Reduced, but functional u-blox series driver

1 files changed, 627 insertions, 0 deletions

diff --git a/apps/drivers/gps/gps.cpp b/apps/drivers/gps/gps.cpp
new file mode 100644
index 000000000..7d6f7144e
--- /dev/null
+++ b/apps/drivers/gps/gps.cpp
@@ -0,0 +1,627 @@
+/****************************************************************************
+ *
+ *   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,
+ * 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 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;
+	}
+}
+
+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'");
+}