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drivers/gps: limit to ublox only flash constrained targets

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This commit is contained in:
Daniel Agar
2021-01-18 09:30:01 +01:00
committed by Beat Küng
parent 78c05275d2
commit dab90f86a4
1 changed files with 15 additions and 5 deletions
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src/drivers/gps/gps.cpp
+15 -5
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@@ -61,9 +61,11 @@
#include <uORB/topics/gps_inject_data.h> #include <uORB/topics/gps_inject_data.h>
#include <uORB/topics/sensor_gps.h> #include <uORB/topics/sensor_gps.h>
#include "devices/src/ashtech.h" #ifndef CONSTRAINED_FLASH
#include "devices/src/emlid_reach.h" # include "devices/src/ashtech.h"
#include "devices/src/mtk.h" # include "devices/src/emlid_reach.h"
# include "devices/src/mtk.h"
#endif // CONSTRAINED_FLASH
#include "devices/src/ubx.h" #include "devices/src/ubx.h"
#ifdef __PX4_LINUX #ifdef __PX4_LINUX
@@ -288,12 +290,14 @@ GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interfac
switch (protocol) { switch (protocol) {
case 1: _mode = GPS_DRIVER_MODE_UBX; break; case 1: _mode = GPS_DRIVER_MODE_UBX; break;
#ifndef CONSTRAINED_FLASH
case 2: _mode = GPS_DRIVER_MODE_MTK; break; case 2: _mode = GPS_DRIVER_MODE_MTK; break;
case 3: _mode = GPS_DRIVER_MODE_ASHTECH; break; case 3: _mode = GPS_DRIVER_MODE_ASHTECH; break;
case 4: _mode = GPS_DRIVER_MODE_EMLIDREACH; break; case 4: _mode = GPS_DRIVER_MODE_EMLIDREACH; break;
#endif // CONSTRAINED_FLASH
} }
} }
@@ -762,6 +766,7 @@ GPS::run()
_helper = new GPSDriverUBX(_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,
gps_ubx_dynmodel, heading_offset, ubx_mode); gps_ubx_dynmodel, heading_offset, ubx_mode);
break; break;
#ifndef CONSTRAINED_FLASH
case GPS_DRIVER_MODE_MTK: case GPS_DRIVER_MODE_MTK:
_helper = new GPSDriverMTK(&GPS::callback, this, &_report_gps_pos); _helper = new GPSDriverMTK(&GPS::callback, this, &_report_gps_pos);
@@ -774,6 +779,7 @@ GPS::run()
case GPS_DRIVER_MODE_EMLIDREACH: case GPS_DRIVER_MODE_EMLIDREACH:
_helper = new GPSDriverEmlidReach(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info); _helper = new GPSDriverEmlidReach(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info);
break; break;
#endif // CONSTRAINED_FLASH
default: default:
break; break;
@@ -867,6 +873,7 @@ GPS::run()
if (_mode_auto) { if (_mode_auto) {
switch (_mode) { switch (_mode) {
case GPS_DRIVER_MODE_UBX: case GPS_DRIVER_MODE_UBX:
#ifndef CONSTRAINED_FLASH
_mode = GPS_DRIVER_MODE_MTK; _mode = GPS_DRIVER_MODE_MTK;
break; break;
@@ -879,6 +886,7 @@ GPS::run()
break; break;
case GPS_DRIVER_MODE_EMLIDREACH: case GPS_DRIVER_MODE_EMLIDREACH:
#endif // CONSTRAINED_FLASH
_mode = GPS_DRIVER_MODE_UBX; _mode = GPS_DRIVER_MODE_UBX;
px4_usleep(500000); // tried all possible drivers. Wait a bit before next round px4_usleep(500000); // tried all possible drivers. Wait a bit before next round
break; break;
@@ -928,6 +936,7 @@ GPS::print_status()
case GPS_DRIVER_MODE_UBX: case GPS_DRIVER_MODE_UBX:
PX4_INFO("protocol: UBX"); PX4_INFO("protocol: UBX");
break; break;
#ifndef CONSTRAINED_FLASH
case GPS_DRIVER_MODE_MTK: case GPS_DRIVER_MODE_MTK:
PX4_INFO("protocol: MTK"); PX4_INFO("protocol: MTK");
@@ -940,6 +949,7 @@ GPS::print_status()
case GPS_DRIVER_MODE_EMLIDREACH: case GPS_DRIVER_MODE_EMLIDREACH:
PX4_INFO("protocol: EMLIDREACH"); PX4_INFO("protocol: EMLIDREACH");
break; break;
#endif // CONSTRAINED_FLASH
default: default:
break; break;
@@ -1247,7 +1257,7 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
case 'p': case 'p':
if (!strcmp(myoptarg, "ubx")) { if (!strcmp(myoptarg, "ubx")) {
mode = GPS_DRIVER_MODE_UBX; mode = GPS_DRIVER_MODE_UBX;
#ifndef CONSTRAINED_FLASH
} else if (!strcmp(myoptarg, "mtk")) { } else if (!strcmp(myoptarg, "mtk")) {
mode = GPS_DRIVER_MODE_MTK; mode = GPS_DRIVER_MODE_MTK;
@@ -1256,7 +1266,7 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
} else if (!strcmp(myoptarg, "eml")) { } else if (!strcmp(myoptarg, "eml")) {
mode = GPS_DRIVER_MODE_EMLIDREACH; mode = GPS_DRIVER_MODE_EMLIDREACH;
#endif // CONSTRAINED_FLASH
} else { } else {
PX4_ERR("unknown protocol: %s", myoptarg); PX4_ERR("unknown protocol: %s", myoptarg);
error_flag = true; error_flag = true;