/****************************************************************************
*
* Copyright (C) 2013 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,
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* 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 port
*/
#include <nuttx/config.h>
#include <drivers/device/i2c.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdio.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"
#include "mtk.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(const char* uart_path);
~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:
bool _task_should_exit; ///< flag to make the main worker task exit
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_BAUDRATES]; ///< try different baudrates that GPS could be set to
volatile int _task; //< worker task
bool _config_needed; ///< flag to signal that configuration of GPS is needed
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
GPS_Helper *_Helper; ///< instance of GPS parser
struct vehicle_gps_position_s _report; ///< uORB topic for gps position
orb_advert_t _report_pub; ///< uORB pub for gps position
float _rate; ///< position update rate
/**
* Try to configure the GPS, handle outgoing communication to the GPS
*/
void config();
/**
* Trampoline to the worker task
*/
static void task_main_trampoline(void *arg);
/**
* Worker task: main GPS thread that configures the GPS and parses incoming data, always running
*/
void task_main(void);
/**
* Set the baudrate of the UART to the GPS
*/
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(const char* uart_path) :
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),
_mode(GPS_DRIVER_MODE_UBX),
_Helper(nullptr),
_report_pub(-1),
_rate(0.0f)
{
/* store port name */
strncpy(_port, uart_path, sizeof(_port));
/* enforce null termination */
_port[sizeof(_port) - 1] = '\0';
/* we need this potentially before it could be set in task_main */
g_dev = this;
memset(&_report, 0, sizeof(_report));
_debug_enabled = true;
}
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 GPS driver worker task */
_task = task_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 2048, (main_t)&GPS::task_main_trampoline, nullptr);
if (_task < 0) {
warnx("task start failed: %d", errno);
return -errno;
}
ret = OK;
out:
return ret;
}
int
GPS::ioctl(struct file *filp, int cmd, unsigned long arg)
{
lock();
int ret = OK;
switch (cmd) {
case SENSORIOCRESET:
cmd_reset();
break;
}
unlock();
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)
{
g_dev->task_main();
}
void
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];
if (_serial_fd < 0) {
log("failed to open serial port: %s err: %d", _port, errno);
/* tell the dtor that we are exiting, set error code */
_task = -1;
_exit(1);
}
/* poll descriptor */
pollfd fds[1];
fds[0].fd = _serial_fd;
fds[0].events = POLLIN;
/* lock against the ioctl handler */
lock();
unsigned baud_i = 0;
_baudrate = _baudrates_to_try[baud_i];
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 (_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;
case GPS_DRIVER_MODE_MTK:
_Helper = new MTK();
break;
case GPS_DRIVER_MODE_NMEA:
//_Helper = new NMEA();
break;
default:
break;
}
_mode_changed = false;
}
/* If a configuration does not finish in the config timeout, change the baudrate */
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);
_Helper->reset();
time_before_configuration = hrt_absolute_time();
}
/* 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 */
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) {
/* 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;
/*
* 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++) {
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;
}
}
}
}
}
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 ((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;
}
void
GPS::print_info()
{
switch (_mode) {
case GPS_DRIVER_MODE_UBX:
warnx("protocol: UBX");
break;
case GPS_DRIVER_MODE_MTK:
warnx("protocol: MTK");
break;
case GPS_DRIVER_MODE_NMEA:
warnx("protocol: NMEA");
break;
default:
break;
}
warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_config_needed) ? "NOT OK" : "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));
warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt);
warnx("update rate: %6.2f Hz", (double)_rate);
}
usleep(100000);
}
/**
* Local functions in support of the shell command.
*/
namespace gps
{
GPS *g_dev;
void start(const char *uart_path);
void stop();
void test();
void reset();
void info();
/**
* Start the driver.
*/
void
start(const char *uart_path)
{
int fd;
if (g_dev != nullptr)
errx(1, "already started");
/* create the driver */
g_dev = new GPS(uart_path);
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) {
errx(1, "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");
}
/**
* Stop the driver.
*/
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");
g_dev->print_info();
exit(0);
}
} // namespace
int
gps_main(int argc, char *argv[])
{
/* set to default */
char* device_name = GPS_DEFAULT_UART_PORT;
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start")) {
/* work around getopt unreliability */
if (argc > 3) {
if (!strcmp(argv[2], "-d")) {
device_name = argv[3];
} else {
goto out;
}
}
gps::start(device_name);
}
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();
out:
errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n]");
}