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Restructered the parsing/configuring, MTK working

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This commit is contained in:
Julian Oes
2013-02-07 14:48:00 -08:00
parent d36eb8a3fc
commit a88b9f4eef
5 changed files with 313 additions and 302 deletions
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apps/drivers/gps/gps.cpp
+42 -197
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@@ -53,7 +53,6 @@
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <termios.h>
#include <fcntl.h>
#include <nuttx/arch.h>
@@ -71,7 +70,7 @@
#include <uORB/topics/vehicle_gps_position.h>
#include "ubx.h"
//#include "ubx.h"
#include "mtk.h"
#define SEND_BUFFER_LENGTH 100
@@ -113,10 +112,8 @@ private:
int _serial_fd; ///< serial interface to GPS
unsigned _baudrate; ///< current baudrate
char _port[20]; ///< device / serial port path
const unsigned _baudrates_to_try[NUMBER_OF_TRIES]; ///< try different baudrates that GPS could be set to
const gps_driver_mode_t _modes_to_try[NUMBER_OF_TRIES]; ///< try different modes
volatile int _task; //< worker task
bool _config_needed; ///< flag to signal that configuration of GPS is needed
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
gps_driver_mode_t _mode; ///< current mode
@@ -171,11 +168,9 @@ GPS *g_dev;
GPS::GPS(const char* uart_path) :
CDev("gps", GPS_DEVICE_PATH),
_task_should_exit(false),
_baudrates_to_try({9600, 38400, 57600, 115200, 38400}),
_modes_to_try({GPS_DRIVER_MODE_UBX, GPS_DRIVER_MODE_UBX, GPS_DRIVER_MODE_UBX, GPS_DRIVER_MODE_UBX, GPS_DRIVER_MODE_MTK}),
_config_needed(true),
_baudrate_changed(false),
_healthy(false),
_mode_changed(false),
_mode(GPS_DRIVER_MODE_MTK),
_Helper(nullptr),
_report_pub(-1),
_rate(0.0f)
@@ -250,20 +245,6 @@ GPS::ioctl(struct file *filp, int cmd, unsigned long arg)
return ret;
}
void
GPS::config()
{
_Helper->configure(_serial_fd, _baudrate_changed, _baudrate);
/* Sometimes the baudrate needs to be changed, for instance UBX with factory settings are changed
* from 9600 to 38400
*/
if (_baudrate_changed) {
set_baudrate(_baudrate);
_baudrate_changed = false;
}
}
void
GPS::task_main_trampoline(void *arg)
{
@@ -276,10 +257,7 @@ GPS::task_main()
log("starting");
/* open the serial port */
_serial_fd = ::open(_port, O_RDWR); //TODO make the device dynamic depending on startup parameters
/* buffer to read from the serial port */
uint8_t buf[32];
_serial_fd = ::open(_port, O_RDWR);
if (_serial_fd < 0) {
log("failed to open serial port: %s err: %d", _port, errno);
@@ -288,151 +266,65 @@ GPS::task_main()
_exit(1);
}
/* poll descriptor */
pollfd fds[1];
fds[0].fd = _serial_fd;
fds[0].events = POLLIN;
/* lock against the ioctl handler */
lock();
unsigned try_i = 0;
_baudrate = _baudrates_to_try[try_i];
_mode = _modes_to_try[try_i];
_mode_changed = true;
set_baudrate(_baudrate);
uint64_t time_before_configuration = hrt_absolute_time();
uint64_t last_rate_measurement = hrt_absolute_time();
unsigned last_rate_count = 0;
bool pos_updated;
bool config_needed_res;
/* loop handling received serial bytes and also configuring in between */
while (!_task_should_exit) {
/* If a configuration does not finish in the config timeout, change the baudrate */
if (_config_needed && time_before_configuration + CONFIG_TIMEOUT < hrt_absolute_time()) {
/* loop through possible modes/baudrates */
try_i = (try_i + 1) % NUMBER_OF_TRIES;
_baudrate = _baudrates_to_try[try_i];
set_baudrate(_baudrate);
if (_mode != _modes_to_try[try_i]) {
_mode_changed = true;
}
_mode = _modes_to_try[try_i];
if (_Helper != nullptr) {
_Helper->reset();
}
time_before_configuration = hrt_absolute_time();
if (_Helper != nullptr) {
delete(_Helper);
/* set to zero to ensure parser is not used while not instantiated */
_Helper = nullptr;
}
if (_mode_changed) {
if (_Helper != nullptr) {
delete(_Helper);
/* set to zero to ensure parser is not used while not instantiated */
_Helper = nullptr;
}
switch (_mode) {
case GPS_DRIVER_MODE_UBX:
_Helper = new UBX();
break;
switch (_mode) {
// case GPS_DRIVER_MODE_UBX:
// _Helper = new UBX();
// break;
case GPS_DRIVER_MODE_MTK:
printf("try new mtk\n");
_Helper = new MTK();
break;
case GPS_DRIVER_MODE_NMEA:
//_Helper = new NMEA();
//_Helper = new NMEA(); //TODO: add NMEA
break;
default:
break;
}
_mode_changed = false;
}
/* during configuration, the timeout should be small, so that we can send config messages in between parsing,
* but during normal operation, it should never timeout because updates should arrive with 5Hz */
int poll_timeout;
if (_config_needed) {
poll_timeout = 50;
} else {
poll_timeout = 400;
}
/* sleep waiting for data, but no more than the poll timeout */
// XXX unlock/lock makes sense?
unlock();
int ret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), poll_timeout);
lock();
if (_Helper->configure(_serial_fd, _baudrate) == 0) {
while (_Helper->receive(_serial_fd, _report) > 0 && !_task_should_exit) {
/* opportunistic publishing - else invalid data would end up on the bus */
if (_report_pub > 0) {
orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
} else {
_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
}
/* this would be bad... */
if (ret < 0) {
log("poll error %d", errno);
} else if (ret == 0) {
/* no response from the GPS */
if (_config_needed == false) {
_config_needed = true;
warnx("GPS module timeout");
_Helper->reset();
}
config();
} else if (ret > 0) {
/* if we have new data from GPS, go handle it */
if (fds[0].revents & POLLIN) {
int count;
last_rate_count++;
/*
* We are here because poll says there is some data, so this
* won't block even on a blocking device. If more bytes are
* available, we'll go back to poll() again...
*/
count = ::read(_serial_fd, buf, sizeof(buf));
/* measure update rate every 5 seconds */
if (hrt_absolute_time() - last_rate_measurement > 5000000) {
_rate = last_rate_count / ((float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f);
last_rate_measurement = hrt_absolute_time();
last_rate_count = 0;
}
/* pass received bytes to the packet decoder */
int j;
for (j = 0; j < count; j++) {
pos_updated = false;
config_needed_res = _config_needed;
_Helper->parse(buf[j], &_report, config_needed_res, pos_updated);
if (pos_updated) {
/* opportunistic publishing - else invalid data would end up on the bus */
if (_report_pub > 0) {
orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
} else {
_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
}
last_rate_count++;
/* measure update rate every 5 seconds */
if (hrt_absolute_time() - last_rate_measurement > 5000000) {
_rate = last_rate_count / ((float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f);
last_rate_measurement = hrt_absolute_time();
last_rate_count = 0;
}
}
if (config_needed_res == true && _config_needed == false) {
/* the parser told us that an error happened and reconfiguration is needed */
_config_needed = true;
warnx("GPS module lost");
_Helper->reset();
config();
} else if (config_needed_res == true && _config_needed == true) {
/* we are still configuring */
config();
} else if (config_needed_res == false && _config_needed == true) {
/* the parser is happy, stop configuring */
warnx("GPS module found");
_config_needed = false;
}
if (!_healthy) {
warnx("module found");
_healthy = true;
}
}
if (_healthy) {
warnx("module lost");
_healthy = false;
_rate = 0.0f;
}
}
lock();
}
debug("exiting");
@@ -443,59 +335,12 @@ GPS::task_main()
_exit(0);
}
int
GPS::set_baudrate(unsigned baud)
{
/* process baud rate */
int speed;
switch (baud) {
case 9600: speed = B9600; break;
case 19200: speed = B19200; break;
case 38400: speed = B38400; break;
case 57600: speed = B57600; break;
case 115200: speed = B115200; break;
default:
warnx("ERROR: Unsupported baudrate: %d\n", baud);
return -EINVAL;
}
struct termios uart_config;
int termios_state;
/* fill the struct for the new configuration */
tcgetattr(_serial_fd, &uart_config);
/* clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* no parity, one stop bit */
uart_config.c_cflag &= ~(CSTOPB | PARENB);
/* set baud rate */
if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
warnx("ERROR setting config: %d (cfsetispeed)\n", termios_state);
return -1;
}
if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
warnx("ERROR setting config: %d (cfsetospeed)\n", termios_state);
return -1;
}
if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) {
warnx("ERROR setting baudrate (tcsetattr)\n");
return -1;
}
/* XXX if resetting the parser here, ensure it does exist (check for null pointer) */
return 0;
}
void
GPS::cmd_reset()
{
_config_needed = true;
//XXX add reset?
}
void
@@ -514,7 +359,7 @@ GPS::print_info()
default:
break;
}
warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_config_needed) ? "NOT OK" : "OK");
warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK");
if (_report.timestamp_position != 0) {
warnx("position lock: %dD, last update %4.2f seconds ago", (int)_report.fix_type,
(double)((float)(hrt_absolute_time() - _report.timestamp_position) / 1000000.0f));