move driver to separate directory (tmp/backup)

src/drivers/gnss/Kconfig

@@ -0,0 +1 @@
+rsource "*/Kconfig"

src/drivers/gps/septentrio/CMakeLists.txt → src/drivers/gnss/septentrio/CMakeLists.txt

@@ -39,7 +39,7 @@ px4_add_module(
 	SRCS
 		septentrio.cpp
 		util.cpp
-		../devices/src/rtcm.cpp
+		rtcm.cpp
 	MODULE_CONFIG
 		module.yaml
 	)

src/drivers/gnss/septentrio/Kconfig

@@ -0,0 +1,5 @@
+menuconfig DRIVERS_GNSS_SEPTENTRIO
+	bool "Septentrio GNSS receivers"
+	default n
+	---help---
+		Enable support for Septentrio receivers

src/drivers/gps/septentrio/module.yaml → src/drivers/gnss/septentrio/module.yaml

@@ -3,7 +3,7 @@ module_name: Septentrio
 parameters:
   - group: Septentrio GNSS Receiver
     definitions:
-      SEPT_YAW_OFFS:
+      SSN_YAW_OFFS:
         description:
           short: Heading/Yaw offset for dual antenna GPS
           long: |
@@ -23,32 +23,15 @@ parameters:
         max: 360
         unit: deg
         reboot_required: true
-      SEPT_SAT_INFO:
+      SSN_SAT_INFO:
         description:
           short: Enable sat info
           long: |
             Enable publication of satellite info (ORB_ID(satellite_info)) if possible.
         type: boolean
         default: 0
         reboot_required: true
-      SEPT_GNSS:
-        description:
-          short: GNSS Systems
-          long: |
-            This integer bitmask controls the set of GNSS systems used by the receiver.
-            When no bits are set, the receiver's default configuration is used.
-        bit:
-          0: GPS (with QZSS)
-          1: SBAS (multiple GPS augmentation systems)
-          2: Galileo
-          3: BeiDou
-          4: GLONASS
-        type: bitmask
-        default: 0
-        min: 0
-        max: 31
-        reboot_required: true
-      SEPT_PITCH_OFFS:
+      SSN_PITCH_OFFS:
         description:
           short: Pitch offset for dual antenna GPS
           long: |
@@ -65,7 +48,7 @@ parameters:
         max: 90
         unit: deg
         reboot_required: true
-      SEPT_DUMP_COMM:
+      SSN_DUMP_COMM:
         description:
           short: Log GPS communication data
           long: |

src/drivers/gnss/septentrio/rtcm.cpp

@@ -0,0 +1,87 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "rtcm.h"
+#include <cstring>
+
+RTCMParsing::RTCMParsing()
+{
+	reset();
+}
+
+RTCMParsing::~RTCMParsing()
+{
+	delete[] _buffer;
+}
+
+void RTCMParsing::reset()
+{
+	if (!_buffer) {
+		_buffer = new uint8_t[RTCM_INITIAL_BUFFER_LENGTH];
+		_buffer_len = RTCM_INITIAL_BUFFER_LENGTH;
+	}
+
+	_pos = 0;
+	_message_length = _buffer_len;
+}
+
+bool RTCMParsing::addByte(uint8_t b)
+{
+	if (!_buffer) {
+		return false;
+	}
+
+	_buffer[_pos++] = b;
+
+	if (_pos == 3) {
+		_message_length = (((uint16_t)_buffer[1] & 3) << 8) | (_buffer[2]);
+
+		if (_message_length + 6 > _buffer_len) {
+			uint16_t new_buffer_len = _message_length + 6;
+			uint8_t *new_buffer = new uint8_t[new_buffer_len];
+
+			if (!new_buffer) {
+				delete[](_buffer);
+				_buffer = nullptr;
+				return false;
+			}
+
+			memcpy(new_buffer, _buffer, 3);
+			delete[](_buffer);
+			_buffer = new_buffer;
+			_buffer_len = new_buffer_len;
+		}
+	}
+
+	return _message_length + 6 == _pos;
+}

src/drivers/gnss/septentrio/rtcm.h

@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <cstdint>
+
+/* RTCM3 */
+#define RTCM3_PREAMBLE					0xD3
+#define RTCM_INITIAL_BUFFER_LENGTH			300		/**< initial maximum message length of an RTCM message */
+
+
+class RTCMParsing
+{
+public:
+	RTCMParsing();
+	~RTCMParsing();
+
+	/**
+	 * reset the parsing state
+	 */
+	void reset();
+
+	/**
+	 * add a byte to the message
+	 * @param b
+	 * @return true if message complete (use @message to get it)
+	 */
+	bool addByte(uint8_t b);
+
+	uint8_t *message() const { return _buffer; }
+	uint16_t messageLength() const { return _pos; }
+	uint16_t messageId() const { return (_buffer[3] << 4) | (_buffer[4] >> 4); }
+
+private:
+	uint8_t			*_buffer{nullptr};
+	uint16_t		_buffer_len{};
+	uint16_t		_pos{};						///< next position in buffer
+	uint16_t		_message_length{};					///< message length without header & CRC (both 3 bytes)
+};

src/drivers/gps/septentrio/septentrio.cpp → src/drivers/gnss/septentrio/septentrio.cpp

@@ -51,44 +51,39 @@
 #include <uORB/topics/gps_inject_data.h>
 #include <termios.h>
 
-#ifdef __PX4_LINUX
-#include <linux/spi/spidev.h>
-#endif
-
 #include "septentrio.h"
 #include "util.h"
-#include "../devices/src/rtcm.h"
 
 #ifndef GPS_READ_BUFFER_SIZE
-#define GPS_READ_BUFFER_SIZE	150		///< Buffer size for `read()` call
+#define GPS_READ_BUFFER_SIZE 150 ///< Buffer size for `read()` call
 #endif
 
 // TODO: this functionality is not available on the Snapdragon yet
 #ifdef __PX4_QURT
 #define NO_MKTIME
 #endif
 
-#define SBF_CONFIG_TIMEOUT	1000		///< ms, timeout for waiting ACK
-#define SBF_PACKET_TIMEOUT	2		///< ms, if now data during this delay assume that full update received
-#define DISABLE_MSG_INTERVAL	1000000		///< us, try to disable message with this interval
-#define MSG_SIZE		100 		///< size of the message to be sent to the receiver.
-#define TIMEOUT_5HZ		500		///< Timeout time in mS, 1000 mS (1Hz) + 300 mS delta for error
-#define RATE_MEASUREMENT_PERIOD 5000000		/// TODO: Document + change back to `5_s` (didn't know what headers to include)
-#define RECEIVER_BAUD_RATE	115200		///< The baudrate of the serial connection to the receiver
+#define SBF_CONFIG_TIMEOUT      1000    ///< ms, timeout for waiting ACK
+#define SBF_PACKET_TIMEOUT      2       ///< ms, if now data during this delay assume that full update received
+#define DISABLE_MSG_INTERVAL    1000000 ///< us, try to disable message with this interval
+#define MSG_SIZE                100     ///< size of the message to be sent to the receiver.
+#define TIMEOUT_5HZ             500     ///< Timeout time in mS, 1000 mS (1Hz) + 300 mS delta for error
+#define RATE_MEASUREMENT_PERIOD 5_s     /// TODO: Document + change back to `5_s` (didn't know what headers to include)
+#define RECEIVER_BAUD_RATE      115200  ///< The baudrate of the serial connection to the receiver
 // TODO: this number seems wrong
 #define GPS_EPOCH_SECS ((time_t)1234567890ULL)
 
 /**** Trace macros, disable for production builds */
-#define SBF_TRACE_PARSER(...)   {/*PX4_INFO(__VA_ARGS__);*/}    /* decoding progress in parse_char() */
-#define SBF_TRACE_RXMSG(...)    {/*PX4_INFO(__VA_ARGS__);*/}    /* Rx msgs in payload_rx_done() */
+#define SBF_TRACE_PARSER(...)   {/*PX4_INFO(__VA_ARGS__);*/} ///< decoding progress in parse_char()
+#define SBF_TRACE_RXMSG(...)    {/*PX4_INFO(__VA_ARGS__);*/} ///< Rx msgs in payload_rx_done()
 #define SBF_INFO(...)           {PX4_INFO(__VA_ARGS__);}
 
 /**** Warning macros, disable to save memory */
 #define SBF_WARN(...)        {PX4_WARN(__VA_ARGS__);}
 #define SBF_DEBUG(...)       {/*PX4_WARN(__VA_ARGS__);*/}
 
 // Commands
-#define SBF_FORCE_INPUT "SSSSSSSSSS\n"											/**< Force input on the connected port */
+#define SBF_FORCE_INPUT "SSSSSSSSSS\n"  /**< Force input on the connected port */
 
 #define SBF_CONFIG_RESET_HOT "" \
 	SBF_FORCE_INPUT"ExeResetReceiver, soft, none\n"
@@ -136,7 +131,7 @@ SeptentrioGPS::SeptentrioGPS(const char *device_path) :
 	_report_gps_pos.heading_offset = NAN;
 
 	int32_t enable_sat_info = 0;
-	param_get(param_find("SEPT_SAT_INFO"), &enable_sat_info);
+	param_get(param_find("SSN_SAT_INFO"), &enable_sat_info);
 
 	/* create satellite info data object if requested */
 	if (enable_sat_info) {
@@ -177,7 +172,7 @@ void SeptentrioGPS::run()
 {
 	uint64_t last_rate_measurement = hrt_absolute_time();
 	unsigned last_rate_count = 0;
-	param_t handle = param_find("SEPT_YAW_OFFS");
+	param_t handle = param_find("SSN_YAW_OFFS");
 	float heading_offset = 0.f;
 
 	if (handle != PARAM_INVALID) {
@@ -430,7 +425,7 @@ int SeptentrioGPS::configure(float heading_offset)
 {
 	_configured = false;
 
-	param_t handle = param_find("SEPT_PITCH_OFFS");
+	param_t handle = param_find("SSN_PITCH_OFFS");
 	float pitch_offset = 0.f;
 
 	if (handle != PARAM_INVALID) {
@@ -576,24 +571,6 @@ int SeptentrioGPS::serial_open()
 			return -1;
 		}
 
-#ifdef __PX4_LINUX
-
-		if (_interface == SeptentrioSerialInterface::SPI) {
-			int spi_speed = 1000000; // make sure the bus speed is not too high (required on RPi)
-			int status_value = ::ioctl(_serial_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
-
-			if (status_value < 0) {
-				PX4_ERR("SPI_IOC_WR_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
-			}
-
-			status_value = ::ioctl(_serial_fd, SPI_IOC_RD_MAX_SPEED_HZ, &spi_speed);
-
-			if (status_value < 0) {
-				PX4_ERR("SPI_IOC_RD_MAX_SPEED_HZ failed for %s (%d)", _port, errno);
-			}
-		}
-
-#endif /* __PX4_LINUX */
 	}
 
 	return 0;
@@ -1128,7 +1105,7 @@ int SeptentrioGPS::write(const uint8_t* buf, size_t buf_length)
 
 void SeptentrioGPS::initialize_communication_dump()
 {
-	param_t handle = param_find("SEPT_DUMP_COMM");
+	param_t handle = param_find("SSN_DUMP_COMM");
 	int32_t param_dump_comm;
 
 	if (handle == PARAM_INVALID || param_get(handle, &param_dump_comm) != 0) {

src/drivers/gps/septentrio/septentrio.h → src/drivers/gnss/septentrio/septentrio.h

@@ -57,7 +57,7 @@
 #include <lib/parameters/param.h>
 
 #include "sbf.h"
-#include "../devices/src/rtcm.h"
+#include "rtcm.h"
 
 /* Message decoder state */
 typedef enum {

src/drivers/gps/Kconfig

@@ -1,16 +1,12 @@
-menu "GPS"
-    menuconfig DRIVERS_GPS
+menuconfig DRIVERS_GPS
         bool "gps"
         default n
         ---help---
-            Enable support for gps
+                Enable support for gps
 
-    menuconfig USER_GPS
+menuconfig USER_GPS
         bool "gps running as userspace module"
         default y
         depends on BOARD_PROTECTED && DRIVERS_GPS
         ---help---
-            Put gps in userspace memory
-
-    rsource "*/Kconfig"
-endmenu #GPS
+                Put gps in userspace memory