Mirrors_Framework/PX4-Autopilot
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add support for secondary GPS interface

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Useful for navio2 or px4_raspberrypi when attaching a secondary (UART) GPS through one of the USB ports; the default navio2 onboard GPS is running on spi.

Example usage:
gps start -d /dev/spidev0.0 -i spi -e /dev/ttyACM0 -j uart -p ubx
This commit is contained in:
Adam Blazczak
2020-11-04 22:00:19 -08:00
committed by Beat Küng
parent ffa38f1b4f
commit 149ac16bb4
1 changed files with 18 additions and 3 deletions
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src/drivers/gps/gps.cpp
+18 -3
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@@ -1098,6 +1098,7 @@ $ gps reset warm
PRINT_MODULE_USAGE_PARAM_FLAG('s', "Enable publication of satellite info", true);
PRINT_MODULE_USAGE_PARAM_STRING('i', "uart", "spi|uart", "GPS interface", true);
PRINT_MODULE_USAGE_PARAM_STRING('j', "uart", "spi|uart", "secondary GPS interface", true);
PRINT_MODULE_USAGE_PARAM_STRING('p', nullptr, "ubx|mtk|ash|eml", "GPS Protocol (default=auto select)", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
@@ -1170,6 +1171,7 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
bool fake_gps = false;
bool enable_sat_info = false;
GPSHelper::Interface interface = GPSHelper::Interface::UART;
GPSHelper::Interface interface_secondary = GPSHelper::Interface::UART;
gps_driver_mode_t mode = GPS_DRIVER_MODE_NONE;
bool error_flag = false;
@@ -1177,7 +1179,7 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
int ch;
const char *myoptarg = nullptr;
while ((ch = px4_getopt(argc, argv, "b:d:e:fg:si:p:", &myoptind, &myoptarg)) != EOF) {
while ((ch = px4_getopt(argc, argv, "b:d:e:fg:si:j:p:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'b':
if (px4_get_parameter_value(myoptarg, baudrate_main) != 0) {
@@ -1221,6 +1223,19 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
}
break;
case 'j':
if (!strcmp(myoptarg, "spi")) {
interface_secondary = GPSHelper::Interface::SPI;
} else if (!strcmp(myoptarg, "uart")) {
interface_secondary = GPSHelper::Interface::UART;
} else {
PX4_ERR("unknown interface for secondary: %s", myoptarg);
error_flag = true;
}
break;
case 'p':
if (!strcmp(myoptarg, "ubx")) {
mode = GPS_DRIVER_MODE_UBX;
@@ -1235,7 +1250,7 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
mode = GPS_DRIVER_MODE_EMLIDREACH;
} else {
PX4_ERR("unknown interface: %s", myoptarg);
PX4_ERR("unknown protocol: %s", myoptarg);
error_flag = true;
}
break;
@@ -1275,7 +1290,7 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
}
}
} else { // secondary instance
gps = new GPS(device_name_secondary, mode, interface, fake_gps, enable_sat_info, instance, baudrate_secondary);
gps = new GPS(device_name_secondary, mode, interface_secondary, fake_gps, enable_sat_info, instance, baudrate_secondary);
}
return gps;