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Implement new parameter for GNSS system selection #69

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Jan 12, 2021
Merged

Implement new parameter for GNSS system selection #69

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075c14c
Add option to configure the set of used GNSS systems
jbeyerstedt Jan 6, 2021
7f7fcd1
ubx: Implement new GNSS system selection
jbeyerstedt Jan 7, 2021
3919a5f
ubx: don't fail on SBAS config error
jbeyerstedt Jan 12, 2021
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8 changes: 4 additions & 4 deletions src/ashtech.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -942,9 +942,9 @@ 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, const GPSConfig &config)
{
_output_mode = output_mode;
_output_mode = config.output_mode;
_correction_output_activated = false;
_configure_done = false;

Expand Down Expand Up @@ -1069,7 +1069,7 @@ int GPSDriverAshtech::configure(unsigned &baudrate, OutputMode output_mode)
// Enable dual antenna mode (2: both antennas are L1/L2 GNSS capable, flex mode, avoids the need to determine
// the baseline length through a prior calibration stage)
// Needs to be set before other commands
const bool use_dual_mode = output_mode == OutputMode::GPS && _board == AshtechBoard::trimble_mb_two;
const bool use_dual_mode = _output_mode == OutputMode::GPS && _board == AshtechBoard::trimble_mb_two;

if (use_dual_mode) {
ASH_DEBUG("Enabling DUO mode");
Expand Down Expand Up @@ -1118,7 +1118,7 @@ int GPSDriverAshtech::configure(unsigned &baudrate, OutputMode output_mode)
}


if (output_mode == OutputMode::RTCM && _board == AshtechBoard::trimble_mb_two) {
if (_output_mode == OutputMode::RTCM && _board == AshtechBoard::trimble_mb_two) {
SurveyInStatus status{};
status.latitude = status.longitude = (double)NAN;
status.altitude = NAN;
Expand Down
2 changes: 1 addition & 1 deletion src/ashtech.h
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Expand Up @@ -59,7 +59,7 @@ class GPSDriverAshtech : public GPSBaseStationSupport

virtual ~GPSDriverAshtech();

int configure(unsigned &baudrate, OutputMode output_mode) override;
int configure(unsigned &baudrate, const GPSConfig &config) override;

int receive(unsigned timeout) override;

Expand Down
6 changes: 3 additions & 3 deletions src/emlid_reach.cpp
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Expand Up @@ -78,11 +78,11 @@ GPSDriverEmlidReach::GPSDriverEmlidReach(GPSCallbackPtr callback, void *callback


int
GPSDriverEmlidReach::configure(unsigned &baudrate, OutputMode output_mode)
GPSDriverEmlidReach::configure(unsigned &baudrate, const GPSConfig &config)
{
// TODO RTK
if (output_mode != OutputMode::GPS) {
GPS_WARN("EMLIDREACH: Unsupported Output Mode %i", (int)output_mode);
if (config.output_mode != OutputMode::GPS) {
GPS_WARN("EMLIDREACH: Unsupported Output Mode %i", (int)config.output_mode);
return -1;
}

Expand Down
2 changes: 1 addition & 1 deletion src/emlid_reach.h
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Expand Up @@ -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, const GPSConfig &config) override;

private:

Expand Down
6 changes: 3 additions & 3 deletions src/femtomes.cpp
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Expand Up @@ -322,11 +322,11 @@ int GPSDriverFemto::writeAckedCommandFemto(const char *command, const char *repl
return -1;
}

int GPSDriverFemto::configure(unsigned &baudrate, OutputMode output_mode)
int GPSDriverFemto::configure(unsigned &baudrate, const GPSConfig &config)
{

if (output_mode != OutputMode::GPS) {
FEMTO_DEBUG("Femto: Unsupported Output Mode %i", (int)output_mode);
if (config.output_mode != OutputMode::GPS) {
FEMTO_DEBUG("Femto: Unsupported Output Mode %i", (int)config.output_mode);
return -1;
}

Expand Down
2 changes: 1 addition & 1 deletion src/femtomes.h
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Expand Up @@ -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, const GPSConfig &config) override;

private:

Expand Down
26 changes: 25 additions & 1 deletion src/gps_helper.h
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Expand Up @@ -161,6 +161,24 @@ 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 {
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RECEIVER_DEFAULTS = 0,
ENABLE_GPS = 1 << 0,
ENABLE_SBAS = 1 << 1,
ENABLE_GALILEO = 1 << 2,
ENABLE_BEIDOU = 1 << 3,
ENABLE_GLONASS = 1 << 4
};

struct GPSConfig {
OutputMode output_mode;
GNSSSystemsMask gnss_systems;
};


GPSHelper(GPSCallbackPtr callback, void *callback_user);
virtual ~GPSHelper() = default;
Expand All @@ -169,9 +187,10 @@ 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 config GPS Config
* @return 0 on success, <0 otherwise
*/
virtual int configure(unsigned &baud, OutputMode output_mode) = 0;
virtual int configure(unsigned &baud, const GPSConfig &config) = 0;

/**
* receive & handle new data from the device
Expand Down Expand Up @@ -278,3 +297,8 @@ 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);
}
6 changes: 3 additions & 3 deletions src/mtk.cpp
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Expand Up @@ -55,10 +55,10 @@ GPSDriverMTK::GPSDriverMTK(GPSCallbackPtr callback, void *callback_user, sensor_
}

int
GPSDriverMTK::configure(unsigned &baudrate, OutputMode output_mode)
GPSDriverMTK::configure(unsigned &baudrate, const GPSConfig &config)
{
if (output_mode != OutputMode::GPS) {
GPS_WARN("MTK: Unsupported Output Mode %i", (int)output_mode);
if (config.output_mode != OutputMode::GPS) {
GPS_WARN("MTK: Unsupported Output Mode %i", (int)config.output_mode);
return -1;
}

Expand Down
2 changes: 1 addition & 1 deletion src/mtk.h
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Expand Up @@ -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, const GPSConfig &config) override;

private:
/**
Expand Down
6 changes: 3 additions & 3 deletions src/sbf.cpp
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Expand Up @@ -73,16 +73,16 @@ GPSDriverSBF::~GPSDriverSBF()
}

int
GPSDriverSBF::configure(unsigned &baudrate, OutputMode output_mode)
GPSDriverSBF::configure(unsigned &baudrate, const GPSConfig &config)
{
_configured = false;

setBaudrate(SBF_TX_CFG_PRT_BAUDRATE);
baudrate = SBF_TX_CFG_PRT_BAUDRATE;

_output_mode = output_mode;
_output_mode = config.output_mode;

if (output_mode != OutputMode::RTCM) {
if (_output_mode != OutputMode::RTCM) {
sendMessage(SBF_CONFIG_FORCE_INPUT);
}

Expand Down
2 changes: 1 addition & 1 deletion src/sbf.h
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Expand Up @@ -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, const GPSConfig &config) override;
int reset(GPSRestartType restart_type) override;

private:
Expand Down
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