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Fixed formatting and made SPI a Linux only choice to GPS

This commit is contained in:
Eric Katzfey 2023-06-16 13:44:01 -07:00
parent 5d80d23668
commit 9edd3b8532
4 changed files with 61 additions and 39 deletions
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10
platforms/nuttx/src/px4/common/SerialImpl.cpp
View File

@ -24,6 +24,7 @@ SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, P
if (port) {
strncpy(_port, port, sizeof(_port) - 1);
_port[sizeof(_port) - 1] = '\0';
} else {
_port[0] = 0;
}
@ -37,7 +38,8 @@ SerialImpl::~SerialImpl()
}
}
bool SerialImpl::configure() {
bool SerialImpl::configure()
{
/* process baud rate */
int speed;
@ -72,6 +74,7 @@ bool SerialImpl::configure() {
}
struct termios uart_config;
int termios_state;
/* fill the struct for the new configuration */
@ -148,7 +151,7 @@ bool SerialImpl::open()
// Configure the serial port if a baudrate has been configured
if (_baudrate) {
if ( ! configure()) {
if (! configure()) {
PX4_ERR("failed to configure %s err: %d", _port, errno);
return false;
}
@ -220,7 +223,8 @@ ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t char
fds[0].events = POLLIN;
hrt_abstime remaining_time = timeout_us - hrt_elapsed_time(&start_time_us);
if (remaining_time <= 0) break;
if (remaining_time <= 0) { break; }
int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), remaining_time);

10
platforms/posix/src/px4/common/SerialImpl.cpp
View File

@ -22,6 +22,7 @@ SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, P
if (port) {
strncpy(_port, port, sizeof(_port) - 1);
_port[sizeof(_port) - 1] = '\0';
} else {
_port[0] = 0;
}
@ -35,7 +36,8 @@ SerialImpl::~SerialImpl()
}
}
bool SerialImpl::configure() {
bool SerialImpl::configure()
{
/* process baud rate */
int speed;
@ -70,6 +72,7 @@ bool SerialImpl::configure() {
}
struct termios uart_config;
int termios_state;
/* fill the struct for the new configuration */
@ -146,7 +149,7 @@ bool SerialImpl::open()
// Configure the serial port if a baudrate has been configured
if (_baudrate) {
if ( ! configure()) {
if (! configure()) {
PX4_ERR("failed to configure %s err: %d", _port, errno);
return false;
}
@ -218,7 +221,8 @@ ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t char
fds[0].events = POLLIN;
hrt_abstime remaining_time = timeout_us - hrt_elapsed_time(&start_time_us);
if (remaining_time <= 0) break;
if (remaining_time <= 0) { break; }
int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), remaining_time);

13
platforms/qurt/src/px4/SerialImpl.cpp
View File

@ -19,12 +19,13 @@ SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, P
if (port) {
strncpy(_port, port, sizeof(_port) - 1);
_port[sizeof(_port) - 1] = '\0';
} else {
_port[0] = 0;
}
// Start off with a valid bitrate to make sure open can succeed
if (_baudrate == 0) _baudrate = 9600;
if (_baudrate == 0) { _baudrate = 9600; }
}
@ -69,6 +70,7 @@ bool SerialImpl::open()
if (serial_fd < 0) {
PX4_ERR("failed to open %s, fd returned: %d", _port, serial_fd);
return false;
} else {
PX4_INFO("Successfully opened UART %s with baudrate %u", _port, _baudrate);
}
@ -104,7 +106,7 @@ ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
return -1;
}
int ret_read = qurt_uart_read(_serial_fd, (char*) buffer, buffer_size, 500);
int ret_read = qurt_uart_read(_serial_fd, (char *) buffer, buffer_size, 500);
if (ret_read < 0) {
PX4_DEBUG("%s read error %d", _port, ret_read);
@ -144,7 +146,7 @@ ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t char
return total_bytes_read;
}
}
int current_bytes_read = read(&buffer[total_bytes_read], buffer_size - total_bytes_read);
if (current_bytes_read < 0) {
@ -169,8 +171,9 @@ ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t char
const uint64_t elapsed_us = hrt_elapsed_time(&start_time_us);
int64_t time_until_timeout = timeout_us - elapsed_us;
uint64_t time_to_sleep = 5000;
if ((time_until_timeout >= 0) &&
(time_until_timeout < (int64_t) time_to_sleep)) {
(time_until_timeout < (int64_t) time_to_sleep)) {
time_to_sleep = time_until_timeout;
}
@ -187,7 +190,7 @@ ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
return -1;
}
int ret_write = qurt_uart_write(_serial_fd, (const char*) buffer, buffer_size);
int ret_write = qurt_uart_write(_serial_fd, (const char *) buffer, buffer_size);
if (ret_write < 0) {
PX4_ERR("%s write error %d", _port, ret_write);

67
src/drivers/gps/gps.cpp
View File

@ -170,7 +170,9 @@ public:
void reset_if_scheduled();
private:
int _spi_fd{-1}; ///< SPI interface to GPS
#ifdef __PX4_LINUX
int _spi_fd {-1}; ///< SPI interface to GPS
#endif
Serial *_uart = nullptr; ///< UART interface to GPS
unsigned _baudrate{0}; ///< current baudrate
const unsigned _configured_baudrate{0}; ///< configured baudrate (0=auto-detect)
@ -331,8 +333,11 @@ 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) {
@ -409,11 +414,15 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user)
gps->dumpGpsData((uint8_t *)data1, (size_t)data2, gps_dump_comm_mode_t::Full, true);
int ret = 0;
if (gps->_uart) {
ret = gps->_uart->write( (void*) data1, (size_t) data2);
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;
@ -470,14 +479,13 @@ int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout)
if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
ret = _uart->readAtLeast(buf, buf_length, character_count, _timeout);
// SPI is only supported on LInux
#if defined(__PX4_LINUX)
} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd >= 0)) {
// Qurt does not support poll for serial devices (nor external SPI devices for that matter)
#if !defined(__PX4_QURT)
/* For non QURT, use the usual polling. */
//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 serial fd and orb subscription. Unfortunately the
//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.
@ -502,17 +510,7 @@ int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout)
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(_spi_fd, FIONREAD, (unsigned long)&bytes_available);
if (err != 0 || bytes_available < (int)character_count) {
px4_usleep(sleeptime);
}
#else
px4_usleep(sleeptime);
#endif
ret = ::read(_spi_fd, buf, buf_length);
@ -524,6 +522,7 @@ int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout)
ret = -1;
}
}
#endif
}
@ -599,11 +598,14 @@ bool GPS::injectData(uint8_t *data, size_t len)
size_t written = 0;
if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
written = _uart->write((const void*) data, len);
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;
@ -615,9 +617,13 @@ int GPS::setBaudrate(unsigned baud)
if (_uart) {
return _uart->setBaudrate(baud);
}
#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;
@ -790,7 +796,9 @@ GPS::run()
_uart->open();
} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd < 0)){
#ifdef __PX4_LINUX
} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd < 0)) {
_spi_fd = ::open(_port, O_RDWR | O_NOCTTY);
if (_spi_fd < 0) {
@ -799,7 +807,6 @@ GPS::run()
continue;
}
#ifdef __PX4_LINUX
int spi_speed = 1000000; // make sure the bus speed is not too high (required on RPi)
int status_value = ::ioctl(_spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
@ -812,6 +819,7 @@ GPS::run()
if (status_value < 0) {
PX4_ERR("SPI_IOC_RD_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
}
#endif /* __PX4_LINUX */
}
@ -1001,14 +1009,17 @@ GPS::run()
}
}
if ((_interface == GPSHelper::Interface::UART) && (_uart)){
if ((_interface == GPSHelper::Interface::UART) && (_uart)) {
_uart->close();
delete _uart;
} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd >= 0)){
#ifdef __PX4_LINUX
} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd >= 0)) {
::close(_spi_fd);
_spi_fd = -1;
}
#endif
}
if (_mode_auto) {
switch (_mode) {
@ -1426,12 +1437,12 @@ 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;