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gps: remove gps_driver_interface_t and use GPSHelper::Interface instead

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This commit is contained in:
Beat Küng 2016-09-28 16:47:23 +02:00 committed by Lorenz Meier
parent c6f43689e7
commit 80771ce8b3
2 changed files with 12 additions and 32 deletions
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5
src/drivers/drv_gps.h
View File

@ -57,8 +57,3 @@ typedef enum {
GPS_DRIVER_MODE_MTK,
GPS_DRIVER_MODE_ASHTECH
} gps_driver_mode_t;
typedef enum {
GPS_DRIVER_UART = 0,
GPS_DRIVER_SPI
} gps_driver_interface_t;

39
src/drivers/gps/gps.cpp
View File

@ -103,7 +103,7 @@ public:
class GPS
{
public:
GPS(const char *path, gps_driver_mode_t mode, gps_driver_interface_t interface, bool fake_gps, bool enable_sat_info,
GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interface, bool fake_gps, bool enable_sat_info,
int gps_num);
virtual ~GPS();
@ -124,9 +124,9 @@ private:
bool _healthy; ///< flag to signal if the GPS is ok
bool _baudrate_changed; ///< flag to signal that the baudrate with the GPS has changed
bool _mode_changed; ///< flag that the GPS mode has changed
bool _mode_auto;
bool _mode_auto; ///< if true, auto-detect which GPS is attached
gps_driver_mode_t _mode; ///< current mode
gps_driver_interface_t _interface; ///< interface
GPSHelper::Interface _interface; ///< 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
@ -244,7 +244,7 @@ volatile bool is_gps1_advertised = false; ///< for the second gps we want to mak
}
GPS::GPS(const char *path, gps_driver_mode_t mode, gps_driver_interface_t interface, bool fake_gps,
GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interface, bool fake_gps,
bool enable_sat_info, int gps_num) :
_task_should_exit(false),
_healthy(false),
@ -708,27 +708,12 @@ 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_NONE:
_mode = GPS_DRIVER_MODE_UBX;
//no break
case GPS_DRIVER_MODE_UBX:
_helper = new GPSDriverUBX(helper_interface, &GPS::callback, this, &_report_gps_pos, _p_report_sat_info);
_helper = new GPSDriverUBX(_interface, &GPS::callback, this, &_report_gps_pos, _p_report_sat_info);
break;
case GPS_DRIVER_MODE_MTK:
@ -975,7 +960,7 @@ namespace gps
{
void start(const char *path, gps_driver_mode_t mode, gps_driver_interface_t interface, bool fake_gps,
void start(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interface, bool fake_gps,
bool enable_sat_info, int gps_num);
void stop();
void test();
@ -986,7 +971,7 @@ void info();
* Start the driver.
*/
void
start(const char *path, gps_driver_mode_t mode, gps_driver_interface_t interface, bool fake_gps, bool enable_sat_info,
start(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interface, bool fake_gps, bool enable_sat_info,
int gps_num)
{
if (g_dev[gps_num - 1] != nullptr) {
@ -1076,7 +1061,7 @@ 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;
GPSHelper::Interface interface = GPSHelper::Interface::UART;
gps_driver_mode_t mode = GPS_DRIVER_MODE_NONE;
if (argc < 2) {
@ -1120,10 +1105,10 @@ gps_main(int argc, char *argv[])
if (interface_arg < argc) {
if (!strcmp(argv[interface_arg], "spi")) {
interface = GPS_DRIVER_SPI;
interface = GPSHelper::Interface::SPI;
} else if (!strcmp(argv[interface_arg], "uart")) {
interface = GPS_DRIVER_UART;
interface = GPSHelper::Interface::UART;
}
}
}
@ -1198,6 +1183,6 @@ gps_main(int argc, char *argv[])
out:
PX4_ERR("unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status'");
PX4_ERR("[-d " GPS_DEFAULT_UART_PORT "][-f (for enabling fake)][-s (to enable sat info)]");
PX4_ERR("[-d " GPS_DEFAULT_UART_PORT "][-f (for enabling fake)][-s (to enable sat info)] [-i {spi|uart}] [-p {ubx|mtk|ash}]");
return 1;
}