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AP_GPS: Add driver option to allow GPS autobaud bypass and instead use configured SERIALx_BAUD #25488

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AP_GPS: Add driver option to allow GPS autobaud bypass and instead use configured SERIALx_BAUD #25488

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b6e3cba
AP_GPS: Manual baud from SerialManager
Ryanf55 Nov 4, 2023
1475565
AP_GPS: Finish baud bypass implementation
Ryanf55 Nov 8, 2023
80fed87
AP_GPS: Use baud from serial manager to set GPS baud
Ryanf55 Nov 8, 2023
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102 changes: 75 additions & 27 deletions libraries/AP_GPS/AP_GPS.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -349,7 +349,7 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
// @Param: _DRV_OPTIONS
// @DisplayName: driver options
// @Description: Additional backend specific options
// @Bitmask: 0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200,3:Use dedicated CAN port b/w GPSes for moving baseline,4:Use ellipsoid height instead of AMSL
// @Bitmask: 0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200, ignored when bit 5 isset,3:Use dedicated CAN port b/w GPSes for moving baseline,4:Use ellipsoid height instead of AMSL, 5:Bypass automatic baud detection and use the baud from SERIALN_BAUD instead.
// @User: Advanced
AP_GROUPINFO("_DRV_OPTIONS", 22, AP_GPS, _driver_options, 0),

Expand Down Expand Up @@ -617,7 +617,7 @@ void AP_GPS::send_blob_start(uint8_t instance, const char *_blob, uint16_t size)
void AP_GPS::send_blob_start(uint8_t instance)
{
#if AP_GPS_UBLOX_ENABLED
if (_type[instance] == GPS_TYPE_UBLOX && option_set(DriverOptions::UBX_Use115200)) {
if (_type[instance] == GPS_TYPE_UBLOX && option_set(DriverOptions::UBX_Use115200) && !option_set(DriverOptions::BypassGPSDetection)) {
static const char blob[] = UBLOX_SET_BINARY_115200;
send_blob_start(instance, blob, sizeof(blob));
return;
Expand Down Expand Up @@ -762,34 +762,63 @@ AP_GPS_Backend *AP_GPS::_detect_instance(uint8_t instance)
return nullptr;
}

// all remaining drivers automatically cycle through baud rates to detect
// the correct baud rate, and should have the selected baud broadcast
dstate->auto_detected_baud = true;
const uint32_t now = AP_HAL::millis();
// By default, all remaining drivers automatically cycle through baud rates to detect
// the correct baud rate, and should have the selected baud broadcast.
// This is disabled when DriverOptions::BypassGPSDetection is turned on.
dstate->auto_detected_baud = !option_set(AP_GPS::DriverOptions::BypassGPSDetection);


if (dstate->auto_detected_baud) {
const uint32_t now = AP_HAL::millis();
if (now - dstate->last_baud_change_ms > GPS_BAUD_TIME_MS) {
// try the next baud rate
// incrementing like this will skip the first element in array of bauds
// this is okay, and relied upon
dstate->current_baud++;
if (dstate->current_baud == ARRAY_SIZE(_baudrates)) {
dstate->current_baud = 0;
}
uint32_t baudrate = _baudrates[dstate->current_baud];
uint16_t rx_size=0, tx_size=0;
if (_type[instance] == GPS_TYPE_UBLOX_RTK_ROVER) {
tx_size = 2048;
}
if (_type[instance] == GPS_TYPE_UBLOX_RTK_BASE) {
rx_size = 2048;
}
_port[instance]->begin(baudrate, rx_size, tx_size);
_port[instance]->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
dstate->last_baud_change_ms = now;

if (_auto_config >= GPS_AUTO_CONFIG_ENABLE_SERIAL_ONLY) {
send_blob_start(instance);
}
}
} else {
// TODO set current_baud from serial param
// TODO handle whether to send the blob start and blob update based on GPS_AUTO_CONFIG_ENABLE_SERIAL_ONLY

if (now - dstate->last_baud_change_ms > GPS_BAUD_TIME_MS) {
// try the next baud rate
// incrementing like this will skip the first element in array of bauds
// this is okay, and relied upon
dstate->current_baud++;
if (dstate->current_baud == ARRAY_SIZE(_baudrates)) {
dstate->current_baud = 0;
const AP_SerialManager& sm = AP::serialmanager();
// TODO may be confused between serial instance number and GPS instance number
// Check AP_GPS::init for more info.
const auto uart_state = sm.find_protocol_instance(AP_SerialManager::SerialProtocol_GPS, instance);
if (uart_state == nullptr) {
return nullptr;
}
uint32_t baudrate = _baudrates[dstate->current_baud];
const auto serial_baud = uart_state->baudrate();
// Rely on above wrap if the user sets DriverOptions::BypassGPSDetection
dstate->current_baud = ARRAY_SIZE(_baudrates);

// TODO this is duplicated with above logic
uint16_t rx_size=0, tx_size=0;
if (_type[instance] == GPS_TYPE_UBLOX_RTK_ROVER) {
tx_size = 2048;
}
if (_type[instance] == GPS_TYPE_UBLOX_RTK_BASE) {
rx_size = 2048;
}
_port[instance]->begin(baudrate, rx_size, tx_size);
_port[instance]->begin(serial_baud, rx_size, tx_size);
_port[instance]->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
dstate->last_baud_change_ms = now;

if (_auto_config >= GPS_AUTO_CONFIG_ENABLE_SERIAL_ONLY) {
send_blob_start(instance);
}
}

if (_auto_config >= GPS_AUTO_CONFIG_ENABLE_SERIAL_ONLY) {
Expand Down Expand Up @@ -832,6 +861,19 @@ AP_GPS_Backend *AP_GPS::_detect_instance(uint8_t instance)
(void)data; // if all backends are compiled out then "data" is unused

#if AP_GPS_UBLOX_ENABLED
if (option_set(AP_GPS::DriverOptions::BypassGPSDetection))
{
if (_type[instance] == GPS_TYPE_UBLOX) {
return new AP_GPS_UBLOX(*this, state[instance], _port[instance], GPS_ROLE_NORMAL);
}
if (_type[instance] == GPS_TYPE_UBLOX_RTK_BASE) {
return new AP_GPS_UBLOX(*this, state[instance], _port[instance], GPS_ROLE_MB_BASE);
}
if (_type[instance] == GPS_TYPE_UBLOX_RTK_ROVER) {
return new AP_GPS_UBLOX(*this, state[instance], _port[instance], GPS_ROLE_MB_ROVER);
}
}

if ((_type[instance] == GPS_TYPE_AUTO ||
_type[instance] == GPS_TYPE_UBLOX) &&
((!_auto_config && _baudrates[dstate->current_baud] >= 38400) ||
Expand All @@ -856,8 +898,8 @@ AP_GPS_Backend *AP_GPS::_detect_instance(uint8_t instance)
}
#endif // AP_GPS_UBLOX_ENABLED
#if AP_GPS_SBP2_ENABLED
if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SBP) &&
AP_GPS_SBP2::_detect(dstate->sbp2_detect_state, data)) {
if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SBP) &&
AP_GPS_SBP2::_detect(dstate->sbp2_detect_state, data)) {
return new AP_GPS_SBP2(*this, state[instance], _port[instance]);
}
#endif //AP_GPS_SBP2_ENABLED
Expand All @@ -868,14 +910,16 @@ AP_GPS_Backend *AP_GPS::_detect_instance(uint8_t instance)
}
#endif //AP_GPS_SBP_ENABLED
#if AP_GPS_SIRF_ENABLED
if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SIRF) &&
AP_GPS_SIRF::_detect(dstate->sirf_detect_state, data)) {
if ((option_set(AP_GPS::DriverOptions::BypassGPSDetection) && _type[instance] == GPS_TYPE_SIRF) ||
((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SIRF) &&
AP_GPS_SIRF::_detect(dstate->sirf_detect_state, data))) {
return new AP_GPS_SIRF(*this, state[instance], _port[instance]);
}
#endif
#if AP_GPS_ERB_ENABLED
if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_ERB) &&
AP_GPS_ERB::_detect(dstate->erb_detect_state, data)) {
if ((option_set(AP_GPS::DriverOptions::BypassGPSDetection) && _type[instance] == GPS_TYPE_ERB) ||
((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_ERB) &&
AP_GPS_ERB::_detect(dstate->erb_detect_state, data))) {
return new AP_GPS_ERB(*this, state[instance], _port[instance]);
}
#endif // AP_GPS_ERB_ENABLED
Expand All @@ -887,7 +931,8 @@ AP_GPS_Backend *AP_GPS::_detect_instance(uint8_t instance)
_type[instance] == GPS_TYPE_UNICORE_MOVINGBASE_NMEA ||
#endif
_type[instance] == GPS_TYPE_ALLYSTAR) &&
AP_GPS_NMEA::_detect(dstate->nmea_detect_state, data)) {
(AP_GPS_NMEA::_detect(dstate->nmea_detect_state, data) ||
option_set(AP_GPS::DriverOptions::BypassGPSDetection))) {
return new AP_GPS_NMEA(*this, state[instance], _port[instance]);
}
#endif //AP_GPS_NMEA_ENABLED
Expand Down Expand Up @@ -2344,6 +2389,9 @@ bool AP_GPS::gps_yaw_deg(uint8_t instance, float &yaw_deg, float &accuracy_deg,
return true;
}

void AP_GPS::change_to_next_baud() {
}

namespace AP {

AP_GPS &gps()
Expand Down
6 changes: 5 additions & 1 deletion libraries/AP_GPS/AP_GPS.h
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Original file line number Diff line number Diff line change
Expand Up @@ -623,10 +623,11 @@ class AP_GPS
UBX_Use115200 = (1U << 2U),
UAVCAN_MBUseDedicatedBus = (1 << 3U),
HeightEllipsoid = (1U << 4),
BypassGPSDetection = (1U << 5),
};

// check if an option is set
bool option_set(const DriverOptions option) const {
bool option_set(const DriverOptions option) const WARN_IF_UNUSED {
return (uint8_t(_driver_options.get()) & uint8_t(option)) != 0;
}

Expand Down Expand Up @@ -784,6 +785,9 @@ class AP_GPS
// logging support
void Write_GPS(uint8_t instance);

// autobaud helper to change to next baud
void change_to_next_baud();

};

namespace AP {
Expand Down