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serial drivers/modules: add yaml config files

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This commit is contained in:
Beat Küng
2018-09-25 07:53:29 +02:00
parent dae292631c
commit b5e552924a
21 changed files with 212 additions and 32 deletions
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src/drivers/gps/gps.cpp
+28 -14
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@@ -62,6 +62,7 @@
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <px4_cli.h>
#include <px4_config.h>
#include <px4_getopt.h>
#include <px4_module.h>
@@ -111,7 +112,7 @@ public:
};
GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interface, bool fake_gps, bool enable_sat_info,
Instance instance);
Instance instance, unsigned configured_baudrate);
virtual ~GPS();
/** @see ModuleBase */
@@ -148,6 +149,7 @@ private:
int _serial_fd{-1}; ///< serial interface to GPS
unsigned _baudrate{0}; ///< current baudrate
const unsigned _configured_baudrate{0}; ///< configured baudrate (0=auto-detect)
char _port[20] {}; ///< device / serial port path
bool _healthy{false}; ///< flag to signal if the GPS is ok
@@ -254,7 +256,8 @@ extern "C" __EXPORT int gps_main(int argc, char *argv[]);
GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interface, bool fake_gps,
bool enable_sat_info, Instance instance) :
bool enable_sat_info, Instance instance, unsigned configured_baudrate) :
_configured_baudrate(configured_baudrate),
_mode(mode),
_interface(interface),
_fake_gps(fake_gps),
@@ -618,14 +621,6 @@ GPS::run()
param_get(handle, &gps_ubx_dynmodel);
}
int32_t configured_baudrate = 0; // auto-detect
handle = param_find("SER_GPS1_BAUD");
if (handle != PARAM_INVALID) {
param_get(handle, &configured_baudrate);
}
_orb_inject_data_fd = orb_subscribe(ORB_ID(gps_inject_data));
initializeCommunicationDump();
@@ -694,7 +689,7 @@ GPS::run()
break;
}
_baudrate = configured_baudrate;
_baudrate = _configured_baudrate;
if (_helper && _helper->configure(_baudrate, GPSHelper::OutputMode::GPS) == 0) {
@@ -930,12 +925,16 @@ so that they can be used in other projects as well (eg. QGroundControl uses them
For testing it can be useful to fake a GPS signal (it will signal the system that it has a valid position):
$ gps stop
$ gps start -f
Starting 2 GPS devices (the main GPS on /dev/ttyS3 and the secondary on /dev/ttyS4):
gps start -d /dev/ttyS3 -e /dev/ttyS4
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("gps", "driver");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "GPS device", true);
PRINT_MODULE_USAGE_PARAM_INT('b', 0, 0, 3000000, "Baudrate (can also be p:<param_name>)", true);
PRINT_MODULE_USAGE_PARAM_STRING('e', nullptr, "<file:dev>", "Optional secondary GPS device", true);
PRINT_MODULE_USAGE_PARAM_INT('g', 0, 0, 3000000, "Baudrate (secondary GPS, can also be p:<param_name>)", true);
PRINT_MODULE_USAGE_PARAM_FLAG('f', "Fake a GPS signal (useful for testing)", true);
PRINT_MODULE_USAGE_PARAM_FLAG('s', "Enable publication of satellite info", true);
@@ -1006,6 +1005,8 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
{
const char *device_name = "/dev/ttyS3";
const char *device_name_secondary = nullptr;
int baudrate_main = 0;
int baudrate_secondary = 0;
bool fake_gps = false;
bool enable_sat_info = false;
GPSHelper::Interface interface = GPSHelper::Interface::UART;
@@ -1016,8 +1017,21 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
int ch;
const char *myoptarg = nullptr;
while ((ch = px4_getopt(argc, argv, "d:e:fsi:p:", &myoptind, &myoptarg)) != EOF) {
while ((ch = px4_getopt(argc, argv, "b:d:e:fg:si:p:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'b':
if (px4_get_parameter_value(myoptarg, baudrate_main) != 0) {
PX4_ERR("baudrate parsing failed");
error_flag = true;
}
break;
case 'g':
if (px4_get_parameter_value(myoptarg, baudrate_secondary) != 0) {
PX4_ERR("baudrate parsing failed");
error_flag = true;
}
break;
case 'd':
device_name = myoptarg;
break;
@@ -1080,7 +1094,7 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
GPS *gps;
if (instance == Instance::Main) {
gps = new GPS(device_name, mode, interface, fake_gps, enable_sat_info, instance);
gps = new GPS(device_name, mode, interface, fake_gps, enable_sat_info, instance, baudrate_main);
if (gps && device_name_secondary) {
task_spawn(argc, argv, Instance::Secondary);
@@ -1098,7 +1112,7 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
}
}
} else { // secondary instance
gps = new GPS(device_name_secondary, mode, interface, fake_gps, enable_sat_info, instance);
gps = new GPS(device_name_secondary, mode, interface, fake_gps, enable_sat_info, instance, baudrate_secondary);
}
return gps;