Add option to configure the set of used GNSS systems

Functionality not implemented yet, see issue PX4#68 for details
jbeyerstedt · Jan 6, 2021 · 37f4a72 · 37f4a72
1 parent 9282d3d
commit 37f4a72
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Showing 13 changed files with 32 additions and 13 deletions.
diff --git a/src/ashtech.cpp b/src/ashtech.cpp
@@ -942,7 +942,7 @@ int GPSDriverAshtech::waitForReply(NMEACommand command, const unsigned timeout)
 	return _command_state == NMEACommandState::received ? 0 : -1;
 }
 
-int GPSDriverAshtech::configure(unsigned &baudrate, OutputMode output_mode)
+int GPSDriverAshtech::configure(unsigned &baudrate, OutputMode output_mode, GNSSSystemsMask gnssSystems)
 {
 	_output_mode = output_mode;
 	_correction_output_activated = false;

diff --git a/src/ashtech.h b/src/ashtech.h
@@ -59,7 +59,7 @@ class GPSDriverAshtech : public GPSBaseStationSupport
 
 	virtual ~GPSDriverAshtech();
 
-	int configure(unsigned &baudrate, OutputMode output_mode) override;
+	int configure(unsigned &baudrate, OutputMode output_mode, GNSSSystemsMask gnssSystems) override;
 
 	int receive(unsigned timeout) override;
 

diff --git a/src/emlid_reach.cpp b/src/emlid_reach.cpp
@@ -78,7 +78,7 @@ GPSDriverEmlidReach::GPSDriverEmlidReach(GPSCallbackPtr callback, void *callback
 
 
 int
-GPSDriverEmlidReach::configure(unsigned &baudrate, OutputMode output_mode)
+GPSDriverEmlidReach::configure(unsigned &baudrate, OutputMode output_mode, GNSSSystemsMask gnssSystems)
 {
 	// TODO RTK
 	if (output_mode != OutputMode::GPS) {

diff --git a/src/emlid_reach.h b/src/emlid_reach.h
@@ -147,7 +147,7 @@ class GPSDriverEmlidReach : public GPSHelper
 	virtual ~GPSDriverEmlidReach() = default;
 
 	int receive(unsigned timeout) override;
-	int configure(unsigned &baudrate, OutputMode output_mode) override;
+	int configure(unsigned &baudrate, OutputMode output_mode, GNSSSystemsMask gnssSystems) override;
 
 private:
 

diff --git a/src/femtomes.cpp b/src/femtomes.cpp
@@ -322,7 +322,7 @@ int GPSDriverFemto::writeAckedCommandFemto(const char *command, const char *repl
 	return -1;
 }
 
-int GPSDriverFemto::configure(unsigned &baudrate, OutputMode output_mode)
+int GPSDriverFemto::configure(unsigned &baudrate, OutputMode output_mode, GNSSSystemsMask gnssSystems)
 {
 
 	if (output_mode != OutputMode::GPS) {

diff --git a/src/femtomes.h b/src/femtomes.h
@@ -148,7 +148,7 @@ class GPSDriverFemto : public GPSHelper
 	virtual ~GPSDriverFemto() = default;
 
 	int receive(unsigned timeout) override;
-	int configure(unsigned &baudrate, OutputMode output_mode) override;
+	int configure(unsigned &baudrate, OutputMode output_mode, GNSSSystemsMask gnssSystems) override;
 
 private:
 

diff --git a/src/gps_helper.h b/src/gps_helper.h
@@ -161,6 +161,18 @@ class GPSHelper
 		SPI
 	};
 
+	/**
+	 * Bitmask for GPS_1_GNSS and GPS_2_GNSS
+	 * No bits set should keep the receiver's default config
+	 */
+	enum class GNSSSystemsMask : int32_t {
+		ENABLE_GPS =       1 << 0,
+		ENABLE_SBAS =      1 << 1,
+		ENABLE_GALILEO =   1 << 2,
+		ENABLE_BEIDOU =    1 << 3,
+		ENABLE_GLONASS =   1 << 4
+	};
+
 
 	GPSHelper(GPSCallbackPtr callback, void *callback_user);
 	virtual ~GPSHelper() = default;
@@ -169,9 +181,11 @@ class GPSHelper
 	 * configure the device
 	 * @param baud Input and output parameter: if set to 0, the baudrate will be automatically detected and set to
 	 *             the detected baudrate. If not 0, a fixed baudrate is used.
+	 * @param output_mode Output protocol
+	 * @param gnssSystems Bit set of GNSS systems to enable, 0 for no change of config
 	 * @return 0 on success, <0 otherwise
 	 */
-	virtual int configure(unsigned &baud, OutputMode output_mode) = 0;
+	virtual int configure(unsigned &baud, OutputMode output_mode, GNSSSystemsMask gnssSystems) = 0;
 
 	/**
 	 * receive & handle new data from the device
@@ -278,3 +292,8 @@ class GPSHelper
 
 	uint64_t _interval_rate_start{0};
 };
+
+inline bool operator&(GPSHelper::GNSSSystemsMask a, GPSHelper::GNSSSystemsMask b)
+{
+	return static_cast<int32_t>(a) & static_cast<int32_t>(b);
+}
diff --git a/src/mtk.cpp b/src/mtk.cpp
@@ -55,7 +55,7 @@ GPSDriverMTK::GPSDriverMTK(GPSCallbackPtr callback, void *callback_user, sensor_
 }
 
 int
-GPSDriverMTK::configure(unsigned &baudrate, OutputMode output_mode)
+GPSDriverMTK::configure(unsigned &baudrate, OutputMode output_mode, GNSSSystemsMask gnssSystems)
 {
 	if (output_mode != OutputMode::GPS) {
 		GPS_WARN("MTK: Unsupported Output Mode %i", (int)output_mode);

diff --git a/src/mtk.h b/src/mtk.h
@@ -92,7 +92,7 @@ class GPSDriverMTK : public GPSHelper
 	virtual ~GPSDriverMTK() = default;
 
 	int receive(unsigned timeout) override;
-	int configure(unsigned &baudrate, OutputMode output_mode) override;
+	int configure(unsigned &baudrate, OutputMode output_mode, GNSSSystemsMask gnssSystems) override;
 
 private:
 	/**

diff --git a/src/sbf.cpp b/src/sbf.cpp
@@ -73,7 +73,7 @@ GPSDriverSBF::~GPSDriverSBF()
 }
 
 int
-GPSDriverSBF::configure(unsigned &baudrate, OutputMode output_mode)
+GPSDriverSBF::configure(unsigned &baudrate, OutputMode output_mode, GNSSSystemsMask gnssSystems)
 {
 	_configured = false;
 

diff --git a/src/sbf.h b/src/sbf.h
@@ -316,7 +316,7 @@ class GPSDriverSBF : public GPSBaseStationSupport
 	virtual ~GPSDriverSBF() override;
 
 	int receive(unsigned timeout) override;
-	int configure(unsigned &baudrate, OutputMode output_mode) override;
+	int configure(unsigned &baudrate, OutputMode output_mode, GNSSSystemsMask gnssSystems) override;
 	int reset(GPSRestartType restart_type) override;
 
 private:

diff --git a/src/ubx.cpp b/src/ubx.cpp
@@ -89,7 +89,7 @@ GPSDriverUBX::~GPSDriverUBX()
 }
 
 int
-GPSDriverUBX::configure(unsigned &baudrate, OutputMode output_mode)
+GPSDriverUBX::configure(unsigned &baudrate, OutputMode output_mode, GNSSSystemsMask gnssSystems)
 {
 	_configured = false;
 	_output_mode = output_mode;

diff --git a/src/ubx.h b/src/ubx.h
@@ -826,7 +826,7 @@ class GPSDriverUBX : public GPSBaseStationSupport
 
 	virtual ~GPSDriverUBX();
 
-	int configure(unsigned &baudrate, OutputMode output_mode) override;
+	int configure(unsigned &baudrate, OutputMode output_mode, GNSSSystemsMask gnssSystems) override;
 	int receive(unsigned timeout) override;
 	int reset(GPSRestartType restart_type) override;