Inheritance diagram for GPS:

Collaboration diagram for GPS:

Public Types
enum	Instance : uint8_t { Instance::Main = 0, Instance::Secondary, Instance::Count }
	The GPS allows to run multiple instances. More...

Public Member Functions
	GPS (const char *path, gps_driver_mode_t mode, GPSHelper::Interface interface, bool fake_gps, bool enable_sat_info, Instance instance, unsigned configured_baudrate)

	~GPS () override

void	run () override

int	print_status () override
	Diagnostics - print some basic information about the driver. More...

void	schedule_reset (GPSRestartType restart_type)
	Schedule reset of the GPS device. More...

void	reset_if_scheduled ()
	Reset device if reset was scheduled. More...

Static Public Member Functions
static int	task_spawn (int argc, char *argv[])

static int	task_spawn (int argc, char *argv[], Instance instance)
	spawn task and select the instance More...

static GPS *	instantiate (int argc, char *argv[])

static GPS *	instantiate (int argc, char *argv[], Instance instance)

static int	custom_command (int argc, char *argv[])

static int	print_usage (const char *reason=nullptr)

static int	run_trampoline_secondary (int argc, char *argv[])
	task spawn trampoline for the secondary GPS More...

Private Member Functions
void	publish ()
	Publish the gps struct. More...

void	publishSatelliteInfo ()
	Publish the satellite info. More...

int	pollOrRead (uint8_t *buf, size_t buf_length, int timeout)
	This is an abstraction for the poll on serial used. More...

void	handleInjectDataTopic ()
	check for new messages on the inject data topic & handle them More...

bool	injectData (uint8_t *data, size_t len)
	send data to the device, such as an RTCM stream More...

int	setBaudrate (unsigned baud)
	set the Baudrate More...

void	dumpGpsData (uint8_t *data, size_t len, bool msg_to_gps_device)
	Dump gps communication. More...

void	initializeCommunicationDump ()

Static Private Member Functions
static int	callback (GPSCallbackType type, void data1, int data2, void user)
	callback from the driver for the platform specific stuff More...

Private Attributes
int	_serial_fd {-1}
	serial interface to GPS More...

unsigned	_baudrate {0}
	current baudrate More...

const unsigned	_configured_baudrate {0}
	configured baudrate (0=auto-detect) More...

char	_port [20] {}
	device / serial port path More...

bool	_healthy {false}
	flag to signal if the GPS is ok More...

bool	_mode_auto
	if true, auto-detect which GPS is attached More...

gps_driver_mode_t	_mode
	current mode More...

GPSHelper::Interface	_interface
	interface More...

GPSHelper *	_helper {nullptr}
	instance of GPS parser More...

GPS_Sat_Info *	_sat_info {nullptr}
	instance of GPS sat info data object More...

vehicle_gps_position_s	_report_gps_pos {}
	uORB topic for gps position More...

satellite_info_s *	_p_report_sat_info {nullptr}
	pointer to uORB topic for satellite info More...

orb_advert_t	_report_gps_pos_pub {nullptr}
	uORB pub for gps position More...

orb_advert_t	_report_sat_info_pub {nullptr}
	uORB pub for satellite info More...

int	_gps_orb_instance {-1}
	uORB multi-topic instance More...

int	_gps_sat_orb_instance {-1}
	uORB multi-topic instance for satellite info More...

float	_rate {0.0f}
	position update rate More...

float	_rate_rtcm_injection {0.0f}
	RTCM message injection rate. More...

unsigned	_last_rate_rtcm_injection_count {0}
	counter for number of RTCM messages More...

const bool	_fake_gps
	fake gps output More...

const Instance	_instance

uORB::Subscription	_orb_inject_data_sub {ORB_ID(gps_inject_data)}

uORB::PublicationQueued< gps_dump_s >	_dump_communication_pub {ORB_ID(gps_dump)}

gps_dump_s *	_dump_to_device {nullptr}

gps_dump_s *	_dump_from_device {nullptr}

bool	_should_dump_communication {false}
	if true, dump communication More...

volatile GPSRestartType	_scheduled_reset {GPSRestartType::None}

Static Private Attributes
static volatile bool	_is_gps_main_advertised = false
	for the second gps we want to make sure that it gets instance 1 More...

static volatile GPS *	_secondary_instance = nullptr
	and thus we wait until the first one publishes at least one message. More...

Detailed Description

Definition at line 89 of file gps.cpp.

Member Enumeration Documentation

◆ Instance

enum GPS::Instance : uint8_t

strong

The GPS allows to run multiple instances.

Enumerator
Main
Secondary
Count

Definition at line 94 of file gps.cpp.

Constructor & Destructor Documentation

◆ GPS()

GPS::GPS	(	const char *	path,
		gps_driver_mode_t	mode,
		GPSHelper::Interface	interface,
		bool	fake_gps,
		bool	enable_sat_info,
		Instance	instance,
		unsigned	configured_baudrate
	)

Definition at line 257 of file gps.cpp.

References GPS_Sat_Info::_data, _mode_auto, _p_report_sat_info, _port, _report_gps_pos, _sat_info, GPS_DRIVER_MODE_NONE, vehicle_gps_position_s::heading, and vehicle_gps_position_s::heading_offset.

Referenced by instantiate().

Here is the caller graph for this function:

◆ ~GPS()

GPS::~GPS ( )

override

Definition at line 283 of file gps.cpp.

References _dump_from_device, _dump_to_device, _instance, _sat_info, _secondary_instance, and Main.

Member Function Documentation

◆ callback()

int GPS::callback	(	GPSCallbackType	type,
		void *	data1,
		int	data2,
		void *	user
	)

staticprivate

callback from the driver for the platform specific stuff

Definition at line 313 of file gps.cpp.

References _serial_fd, dumpGpsData(), gotRTCMMessage, gps, pollOrRead(), readDeviceData, setBaudrate, setBaudrate(), setClock, surveyInStatus, write(), and writeDeviceData.

Referenced by run().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ custom_command()

int GPS::custom_command	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 971 of file gps.cpp.

References _instance, Cold, Hot, is_running(), print_usage(), schedule_reset(), and Warm.

Here is the call graph for this function:

◆ dumpGpsData()

void GPS::dumpGpsData	(	uint8_t *	data,
		size_t	len,
		bool	msg_to_gps_device
	)

private

Dump gps communication.

Parameters

data	message
len	length of the message
msg_to_gps_device	if true, this is a message sent to the gps device, otherwise it's from the device

Definition at line 572 of file gps.cpp.

References _dump_communication_pub, _dump_from_device, _dump_to_device, _should_dump_communication, gps_dump_s::data, hrt_absolute_time(), gps_dump_s::len, uORB::PublicationQueued< T >::publish(), and gps_dump_s::timestamp.

Referenced by callback(), and injectData().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ handleInjectDataTopic()

void GPS::handleInjectDataTopic ( )

private

check for new messages on the inject data topic & handle them

Definition at line 418 of file gps.cpp.

References _last_rate_rtcm_injection_count, _orb_inject_data_sub, uORB::Subscription::copy(), gps_inject_data_s::data, injectData(), gps_inject_data_s::len, msg, and uORB::Subscription::updated().

Referenced by pollOrRead().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ initializeCommunicationDump()

void GPS::initializeCommunicationDump ( )

private

Definition at line 541 of file gps.cpp.

References _dump_communication_pub, _dump_from_device, _dump_to_device, _should_dump_communication, param_find(), param_get(), PARAM_INVALID, and uORB::PublicationQueued< T >::publish().

Referenced by run().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ injectData()

bool GPS::injectData	(	uint8_t *	data,
		size_t	len
	)

inlineprivate

send data to the device, such as an RTCM stream

Parameters

data
len

Definition at line 448 of file gps.cpp.

References _serial_fd, dumpGpsData(), and write().

Referenced by handleInjectDataTopic().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ instantiate() [1/2]

GPS * GPS::instantiate	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 1108 of file gps.cpp.

References Main.

Referenced by run_trampoline_secondary().

Here is the caller graph for this function:

◆ instantiate() [2/2]

GPS * GPS::instantiate	(	int	argc,
		char *	argv[],
		Instance	instance
	)

static

Definition at line 1113 of file gps.cpp.

References _secondary_instance, device_name, gps, GPS(), GPS_DRIVER_MODE_ASHTECH, GPS_DRIVER_MODE_EMLIDREACH, GPS_DRIVER_MODE_MTK, GPS_DRIVER_MODE_NONE, GPS_DRIVER_MODE_UBX, Main, Secondary, GPSHelper::SPI, task_spawn(), and GPSHelper::UART.

Here is the call graph for this function:

◆ pollOrRead()

int GPS::pollOrRead	(	uint8_t *	buf,
		size_t	buf_length,
		int	timeout
	)

private

This is an abstraction for the poll on serial used.

Parameters

buf	pointer to read buffer
buf_length	size of read buffer
timeout	timeout in ms

Returns: : 0 for nothing read, or poll timed out < 0 for error > 0 number of bytes read

Definition at line 352 of file gps.cpp.

References _baudrate, _serial_fd, uart_esc::baudrate, err, handleInjectDataTopic(), math::min(), and read().

Referenced by callback().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ print_status()

int GPS::print_status ( )

override

Diagnostics - print some basic information about the driver.

Definition at line 845 of file gps.cpp.

References _baudrate, _fake_gps, _healthy, _helper, _instance, _mode, _p_report_sat_info, _port, _rate, _rate_rtcm_injection, _report_gps_pos, _secondary_instance, GPSHelper::getPositionUpdateRate(), GPSHelper::getVelocityUpdateRate(), GPS_DRIVER_MODE_ASHTECH, GPS_DRIVER_MODE_EMLIDREACH, GPS_DRIVER_MODE_MTK, GPS_DRIVER_MODE_UBX, Main, print_status(), Secondary, and vehicle_gps_position_s::timestamp.

Referenced by print_status().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ print_usage()

int GPS::print_usage ( const char * reason = nullptr )

static

See also: ModuleBase

Definition at line 1007 of file gps.cpp.

Referenced by custom_command().

Here is the caller graph for this function:

◆ publish()

void GPS::publish ( )

private

Publish the gps struct.

Definition at line 946 of file gps.cpp.

References _gps_orb_instance, _instance, _is_gps_main_advertised, _report_gps_pos, _report_gps_pos_pub, vehicle_gps_position_s::heading, Main, ORB_ID, ORB_PRIO_DEFAULT, and orb_publish_auto().

Referenced by run().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ publishSatelliteInfo()

void GPS::publishSatelliteInfo ( )

private

Publish the satellite info.

Definition at line 959 of file gps.cpp.

References _gps_sat_orb_instance, _instance, _p_report_sat_info, _report_sat_info_pub, Main, ORB_ID, ORB_PRIO_DEFAULT, and orb_publish_auto().

Referenced by run().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ reset_if_scheduled()

void GPS::reset_if_scheduled ( )

Reset device if reset was scheduled.

Definition at line 925 of file gps.cpp.

References _helper, _scheduled_reset, None, and GPSHelper::reset().

Referenced by run().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ run()

void GPS::run ( )

override

See also: ModuleBase::run()

Definition at line 605 of file gps.cpp.

Referenced by run_trampoline_secondary().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ run_trampoline_secondary()

int GPS::run_trampoline_secondary	(	int	argc,
		char *	argv[]
	)

static

task spawn trampoline for the secondary GPS

Definition at line 1089 of file gps.cpp.

References _secondary_instance, gps, instantiate(), run(), and Secondary.

Referenced by task_spawn().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ schedule_reset()

void GPS::schedule_reset ( GPSRestartType restart_type )

Schedule reset of the GPS device.

Definition at line 914 of file gps.cpp.

References _instance, _scheduled_reset, _secondary_instance, Main, and schedule_reset().

Referenced by custom_command(), and schedule_reset().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ setBaudrate()

int GPS::setBaudrate ( unsigned baud )

private

set the Baudrate

Parameters

baud

Returns: 0 on success, <0 on error

Definition at line 457 of file gps.cpp.

References _serial_fd, and GPS_ERR.

Referenced by callback().

Here is the caller graph for this function:

◆ task_spawn() [1/2]

int GPS::task_spawn	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 1059 of file gps.cpp.

References Main.

Referenced by instantiate().

Here is the caller graph for this function:

◆ task_spawn() [2/2]

int GPS::task_spawn	(	int	argc,
		char *	argv[],
		Instance	instance
	)

static

spawn task and select the instance

Definition at line 1064 of file gps.cpp.

References Main, run_trampoline_secondary(), and TASK_STACK_SIZE.

Here is the call graph for this function:

Member Data Documentation

◆ _baudrate

unsigned GPS::_baudrate {0}

private

current baudrate

Definition at line 147 of file gps.cpp.

Referenced by pollOrRead(), print_status(), and run().

◆ _configured_baudrate

const unsigned GPS::_configured_baudrate {0}

private

configured baudrate (0=auto-detect)

Definition at line 148 of file gps.cpp.

Referenced by run().

◆ _dump_communication_pub

uORB::PublicationQueued<gps_dump_s> GPS::_dump_communication_pub {ORB_ID(gps_dump)}

private

Definition at line 179 of file gps.cpp.

Referenced by dumpGpsData(), and initializeCommunicationDump().

◆ _dump_from_device

gps_dump_s* GPS::_dump_from_device {nullptr}

private

Definition at line 181 of file gps.cpp.

Referenced by dumpGpsData(), initializeCommunicationDump(), and ~GPS().

◆ _dump_to_device

gps_dump_s* GPS::_dump_to_device {nullptr}

private

Definition at line 180 of file gps.cpp.

Referenced by dumpGpsData(), initializeCommunicationDump(), and ~GPS().

◆ _fake_gps

const bool GPS::_fake_gps

private

fake gps output

Definition at line 174 of file gps.cpp.

Referenced by print_status(), and run().

◆ _gps_orb_instance

int GPS::_gps_orb_instance {-1}

private

uORB multi-topic instance

Definition at line 167 of file gps.cpp.

Referenced by publish().

◆ _gps_sat_orb_instance

int GPS::_gps_sat_orb_instance {-1}

private

uORB multi-topic instance for satellite info

Definition at line 168 of file gps.cpp.

Referenced by publishSatelliteInfo().

◆ _healthy

bool GPS::_healthy {false}

private

flag to signal if the GPS is ok

Definition at line 151 of file gps.cpp.

Referenced by print_status(), and run().

◆ _helper

GPSHelper* GPS::_helper {nullptr}

private

instance of GPS parser

Definition at line 157 of file gps.cpp.

Referenced by print_status(), reset_if_scheduled(), and run().

◆ _instance

const Instance GPS::_instance

private

Definition at line 176 of file gps.cpp.

Referenced by custom_command(), print_status(), publish(), publishSatelliteInfo(), schedule_reset(), and ~GPS().

◆ _interface

GPSHelper::Interface GPS::_interface

private

interface

Definition at line 156 of file gps.cpp.

Referenced by run().

◆ _is_gps_main_advertised

volatile bool GPS::_is_gps_main_advertised = false

staticprivate

for the second gps we want to make sure that it gets instance 1

Definition at line 184 of file gps.cpp.

Referenced by publish().

◆ _last_rate_rtcm_injection_count

unsigned GPS::_last_rate_rtcm_injection_count {0}

private

counter for number of RTCM messages

Definition at line 172 of file gps.cpp.

Referenced by handleInjectDataTopic(), and run().

◆ _mode

gps_driver_mode_t GPS::_mode

private

current mode

Definition at line 154 of file gps.cpp.

Referenced by print_status(), and run().

◆ _mode_auto

bool GPS::_mode_auto

private

if true, auto-detect which GPS is attached

Definition at line 152 of file gps.cpp.

Referenced by GPS(), and run().

◆ _orb_inject_data_sub

uORB::Subscription GPS::_orb_inject_data_sub {ORB_ID(gps_inject_data)}

private

Definition at line 178 of file gps.cpp.

Referenced by handleInjectDataTopic().

◆ _p_report_sat_info

satellite_info_s* GPS::_p_report_sat_info {nullptr}

private

pointer to uORB topic for satellite info

Definition at line 162 of file gps.cpp.

Referenced by GPS(), print_status(), publishSatelliteInfo(), and run().

◆ _port

char GPS::_port[20] {}

private

device / serial port path

Definition at line 149 of file gps.cpp.

Referenced by GPS(), print_status(), and run().

◆ _rate

float GPS::_rate {0.0f}

private

position update rate

Definition at line 170 of file gps.cpp.

Referenced by print_status(), and run().

◆ _rate_rtcm_injection

float GPS::_rate_rtcm_injection {0.0f}

private

RTCM message injection rate.

Definition at line 171 of file gps.cpp.

Referenced by print_status(), and run().

◆ _report_gps_pos

vehicle_gps_position_s GPS::_report_gps_pos {}

private

uORB topic for gps position

Definition at line 161 of file gps.cpp.

Referenced by GPS(), print_status(), publish(), and run().

◆ _report_gps_pos_pub

orb_advert_t GPS::_report_gps_pos_pub {nullptr}

private

uORB pub for gps position

Definition at line 164 of file gps.cpp.

Referenced by publish(), and run().

◆ _report_sat_info_pub

orb_advert_t GPS::_report_sat_info_pub {nullptr}

private

uORB pub for satellite info

Definition at line 165 of file gps.cpp.

Referenced by publishSatelliteInfo().

◆ _sat_info

GPS_Sat_Info* GPS::_sat_info {nullptr}

private

instance of GPS sat info data object

Definition at line 159 of file gps.cpp.

Referenced by GPS(), and ~GPS().

◆ _scheduled_reset

volatile GPSRestartType GPS::_scheduled_reset {GPSRestartType::None}

private

Definition at line 189 of file gps.cpp.

Referenced by reset_if_scheduled(), and schedule_reset().

◆ _secondary_instance

volatile GPS * GPS::_secondary_instance = nullptr

staticprivate

and thus we wait until the first one publishes at least one message.

Definition at line 187 of file gps.cpp.

Referenced by instantiate(), print_status(), run_trampoline_secondary(), schedule_reset(), and ~GPS().

◆ _serial_fd

int GPS::_serial_fd {-1}

private

serial interface to GPS

Definition at line 146 of file gps.cpp.

Referenced by callback(), injectData(), pollOrRead(), run(), and setBaudrate().

◆ _should_dump_communication

bool GPS::_should_dump_communication {false}

private

if true, dump communication

Definition at line 182 of file gps.cpp.

Referenced by dumpGpsData(), and initializeCommunicationDump().

The documentation for this class was generated from the following file:

src/drivers/gps/gps.cpp

Public Types

Public Member Functions

Static Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Enumeration Documentation

◆ Instance

Constructor & Destructor Documentation

◆ GPS()

◆ ~GPS()

Member Function Documentation

◆ callback()

◆ custom_command()

◆ dumpGpsData()

◆ handleInjectDataTopic()

◆ initializeCommunicationDump()

◆ injectData()

◆ instantiate() [1/2]

◆ instantiate() [2/2]

◆ pollOrRead()

◆ print_status()

◆ print_usage()

◆ publish()

◆ publishSatelliteInfo()

◆ reset_if_scheduled()

◆ run()

◆ run_trampoline_secondary()

◆ schedule_reset()

◆ setBaudrate()

◆ task_spawn() [1/2]

◆ task_spawn() [2/2]

Member Data Documentation

◆ _baudrate

◆ _configured_baudrate

◆ _dump_communication_pub

◆ _dump_from_device

◆ _dump_to_device

◆ _fake_gps

◆ _gps_orb_instance

◆ _gps_sat_orb_instance

◆ _healthy

◆ _helper

◆ _instance

◆ _interface

◆ _is_gps_main_advertised

◆ _last_rate_rtcm_injection_count

◆ _mode

◆ _mode_auto

◆ _orb_inject_data_sub

◆ _p_report_sat_info

◆ _port

◆ _rate

◆ _rate_rtcm_injection

◆ _report_gps_pos

◆ _report_gps_pos_pub

◆ _report_sat_info_pub

◆ _sat_info

◆ _scheduled_reset

◆ _secondary_instance

◆ _serial_fd

◆ _should_dump_communication