON);
//
// Output flags - Turn off output processing
//
// no CR to NL translation, no NL to CR-NL translation,
// no NL to CR translation, no column 0 CR suppression,
// no Ctrl-D suppression, no fill characters, no case mapping,
// no local output processing
//
// config.c_oflag &= ~(OCRNL | ONLCR | ONLRET |
// ONOCR | ONOEOT| OFILL | OLCUC | OPOST);
uart_config.c_oflag = 0;
//
// No line processing
//
// echo off, echo newline off, canonical mode off,
// extended input processing off, signal chars off
//
uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
/* no parity, one stop bit, disable flow control */
uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
/* set baud rate */
if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
GPS_ERR("ERR: %d (cfsetispeed)", termios_state);
return -1;
}
if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
GPS_ERR("ERR: %d (cfsetospeed)", termios_state);
return -1;
}
if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) {
GPS_ERR("ERR: %d (tcsetattr)", termios_state);
return -1;
}
if (_interface == GPSHelper::Interface::UART) {
if ((_uart) && (_uart->setBaudrate(baud))) {
return 0;
}
#ifdef __PX4_LINUX
} else if (_interface == GPSHelper::Interface::SPI) {
// Can't set the baudrate on a SPI port but just return a success
return 0;
#endif
}
return -1;
}
void GPS::initializeCommunicationDump()
@ -840,32 +784,59 @@ GPS::run()
_helper = nullptr;
}
if (_serial_fd < 0) {
/* open the serial port */
_serial_fd = ::open(_port, O_RDWR | O_NOCTTY);
if ((_interface == GPSHelper::Interface::UART) && (_uart == nullptr)) {
if (_serial_fd < 0) {
PX4_ERR("failed to open %s err: %d", _port, errno);
// Create the UART port instance
_uart = new Serial(_port);
if (_uart == nullptr) {
PX4_ERR("Error creating serial device %s", _port);
px4_sleep(1);
continue;
}
}
if ((_interface == GPSHelper::Interface::UART) && (! _uart->isOpen())) {
// Configure the desired baudrate if one was specified by the user.
// Otherwise the default baudrate will be used.
if (_configured_baudrate) {
if (! _uart->setBaudrate(_configured_baudrate)) {
PX4_ERR("Error setting baudrate to %u on %s", _configured_baudrate, _port);
px4_sleep(1);
continue;
}
}
// Open the UART. If this is successful then the UART is ready to use.
if (! _uart->open()) {
PX4_ERR("Error opening serial device %s", _port);
px4_sleep(1);
continue;
}
#ifdef __PX4_LINUX
if (_interface == GPSHelper::Interface::SPI) {
} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd < 0)) {
_spi_fd = ::open(_port, O_RDWR | O_NOCTTY);
if (_spi_fd < 0) {
PX4_ERR("failed to open SPI port %s err: %d", _port, errno);
px4_sleep(1);
continue;
}
int spi_speed = 1000000; // make sure the bus speed is not too high (required on RPi)
int status_value = ::ioctl(_serial_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
int status_value = ::ioctl(_spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
if (status_value < 0) {
PX4_ERR("SPI_IOC_WR_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
}
status_value = ::ioctl(_serial_fd, SPI_IOC_RD_MAX_SPEED_HZ, &spi_speed);
status_value = ::ioctl(_spi_fd, SPI_IOC_RD_MAX_SPEED_HZ, &spi_speed);
if (status_value < 0) {
PX4_ERR("SPI_IOC_RD_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
}
}
#endif /* __PX4_LINUX */
}
@ -1056,9 +1027,17 @@ GPS::run()
}
}
if (_serial_fd >= 0) {
::close(_serial_fd);
_serial_fd = -1;
if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
(void) _uart->close();
delete _uart;
_uart = nullptr;
#ifdef __PX4_LINUX
} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd >= 0)) {
::close(_spi_fd);
_spi_fd = -1;
#endif
}
if (_mode_auto) {
@ -1477,12 +1456,12 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
break;
case 'i':
if (!strcmp(myoptarg, "spi")) {
interface = GPSHelper::Interface::SPI;
} else if (!strcmp(myoptarg, "uart")) {
if (!strcmp(myoptarg, "uart")) {
interface = GPSHelper::Interface::UART;
#ifdef __PX4_LINUX
} else if (!strcmp(myoptarg, "spi")) {
interface = GPSHelper::Interface::SPI;
#endif
} else {
PX4_ERR("unknown interface: %s", myoptarg);
error_flag = true;
@ -1490,12 +1469,12 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
break;
case 'j':
if (!strcmp(myoptarg, "spi")) {
interface_secondary = GPSHelper::Interface::SPI;
} else if (!strcmp(myoptarg, "uart")) {
if (!strcmp(myoptarg, "uart")) {
interface_secondary = GPSHelper::Interface::UART;
#ifdef __PX4_LINUX
} else if (!strcmp(myoptarg, "spi")) {
interface_secondary = GPSHelper::Interface::SPI;
#endif
} else {
PX4_ERR("unknown interface for secondary: %s", myoptarg);
error_flag = true;