fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 12:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Commandline Interface and Mode options

Browse Source
This commit is contained in:
Miguel Arroyo
2016-10-06 09:00:09 +02:00
committed by Lorenz Meier
parent 9bd3f6c9bf
commit 2799525462
3 changed files with 75 additions and 38 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/drv_gps.h
+4
View File
@@ -58,3 +58,7 @@ typedef enum {
GPS_DRIVER_MODE_ASHTECH
} gps_driver_mode_t;
typedef enum {
GPS_DRIVER_UART = 0,
GPS_DRIVER_SPI
} gps_driver_interface_t;
src/drivers/gps/devices
+1 -1
Submodule src/drivers/gps/devices updated: 3cac6a5bc5...3fa8711feb
src/drivers/gps/gps.cpp
+70 -37
View File
@@ -103,7 +103,8 @@ public:
class GPS
{
public:
GPS(const char *uart_path, bool fake_gps, bool enable_sat_info, int gps_num);
GPS(const char *path, gps_driver_mode_t mode, gps_driver_interface_t interface, bool fake_gps, bool enable_sat_info,
int gps_num);
virtual ~GPS();
virtual int init();
@@ -124,6 +125,7 @@ private:
bool _baudrate_changed; ///< flag to signal that the baudrate with the GPS has changed
bool _mode_changed; ///< flag that the GPS mode has changed
gps_driver_mode_t _mode; ///< current mode
gps_driver_interface_t _interface;
GPSHelper *_helper; ///< instance of GPS parser
GPS_Sat_Info *_sat_info; ///< instance of GPS sat info data object
struct vehicle_gps_position_s _report_gps_pos; ///< uORB topic for gps position
@@ -241,11 +243,13 @@ volatile bool is_gps1_advertised = false; ///< for the second gps we want to mak
}
GPS::GPS(const char *uart_path, bool fake_gps, bool enable_sat_info, int gps_num) :
GPS::GPS(const char *path, gps_driver_mode_t mode, gps_driver_interface_t interface, bool fake_gps,
bool enable_sat_info, int gps_num) :
_task_should_exit(false),
_healthy(false),
_mode_changed(false),
_mode(GPS_DRIVER_MODE_UBX),
_mode(mode),
_interface(interface),
_helper(nullptr),
_sat_info(nullptr),
_report_gps_pos_pub{nullptr},
@@ -263,7 +267,7 @@ GPS::GPS(const char *uart_path, bool fake_gps, bool enable_sat_info, int gps_num
_dump_from_device(nullptr)
{
/* store port name */
strncpy(_port, uart_path, sizeof(_port));
strncpy(_port, path, sizeof(_port));
/* enforce null termination */
_port[sizeof(_port) - 1] = '\0';
@@ -699,13 +703,24 @@ GPS::task_main()
_helper = nullptr;
}
GPSHelper::Interface helper_interface = GPSHelper::Interface::UART;
switch (_interface) {
case GPS_DRIVER_UART:
helper_interface = GPSHelper::Interface::UART;
break;
case GPS_DRIVER_SPI:
helper_interface = GPSHelper::Interface::SPI;
break;
default:
break;
}
switch (_mode) {
case GPS_DRIVER_MODE_UBX:
#ifndef __PX4_POSIX_RPI
_helper = new GPSDriverUBX(GPSHelper::Interface::UART, &GPS::callback, this, &_report_gps_pos, _p_report_sat_info);
#else
_helper = new GPSDriverUBX(GPSHelper::Interface::SPI, &GPS::callback, this, &_report_gps_pos, _p_report_sat_info);
#endif
_helper = new GPSDriverUBX(helper_interface, &GPS::callback, this, &_report_gps_pos, _p_report_sat_info);
break;
case GPS_DRIVER_MODE_MTK:
@@ -810,30 +825,7 @@ GPS::task_main()
_rate_rtcm_injection = 0.0f;
}
}
#if !defined(__PX4_POSIX_RPI)
/* select next mode */
switch (_mode) {
case GPS_DRIVER_MODE_UBX:
_mode = GPS_DRIVER_MODE_MTK;
break;
case GPS_DRIVER_MODE_MTK:
_mode = GPS_DRIVER_MODE_ASHTECH;
break;
case GPS_DRIVER_MODE_ASHTECH:
_mode = GPS_DRIVER_MODE_UBX;
break;
default:
break;
}
#endif
}
}
PX4_INFO("exiting");
@@ -955,7 +947,8 @@ namespace gps
{
void start(const char *uart_path, bool fake_gps, bool enable_sat_info, int gps_num);
void start(const char *path, gps_driver_mode_t mode, gps_driver_interface_t interface, bool fake_gps,
bool enable_sat_info, int gps_num);
void stop();
void test();
void reset();
@@ -965,7 +958,8 @@ void info();
* Start the driver.
*/
void
start(const char *uart_path, bool fake_gps, bool enable_sat_info, int gps_num)
start(const char *path, gps_driver_mode_t mode, gps_driver_interface_t interface, bool fake_gps, bool enable_sat_info,
int gps_num)
{
if (g_dev[gps_num - 1] != nullptr) {
PX4_WARN("GPS %i already started", gps_num);
@@ -973,7 +967,7 @@ start(const char *uart_path, bool fake_gps, bool enable_sat_info, int gps_num)
}
/* create the driver */
g_dev[gps_num - 1] = new GPS(uart_path, fake_gps, enable_sat_info, gps_num);
g_dev[gps_num - 1] = new GPS(path, mode, interface, fake_gps, enable_sat_info, gps_num);
if (!g_dev[gps_num - 1] || OK != g_dev[gps_num - 1]->init()) {
if (g_dev[gps_num - 1] != nullptr) {
@@ -1054,6 +1048,8 @@ gps_main(int argc, char *argv[])
const char *device_name2 = nullptr;
bool fake_gps = false;
bool enable_sat_info = false;
gps_driver_interface_t interface = GPS_DRIVER_UART;
gps_driver_mode_t mode = GPS_DRIVER_MODE_UBX;
if (argc < 2) {
goto out;
@@ -1088,6 +1084,43 @@ gps_main(int argc, char *argv[])
}
}
/* Detect interface option */
for (int i = 2; i < argc; i++) {
if (!strcmp(argv[i], "-i")) {
int interface_arg = i + 1;
if (interface_arg < argc) {
if (!strcmp(argv[interface_arg], "spi")) {
interface = GPS_DRIVER_SPI;
} else if (!strcmp(argv[interface_arg], "uart")) {
interface = GPS_DRIVER_UART;
}
}
}
}
/* Detect mode/protocol option */
for (int i = 2; i < argc; i++) {
if (!strcmp(argv[i], "-p")) {
int mode_arg = i + 1;
if (mode_arg < argc) {
if (!strcmp(argv[mode_arg], "ubx")) {
mode = GPS_DRIVER_MODE_UBX;
} else if (!strcmp(argv[mode_arg], "mtk")) {
mode = GPS_DRIVER_MODE_MTK;
} else if (!strcmp(argv[mode_arg], "ash")) {
mode = GPS_DRIVER_MODE_ASHTECH;
}
}
}
}
/* Allow to use a second gps device */
for (int i = 2; i < argc; i++) {
if (!strcmp(argv[i], "-dualgps")) {
@@ -1100,10 +1133,10 @@ gps_main(int argc, char *argv[])
}
}
gps::start(device_name, fake_gps, enable_sat_info, 1);
gps::start(device_name, mode, interface, fake_gps, enable_sat_info, 1);
if (device_name2) {
gps::start(device_name2, fake_gps, enable_sat_info, 2);
gps::start(device_name2, mode, interface, fake_gps, enable_sat_info, 2);
}
}