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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
2016-10-06 09:00:09 +02:00
committed by Lorenz Meier
parent c6f43689e7
commit 80771ce8b3
2 changed files with 12 additions and 32 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/drv_gps.h
-5
View File
@@ -57,8 +57,3 @@ typedef enum {
GPS_DRIVER_MODE_MTK, GPS_DRIVER_MODE_MTK,
GPS_DRIVER_MODE_ASHTECH GPS_DRIVER_MODE_ASHTECH
} gps_driver_mode_t; } gps_driver_mode_t;
typedef enum {
GPS_DRIVER_UART = 0,
GPS_DRIVER_SPI
} gps_driver_interface_t;
src/drivers/gps/gps.cpp
+12 -27
View File
@@ -103,7 +103,7 @@ public:
class GPS class GPS
{ {
public: 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); int gps_num);
virtual ~GPS(); virtual ~GPS();
@@ -124,9 +124,9 @@ private:
bool _healthy; ///< flag to signal if the GPS is ok 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 _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_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_mode_t _mode; ///< current mode
gps_driver_interface_t _interface; ///< interface GPSHelper::Interface _interface; ///< interface
GPSHelper *_helper; ///< instance of GPS parser GPSHelper *_helper; ///< instance of GPS parser
GPS_Sat_Info *_sat_info; ///< instance of GPS sat info data object 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 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) : bool enable_sat_info, int gps_num) :
_task_should_exit(false), _task_should_exit(false),
_healthy(false), _healthy(false),
@@ -708,27 +708,12 @@ GPS::task_main()
_helper = nullptr; _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) { switch (_mode) {
case GPS_DRIVER_MODE_NONE: case GPS_DRIVER_MODE_NONE:
_mode = GPS_DRIVER_MODE_UBX; _mode = GPS_DRIVER_MODE_UBX;
//no break
case GPS_DRIVER_MODE_UBX: 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; break;
case GPS_DRIVER_MODE_MTK: 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); bool enable_sat_info, int gps_num);
void stop(); void stop();
void test(); void test();
@@ -986,7 +971,7 @@ void info();
* Start the driver. * Start the driver.
*/ */
void 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) int gps_num)
{ {
if (g_dev[gps_num - 1] != nullptr) { if (g_dev[gps_num - 1] != nullptr) {
@@ -1076,7 +1061,7 @@ gps_main(int argc, char *argv[])
const char *device_name2 = nullptr; const char *device_name2 = nullptr;
bool fake_gps = false; bool fake_gps = false;
bool enable_sat_info = 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; gps_driver_mode_t mode = GPS_DRIVER_MODE_NONE;
if (argc < 2) { if (argc < 2) {
@@ -1120,10 +1105,10 @@ gps_main(int argc, char *argv[])
if (interface_arg < argc) { if (interface_arg < argc) {
if (!strcmp(argv[interface_arg], "spi")) { if (!strcmp(argv[interface_arg], "spi")) {
interface = GPS_DRIVER_SPI; interface = GPSHelper::Interface::SPI;
} else if (!strcmp(argv[interface_arg], "uart")) { } 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: out:
PX4_ERR("unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status'"); 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; return 1;
} }