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serial drivers/modules: add yaml config files

This commit is contained in:
Beat Küng 2018-08-27 11:39:18 +02:00
parent dae292631c
commit b5e552924a
21 changed files with 212 additions and 32 deletions
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2
src/drivers/distance_sensor/leddar_one/CMakeLists.txt
View File

@ -36,5 +36,7 @@ px4_add_module(
STACK_MAIN 1200
SRCS
leddar_one.cpp
MODULE_CONFIG
module.yaml
DEPENDS
)

7
src/drivers/distance_sensor/leddar_one/module.yaml Normal file
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@ -0,0 +1,7 @@
module_name: LeddarOne Rangefinder
serial_config:
- command: leddar_one start -d ${SERIAL_DEV}
port_config_param:
name: SENS_LEDDAR1_CFG
group: Sensors

2
src/drivers/distance_sensor/sf0x/CMakeLists.txt
View File

@ -37,6 +37,8 @@ px4_add_module(
SRCS
sf0x.cpp
sf0x_parser.cpp
MODULE_CONFIG
module.yaml
DEPENDS
)

7
src/drivers/distance_sensor/sf0x/module.yaml Normal file
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@ -0,0 +1,7 @@
module_name: Lightware Laser Rangefinder
serial_config:
- command: sf0x start -d ${SERIAL_DEV}
port_config_param:
name: SENS_SF0X_CFG
group: Sensors

2
src/drivers/distance_sensor/tfmini/CMakeLists.txt
View File

@ -37,6 +37,8 @@ px4_add_module(
SRCS
tfmini.cpp
tfmini_parser.cpp
MODULE_CONFIG
module.yaml
DEPENDS
)

7
src/drivers/distance_sensor/tfmini/module.yaml Normal file
View File

@ -0,0 +1,7 @@
module_name: Benewake TFmini Rangefinder
serial_config:
- command: tfmini start -d ${SERIAL_DEV}
port_config_param:
name: SENS_TFMINI_CFG
group: Sensors

2
src/drivers/gps/CMakeLists.txt
View File

@ -44,6 +44,8 @@ px4_add_module(
devices/src/ashtech.cpp
devices/src/ubx.cpp
devices/src/rtcm.cpp
MODULE_CONFIG
module.yaml
DEPENDS
git_gps_devices
)

42
src/drivers/gps/gps.cpp
View File

@ -62,6 +62,7 @@
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <px4_cli.h>
#include <px4_config.h>
#include <px4_getopt.h>
#include <px4_module.h>
@ -111,7 +112,7 @@ public:
};
GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interface, bool fake_gps, bool enable_sat_info,
Instance instance);
Instance instance, unsigned configured_baudrate);
virtual ~GPS();
/** @see ModuleBase */
@ -148,6 +149,7 @@ private:
int _serial_fd{-1}; ///< serial interface to GPS
unsigned _baudrate{0}; ///< current baudrate
const unsigned _configured_baudrate{0}; ///< configured baudrate (0=auto-detect)
char _port[20] {}; ///< device / serial port path
bool _healthy{false}; ///< flag to signal if the GPS is ok
@ -254,7 +256,8 @@ extern "C" __EXPORT int gps_main(int argc, char *argv[]);
GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interface, bool fake_gps,
bool enable_sat_info, Instance instance) :
bool enable_sat_info, Instance instance, unsigned configured_baudrate) :
_configured_baudrate(configured_baudrate),
_mode(mode),
_interface(interface),
_fake_gps(fake_gps),
@ -618,14 +621,6 @@ GPS::run()
param_get(handle, &gps_ubx_dynmodel);
}
int32_t configured_baudrate = 0; // auto-detect
handle = param_find("SER_GPS1_BAUD");
if (handle != PARAM_INVALID) {
param_get(handle, &configured_baudrate);
}
_orb_inject_data_fd = orb_subscribe(ORB_ID(gps_inject_data));
initializeCommunicationDump();
@ -694,7 +689,7 @@ GPS::run()
break;
}
_baudrate = configured_baudrate;
_baudrate = _configured_baudrate;
if (_helper && _helper->configure(_baudrate, GPSHelper::OutputMode::GPS) == 0) {
@ -930,12 +925,16 @@ so that they can be used in other projects as well (eg. QGroundControl uses them
For testing it can be useful to fake a GPS signal (it will signal the system that it has a valid position):
$ gps stop
$ gps start -f
Starting 2 GPS devices (the main GPS on /dev/ttyS3 and the secondary on /dev/ttyS4):
gps start -d /dev/ttyS3 -e /dev/ttyS4
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("gps", "driver");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "GPS device", true);
PRINT_MODULE_USAGE_PARAM_INT('b', 0, 0, 3000000, "Baudrate (can also be p:<param_name>)", true);
PRINT_MODULE_USAGE_PARAM_STRING('e', nullptr, "<file:dev>", "Optional secondary GPS device", true);
PRINT_MODULE_USAGE_PARAM_INT('g', 0, 0, 3000000, "Baudrate (secondary GPS, can also be p:<param_name>)", true);
PRINT_MODULE_USAGE_PARAM_FLAG('f', "Fake a GPS signal (useful for testing)", true);
PRINT_MODULE_USAGE_PARAM_FLAG('s', "Enable publication of satellite info", true);
@ -1006,6 +1005,8 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
{
const char *device_name = "/dev/ttyS3";
const char *device_name_secondary = nullptr;
int baudrate_main = 0;
int baudrate_secondary = 0;
bool fake_gps = false;
bool enable_sat_info = false;
GPSHelper::Interface interface = GPSHelper::Interface::UART;
@ -1016,8 +1017,21 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
int ch;
const char *myoptarg = nullptr;
while ((ch = px4_getopt(argc, argv, "d:e:fsi:p:", &myoptind, &myoptarg)) != EOF) {
while ((ch = px4_getopt(argc, argv, "b:d:e:fg:si:p:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'b':
if (px4_get_parameter_value(myoptarg, baudrate_main) != 0) {
PX4_ERR("baudrate parsing failed");
error_flag = true;
}
break;
case 'g':
if (px4_get_parameter_value(myoptarg, baudrate_secondary) != 0) {
PX4_ERR("baudrate parsing failed");
error_flag = true;
}
break;
case 'd':
device_name = myoptarg;
break;
@ -1080,7 +1094,7 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
GPS *gps;
if (instance == Instance::Main) {
gps = new GPS(device_name, mode, interface, fake_gps, enable_sat_info, instance);
gps = new GPS(device_name, mode, interface, fake_gps, enable_sat_info, instance, baudrate_main);
if (gps && device_name_secondary) {
task_spawn(argc, argv, Instance::Secondary);
@ -1098,7 +1112,7 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
}
}
} else { // secondary instance
gps = new GPS(device_name_secondary, mode, interface, fake_gps, enable_sat_info, instance);
gps = new GPS(device_name_secondary, mode, interface, fake_gps, enable_sat_info, instance, baudrate_secondary);
}
return gps;

16
src/drivers/gps/module.yaml Normal file
View File

@ -0,0 +1,16 @@
module_name: GPS
serial_config:
# secondary gps must be first
- command: set DUAL_GPS_ARGS "-e ${SERIAL_DEV} -g p:${BAUD_PARAM}"
port_config_param:
name: GPS_2_CONFIG
group: GPS
label: Secondary GPS
- command: gps start -d ${SERIAL_DEV} -b p:${BAUD_PARAM} ${DUAL_GPS_ARGS}
port_config_param:
name: GPS_1_CONFIG
group: GPS
default: GPS1
label: Main GPS

18
src/drivers/gps/params.c
View File

@ -86,21 +86,3 @@ PARAM_DEFINE_INT32(GPS_UBX_DYNMODEL, 7);
*/
PARAM_DEFINE_FLOAT(GPS_YAW_OFFSET, 0.f);
/**
* GPS Baudrate
*
* Configure the Baudrate for the GPS Serial Port. In most cases this can be set to Auto.
*
* The Trimble MB-Two GPS does not support auto-detection and uses a baudrate of 115200.
*
* @value 0 Auto
* @value 9600 9600 8N1
* @value 19200 19200 8N1
* @value 38400 38400 8N1
* @value 57600 57600 8N1
* @value 115200 115200 8N1
* @reboot_required true
* @group GPS
*/
PARAM_DEFINE_INT32(SER_GPS1_BAUD, 0);

2
src/drivers/telemetry/frsky_telemetry/CMakeLists.txt
View File

@ -39,5 +39,7 @@ px4_add_module(
frsky_data.cpp
sPort_data.cpp
frsky_telemetry.cpp
MODULE_CONFIG
module.yaml
)

7
src/drivers/telemetry/frsky_telemetry/module.yaml Normal file
View File

@ -0,0 +1,7 @@
module_name: FrSky Telemetry
serial_config:
- command: frsky_telemetry start -d ${SERIAL_DEV}
port_config_param:
name: TEL_FRSKY_CONFIG
group: Telemetry

2
src/drivers/telemetry/hott/hott_telemetry/CMakeLists.txt
View File

@ -36,6 +36,8 @@ px4_add_module(
COMPILE_FLAGS
SRCS
hott_telemetry.cpp
MODULE_CONFIG
module.yaml
DEPENDS
drivers__hott
)

7
src/drivers/telemetry/hott/hott_telemetry/module.yaml Normal file
View File

@ -0,0 +1,7 @@
module_name: HoTT Telemetry
serial_config:
- command: hott_telemetry start -d ${SERIAL_DEV}
port_config_param:
name: TEL_HOTT_CONFIG
group: Telemetry

2
src/drivers/telemetry/iridiumsbd/CMakeLists.txt
View File

@ -39,5 +39,7 @@ px4_add_module(
SRCS
IridiumSBD.cpp
iridiumsbd_params.c
MODULE_CONFIG
module.yaml
DEPENDS
)

15
src/drivers/telemetry/iridiumsbd/module.yaml Normal file
View File

@ -0,0 +1,15 @@
module_name: Iridium (with MAVLink)
serial_config:
- command: |
# add a sleep here to make sure that the module is powered
usleep 200000
if iridiumsbd start -d ${SERIAL_DEV}
then
mavlink start -d /dev/iridium -m iridium -b 115200
else
tune_control play -t 20
fi
port_config_param:
name: ISBD_CONFIG
group: Iridium SBD

2
src/modules/mavlink/CMakeLists.txt
View File

@ -59,6 +59,8 @@ px4_add_module(
mavlink_stream.cpp
mavlink_ulog.cpp
mavlink_timesync.cpp
MODULE_CONFIG
module.yaml
DEPENDS
airspeed
git_mavlink_v2

5
src/modules/mavlink/mavlink_main.cpp
View File

@ -682,6 +682,11 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, bool force_flow_
case 1500000: speed = B1500000; break;
#endif
#ifdef B2000000
case 2000000: speed = B2000000; break;
#endif
#ifdef B3000000
case 3000000: speed = B3000000; break;

78
src/modules/mavlink/module.yaml Normal file
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@ -0,0 +1,78 @@
__max_num_config_instances: &max_num_config_instances 3
module_name: MAVLink
serial_config:
- command: |
set MAV_ARGS "-b p:${BAUD_PARAM} -m p:MAV_${i}_MODE -r p:MAV_${i}_RATE"
if param compare MAV_${i}_FORWARD 1
then
set MAV_ARGS "${MAV_ARGS} -f"
fi
mavlink start -d ${SERIAL_DEV} ${MAV_ARGS} -x
port_config_param:
name: MAV_${i}_CONFIG
group: MAVLink
# MAVLink instances:
# 0: Telem1 Port (Telemetry Link)
# 1: Telem2 Port (Companion Link). Disabled by default to reduce RAM usage
# 2: Board-specific / no fixed function or port
default: [TEL1, "", ""]
num_instances: *max_num_config_instances
parameters:
- group: MAVLink
definitions:
MAV_${i}_MODE:
description:
short: MAVLink Mode for instance ${i}
long: |
The MAVLink Mode defines the set of streamed messages (for example the
vehicle's attitude) and their sending rates.
type: enum
values:
0: Normal
1: Custom
2: Onboard
3: OSD
4: Magic
5: Config
6: Iridium
7: Minimal
reboot_required: true
num_instances: *max_num_config_instances
default: [0, 2, 0]
MAV_${i}_RATE:
description:
short: Maximum MAVLink sending rate for instance ${i}
long: |
Configure the maximum sending rate for the MAVLink streams in Bytes/sec.
If the configured streams exceed the maximum rate, the sending rate of
each stream is automatically decreased.
If this is set to 0, a value of <baudrate>/20 is used, which corresponds to
half of the theoretical maximum bandwidth.
type: int32
min: 0
unit: B/s
reboot_required: true
num_instances: *max_num_config_instances
default: [1200, 0, 0]
MAV_${i}_FORWARD:
description:
short: Enable MAVLink Message forwarding for instance ${i}
long: |
If enabled, forward incoming MAVLink messages to other MAVLink ports if the
message is either broadcast or the target is not the autopilot.
This allows for example a GCS to talk to a camera that is connected to the
autopilot via MAVLink (on a different link than the GCS).
type: boolean
reboot_required: true
num_instances: *max_num_config_instances
default: [true, false, false]

2
src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
View File

@ -106,6 +106,8 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
microRTPS_client_main.cpp
${msg_out_path}/micrortps_client/microRTPS_client.cpp
${msg_out_path}/micrortps_client/microRTPS_transport.cpp
MODULE_CONFIG
module.yaml
DEPENDS
topic_bridge_files
)

17
src/modules/micrortps_bridge/micrortps_client/module.yaml Normal file
View File

@ -0,0 +1,17 @@
module_name: RTPS
serial_config:
- command: |
protocol_splitter start ${SERIAL_DEV}
mavlink start -d /dev/mavlink -b p:${BAUD_PARAM} -m onboard -r 5000 -x
micrortps_client start -d /dev/rtps -b p:${BAUD_PARAM} -l -1
port_config_param:
name: RTPS_MAV_CONFIG
group: RTPS
label: MAVLink + FastRTPS
- command: |
micrortps_client start -d ${SERIAL_DEV} -b p:${BAUD_PARAM} -l -1
port_config_param:
name: RTPS_CONFIG
group: RTPS
label: FastRTPS