mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-19 03:03:34 +08:00
Moved the bulk of sensor drivers to the new world
This commit is contained in:
Lorenz Meier
@@ -0,0 +1,536 @@
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/****************************************************************************
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*
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file gps.cpp
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* Driver for the GPS on a serial port
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*/
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#include <nuttx/clock.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdio.h>
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#include <stdbool.h>
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#include <stdlib.h>
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#include <semaphore.h>
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#include <string.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <errno.h>
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#include <stdio.h>
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#include <math.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <nuttx/config.h>
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#include <nuttx/arch.h>
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#include <arch/board/board.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/device/i2c.h>
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#include <systemlib/perf_counter.h>
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#include <systemlib/scheduling_priorities.h>
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#include <systemlib/err.h>
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#include <drivers/drv_gps.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_gps_position.h>
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#include "ubx.h"
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#include "mtk.h"
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#define TIMEOUT_5HZ 500
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#define RATE_MEASUREMENT_PERIOD 5000000
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/* oddly, ERROR is not defined for c++ */
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#ifdef ERROR
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# undef ERROR
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#endif
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static const int ERROR = -1;
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#ifndef CONFIG_SCHED_WORKQUEUE
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# error This requires CONFIG_SCHED_WORKQUEUE.
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#endif
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class GPS : public device::CDev
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{
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public:
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GPS(const char* uart_path);
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virtual ~GPS();
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virtual int init();
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
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/**
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* Diagnostics - print some basic information about the driver.
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*/
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void print_info();
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private:
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bool _task_should_exit; ///< flag to make the main worker task exit
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int _serial_fd; ///< serial interface to GPS
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unsigned _baudrate; ///< current baudrate
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char _port[20]; ///< device / serial port path
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volatile int _task; //< worker task
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bool _healthy; ///< flag to signal if the GPS is ok
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bool _baudrate_changed; ///< flag to signal that the baudrate with the GPS has changed
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bool _mode_changed; ///< flag that the GPS mode has changed
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gps_driver_mode_t _mode; ///< current mode
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GPS_Helper *_Helper; ///< instance of GPS parser
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struct vehicle_gps_position_s _report; ///< uORB topic for gps position
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orb_advert_t _report_pub; ///< uORB pub for gps position
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float _rate; ///< position update rate
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/**
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* Try to configure the GPS, handle outgoing communication to the GPS
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*/
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void config();
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/**
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* Trampoline to the worker task
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*/
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static void task_main_trampoline(void *arg);
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/**
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* Worker task: main GPS thread that configures the GPS and parses incoming data, always running
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*/
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void task_main(void);
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/**
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* Set the baudrate of the UART to the GPS
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*/
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int set_baudrate(unsigned baud);
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/**
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* Send a reset command to the GPS
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*/
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void cmd_reset();
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};
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/*
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* Driver 'main' command.
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*/
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extern "C" __EXPORT int gps_main(int argc, char *argv[]);
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namespace
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{
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GPS *g_dev;
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}
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GPS::GPS(const char* uart_path) :
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CDev("gps", GPS_DEVICE_PATH),
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_task_should_exit(false),
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_healthy(false),
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_mode_changed(false),
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_mode(GPS_DRIVER_MODE_UBX),
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_Helper(nullptr),
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_report_pub(-1),
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_rate(0.0f)
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{
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/* store port name */
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strncpy(_port, uart_path, sizeof(_port));
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/* enforce null termination */
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_port[sizeof(_port) - 1] = '\0';
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/* we need this potentially before it could be set in task_main */
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g_dev = this;
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memset(&_report, 0, sizeof(_report));
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_debug_enabled = true;
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}
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GPS::~GPS()
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{
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/* tell the task we want it to go away */
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_task_should_exit = true;
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/* spin waiting for the task to stop */
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for (unsigned i = 0; (i < 10) && (_task != -1); i++) {
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/* give it another 100ms */
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usleep(100000);
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}
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/* well, kill it anyway, though this will probably crash */
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if (_task != -1)
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task_delete(_task);
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g_dev = nullptr;
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}
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int
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GPS::init()
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{
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int ret = ERROR;
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/* do regular cdev init */
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if (CDev::init() != OK)
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goto out;
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/* start the GPS driver worker task */
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_task = task_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 2048, (main_t)&GPS::task_main_trampoline, nullptr);
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if (_task < 0) {
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warnx("task start failed: %d", errno);
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return -errno;
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}
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ret = OK;
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out:
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return ret;
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}
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int
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GPS::ioctl(struct file *filp, int cmd, unsigned long arg)
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{
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lock();
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int ret = OK;
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switch (cmd) {
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case SENSORIOCRESET:
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cmd_reset();
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break;
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}
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unlock();
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return ret;
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}
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void
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GPS::task_main_trampoline(void *arg)
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{
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g_dev->task_main();
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}
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void
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GPS::task_main()
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{
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log("starting");
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/* open the serial port */
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_serial_fd = ::open(_port, O_RDWR);
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if (_serial_fd < 0) {
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log("failed to open serial port: %s err: %d", _port, errno);
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/* tell the dtor that we are exiting, set error code */
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_task = -1;
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_exit(1);
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}
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uint64_t last_rate_measurement = hrt_absolute_time();
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unsigned last_rate_count = 0;
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/* loop handling received serial bytes and also configuring in between */
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while (!_task_should_exit) {
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if (_Helper != nullptr) {
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delete(_Helper);
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/* set to zero to ensure parser is not used while not instantiated */
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_Helper = nullptr;
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}
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switch (_mode) {
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case GPS_DRIVER_MODE_UBX:
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_Helper = new UBX(_serial_fd, &_report);
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break;
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case GPS_DRIVER_MODE_MTK:
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_Helper = new MTK(_serial_fd, &_report);
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break;
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case GPS_DRIVER_MODE_NMEA:
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//_Helper = new NMEA(); //TODO: add NMEA
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break;
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default:
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break;
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}
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unlock();
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if (_Helper->configure(_baudrate) == 0) {
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unlock();
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while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) {
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// lock();
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/* opportunistic publishing - else invalid data would end up on the bus */
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if (_report_pub > 0) {
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orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
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} else {
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_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
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}
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last_rate_count++;
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/* measure update rate every 5 seconds */
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if (hrt_absolute_time() - last_rate_measurement > RATE_MEASUREMENT_PERIOD) {
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_rate = last_rate_count / ((float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f);
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last_rate_measurement = hrt_absolute_time();
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last_rate_count = 0;
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}
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if (!_healthy) {
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warnx("module found");
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_healthy = true;
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}
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}
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if (_healthy) {
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warnx("module lost");
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_healthy = false;
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_rate = 0.0f;
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}
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lock();
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}
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lock();
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/* select next mode */
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switch (_mode) {
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case GPS_DRIVER_MODE_UBX:
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_mode = GPS_DRIVER_MODE_MTK;
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break;
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case GPS_DRIVER_MODE_MTK:
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_mode = GPS_DRIVER_MODE_UBX;
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break;
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// case GPS_DRIVER_MODE_NMEA:
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// _mode = GPS_DRIVER_MODE_UBX;
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// break;
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default:
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break;
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}
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}
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debug("exiting");
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::close(_serial_fd);
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/* tell the dtor that we are exiting */
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_task = -1;
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_exit(0);
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}
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void
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GPS::cmd_reset()
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{
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//XXX add reset?
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}
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void
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GPS::print_info()
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{
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switch (_mode) {
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case GPS_DRIVER_MODE_UBX:
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warnx("protocol: UBX");
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break;
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case GPS_DRIVER_MODE_MTK:
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warnx("protocol: MTK");
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break;
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case GPS_DRIVER_MODE_NMEA:
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warnx("protocol: NMEA");
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break;
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default:
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break;
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}
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warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK");
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if (_report.timestamp_position != 0) {
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warnx("position lock: %dD, last update %4.2f seconds ago", (int)_report.fix_type,
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(double)((float)(hrt_absolute_time() - _report.timestamp_position) / 1000000.0f));
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warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt);
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warnx("update rate: %6.2f Hz", (double)_rate);
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}
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usleep(100000);
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}
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/**
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* Local functions in support of the shell command.
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*/
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namespace gps
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{
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GPS *g_dev;
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void start(const char *uart_path);
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void stop();
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void test();
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void reset();
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void info();
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/**
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* Start the driver.
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*/
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void
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start(const char *uart_path)
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{
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int fd;
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if (g_dev != nullptr)
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errx(1, "already started");
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/* create the driver */
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g_dev = new GPS(uart_path);
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if (g_dev == nullptr)
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goto fail;
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if (OK != g_dev->init())
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goto fail;
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/* set the poll rate to default, starts automatic data collection */
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fd = open(GPS_DEVICE_PATH, O_RDONLY);
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if (fd < 0) {
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errx(1, "Could not open device path: %s\n", GPS_DEVICE_PATH);
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goto fail;
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}
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exit(0);
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fail:
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if (g_dev != nullptr) {
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delete g_dev;
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g_dev = nullptr;
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}
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errx(1, "driver start failed");
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}
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/**
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* Stop the driver.
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*/
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void
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stop()
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{
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delete g_dev;
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g_dev = nullptr;
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exit(0);
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}
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/**
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* Perform some basic functional tests on the driver;
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* make sure we can collect data from the sensor in polled
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* and automatic modes.
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*/
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void
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test()
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{
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errx(0, "PASS");
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}
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/**
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* Reset the driver.
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*/
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void
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reset()
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{
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int fd = open(GPS_DEVICE_PATH, O_RDONLY);
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if (fd < 0)
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err(1, "failed ");
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if (ioctl(fd, SENSORIOCRESET, 0) < 0)
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err(1, "driver reset failed");
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exit(0);
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}
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/**
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* Print the status of the driver.
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*/
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void
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info()
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{
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if (g_dev == nullptr)
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errx(1, "driver not running");
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g_dev->print_info();
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exit(0);
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}
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} // namespace
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int
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gps_main(int argc, char *argv[])
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{
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/* set to default */
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char* device_name = GPS_DEFAULT_UART_PORT;
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/*
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* Start/load the driver.
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*/
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if (!strcmp(argv[1], "start")) {
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/* work around getopt unreliability */
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if (argc > 3) {
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if (!strcmp(argv[2], "-d")) {
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device_name = argv[3];
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} else {
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goto out;
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}
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}
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gps::start(device_name);
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}
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|
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if (!strcmp(argv[1], "stop"))
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gps::stop();
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/*
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* Test the driver/device.
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*/
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if (!strcmp(argv[1], "test"))
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gps::test();
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/*
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* Reset the driver.
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*/
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if (!strcmp(argv[1], "reset"))
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gps::reset();
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/*
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* Print driver status.
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*/
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if (!strcmp(argv[1], "status"))
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gps::info();
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out:
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errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n]");
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}
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Block a user