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*
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*
* 1. Redistributions of source code must retain the above copyright
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****************************************************************************/
/**
* @file gps.cpp
* Driver for the GPS on UART6
*/
#include <nuttx/config.h>
#include <drivers/device/i2c.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <termios.h>
#include <fcntl.h>
#include <nuttx/arch.h>
#include <nuttx/clock.h>
#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include <systemlib/perf_counter.h>
#include <systemlib/scheduling_priorities.h>
#include <systemlib/err.h>
#include <drivers/drv_gps.h>
#include <uORB/topics/vehicle_gps_position.h>
#include "ubx.h"
#define SEND_BUFFER_LENGTH 100
#define TIMEOUT 1000000 //1s
#define NUMBER_OF_BAUDRATES 4
#define CONFIG_TIMEOUT 2000000
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
class GPS : public device::CDev
{
public:
GPS();
~GPS();
virtual int init();
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
private:
int _task_should_exit;
int _serial_fd; ///< serial interface to GPS
unsigned _baudrate;
unsigned _baudrates_to_try[NUMBER_OF_BAUDRATES];
uint8_t _send_buffer[SEND_BUFFER_LENGTH];
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
perf_counter_t _buffer_overflows;
volatile int _task; ///< worker task
bool _response_received;
bool _config_needed;
bool _baudrate_changed;
bool _mode_changed;
bool _healthy;
gps_driver_mode_t _mode;
unsigned _messages_received;
GPS_Helper *_Helper; ///< Class for either UBX, MTK or NMEA helper
struct vehicle_gps_position_s _report;
orb_advert_t _report_pub;
orb_advert_t _gps_topic;
void recv();
void config();
static void task_main_trampoline(void *arg);
/**
* worker task
*/
void task_main(void);
int set_baudrate(unsigned baud);
/**
* Send a reset command to the GPS
*/
void cmd_reset();
};
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int gps_main(int argc, char *argv[]);
namespace
{
GPS *g_dev;
}
GPS::GPS() :
CDev("gps", GPS_DEVICE_PATH),
_task_should_exit(false),
_baudrates_to_try({9600, 38400, 57600, 115200}),
_config_needed(true),
_baudrate_changed(false),
_mode_changed(true),
_healthy(false),
_mode(GPS_DRIVER_MODE_UBX),
_messages_received(0),
_Helper(nullptr)
{
/* we need this potentially before it could be set in task_main */
g_dev = this;
_debug_enabled = true;
debug("[gps driver] instantiated");
}
GPS::~GPS()
{
/* tell the task we want it to go away */
_task_should_exit = true;
/* spin waiting for the task to stop */
for (unsigned i = 0; (i < 10) && (_task != -1); i++) {
/* give it another 100ms */
usleep(100000);
}
/* well, kill it anyway, though this will probably crash */
if (_task != -1)
task_delete(_task);
g_dev = nullptr;
}
int
GPS::init()
{
int ret = ERROR;
/* do regular cdev init */
if (CDev::init() != OK)
goto out;
/* start the IO interface task */
_task = task_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 4096, (main_t)&GPS::task_main_trampoline, nullptr);
if (_task < 0) {
debug("task start failed: %d", errno);
return -errno;
}
// if (_gps_topic < 0)
// debug("failed to create GPS object");
ret = OK;
out:
return ret;
}
int
GPS::ioctl(struct file *filp, int cmd, unsigned long arg)
{
int ret = OK;
switch (cmd) {
case GPS_CONFIGURE_UBX:
if (_mode != GPS_DRIVER_MODE_UBX) {
_mode = GPS_DRIVER_MODE_UBX;
_mode_changed = true;
}
break;
case GPS_CONFIGURE_MTK19:
if (_mode != GPS_DRIVER_MODE_MTK19) {
_mode = GPS_DRIVER_MODE_MTK19;
_mode_changed = true;
}
break;
case GPS_CONFIGURE_MTK16:
if (_mode != GPS_DRIVER_MODE_MTK16) {
_mode = GPS_DRIVER_MODE_MTK16;
_mode_changed = true;
}
break;
case GPS_CONFIGURE_NMEA:
if (_mode != GPS_DRIVER_MODE_NMEA) {
_mode = GPS_DRIVER_MODE_NMEA;
_mode_changed = true;
}
break;
case SENSORIOCRESET:
cmd_reset();
break;
}
return ret;
}
void
GPS::config()
{
int length = 0;
_Helper->configure(_config_needed, _baudrate_changed, _baudrate, _send_buffer, length, SEND_BUFFER_LENGTH);
/* the message needs to be sent at the old baudrate */
if (length > 0) {
if (length != ::write(_serial_fd, _send_buffer, length)) {
debug("write config failed");
return;
}
}
if (_baudrate_changed) {
set_baudrate(_baudrate);
_baudrate_changed = false;
}
}
void
GPS::task_main_trampoline(void *arg)
{
g_dev->task_main();
}
void
GPS::task_main()
{
log("starting");
_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
memset(&_report, 0, sizeof(_report));
/* open the serial port */
_serial_fd = ::open("/dev/ttyS3", O_RDWR);
uint8_t buf[256];
int baud_i = 0;
uint64_t time_before_configuration;
if (_serial_fd < 0) {
log("failed to open serial port: %d", errno);
goto out;
}
/* poll descriptor */
pollfd fds[1];
fds[0].fd = _serial_fd;
fds[0].events = POLLIN;
debug("ready");
/* lock against the ioctl handler */
lock();
_baudrate = _baudrates_to_try[baud_i];
set_baudrate(_baudrate);
time_before_configuration = hrt_absolute_time();
/* loop handling received serial bytes */
while (!_task_should_exit) {
if (_mode_changed) {
if (_Helper != nullptr) {
delete(_Helper);
_Helper = nullptr; // XXX is this needed?
}
switch (_mode) {
case GPS_DRIVER_MODE_UBX:
_Helper = new UBX();
break;
case GPS_DRIVER_MODE_MTK19:
//_Helper = new MTK19();
break;
case GPS_DRIVER_MODE_MTK16:
//_Helper = new MTK16();
break;
case GPS_DRIVER_MODE_NMEA:
//_Helper = new NMEA();
break;
default:
break;
}
_mode_changed = false;
}
if (_config_needed && time_before_configuration + CONFIG_TIMEOUT < hrt_absolute_time()) {
baud_i = (baud_i+1)%NUMBER_OF_BAUDRATES;
_baudrate = _baudrates_to_try[baud_i];
set_baudrate(_baudrate);
time_before_configuration = hrt_absolute_time();
}
int poll_timeout;
if (_config_needed) {
poll_timeout = 50;
} else {
poll_timeout = 250;
}
/* sleep waiting for data, but no more than 1000ms */
unlock();
int ret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), poll_timeout);
lock();
/* this would be bad... */
if (ret < 0) {
log("poll error %d", errno);
} else if (ret == 0) {
config();
if (_config_needed == false) {
_config_needed = true;
debug("Lost GPS module");
}
} else if (ret > 0) {
/* if we have new data from GPS, go handle it */
if (fds[0].revents & POLLIN) {
int 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));
/* pass received bytes to the packet decoder */
int j;
for (j = 0; j < count; j++) {
_messages_received += _Helper->parse(buf[j], &_report);
}
if (_messages_received > 0) {
if (_config_needed == true) {
_config_needed = false;
debug("Found GPS module");
}
orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
_messages_received = 0;
}
}
}
}
out:
debug("exiting");
::close(_serial_fd);
/* tell the dtor that we are exiting */
_task = -1;
_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 (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
warnx("ERROR setting config: %d (cfsetispeed, 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) */
}
void
GPS::cmd_reset()
{
_healthy = false;
}
void
GPS::print_info()
{
}
/**
* Local functions in support of the shell command.
*/
namespace gps
{
GPS *g_dev;
void start();
void stop();
void test();
void reset();
void info();
/**
* Start the driver.
*/
void
start()
{
int fd;
if (g_dev != nullptr)
errx(1, "already started");
/* create the driver */
g_dev = new GPS;
if (g_dev == nullptr)
goto fail;
if (OK != g_dev->init())
goto fail;
/* set the poll rate to default, starts automatic data collection */
fd = open(GPS_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
printf("Could not open device path: %s\n", GPS_DEVICE_PATH);
goto fail;
}
exit(0);
fail:
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
errx(1, "driver start failed");
}
void
stop()
{
delete g_dev;
g_dev = nullptr;
exit(0);
}
/**
* Perform some basic functional tests on the driver;
* make sure we can collect data from the sensor in polled
* and automatic modes.
*/
void
test()
{
errx(0, "PASS");
}
/**
* Reset the driver.
*/
void
reset()
{
int fd = open(GPS_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "failed ");
if (ioctl(fd, SENSORIOCRESET, 0) < 0)
err(1, "driver reset failed");
exit(0);
}
/**
* Print the status of the driver.
*/
void
info()
{
if (g_dev == nullptr)
errx(1, "driver not running");
printf("state @ %p\n", g_dev);
g_dev->print_info();
exit(0);
}
} // namespace
int
gps_main(int argc, char *argv[])
{
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start"))
gps::start();
if (!strcmp(argv[1], "stop"))
gps::stop();
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test"))
gps::test();
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset"))
gps::reset();
/*
* Print driver status.
*/
if (!strcmp(argv[1], "status"))
gps::info();
errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status'");
}