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gps.cpp
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/****************************************************************************
*
* Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file gps.cpp
* Driver for the GPS on a serial/spi port
*/
#ifdef __PX4_NUTTX
#include <nuttx/clock.h>
#include <nuttx/arch.h>
#endif
#ifndef __PX4_QURT
#include <poll.h>
#endif
#include <cstring>
#include <drivers/drv_sensor.h>
#include <lib/drivers/device/Device.hpp>
#include <lib/parameters/param.h>
#include <mathlib/mathlib.h>
#include <matrix/math.hpp>
#include <px4_platform_common/atomic.h>
#include <px4_platform_common/cli.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/time.h>
#include <px4_platform_common/Serial.hpp>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionMultiArray.hpp>
#include <uORB/topics/gps_dump.h>
#include <uORB/topics/gps_inject_data.h>
#include <uORB/topics/sensor_gps.h>
#include <uORB/topics/sensor_gnss_relative.h>
#ifndef CONSTRAINED_FLASH
# include "devices/src/ashtech.h"
# include "devices/src/emlid_reach.h"
# include "devices/src/mtk.h"
# include "devices/src/femtomes.h"
# include "devices/src/nmea.h"
#endif // CONSTRAINED_FLASH
#include "devices/src/ubx.h"
#ifdef __PX4_LINUX
#include <linux/spi/spidev.h>
#endif /* __PX4_LINUX */
using namespace device;
using namespace time_literals;
#define TIMEOUT_1HZ 1300 //!< Timeout time in mS, 1000 mS (1Hz) + 300 mS delta for error
#define TIMEOUT_5HZ 500 //!< Timeout time in mS, 200 mS (5Hz) + 300 mS delta for error
#define RATE_MEASUREMENT_PERIOD 5_s
enum class gps_driver_mode_t {
None = 0,
UBX,
MTK,
ASHTECH,
EMLIDREACH,
FEMTOMES,
NMEA,
};
enum class gps_dump_comm_mode_t : int32_t {
Disabled = 0,
Full, ///< dump full RX and TX data for all devices
RTCM ///< dump received RTCM from Main GPS
};
/* struct for dynamic allocation of satellite info data */
struct GPS_Sat_Info {
satellite_info_s _data;
};
static constexpr int TASK_STACK_SIZE = PX4_STACK_ADJUSTED(2040);
class GPS : public ModuleBase<GPS>, public device::Device
{
public:
/** The GPS allows to run multiple instances */
enum class Instance : uint8_t {
Main = 0,
Secondary,
Count
};
GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interface, Instance instance,
unsigned configured_baudrate);
~GPS() override;
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** spawn task and select the instance */
static int task_spawn(int argc, char *argv[], Instance instance);
/** @see ModuleBase */
static GPS *instantiate(int argc, char *argv[]);
static GPS *instantiate(int argc, char *argv[], Instance instance);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
/**
* task spawn trampoline for the secondary GPS
*/
static int run_trampoline_secondary(int argc, char *argv[]);
/** @see ModuleBase::run() */
void run() override;
/**
* Diagnostics - print some basic information about the driver.
*/
int print_status() override;
/**
* Schedule reset of the GPS device
*/
void schedule_reset(GPSRestartType restart_type);
/**
* Reset device if reset was scheduled
*/
void reset_if_scheduled();
private:
#ifdef __PX4_LINUX
int _spi_fd {-1}; ///< SPI interface to GPS
#endif
Serial _uart {}; ///< UART 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
bool _mode_auto; ///< if true, auto-detect which GPS is attached
gps_driver_mode_t _mode; ///< current mode
GPSHelper::Interface _interface; ///< interface
GPSHelper *_helper{nullptr}; ///< instance of GPS parser
GPS_Sat_Info *_sat_info{nullptr}; ///< instance of GPS sat info data object
sensor_gps_s _report_gps_pos{}; ///< uORB topic for gps position
satellite_info_s *_p_report_sat_info{nullptr}; ///< pointer to uORB topic for satellite info
uint8_t _spoofing_state{0}; ///< spoofing state
uint8_t _jamming_state{0}; ///< jamming state
uORB::PublicationMulti<sensor_gps_s> _report_gps_pos_pub{ORB_ID(sensor_gps)}; ///< uORB pub for gps position
uORB::PublicationMulti<sensor_gnss_relative_s> _sensor_gnss_relative_pub{ORB_ID(sensor_gnss_relative)};
uORB::PublicationMulti<satellite_info_s> _report_sat_info_pub{ORB_ID(satellite_info)}; ///< uORB pub for satellite info
float _rate{0.0f}; ///< position update rate
float _rate_rtcm_injection{0.0f}; ///< RTCM message injection rate
unsigned _last_rate_rtcm_injection_count{0}; ///< counter for number of RTCM messages
unsigned _num_bytes_read{0}; ///< counter for number of read bytes from the UART (within update interval)
unsigned _rate_reading{0}; ///< reading rate in B/s
hrt_abstime _last_rtcm_injection_time{0}; ///< time of last rtcm injection
uint8_t _selected_rtcm_instance{0}; ///< uorb instance that is being used for RTCM corrections
const Instance _instance;
uORB::SubscriptionMultiArray<gps_inject_data_s, gps_inject_data_s::MAX_INSTANCES> _orb_inject_data_sub{ORB_ID::gps_inject_data};
uORB::Publication<gps_inject_data_s> _gps_inject_data_pub{ORB_ID(gps_inject_data)};
uORB::Publication<gps_dump_s> _dump_communication_pub{ORB_ID(gps_dump)};
gps_dump_s *_dump_to_device{nullptr};
gps_dump_s *_dump_from_device{nullptr};
gps_dump_comm_mode_t _dump_communication_mode{gps_dump_comm_mode_t::Disabled};
static px4::atomic_bool _is_gps_main_advertised; ///< for the second gps we want to make sure that it gets instance 1
/// and thus we wait until the first one publishes at least one message.
static px4::atomic<GPS *> _secondary_instance;
px4::atomic<int> _scheduled_reset{(int)GPSRestartType::None};
/**
* Publish the gps struct
*/
void publish();
/**
* Publish the satellite info
*/
void publishSatelliteInfo();
/**
* Publish RTCM corrections
*/
void publishRTCMCorrections(uint8_t *data, size_t len);
/**
* Publish RTCM corrections
*/
void publishRelativePosition(sensor_gnss_relative_s &gnss_relative);
/**
* This is an abstraction for the poll on serial used.
*
* @param buf: pointer to read buffer
* @param buf_length: size of read buffer
* @param timeout: timeout in ms
* @return: 0 for nothing read, or poll timed out
* < 0 for error
* > 0 number of bytes read
*/
int pollOrRead(uint8_t *buf, size_t buf_length, int timeout);
/**
* check for new messages on the inject data topic & handle them
*/
void handleInjectDataTopic();
/**
* send data to the device, such as an RTCM stream
* @param data
* @param len
*/
inline bool injectData(uint8_t *data, size_t len);
/**
* set the Baudrate
* @param baud
* @return 0 on success, <0 on error
*/
int setBaudrate(unsigned baud);
/**
* callback from the driver for the platform specific stuff
*/
static int callback(GPSCallbackType type, void *data1, int data2, void *user);
/**
* Dump gps communication.
* @param data message
* @param len length of the message
* @param mode calling source
* @param msg_to_gps_device if true, this is a message sent to the gps device, otherwise it's from the device
*/
void dumpGpsData(uint8_t *data, size_t len, gps_dump_comm_mode_t mode, bool msg_to_gps_device);
void initializeCommunicationDump();
static constexpr int SET_CLOCK_DRIFT_TIME_S{5}; ///< RTC drift time when time synchronization is needed (in seconds)
};
px4::atomic_bool GPS::_is_gps_main_advertised{false};
px4::atomic<GPS *> GPS::_secondary_instance{nullptr};
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int gps_main(int argc, char *argv[]);
GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interface, Instance instance,
unsigned configured_baudrate) :
Device(MODULE_NAME),
_configured_baudrate(configured_baudrate),
_mode(mode),
_interface(interface),
_instance(instance)
{
/* store port name */
strncpy(_port, path, sizeof(_port) - 1);
/* enforce null termination */
_port[sizeof(_port) - 1] = '\0';
_report_gps_pos.heading = NAN;
_report_gps_pos.heading_offset = NAN;
int32_t enable_sat_info = 0;
param_get(param_find("GPS_SAT_INFO"), &enable_sat_info);
/* create satellite info data object if requested */
if (enable_sat_info) {
_sat_info = new GPS_Sat_Info();
_p_report_sat_info = &_sat_info->_data;
memset(_p_report_sat_info, 0, sizeof(*_p_report_sat_info));
}
if (_interface == GPSHelper::Interface::UART) {
set_device_bus_type(device::Device::DeviceBusType::DeviceBusType_SERIAL);
char c = _port[strlen(_port) - 1]; // last digit of path (eg /dev/ttyS2)
set_device_bus(c - 48); // sub 48 to convert char to integer
#ifdef __PX4_LINUX
} else if (_interface == GPSHelper::Interface::SPI) {
set_device_bus_type(device::Device::DeviceBusType::DeviceBusType_SPI);
#endif
}
if (_mode == gps_driver_mode_t::None) {
// use parameter to select mode if not provided via CLI
char protocol_param_name[17];
snprintf(protocol_param_name, sizeof(protocol_param_name), "GPS_%i_PROTOCOL", (int)_instance + 1);
int32_t protocol = 0;
param_get(param_find(protocol_param_name), &protocol);
switch (protocol) {
case 1: _mode = gps_driver_mode_t::UBX; break;
#ifndef CONSTRAINED_FLASH
case 2: _mode = gps_driver_mode_t::MTK; break;
case 3: _mode = gps_driver_mode_t::ASHTECH; break;
case 4: _mode = gps_driver_mode_t::EMLIDREACH; break;
case 5: _mode = gps_driver_mode_t::FEMTOMES; break;
case 6: _mode = gps_driver_mode_t::NMEA; break;
#endif // CONSTRAINED_FLASH
}
}
_mode_auto = _mode == gps_driver_mode_t::None;
}
GPS::~GPS()
{
GPS *secondary_instance = _secondary_instance.load();
if (_instance == Instance::Main && secondary_instance) {
secondary_instance->request_stop();
// wait for it to exit
unsigned int i = 0;
do {
px4_usleep(20000); // 20 ms
++i;
} while (_secondary_instance.load() && i < 100);
}
delete _sat_info;
delete _dump_to_device;
delete _dump_from_device;
delete _helper;
}
int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user)
{
GPS *gps = (GPS *)user;
timespec rtc_system_time;
switch (type) {
case GPSCallbackType::readDeviceData: {
int timeout;
memcpy(&timeout, data1, sizeof(timeout));
int num_read = gps->pollOrRead((uint8_t *)data1, data2, timeout);
if (num_read > 0) {
gps->dumpGpsData((uint8_t *)data1, (size_t)num_read, gps_dump_comm_mode_t::Full, false);
}
return num_read;
}
case GPSCallbackType::writeDeviceData: {
gps->dumpGpsData((uint8_t *)data1, (size_t)data2, gps_dump_comm_mode_t::Full, true);
int ret = 0;
if (gps->_interface == GPSHelper::Interface::UART) {
ret = gps->_uart.write((void *) data1, (size_t) data2);
#ifdef __PX4_LINUX
} else if (gps->_spi_fd >= 0) {
ret = ::write(gps->_spi_fd, data1, (size_t)data2);
#endif
}
return ret;
}
case GPSCallbackType::setBaudrate:
return gps->setBaudrate(data2);
case GPSCallbackType::gotRTCMMessage:
gps->publishRTCMCorrections((uint8_t *)data1, (size_t)data2);
gps->dumpGpsData((uint8_t *)data1, (size_t)data2, gps_dump_comm_mode_t::RTCM, false);
break;
case GPSCallbackType::gotRelativePositionMessage:
if (data1 && data2 == sizeof(sensor_gnss_relative_s)) {
gps->publishRelativePosition(*static_cast<sensor_gnss_relative_s *>(data1));
}
break;
case GPSCallbackType::surveyInStatus:
/* not used */
break;
case GPSCallbackType::setClock:
px4_clock_gettime(CLOCK_REALTIME, &rtc_system_time);
timespec rtc_gps_time = *(timespec *)data1;
int drift_time = abs(rtc_system_time.tv_sec - rtc_gps_time.tv_sec);
if (drift_time >= SET_CLOCK_DRIFT_TIME_S) {
// as of 2021 setting the time on Nuttx temporarily pauses interrupts
// so only set the time if it is very wrong.
// TODO: clock slewing of the RTC for small time differences
px4_clock_settime(CLOCK_REALTIME, &rtc_gps_time);
}
break;
}
return 0;
}
int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout)
{
int ret = 0;
const size_t character_count = 32; // minimum bytes that we want to read
const int max_timeout = 50;
int timeout_adjusted = math::min(max_timeout, timeout);
handleInjectDataTopic();
if (_interface == GPSHelper::Interface::UART) {
ret = _uart.readAtLeast(buf, buf_length, math::min(character_count, buf_length), timeout_adjusted);
if (ret > 0) {
_num_bytes_read += ret;
}
// SPI is only supported on LInux
#if defined(__PX4_LINUX)
} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd >= 0)) {
//Poll only for the SPI data. In the same thread we also need to handle orb messages,
//so ideally we would poll on both, the SPI fd and orb subscription. Unfortunately the
//two pollings use different underlying mechanisms (at least under posix), which makes this
//impossible. Instead we limit the maximum polling interval and regularly check for new orb
//messages.
//FIXME: add a unified poll() API
pollfd fds[1];
fds[0].fd = _spi_fd;
fds[0].events = POLLIN;
ret = poll(fds, sizeof(fds) / sizeof(fds[0]), timeout_adjusted);
if (ret > 0) {
/* if we have new data from GPS, go handle it */
if (fds[0].revents & POLLIN) {
/*
* We are here because poll says there is some data, so this
* won't block even on a blocking device. But don't read immediately
* by 1-2 bytes, wait for some more data to save expensive read() calls.
* If we have all requested data available, read it without waiting.
* If more bytes are available, we'll go back to poll() again.
*/
unsigned baudrate = _baudrate == 0 ? 115200 : _baudrate;
const unsigned sleeptime = character_count * 1000000 / (baudrate / 10);
px4_usleep(sleeptime);
ret = ::read(_spi_fd, buf, buf_length);
if (ret > 0) {
_num_bytes_read += ret;
}
} else {
ret = -1;
}
}
#endif
}
return ret;
}
void GPS::handleInjectDataTopic()
{
if (!_helper->shouldInjectRTCM()) {
return;
}
// We don't want to call copy again further down if we have already done a
// copy in the selection process.
bool already_copied = false;
gps_inject_data_s msg;
// If there has not been a valid RTCM message for a while, try to switch to a different RTCM link
if ((hrt_absolute_time() - _last_rtcm_injection_time) > 5_s) {
for (int instance = 0; instance < _orb_inject_data_sub.size(); instance++) {
const bool exists = _orb_inject_data_sub[instance].advertised();
if (exists && _orb_inject_data_sub[instance].copy(&msg)) {
/* Don't select the own RTCM instance. In case it has a lower
* instance number, it will be selected and will be rejected
* later in the code, resulting in no RTCM injection at all.
*/
if (msg.device_id != get_device_id()) {
// Only use the message if it is up to date
if ((hrt_absolute_time() - msg.timestamp) < 5_s) {
// Remember that we already did a copy on this instance.
already_copied = true;
_selected_rtcm_instance = instance;
break;
}
}
}
}
}
bool updated = already_copied;
// Limit maximum number of GPS injections to 8 since usually
// GPS injections should consist of 1-4 packets (GPS, Glonass, BeiDou, Galileo).
// Looking at 8 packets thus guarantees, that at least a full injection
// data set is evaluated.
// Moving Base reuires a higher rate, so we allow up to 8 packets.
const size_t max_num_injections = gps_inject_data_s::ORB_QUEUE_LENGTH;
size_t num_injections = 0;
do {
if (updated) {
num_injections++;
// Prevent injection of data from self
if (msg.device_id != get_device_id()) {
/* Write the message to the gps device. Note that the message could be fragmented.
* But as we don't write anywhere else to the device during operation, we don't
* need to assemble the message first.
*/
injectData(msg.data, msg.len);
++_last_rate_rtcm_injection_count;
_last_rtcm_injection_time = hrt_absolute_time();
}
}
updated = _orb_inject_data_sub[_selected_rtcm_instance].update(&msg);
} while (updated && num_injections < max_num_injections);
}
bool GPS::injectData(uint8_t *data, size_t len)
{
dumpGpsData(data, len, gps_dump_comm_mode_t::Full, true);
size_t written = 0;
if (_interface == GPSHelper::Interface::UART) {
written = _uart.write((const void *) data, len);
#ifdef __PX4_LINUX
} else if (_interface == GPSHelper::Interface::SPI) {
written = ::write(_spi_fd, data, len);
::fsync(_spi_fd);
#endif
}
return written == len;
}
int GPS::setBaudrate(unsigned baud)
{
if (_interface == GPSHelper::Interface::UART) {
if (_uart.setBaudrate(baud)) {
return 0;
}
#ifdef __PX4_LINUX
} else if (_interface == GPSHelper::Interface::SPI) {
// Can't set the baudrate on a SPI port but just return a success
return 0;
#endif
}
return -1;
}
void GPS::initializeCommunicationDump()
{
param_t gps_dump_comm_ph = param_find("GPS_DUMP_COMM");
int32_t param_dump_comm;
if (gps_dump_comm_ph == PARAM_INVALID || param_get(gps_dump_comm_ph, ¶m_dump_comm) != 0) {
return;
}
if (param_dump_comm < 1 || param_dump_comm > 2) {
return; //dumping disabled
}
_dump_from_device = new gps_dump_s();
_dump_to_device = new gps_dump_s();
if (!_dump_from_device || !_dump_to_device) {
PX4_ERR("failed to allocated dump data");
return;
}
memset(_dump_to_device, 0, sizeof(gps_dump_s));
memset(_dump_from_device, 0, sizeof(gps_dump_s));
//make sure to use a large enough queue size, so that we don't lose messages. You may also want
//to increase the logger rate for that.
_dump_communication_pub.advertise();
_dump_communication_mode = (gps_dump_comm_mode_t)param_dump_comm;
}
void GPS::dumpGpsData(uint8_t *data, size_t len, gps_dump_comm_mode_t mode, bool msg_to_gps_device)
{
gps_dump_s *dump_data = msg_to_gps_device ? _dump_to_device : _dump_from_device;
if (_dump_communication_mode != mode || !dump_data) {
return;
}
dump_data->instance = (uint8_t)_instance;
while (len > 0) {
size_t write_len = len;
if (write_len > sizeof(dump_data->data) - dump_data->len) {
write_len = sizeof(dump_data->data) - dump_data->len;
}
memcpy(dump_data->data + dump_data->len, data, write_len);
data += write_len;
dump_data->len += write_len;
len -= write_len;
if (dump_data->len >= sizeof(dump_data->data)) {
if (msg_to_gps_device) {
dump_data->len |= 1 << 7;
}
dump_data->timestamp = hrt_absolute_time();
_dump_communication_pub.publish(*dump_data);
dump_data->len = 0;
}
}
}
void
GPS::run()
{
param_t handle = param_find("GPS_YAW_OFFSET");
float heading_offset = 0.f;
if (handle != PARAM_INVALID) {
param_get(handle, &heading_offset);
heading_offset = matrix::wrap_pi(math::radians(heading_offset));
}
int32_t gps_ubx_dynmodel = 7; // default to 7: airborne with <2g acceleration
handle = param_find("GPS_UBX_DYNMODEL");
if (handle != PARAM_INVALID) {
param_get(handle, &gps_ubx_dynmodel);
}
handle = param_find("GPS_UBX_MODE");
GPSDriverUBX::UBXMode ubx_mode{GPSDriverUBX::UBXMode::Normal};
if (handle != PARAM_INVALID) {
int32_t gps_ubx_mode = 0;
param_get(handle, &gps_ubx_mode);
switch (gps_ubx_mode) {
case 1: // heading
if (_instance == Instance::Main) {
ubx_mode = GPSDriverUBX::UBXMode::RoverWithMovingBase;
} else {
ubx_mode = GPSDriverUBX::UBXMode::MovingBase;
}
break;
case 2:
ubx_mode = GPSDriverUBX::UBXMode::MovingBase;
break;
case 3:
if (_instance == Instance::Main) {
ubx_mode = GPSDriverUBX::UBXMode::RoverWithMovingBaseUART1;
} else {
ubx_mode = GPSDriverUBX::UBXMode::MovingBaseUART1;
}
break;
case 4:
ubx_mode = GPSDriverUBX::UBXMode::MovingBaseUART1;
break;
case 5: // rover with static base on Uart2
ubx_mode = GPSDriverUBX::UBXMode::RoverWithStaticBaseUart2;
break;
default:
break;
}
}
handle = param_find("GPS_UBX_BAUD2");
int32_t f9p_uart2_baudrate = 57600;
if (handle != PARAM_INVALID) {
param_get(handle, &f9p_uart2_baudrate);
}
int32_t gnssSystemsParam = static_cast<int32_t>(GPSHelper::GNSSSystemsMask::RECEIVER_DEFAULTS);
if (_instance == Instance::Main) {
handle = param_find("GPS_1_GNSS");
param_get(handle, &gnssSystemsParam);
} else if (_instance == Instance::Secondary) {
handle = param_find("GPS_2_GNSS");
param_get(handle, &gnssSystemsParam);
}
initializeCommunicationDump();
uint64_t last_rate_measurement = hrt_absolute_time();
unsigned last_rate_count = 0;
/* loop handling received serial bytes and also configuring in between */
while (!should_exit()) {
if (_helper != nullptr) {
delete (_helper);
_helper = nullptr;
}
if ((_interface == GPSHelper::Interface::UART) && (! _uart.isOpen())) {
// Configure UART port
if (!_uart.setPort(_port)) {
PX4_ERR("Error configuring serial device on port %s", _port);
px4_sleep(1);
continue;
}
// Configure the desired baudrate if one was specified by the user.
// Otherwise the default baudrate will be used.
if (_configured_baudrate) {
if (! _uart.setBaudrate(_configured_baudrate)) {
PX4_ERR("Error setting baudrate to %u on %s", _configured_baudrate, _port);
px4_sleep(1);
continue;
}
}
// Open the UART. If this is successful then the UART is ready to use.
if (! _uart.open()) {
PX4_ERR("Error opening serial device %s", _port);
px4_sleep(1);
continue;
}
#ifdef __PX4_LINUX
} else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd < 0)) {
_spi_fd = ::open(_port, O_RDWR | O_NOCTTY);
if (_spi_fd < 0) {
PX4_ERR("failed to open SPI port %s err: %d", _port, errno);
px4_sleep(1);
continue;
}
int spi_speed = 1000000; // make sure the bus speed is not too high (required on RPi)
int status_value = ::ioctl(_spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
if (status_value < 0) {
PX4_ERR("SPI_IOC_WR_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
}
status_value = ::ioctl(_spi_fd, SPI_IOC_RD_MAX_SPEED_HZ, &spi_speed);
if (status_value < 0) {
PX4_ERR("SPI_IOC_RD_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
}
#endif /* __PX4_LINUX */
}
switch (_mode) {
case gps_driver_mode_t::None:
_mode = gps_driver_mode_t::UBX;
/* FALLTHROUGH */
case gps_driver_mode_t::UBX:
_helper = new GPSDriverUBX(_interface, &GPS::callback, this, &_report_gps_pos, _p_report_sat_info,
gps_ubx_dynmodel, heading_offset, f9p_uart2_baudrate, ubx_mode);
set_device_type(DRV_GPS_DEVTYPE_UBX);
break;
#ifndef CONSTRAINED_FLASH
case gps_driver_mode_t::MTK:
_helper = new GPSDriverMTK(&GPS::callback, this, &_report_gps_pos);
set_device_type(DRV_GPS_DEVTYPE_MTK);
break;
case gps_driver_mode_t::ASHTECH:
_helper = new GPSDriverAshtech(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info, heading_offset);
set_device_type(DRV_GPS_DEVTYPE_ASHTECH);
break;
case gps_driver_mode_t::EMLIDREACH:
_helper = new GPSDriverEmlidReach(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info);
set_device_type(DRV_GPS_DEVTYPE_EMLID_REACH);
break;
case gps_driver_mode_t::FEMTOMES:
_helper = new GPSDriverFemto(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info, heading_offset);
set_device_type(DRV_GPS_DEVTYPE_FEMTOMES);
break;
case gps_driver_mode_t::NMEA:
_helper = new GPSDriverNMEA(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info, heading_offset);
set_device_type(DRV_GPS_DEVTYPE_NMEA);
break;
#endif // CONSTRAINED_FLASH
default:
break;
}
_baudrate = _configured_baudrate;
GPSHelper::GPSConfig gpsConfig{};
gpsConfig.gnss_systems = static_cast<GPSHelper::GNSSSystemsMask>(gnssSystemsParam);
if (_instance == Instance::Main && _dump_communication_mode == gps_dump_comm_mode_t::RTCM) {
gpsConfig.output_mode = GPSHelper::OutputMode::GPSAndRTCM;
} else {
gpsConfig.output_mode = GPSHelper::OutputMode::GPS;
}
int32_t gps_ubx_cfg_intf = static_cast<int32_t>(GPSHelper::InterfaceProtocolsMask::ALL_DISABLED);
handle = param_find("GPS_UBX_CFG_INTF");
if (handle != PARAM_INVALID) {
param_get(handle, &gps_ubx_cfg_intf);
}
gpsConfig.interface_protocols = static_cast<GPSHelper::InterfaceProtocolsMask>(gps_ubx_cfg_intf);
if (_helper && _helper->configure(_baudrate, gpsConfig) == 0) {
/* reset report */
memset(&_report_gps_pos, 0, sizeof(_report_gps_pos));
_report_gps_pos.heading = NAN;
_report_gps_pos.heading_offset = heading_offset;
if (_mode == gps_driver_mode_t::UBX) {
/* GPS is obviously detected successfully, reset statistics */
_helper->resetUpdateRates();
// populate specific ublox model
if (get_device_type() == DRV_GPS_DEVTYPE_UBX) {
GPSDriverUBX *driver_ubx = (GPSDriverUBX *)_helper;
switch (driver_ubx->board()) {
case GPSDriverUBX::Board::u_blox6:
set_device_type(DRV_GPS_DEVTYPE_UBX_6);
break;
case GPSDriverUBX::Board::u_blox7:
set_device_type(DRV_GPS_DEVTYPE_UBX_7);
break;
case GPSDriverUBX::Board::u_blox8:
set_device_type(DRV_GPS_DEVTYPE_UBX_8);
break;
case GPSDriverUBX::Board::u_blox9:
set_device_type(DRV_GPS_DEVTYPE_UBX_9);
break;
case GPSDriverUBX::Board::u_blox9_F9P_L1L2:
case GPSDriverUBX::Board::u_blox9_F9P_L1L5:
set_device_type(DRV_GPS_DEVTYPE_UBX_F9P);
break;
default:
set_device_type(DRV_GPS_DEVTYPE_UBX);
break;
}
}
}
int helper_ret;
unsigned receive_timeout = TIMEOUT_5HZ;
if ((ubx_mode == GPSDriverUBX::UBXMode::RoverWithMovingBase)
|| (ubx_mode == GPSDriverUBX::UBXMode::RoverWithMovingBaseUART1)) {
/* The MB rover will wait as long as possible to compute a navigation solution,
* possibly lowering the navigation rate all the way to 1 Hz while doing so. */
receive_timeout = TIMEOUT_1HZ;
}
while ((helper_ret = _helper->receive(receive_timeout)) > 0 && !should_exit()) {
if (helper_ret & 1) {
publish();
last_rate_count++;
}
if (_p_report_sat_info && (helper_ret & 2)) {
publishSatelliteInfo();
}
reset_if_scheduled();
/* measure update rate every 5 seconds */
if (hrt_absolute_time() - last_rate_measurement > RATE_MEASUREMENT_PERIOD) {
float dt = (float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f;
_rate = last_rate_count / dt;
_rate_rtcm_injection = _last_rate_rtcm_injection_count / dt;
_rate_reading = _num_bytes_read / dt;
last_rate_measurement = hrt_absolute_time();
last_rate_count = 0;
_last_rate_rtcm_injection_count = 0;
_num_bytes_read = 0;
_helper->storeUpdateRates();
_helper->resetUpdateRates();
}
if (!_healthy) {
// Helpful for debugging, but too verbose for normal ops
// const char *mode_str = "unknown";
//
// switch (_mode) {