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[WIP] Add NMEA-0183 Protocol GPS Driver #14773

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[WIP] Add NMEA-0183 Protocol GPS Driver #14773

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1 change: 1 addition & 0 deletions src/drivers/gps/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,7 @@ px4_add_module(
devices/src/ubx.cpp
devices/src/rtcm.cpp
devices/src/emlid_reach.cpp
devices/src/nmea.cpp
MODULE_CONFIG
module.yaml
DEPENDS
Expand Down
93 changes: 85 additions & 8 deletions src/drivers/gps/gps.cpp
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2020 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
Expand Down Expand Up @@ -63,6 +63,7 @@
#include "devices/src/emlid_reach.h"
#include "devices/src/mtk.h"
#include "devices/src/ubx.h"
#include "devices/src/nmea.h"

#ifdef __PX4_LINUX
#include <linux/spi/spidev.h>
Expand All @@ -72,11 +73,12 @@
#define RATE_MEASUREMENT_PERIOD 5000000

typedef enum {
GPS_DRIVER_MODE_NONE = 0,
GPS_DRIVER_MODE_AUTO = 0,
GPS_DRIVER_MODE_UBX,
GPS_DRIVER_MODE_MTK,
GPS_DRIVER_MODE_ASHTECH,
GPS_DRIVER_MODE_EMLIDREACH
GPS_DRIVER_MODE_EMLIDREACH,
GPS_DRIVER_MODE_NMEA
} gps_driver_mode_t;

/* struct for dynamic allocation of satellite info data */
Expand Down Expand Up @@ -275,7 +277,7 @@ GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interfac
memset(_p_report_sat_info, 0, sizeof(*_p_report_sat_info));
}

_mode_auto = mode == GPS_DRIVER_MODE_NONE;
_mode_auto = mode == GPS_DRIVER_MODE_AUTO;
}

GPS::~GPS()
Expand Down Expand Up @@ -694,7 +696,7 @@ GPS::run()
}

switch (_mode) {
case GPS_DRIVER_MODE_NONE:
case GPS_DRIVER_MODE_AUTO:
_mode = GPS_DRIVER_MODE_UBX;

/* FALLTHROUGH */
Expand All @@ -715,6 +717,15 @@ GPS::run()
_helper = new GPSDriverEmlidReach(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info);
break;

case GPS_DRIVER_MODE_NMEA:
int32_t param_nmea_baud = 38400;
param_t nmea_baud = param_find("GPS_NMEA_BAUD");
if (nmea_baud != PARAM_INVALID) {
param_get(nmea_baud, &param_nmea_baud);
}
_helper = new GPSDriverNMEA(&GPS::callback, this, &_report_gps_pos, _p_report_sat_info, param_nmea_baud);
break;

default:
break;
}
Expand All @@ -728,7 +739,8 @@ GPS::run()
_report_gps_pos.heading = NAN;
_report_gps_pos.heading_offset = heading_offset;

if (_mode == GPS_DRIVER_MODE_UBX) {
if ((_mode == GPS_DRIVER_MODE_UBX)||
(_mode == GPS_DRIVER_MODE_NMEA)) {

/* GPS is obviously detected successfully, reset statistics */
_helper->resetUpdateRates();
Expand Down Expand Up @@ -814,6 +826,10 @@ GPS::run()
break;

case GPS_DRIVER_MODE_EMLIDREACH:
_mode = GPS_DRIVER_MODE_NMEA;
break;

case GPS_DRIVER_MODE_NMEA:
_mode = GPS_DRIVER_MODE_UBX;
px4_usleep(500000); // tried all possible drivers. Wait a bit before next round
break;
Expand Down Expand Up @@ -1043,7 +1059,7 @@ Initiate warm restart of GPS device
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('p', nullptr, "ubx|mtk|ash|eml", "GPS Protocol (default=auto select)", true);
PRINT_MODULE_USAGE_PARAM_STRING('p', nullptr, "ubx|mtk|ash|eml|nmea", "GPS Protocol (default=auto select)", true);

PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
PRINT_MODULE_USAGE_COMMAND_DESCR("reset", "Reset GPS device");
Expand Down Expand Up @@ -1115,7 +1131,7 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
bool fake_gps = false;
bool enable_sat_info = false;
GPSHelper::Interface interface = GPSHelper::Interface::UART;
gps_driver_mode_t mode = GPS_DRIVER_MODE_NONE;
gps_driver_mode_t mode = GPS_DRIVER_MODE_AUTO;

bool error_flag = false;
int myoptind = 1;
Expand Down Expand Up @@ -1179,6 +1195,9 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
} else if (!strcmp(myoptarg, "eml")) {
mode = GPS_DRIVER_MODE_EMLIDREACH;

} else if(!strcmp(myoptarg, "nmea")) {
mode = GPS_DRIVER_MODE_NMEA;

} else {
PX4_ERR("unknown interface: %s", myoptarg);
error_flag = true;
Expand All @@ -1202,6 +1221,35 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)

GPS *gps;
if (instance == Instance::Main) {
int32_t gps1_protocol_type = 0;
param_t gps1_type = param_find("GPS1_PROTOCOL");
if (gps1_type != PARAM_INVALID) {
param_get(gps1_type, &gps1_protocol_type);
}
switch (gps1_protocol_type)
{
case 0:// GPS_DRIVER_MODE_AUTO
mode = GPS_DRIVER_MODE_AUTO;
break;
case 1: //GPS_DRIVER_MODE_UBX
mode = GPS_DRIVER_MODE_UBX;
break;
case 2: //GPS_DRIVER_MODE_MTK
mode = GPS_DRIVER_MODE_MTK;
break;
case 3: //GPS_DRIVER_MODE_ASHTECH
mode = GPS_DRIVER_MODE_ASHTECH;
break;
case 4: //GPS_DRIVER_MODE_EMLIDREACH
mode = GPS_DRIVER_MODE_EMLIDREACH;
break;
case 5: //GPS_DRIVER_MODE_NMEA
mode = GPS_DRIVER_MODE_NMEA;
break;
default:
break;
}

gps = new GPS(device_name, mode, interface, fake_gps, enable_sat_info, instance, baudrate_main);

if (gps && device_name_secondary) {
Expand All @@ -1220,6 +1268,35 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
}
}
} else { // secondary instance
int32_t gps2_protocol_type = 0;
param_t gps2_type = param_find("GPS2_PROTOCOL");
if (gps2_type != PARAM_INVALID) {
param_get(gps2_type, &gps2_protocol_type);
}
switch (gps2_protocol_type)
{
case 0:// GPS_DRIVER_MODE_AUTO
mode = GPS_DRIVER_MODE_AUTO;
break;
case 1: //GPS_DRIVER_MODE_UBX
mode = GPS_DRIVER_MODE_UBX;
break;
case 2: //GPS_DRIVER_MODE_MTK
mode = GPS_DRIVER_MODE_MTK;
break;
case 3: //GPS_DRIVER_MODE_ASHTECH
mode = GPS_DRIVER_MODE_ASHTECH;
break;
case 4: //GPS_DRIVER_MODE_EMLIDREACH
mode = GPS_DRIVER_MODE_EMLIDREACH;
break;
case 5: //GPS_DRIVER_MODE_NMEA
mode = GPS_DRIVER_MODE_NMEA;
break;
default:
break;
}

gps = new GPS(device_name_secondary, mode, interface, fake_gps, enable_sat_info, instance, baudrate_secondary);
}

Expand Down
55 changes: 53 additions & 2 deletions src/drivers/gps/params.c
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2020 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
Expand Down Expand Up @@ -64,7 +64,6 @@ PARAM_DEFINE_INT32(GPS_DUMP_COMM, 0);
*/
PARAM_DEFINE_INT32(GPS_UBX_DYNMODEL, 7);


/**
* Heading/Yaw offset for dual antenna GPS
*
Expand All @@ -86,3 +85,55 @@ PARAM_DEFINE_INT32(GPS_UBX_DYNMODEL, 7);
*/
PARAM_DEFINE_FLOAT(GPS_YAW_OFFSET, 0.f);


/**
* NMEA GPS baudrate
*
* This parameter is used to set the NMEA GPS driver's baudrate
*
* @min 0
* @max 6460800
*
* @reboot_required true
*
* @group GPS
*/
PARAM_DEFINE_INT32(GPS_NMEA_BAUD, 38400);

/**
* GPS1 ptotocol type
*
* This parameter is used to set if use manual gps mode or auto gps mode
*
* @min 0
* @max 5
* @value 0 set gps mode to GPS_DRIVER_MODE_AUTO
* @value 1 set gps mode to GPS_DRIVER_MODE_UBX
* @value 2 set gps mode to GPS_DRIVER_MODE_MTK
* @value 3 set gps mode to GPS_DRIVER_MODE_ASHTECH
* @value 4 set gps mode to GPS_DRIVER_MODE_EMLIDREACH
* @value 5 set gps mode to GPS_DRIVER_MODE_NMEA
* @reboot_required true
*
* @group GPS
*/
PARAM_DEFINE_INT32(GPS_1_PROTOCOL, 0);

/**
* GPS2 ptotocol type
*
* This parameter is used to set if use manual gps mode or auto gps mode
*
* @min 0
* @max 5
* @value 0 set gps mode to GPS_DRIVER_MODE_AUTO
* @value 1 set gps mode to GPS_DRIVER_MODE_UBX
* @value 2 set gps mode to GPS_DRIVER_MODE_MTK
* @value 3 set gps mode to GPS_DRIVER_MODE_ASHTECH
* @value 4 set gps mode to GPS_DRIVER_MODE_EMLIDREACH
* @value 5 set gps mode to GPS_DRIVER_MODE_NMEA
* @reboot_required true
*
* @group GPS
*/
PARAM_DEFINE_INT32(GPS_2_PROTOCOL, 0);