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drivers/gps: add femtomes gps driver protocol

This commit is contained in:
Femtomes 2021-05-03 01:46:39 +08:00 committed by GitHub
parent abee13df1a
commit 783a780207
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 25 additions and 4 deletions
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1
src/drivers/gps/CMakeLists.txt
View File

@ -47,6 +47,7 @@ px4_add_module(
devices/src/ubx.cpp
devices/src/rtcm.cpp
devices/src/emlid_reach.cpp
devices/src/femtomes.cpp
MODULE_CONFIG
module.yaml
DEPENDS

22
src/drivers/gps/gps.cpp
View File

@ -67,6 +67,7 @@
# include "devices/src/ashtech.h"
# include "devices/src/emlid_reach.h"
# include "devices/src/mtk.h"
# include "devices/src/femtomes.h"
#endif // CONSTRAINED_FLASH
#include "devices/src/ubx.h"
@ -82,7 +83,8 @@ typedef enum {
GPS_DRIVER_MODE_UBX,
GPS_DRIVER_MODE_MTK,
GPS_DRIVER_MODE_ASHTECH,
GPS_DRIVER_MODE_EMLIDREACH
GPS_DRIVER_MODE_EMLIDREACH,
GPS_DRIVER_MODE_FEMTOMES
} gps_driver_mode_t;
/* struct for dynamic allocation of satellite info data */
@ -774,6 +776,11 @@ GPS::run()
_helper = new GPSDriverEmlidReach(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info);
set_device_type(DRV_GPS_DEVTYPE_EMLID_REACH);
break;
case GPS_DRIVER_MODE_FEMTOMES:
_helper = new GPSDriverFemto(&GPS::callback, this, &_report_gps_pos/*, _p_report_sat_info*/);
set_device_type(DRV_GPS_DEVTYPE_FEMTOMES);
break;
#endif // CONSTRAINED_FLASH
default:
@ -912,6 +919,10 @@ GPS::run()
break;
case GPS_DRIVER_MODE_EMLIDREACH:
_mode = GPS_DRIVER_MODE_FEMTOMES;
break;
case GPS_DRIVER_MODE_FEMTOMES:
#endif // CONSTRAINED_FLASH
_mode = GPS_DRIVER_MODE_UBX;
px4_usleep(500000); // tried all possible drivers. Wait a bit before next round
@ -969,6 +980,10 @@ GPS::print_status()
case GPS_DRIVER_MODE_EMLIDREACH:
PX4_INFO("protocol: EMLIDREACH");
break;
case GPS_DRIVER_MODE_FEMTOMES:
PX4_INFO("protocol: FEMTOMES");
break;
#endif // CONSTRAINED_FLASH
default:
@ -1135,7 +1150,7 @@ $ gps reset warm
PRINT_MODULE_USAGE_PARAM_STRING('i', "uart", "spi|uart", "GPS interface", true);
PRINT_MODULE_USAGE_PARAM_STRING('j', "uart", "spi|uart", "secondary GPS interface", true);
PRINT_MODULE_USAGE_PARAM_STRING('p', nullptr, "ubx|mtk|ash|eml", "GPS Protocol (default=auto select)", true);
PRINT_MODULE_USAGE_PARAM_STRING('p', nullptr, "ubx|mtk|ash|eml|fem", "GPS Protocol (default=auto select)", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
PRINT_MODULE_USAGE_COMMAND_DESCR("reset", "Reset GPS device");
@ -1276,6 +1291,9 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
} else if (!strcmp(myoptarg, "eml")) {
mode = GPS_DRIVER_MODE_EMLIDREACH;
} else if (!strcmp(myoptarg, "fem")) {
mode = GPS_DRIVER_MODE_FEMTOMES;
#endif // CONSTRAINED_FLASH
} else {
PX4_ERR("unknown protocol: %s", myoptarg);

6
src/drivers/gps/params.c
View File

@ -115,12 +115,13 @@ PARAM_DEFINE_FLOAT(GPS_YAW_OFFSET, 0.f);
* Auto-detection will probe all protocols, and thus is a bit slower.
*
* @min 0
* @max 4
* @max 5
* @value 0 Auto detect
* @value 1 u-blox
* @value 2 MTK
* @value 3 Ashtech / Trimble
* @value 4 Emlid Reach
* @value 5 Femtomes
*
* @reboot_required true
* @group GPS
@ -135,12 +136,13 @@ PARAM_DEFINE_INT32(GPS_1_PROTOCOL, 1);
* Auto-detection will probe all protocols, and thus is a bit slower.
*
* @min 0
* @max 4
* @max 5
* @value 0 Auto detect
* @value 1 u-blox
* @value 2 MTK
* @value 3 Ashtech / Trimble
* @value 4 Emlid Reach
* @value 5 Femtomes
*
* @reboot_required true
* @group GPS