1 files changed, 536 insertions, 0 deletions
diff --git a/apps/drivers/gps/gps.cpp b/apps/drivers/gps/gps.cpp
new file mode 100644
index 000000000..6d7cfcc68
--- /dev/null
+++ b/apps/drivers/gps/gps.cpp
@@ -0,0 +1,536 @@
+/****************************************************************************
+ *
+ *   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 a serial port
+ */
+
+#include <nuttx/clock.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 <fcntl.h>
+#include <nuttx/config.h>
+#include <nuttx/arch.h>
+#include <arch/board/board.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/device/i2c.h>
+#include <systemlib/perf_counter.h>
+#include <systemlib/scheduling_priorities.h>
+#include <systemlib/err.h>
+#include <drivers/drv_gps.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_gps_position.h>
+
+#include "ubx.h"
+#include "mtk.h"
+
+
+#define TIMEOUT_5HZ 400
+#define RATE_MEASUREMENT_PERIOD 5000000
+
+/* 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
+	volatile int			_task;						//< worker task
+	bool				_healthy;					///< flag to signal if the GPS is ok
+	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),
+	_healthy(false),
+	_mode_changed(false),
+	_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::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);
+
+	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);
+	}
+
+	uint64_t last_rate_measurement = hrt_absolute_time();
+	unsigned last_rate_count = 0;
+
+	/* loop handling received serial bytes and also configuring in between */
+	while (!_task_should_exit) {
+
+		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(_serial_fd, &_report);
+				break;
+			case GPS_DRIVER_MODE_MTK:
+				_Helper = new MTK(_serial_fd, &_report);
+				break;
+			case GPS_DRIVER_MODE_NMEA:
+				//_Helper = new NMEA(); //TODO: add NMEA
+				break;
+			default:
+				break;
+		}
+		unlock();
+		if (_Helper->configure(_baudrate) == 0) {
+			unlock();
+			while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) {
+//				lock();
+				/* 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 > RATE_MEASUREMENT_PERIOD) {
+					_rate = last_rate_count / ((float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f);
+					last_rate_measurement = hrt_absolute_time();
+					last_rate_count = 0;
+				}
+
+				if (!_healthy) {
+					warnx("module found");
+					_healthy = true;
+				}
+			}
+			if (_healthy) {
+				warnx("module lost");
+				_healthy = false;
+				_rate = 0.0f;
+			}
+
+			lock();
+		}
+		lock();
+
+		/* select next mode */
+		switch (_mode) {
+			case GPS_DRIVER_MODE_UBX:
+				_mode = GPS_DRIVER_MODE_MTK;
+				break;
+			case GPS_DRIVER_MODE_MTK:
+				_mode = GPS_DRIVER_MODE_UBX;
+				break;
+		//				case GPS_DRIVER_MODE_NMEA:
+		//					_mode = GPS_DRIVER_MODE_UBX;
+		//					break;
+			default:
+				break;
+		}
+
+	}
+	debug("exiting");
+
+	::close(_serial_fd);
+
+	/* tell the dtor that we are exiting */
+	_task = -1;
+	_exit(0);
+}
+
+
+
+void
+GPS::cmd_reset()
+{
+	//XXX add reset?
+}
+
+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, (_healthy) ? "OK" : "NOT 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]");
+}