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[gps] cleanup multi gps implementation

Browse Source 
instead of a gps_multi_id subsystem, do it like for AHRS, e.g.
```
<subsystem name="gps" type="ubx"/>
<subsystem name="gps" type="piksi>
  <configure name="GPS_SECONDARY" value="piksi"/>
</subsystem>
```
This commit is contained in:
Felix Ruess
2016-02-07 21:22:42 +01:00
parent 961f6823b4
commit 01ae32cbde
45 changed files with 413 additions and 610 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/boards/lisa_mx_2.0.makefile
-6
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@@ -51,12 +51,6 @@ MODEM_BAUD ?= B57600
GPS_PORT ?= UART3
GPS_BAUD ?= B38400
GPS_PRIMARY_PORT ?= UART3
GPS_PRIMARY_BAUD ?= B115200
GPS_SECONDARY_PORT ?= UART1
GPS_SECONDARY_BAUD ?= B115200
GPS_PRIMARY_TYPE ?= UBX
GPS_SECONDARY_TYPE ?= PIKSI
#
# default PPM input is on PA01 (SERVO6)
conf/firmwares/subsystems/fixedwing/ins_vectornav.makefile
+2 -2
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@@ -19,7 +19,7 @@ sim.CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_gps_passthrough_utm.h\"
sim.srcs += $(SRC_SUBSYSTEMS)/ins/ins_gps_passthrough_utm.c
sim.CFLAGS += -DUSE_GPS
sim.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
sim.srcs += $(SRC_SUBSYSTEMS)/gps.c
@@ -32,7 +32,7 @@ nps.srcs += $(SRC_SUBSYSTEMS)/imu.c $(SRC_SUBSYSTEMS)/imu/imu_nps.c
nps.CFLAGS += -DUSE_GPS
nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
nps.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
nps.CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_gps_passthrough_utm.h\"
conf/firmwares/subsystems/fixedwing/ins_xsens.makefile
+2 -2
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@@ -41,7 +41,7 @@ ap.CFLAGS += -DUSE_GPS_XSENS
ap.CFLAGS += -DUSE_GPS_XSENS_RAW_DATA
ap.CFLAGS += -DGPS_NB_CHANNELS=16
ap.CFLAGS += -DUSE_GPS
ap.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"modules/ins/ins_xsens.h\"
ap.CFLAGS += -DGPS_TYPE_H=\"modules/ins/ins_xsens.h\"
ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
@@ -62,7 +62,7 @@ $(TARGET).CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_gps_passthrough_utm.h\"
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/ins_gps_passthrough_utm.c
$(TARGET).CFLAGS += -DUSE_GPS
$(TARGET).CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
$(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
conf/firmwares/subsystems/rotorcraft/gps_ardrone2.makefile
+4 -5
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@@ -11,11 +11,10 @@ ifneq ($(GPS_LED),none)
endif
ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_ardrone2.h\"
ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_ardrone2.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_ardrone2.c
ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
nps.CFLAGS += -DUSE_GPS
nps.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
conf/firmwares/subsystems/rotorcraft/gps_datalink.makefile
+3 -3
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@@ -3,7 +3,7 @@
GPS_LED ?= none
ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
ap.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_datalink.h\"
ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_datalink.h\"
ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_datalink.c
ap.CFLAGS += -DUSE_GPS -DGPS_DATALINK
@@ -13,6 +13,6 @@ ifneq ($(GPS_LED),none)
endif
nps.CFLAGS += -DUSE_GPS
nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
nps.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
conf/firmwares/subsystems/rotorcraft/gps_piksi.makefile
-28
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@@ -1,28 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
# Swift-Nav Piksi RTK module
GPS_LED ?= none
GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
ap.CFLAGS += -DUSE_GPS
ap.CFLAGS += -DUSE_$(GPS_PORT) -D$(GPS_PORT)_BAUD=B115200
ap.CFLAGS += -DPIKSI_GPS_LINK=$(GPS_PORT_LOWER)
ifneq ($(GPS_LED),none)
ap.CFLAGS += -DGPS_LED=$(GPS_LED)
endif
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
ap.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_piksi.h\"
ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_piksi.c
# libsbp
ap.CFLAGS += -I$(PAPARAZZI_SRC)/sw/ext/libsbp/c/include
ap.srcs += $(PAPARAZZI_SRC)/sw/ext/libsbp/c/src/sbp.c $(PAPARAZZI_SRC)/sw/ext/libsbp/c/src/edc.c
nps.CFLAGS += -DUSE_GPS
nps.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
conf/firmwares/subsystems/rotorcraft/gps_sim_hitl.makefile
+2 -2
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@@ -1,7 +1,7 @@
# Hey Emacs, this is a -*- makefile -*-
ap.CFLAGS += -DUSE_GPS -DHITL
ap.CFLAGS += -DPRIMARY_GPS_TYPE=\"subsystems/gps/gps_sim_hitl.h\"
ap.CFLAGS += -DGPS_TYPE=\"subsystems/gps/gps_sim_hitl.h\"
ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_hitl.c
ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
@@ -12,5 +12,5 @@ endif
nps.CFLAGS += -DUSE_GPS
nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
nps.CFLAGS += -DPRIMARY_GPS_TYPE=\"subsystems/gps/gps_sim_nps.h\"
nps.CFLAGS += -DGPS_TYPE=\"subsystems/gps/gps_sim_nps.h\"
nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
conf/firmwares/subsystems/rotorcraft/gps_sirf.makefile
+10 -8
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@@ -3,23 +3,25 @@
# Sirf GPS unit
GPS_LED ?= none
SIRF_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
SIRF_GPS_PORT ?= $(GPS_PORT)
SIRF_GPS_BAUD ?= $(GPS_BAUD)
SIRF_GPS_PORT_LOWER=$(shell echo $(SIRF_GPS_PORT) | tr A-Z a-z)
ap.CFLAGS += -DUSE_GPS
ap.CFLAGS += -DSIRF_GPS_LINK=$(SIRF_GPS_PORT_LOWER)
ap.CFLAGS += -DUSE_$(GPS_PORT)
ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
ap.CFLAGS += -DUSE_$(SIRF_GPS_PORT)
ap.CFLAGS += -D$(SIRF_GPS_PORT)_BAUD=$(SIRF_GPS_BAUD)
ifneq ($(GPS_LED),none)
ap.CFLAGS += -DGPS_LED=$(GPS_LED)
endif
ap.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sirf.h\"
ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sirf.h\"
ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sirf.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
nps.CFLAGS += -DUSE_GPS
nps.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
conf/firmwares/subsystems/rotorcraft/gps_udp.makefile
+2 -2
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@@ -3,7 +3,7 @@
GPS_LED ?= none
ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
ap.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_udp.h\"
ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_udp.h\"
ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_udp.c
ap.CFLAGS += -DUSE_GPS
@@ -14,5 +14,5 @@ endif
nps.CFLAGS += -DUSE_GPS
nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
nps.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
conf/firmwares/subsystems/rotorcraft/ins_vectornav.makefile
+1 -1
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@@ -14,7 +14,7 @@ nps.srcs += $(SRC_SUBSYSTEMS)/imu.c $(SRC_SUBSYSTEMS)/imu/imu_nps.c
nps.CFLAGS += -DUSE_GPS
nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
nps.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
nps.CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_gps_passthrough.h\"
conf/firmwares/subsystems/shared/gps_furuno.makefile
+13 -9
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@@ -3,28 +3,32 @@
# Furuno NMEA GPS unit
GPS_LED ?= none
FURUNO_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
FURUNO_GPS_PORT ?= $(GPS_PORT)
FURUNO_GPS_BAUD ?= $(GPS_BAUD)
FURUNO_GPS_PORT_LOWER=$(shell echo $(FURUNO_GPS_PORT) | tr A-Z a-z)
ap.CFLAGS += -DUSE_GPS
ap.CFLAGS += -DNMEA_GPS_LINK=$(FURUNO_GPS_PORT_LOWER)
ap.CFLAGS += -DUSE_$(GPS_PORT)
ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
ap.CFLAGS += -DUSE_$(FURUNO_GPS_PORT)
ap.CFLAGS += -D$(FURUNO_GPS_PORT)_BAUD=$(FURUNO_GPS_BAUD)
ap.CFLAGS += -DNMEA_PARSE_PROP
ifneq ($(GPS_LED),none)
ap.CFLAGS += -DGPS_LED=$(GPS_LED)
endif
ap.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_nmea.c $(SRC_SUBSYSTEMS)/gps/gps_furuno.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
sim.CFLAGS += -DUSE_GPS
sim.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
sim.srcs += $(SRC_SUBSYSTEMS)/gps.c
nps.CFLAGS += -DUSE_GPS
nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
nps.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
conf/firmwares/subsystems/shared/gps_mediatek_diy.makefile
+12 -8
View File
@@ -3,26 +3,30 @@
# Mediatek MT3329, DIYDrones V1.4/1.6 protocol
GPS_LED ?= none
MTK_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
MTK_GPS_PORT ?= $(GPS_PORT)
MTK_GPS_BAUD ?= $(GPS_BAUD)
MTK_GPS_PORT_LOWER=$(shell echo $(MTK_GPS_PORT) | tr A-Z a-z)
ap.CFLAGS += -DUSE_GPS -DGPS_CONFIGURE
ap.CFLAGS += -DMTK_GPS_LINK=$(MTK_GPS_PORT_LOWER)
ap.CFLAGS += -DUSE_$(GPS_PORT)
ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
ap.CFLAGS += -DUSE_$(MTK_GPS_PORT)
ap.CFLAGS += -D$(MTK_GPS_PORT)_BAUD=$(MTK_GPS_BAUD)
ifneq ($(GPS_LED),none)
ap.CFLAGS += -DGPS_LED=$(GPS_LED)
endif
ap.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_mtk.h\"
ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_mtk.h\"
ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_mtk.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
sim.CFLAGS += -DUSE_GPS
sim.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
sim.srcs += $(SRC_SUBSYSTEMS)/gps.c
nps.CFLAGS += -DUSE_GPS
nps.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
conf/firmwares/subsystems/shared/gps_multi.makefile
-37
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@@ -1,37 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
GPS_LED ?= none
GPS_PRIMARY_PORT_LOWER=$(shell echo $(GPS_PRIMARY_PORT) | tr A-Z a-z)
GPS_SECONDARY_PORT_LOWER=$(shell echo $(GPS_SECONDARY_PORT) | tr A-Z a-z)
ap.CFLAGS += -DUSE_GPS
ap.CFLAGS += -DUSE_MULTI_GPS
ap.CFLAGS += -DUSE_$(GPS_PRIMARY_PORT) -D$(GPS_PRIMARY_PORT)_BAUD=$(GPS_PRIMARY_BAUD)
ap.CFLAGS += -DUSE_$(GPS_SECONDARY_PORT) -D$(GPS_SECONDARY_PORT)_BAUD=$(GPS_SECONDARY_BAUD)
ap.CFLAGS += -DGPS_PRIMARY_PORT=$(GPS_PRIMARY_PORT_LOWER)
ap.CFLAGS += -DGPS_SECONDARY_PORT=$(GPS_SECONDARY_PORT_LOWER)
ap.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_ubx.h\"
ap.CFLAGS += -DSECONDARY_GPS_TYPE_H=\"subsystems/gps/gps_piksi.h\"
ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_piksi.c
ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_ubx.c
ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
ap.CFLAGS += -DGPS_PRIMARY_$(GPS_PRIMARY_TYPE)
ap.CFLAGS += -DGPS_SECONDARY_$(GPS_SECONDARY_TYPE)
ifeq (PIKSI,$(filter PIKSI,$(GPS_PRIMARY_TYPE) $(GPS_SECONDARY_TYPE)))
# libsbp
ap.CFLAGS += -I$(PAPARAZZI_SRC)/sw/ext/libsbp/c/include
ap.srcs += $(PAPARAZZI_SRC)/sw/ext/libsbp/c/src/sbp.c $(PAPARAZZI_SRC)/sw/ext/libsbp/c/src/edc.c
endif
ifneq ($(GPS_LED),none)
ap.CFLAGS += -DGPS_LED=$(GPS_LED)
endif
nps.CFLAGS += -DUSE_GPS
nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
nps.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
conf/firmwares/subsystems/shared/gps_nmea.makefile
+13 -9
View File
@@ -3,26 +3,30 @@
# NMEA GPS unit
GPS_LED ?= none
NMEA_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
NMEA_GPS_PORT ?= $(GPS_PORT)
NMEA_GPS_BAUD ?= $(GPS_BAUD)
NMEA_GPS_PORT_LOWER=$(shell echo $(NMEA_GPS_PORT) | tr A-Z a-z)
ap.CFLAGS += -DUSE_GPS
ap.CFLAGS += -DNMEA_GPS_LINK=$(NMEA_GPS_PORT_LOWER)
ap.CFLAGS += -DUSE_$(GPS_PORT)
ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
ap.CFLAGS += -DUSE_$(NMEA_GPS_PORT)
ap.CFLAGS += -D$(NMEA_GPS_PORT)_BAUD=$(NMEA_GPS_BAUD)
ifneq ($(GPS_LED),none)
ap.CFLAGS += -DGPS_LED=$(GPS_LED)
endif
ap.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_nmea.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_nmea.c
ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
sim.CFLAGS += -DUSE_GPS
sim.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
sim.srcs += $(SRC_SUBSYSTEMS)/gps.c
nps.CFLAGS += -DUSE_GPS
nps.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
conf/firmwares/subsystems/shared/gps_piksi.makefile
+25 -9
View File
@@ -3,30 +3,46 @@
# Swift-Nav Piksi RTK module
GPS_LED ?= none
PIKSI_GPS_PORT ?= $(GPS_PORT)
PIKSI_GPS_BAUD ?= $(GPS_BAUD)
GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
PIKSI_GPS_PORT_LOWER=$(shell echo $(PIKSI_GPS_PORT) | tr A-Z a-z)
ap.CFLAGS += -DUSE_GPS
ap.CFLAGS += -DUSE_$(GPS_PORT) -D$(GPS_PORT)_BAUD=B115200
ap.CFLAGS += -DPIKSI_GPS_LINK=$(GPS_PORT_LOWER)
ap.CFLAGS += -DUSE_$(PIKSI_GPS_PORT) -D$(PIKSI_GPS_PORT)_BAUD=B115200
ap.CFLAGS += -DPIKSI_GPS_LINK=$PIKSI_(GPS_PORT_LOWER)
ifneq ($(GPS_LED),none)
ap.CFLAGS += -DGPS_LED=$(GPS_LED)
endif
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
ifdef SECONDARY_GPS
ifneq (,$(findstring $(SECONDARY_GPS), piksi))
# this is the secondary GPS
ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_piksi.h\"
ap.CFLAGS += -DSECONDARY_GPS=gps_piksi
else
ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_piksi.h\"
ap.CFLAGS += -DPRIMARY_GPS=gps_piksi
endif
else
# plain old single GPS usage
ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_piksi.h\"
endif
ap.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_piksi.h\"
ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_piksi.c
ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_piksi.c
# libsbp
ap.CFLAGS += -I$(PAPARAZZI_SRC)/sw/ext/libsbp/c/include
ap.srcs += $(PAPARAZZI_SRC)/sw/ext/libsbp/c/src/sbp.c $(PAPARAZZI_SRC)/sw/ext/libsbp/c/src/edc.c
sim.CFLAGS += -DUSE_GPS
sim.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
sim.srcs += $(SRC_SUBSYSTEMS)/gps.c
nps.CFLAGS += -DUSE_GPS
nps.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
conf/firmwares/subsystems/shared/gps_skytraq.makefile
+13 -10
View File
@@ -1,27 +1,30 @@
# Hey Emacs, this is a -*- makefile -*-
GPS_LED ?= none
SKYTRAQ_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
SKYTRAQ_GPS_PORT ?= $(GPS_PORT)
SKYTRAQ_GPS_BAUD ?= $(GPS_BAUD)
SKYTRAQ_GPS_PORT_LOWER=$(shell echo $(SKYTRAQ_GPS_PORT) | tr A-Z a-z)
ap.CFLAGS += -DUSE_GPS
ap.CFLAGS += -DSKYTRAQ_GPS_LINK=$(SKYTRAQ_GPS_PORT_LOWER)
ap.CFLAGS += -DUSE_$(GPS_PORT)
ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
ap.CFLAGS += -DSKYTRAQ_GPS_LINK=$(SKYTRAQ_SKYTRAQ_GPS_PORT_LOWER)
ap.CFLAGS += -DUSE_$(SKYTRAQ_GPS_PORT)
ap.CFLAGS += -D$(SKYTRAQ_GPS_PORT)_BAUD=$(SKYTRAQ_GPS_BAUD)
ifneq ($(GPS_LED),none)
ap.CFLAGS += -DGPS_LED=$(GPS_LED)
endif
ap.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_skytraq.h\"
ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_skytraq.h\"
ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_skytraq.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
sim.CFLAGS += -DUSE_GPS
sim.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
sim.srcs += $(SRC_SUBSYSTEMS)/gps.c
nps.CFLAGS += -DUSE_GPS
nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
nps.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
conf/firmwares/subsystems/shared/gps_ublox.makefile
+25 -8
View File
@@ -2,26 +2,43 @@
# UBlox LEA
GPS_LED ?= none
UBX_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
UBX_GPS_PORT ?= $(GPS_PORT)
UBX_GPS_BAUD ?= $(GPS_BAUD)
UBX_GPS_PORT_LOWER=$(shell echo $(UBX_GPS_PORT) | tr A-Z a-z)
ap.CFLAGS += -DUSE_GPS -DUBX
ap.CFLAGS += -DUBX_GPS_LINK=$(UBX_GPS_PORT_LOWER)
ap.CFLAGS += -DUSE_$(GPS_PORT)
ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
ap.CFLAGS += -DUSE_$(UBX_GPS_PORT)
ap.CFLAGS += -D$(UBX_GPS_PORT)_BAUD=$(UBX_GPS_BAUD)
ifneq ($(GPS_LED),none)
ap.CFLAGS += -DGPS_LED=$(GPS_LED)
endif
ap.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_ubx.h\"
ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_ubx.c
ifdef SECONDARY_GPS
ifneq (,$(findstring $(SECONDARY_GPS), ublox))
# this is the secondary GPS
ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_ubx.h\"
ap.CFLAGS += -DSECONDARY_GPS=gps_ubx
else
ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_ubx.h\"
ap.CFLAGS += -DPRIMARY_GPS=gps_ubx
endif
else
# plain old single GPS usage
ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_ubx.h\"
endif
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_ubx.c
ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
sim.CFLAGS += -DUSE_GPS
sim.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
sim.srcs += $(SRC_SUBSYSTEMS)/gps.c
nps.CFLAGS += -DUSE_GPS
nps.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
conf/firmwares/subsystems/shared/ins_xsens700.makefile
+2 -2
View File
@@ -35,7 +35,7 @@ ap.CFLAGS += -DAHRS_TRIGGERED_ATTITUDE_LOOP
ap.CFLAGS += -DUSE_GPS_XSENS
ap.CFLAGS += -DGPS_NB_CHANNELS=50
ap.CFLAGS += -DUSE_GPS
ap.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"modules/ins/ins_xsens.h\"
ap.CFLAGS += -DGPS_TYPE_H=\"modules/ins/ins_xsens.h\"
ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
@@ -56,7 +56,7 @@ $(TARGET).CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_gps_passthrough_utm.h\"
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/ins_gps_passthrough_utm.c
$(TARGET).CFLAGS += -DUSE_GPS
$(TARGET).CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
$(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
sw/airborne/modules/ins/ins_xsens.c
+3 -12
View File
@@ -299,7 +299,7 @@ void ins_xsens_update_gps(struct GpsState *gps_s)
#endif
#if USE_GPS_XSENS
void xsens_gps_impl_init(void)
void gps_xsens_init(void)
{
gps.nb_channels = 0;
}
@@ -316,11 +316,6 @@ static void gps_xsens_publish(void)
}
AbiSendMsgGPS(GPS_XSENS_ID, now_ts, &gps);
}
void xsens_gps_event(void)
{
}
#endif
void xsens_periodic(void)
@@ -784,12 +779,8 @@ restart:
/*
* register callbacks & structs
*/
void xsens_gps_register(void)
void gps_xsens_register(void)
{
#ifdef GPS_SECONDARY_XSENS
gps_register_impl(xsens_gps_impl_init, xsens_gps_event, GPS_XSENS_ID, 1);
#else
gps_register_impl(xsens_gps_impl_init, xsens_gps_event, GPS_XSENS_ID, 0);
#endif
gps_register_impl(gps_xsens_init, NULL, GPS_XSENS_ID);
}
#endif
sw/airborne/modules/ins/ins_xsens.h
+4 -5
View File
@@ -79,12 +79,11 @@ extern void ins_xsens_register(void);
#if USE_GPS_XSENS
#ifndef PrimaryGpsImpl
#define PrimaryGpsImpl xsens
#ifndef PRIMARY_GPS
#define PRIMARY_GPS gps_xsens
#endif
extern void xsens_gps_event(void);
extern void xsens_gps_impl_init(void);
extern void xsens_gps_register(void);
extern void gps_xsens_init(void);
extern void gps_xsens_register(void);
#endif
#endif
sw/airborne/modules/ins/ins_xsens700.c
+3 -12
View File
@@ -230,7 +230,7 @@ void ins_xsens_update_gps(struct GpsState *gps_s)
#endif
#if USE_GPS_XSENS
void xsens_gps_impl_init(void)
void gps_xsens_impl_init(void)
{
gps.nb_channels = 0;
}
@@ -247,11 +247,6 @@ static void gps_xsens_publish(void)
}
AbiSendMsgGPS(GPS_XSENS_ID, now_ts, &gps);
}
void xsens_gps_event(void)
{
}
#endif
static void xsens_ask_message_rate(uint8_t c1, uint8_t c2, uint8_t freq)
@@ -633,12 +628,8 @@ restart:
/*
* register callbacks & structs
*/
void xsens_gps_register(void)
void gps_xsens_register(void)
{
#ifdef GPS_SECONDARY_XSENS
gps_register_impl(xsens_gps_impl_init, xsens_gps_event, GPS_XSENS_ID, 1);
#else
gps_register_impl(xsens_gps_impl_init, xsens_gps_event, GPS_XSENS_ID, 0);
#endif
gps_register_impl(gps_xsens_init, NULL, GPS_XSENS_ID);
}
#endif
sw/airborne/subsystems/gps.c
+56 -42
View File
@@ -30,6 +30,29 @@
#include "subsystems/settings.h"
#include "generated/settings.h"
#ifndef PRIMARY_GPS
#error "PRIMARY_GPS not set!"
#else
PRINT_CONFIG_VAR(PRIMARY_GPS)
#endif
#ifdef SECONDARY_GPS
PRINT_CONFIG_VAR(SECONDARY_GPS)
#endif
#define __RegisterGps(_x) _x ## _register()
#define _RegisterGps(_x) __RegisterGps(_x)
#define RegisterGps(_x) _RegisterGps(_x)
/** maximum number of GPS implementations that can register */
#if USE_MULTI_GPS
#define GPS_NB_IMPL 2
#else
#define GPS_NB_IMPL 1
#endif
#define PRIMARY_GPS_INSTANCE 0
#define SECONDARY_GPS_INSTANCE 1
#ifdef GPS_POWER_GPIO
#include "mcu_periph/gpio.h"
@@ -40,44 +63,26 @@
#endif
#define MSEC_PER_WEEK (1000*60*60*24*7)
#define TIME_TO_SWITCH 5000 //ten s in ms
struct GpsState gps;
struct GpsTimeSync gps_time_sync;
#ifndef PrimaryGpsImpl
#warning "PrimaryGpsImpl not set!"
#else
PRINT_CONFIG_VAR(PrimaryGpsImpl)
#endif
#ifdef USE_MULTI_GPS
#ifndef SecondaryGpsImpl
#warning "SecondaryGpsImpl not set!"
#else
PRINT_CONFIG_VAR(SecondaryGpsImpl)
#endif
#if USE_MULTI_GPS
static uint8_t current_gps_id = 0;
#endif /*USE_MULTI_GPS*/
#define __PrimaryGpsRegister(_x) _x ## _gps_register()
#define _PrimaryGpsRegister(_x) __PrimaryGpsRegister(_x)
#define PrimaryGpsRegister() _PrimaryGpsRegister(PrimaryGpsImpl)
#define __SecondaryGpsRegister(_x) _x ## _gps_register()
#define _SecondaryGpsRegister(_x) __SecondaryGpsRegister(_x)
#define SecondaryGpsRegister() _SecondaryGpsRegister(SecondaryGpsImpl)
#define TIME_TO_SWITCH 5000 //ten s in ms
#endif
uint8_t multi_gps_mode;
/* gps structs */
struct GpsInstance {;
struct GpsInstance {
ImplGpsInit init;
ImplGpsEvent event;
uint8_t id;
};
struct GpsInstance GpsInstances[GPS_NUM_INSTANCES];
struct GpsInstance GpsInstances[GPS_NB_IMPL];
#if PERIODIC_TELEMETRY
#include "subsystems/datalink/telemetry.h"
@@ -228,35 +233,38 @@ static void gps_cb(uint8_t sender_id,
#endif
}
/*
* handle gps switching and updating gps instances
/*
* handle gps switching and updating gps instances
*/
void GpsEvent(void) {
// run each gps event
uint8_t i;
for ( i = 0 ; i < GPS_NUM_INSTANCES ; i++) {
GpsInstances[i].event();
for (int i = 0 ; i < GPS_NB_IMPL ; i++) {
if (GpsInstances[i].event != NULL) {
GpsInstances[i].event();
}
}
}
/*
* register gps structs for callback
*/
void gps_register_impl(ImplGpsInit init, ImplGpsEvent event, uint8_t id, int8_t instance)
void gps_register_impl(ImplGpsInit init, ImplGpsEvent event, uint8_t id)
{
GpsInstances[instance].init = init;
GpsInstances[instance].event = event;
GpsInstances[instance].id = id;
int i;
for (i=0; i < GPS_NB_IMPL; i++) {
if (GpsInstances[i].init == NULL) {
GpsInstances[i].init = init;
GpsInstances[i].event = event;
GpsInstances[i].id = id;
break;
}
}
GpsInstances[instance].init();
}
void gps_init(void)
{
// #ifdef USE_MULTI_GPS
multi_gps_mode = MULTI_GPS_MODE;
// #endif
gps.valid_fields = 0;
gps.fix = GPS_FIX_NONE;
@@ -268,6 +276,7 @@ void gps_init(void)
gps.last_3dfix_time = 0;
gps.last_msg_ticks = 0;
gps.last_msg_time = 0;
#ifdef GPS_POWER_GPIO
gpio_setup_output(GPS_POWER_GPIO);
GPS_POWER_GPIO_ON(GPS_POWER_GPIO);
@@ -275,13 +284,18 @@ void gps_init(void)
#ifdef GPS_LED
LED_OFF(GPS_LED);
#endif
#ifdef PrimaryGpsImpl
PrimaryGpsRegister();
#endif
#ifdef SecondaryGpsImpl
SecondaryGpsRegister();
RegisterGps(PRIMARY_GPS);
#ifdef SECONDARY_GPS
RegisterGps(SECONDARY_GPS);
#endif
for (int i=0; i < GPS_NB_IMPL; i++) {
if (GpsInstances[i].init != NULL) {
GpsInstances[i].init();
}
}
AbiBindMsgGPS(ABI_BROADCAST, &gps_ev, gps_cb);
#if PERIODIC_TELEMETRY
sw/airborne/subsystems/gps.h
+10 -35
View File
@@ -34,20 +34,6 @@
#include "mcu_periph/sys_time.h"
#define INS_XSENS700_GPS_ID GPS_MULTI_ID
#define INS_XSENS_GPS_ID GPS_MULTI_ID
#define AHRS_CHIMU_GPS_ID GPS_MULTI_ID
#define STEREOCAM_GPS_ID GPS_MULTI_ID
#define AHRS_INFRARED_GPS_ID GPS_MULTI_ID
#define INS_FINV_GPS_ID GPS_MULTI_ID
#define INS_PTU_GPS_ID GPS_MULTI_ID
#define INS_PT_GPS_ID GPS_MULTI_ID
#define INS_INT_GPS_ID GPS_MULTI_ID
#define INS_ALT_GPS_ID GPS_MULTI_ID
#define AHRS_DCM_GPS_ID GPS_MULTI_ID
#define AHRS_FC_GPS_ID GPS_MULTI_ID
#define AHRS_ICQ_GPS_ID GPS_MULTI_ID
#define GPS_FIX_NONE 0x00 ///< No GPS fix
#define GPS_FIX_2D 0x02 ///< 2D GPS fix
#define GPS_FIX_3D 0x03 ///< 3D GPS fix
@@ -67,19 +53,10 @@
#define GPS_VALID_HMSL_BIT 5
#define GPS_VALID_COURSE_BIT 6
#define PRIMARY_GPS_INSTANCE 0
#define SECONDARY_GPS_INSTANCE 1
#ifndef GPS_NB_CHANNELS
#define GPS_NB_CHANNELS 16
#endif
#ifdef USE_MULTI_GPS
#define GPS_NUM_INSTANCES 2
#else
#define GPS_NUM_INSTANCES 1
#endif
#define GPS_MODE_PRIMARY 0
#define GPS_MODE_SECONDARY 1
#define GPS_MODE_AUTO 2
@@ -147,25 +124,23 @@ typedef void (*ImplGpsInit)(void);
typedef void (*ImplGpsEvent)(void);
void GpsEvent(void);
/*
* register callbacks and state pointers
*/
extern void gps_register_impl(ImplGpsInit init, ImplGpsEvent event, uint8_t id, int8_t instance);
extern void GpsEvent(void);
#ifdef PRIMARY_GPS_TYPE_H
#include PRIMARY_GPS_TYPE_H
/**
* register callbacks and state pointers
*/
extern void gps_register_impl(ImplGpsInit init, ImplGpsEvent event, uint8_t id);
#ifdef GPS_TYPE_H
#include GPS_TYPE_H
#endif
#ifdef SECONDARY_GPS_TYPE_H
#include SECONDARY_GPS_TYPE_H
#ifdef GPS_SECONDARY_TYPE_H
#include GPS_SECONDARY_TYPE_H
#endif
/** initialize the global GPS state */
extern void gps_init(void);
/** GPS model specific init implementation */
extern void gps_impl_init(void);
/** GPS packet injection (default empty) */
extern void gps_inject_data(uint8_t packet_id, uint8_t length, uint8_t *data);
sw/airborne/subsystems/gps/gps_datalink.c
+3 -7
View File
@@ -40,7 +40,7 @@ struct EnuCoor_i enu_pos, enu_speed;
bool_t gps_available; ///< Is set to TRUE when a new REMOTE_GPS packet is received and parsed
/** GPS initialization */
void datalink_gps_impl_init(void)
void gps_datalink_init(void)
{
gps.fix = GPS_FIX_NONE;
gps_available = FALSE;
@@ -58,10 +58,6 @@ void datalink_gps_impl_init(void)
ltp_def_from_ecef_i(&ltp_def, &ecef_nav0);
}
void datalink_gps_event(void)
{
}
// Parse the REMOTE_GPS_SMALL datalink packet
void parse_gps_datalink_small(uint8_t num_sv, uint32_t pos_xyz, uint32_t speed_xyz, int16_t heading)
{
@@ -181,7 +177,7 @@ void parse_gps_datalink(uint8_t numsv, int32_t ecef_x, int32_t ecef_y, int32_t e
/*
* register callbacks & structs
*/
void datalink_gps_register(void)
void gps_datalink_register(void)
{
gps_register_impl(datalink_gps_impl_init, datalink_gps_event, GPS_DATALINK_ID, 0);
gps_register_impl(gps_datalink_init, NULL, GPS_DATALINK_ID);
}
sw/airborne/subsystems/gps/gps_datalink.h
+4 -9
View File
@@ -34,15 +34,12 @@
#include "generated/airframe.h"
#define DATALINK_GPS_NB_CHANNELS 0
#ifndef PrimaryGpsImpl
#define PrimaryGpsImpl datalink
#ifndef PRIMARY_GPS
#define PRIMARY_GPS gps_datalink
#endif
extern void datalink_gps_event(void);
extern void datalink_gps_impl_init(void);
extern void datalink_gps_register(void);
extern bool_t gps_available;
extern void gps_datalink_init(void);
extern void gps_datalink_register(void);
extern void parse_gps_datalink_small(uint8_t num_sv, uint32_t pos_xyz, uint32_t speed_xyz, int16_t heading);
@@ -51,7 +48,5 @@ extern void parse_gps_datalink(uint8_t numsv, int32_t ecef_x, int32_t ecef_y, in
int32_t ecef_xd, int32_t ecef_yd, int32_t ecef_zd,
uint32_t tow, int32_t course);
// dummy
// #define GpsEvent() {}
#endif /* GPS_DATALINK_H */
sw/airborne/subsystems/gps/gps_mtk.c
+14 -8
View File
@@ -31,10 +31,16 @@
*
*/
#include "gps_mtk.h"
#include "subsystems/abi.h"
#include "led.h"
#include "mcu_periph/sys_time.h"
#include "pprzlink/pprzlink_device.h"
#ifndef MTK_GPS_LINK
#error "MTK_GPS_LINK not set"
#endif
#define MTK_DIY_OUTPUT_RATE MTK_DIY_OUTPUT_4HZ
#define OUTPUT_RATE 4
@@ -98,7 +104,11 @@ bool_t gps_configuring;
static uint8_t gps_status_config;
#endif
void mtk_gps_impl_init(void)
void gps_mtk_read_message(void);
void gps_mtk_parse(uint8_t c);
void gps_mtk_msg(void);
void gps_mtk_init(void)
{
gps_mtk.status = UNINIT;
gps_mtk.msg_available = FALSE;
@@ -110,7 +120,7 @@ void mtk_gps_impl_init(void)
#endif
}
void mtk_gps_event(void)
void gps_mtk_event(void)
{
struct link_device *dev = &((MTK_GPS_LINK).device);
@@ -403,13 +413,9 @@ restart:
/*
* register callbacks & structs
*/
void mtk_gps_register(void)
void gps_mtk_register(void)
{
#ifdef GPS_SECONDARY_MTK
gps_register_impl(mtk_gps_impl_init, mtk_gps_event, GPS_MTK_ID, 1);
#else
gps_register_impl(mtk_gps_impl_init, mtk_gps_event, GPS_MTK_ID, 0);
#endif
gps_register_impl(gps_mtk_init, gps_mtk_event, GPS_MTK_ID);
}
/*
sw/airborne/subsystems/gps/gps_mtk.h
+3 -30
View File
@@ -40,22 +40,6 @@
/** Includes macros generated from mtk.xml */
#include "mtk_protocol.h"
#if GPS_SECONDARY_MTK
#ifndef MTK_GPS_LINK
#define MTK_GPS_LINK GPS_SECONDARY_PORT
#define SecondaryGpsImpl mtk
#endif
#else
#ifndef PrimaryGpsImpl
#define PrimaryGpsImpl mtk
#endif
#endif
#if GPS_PRIMARY_MTK
#ifndef MTK_GPS_LINK
#define MTK_GPS_LINK GPS_PRIMARY_PORT
#endif
#endif
#define GPS_MTK_MAX_PAYLOAD 255
struct GpsMtk {
@@ -80,11 +64,9 @@ struct GpsMtk {
extern struct GpsMtk gps_mtk;
/*
* This part is used by the autopilot to read data from a uart
*/
#include "pprzlink/pprzlink_device.h"
extern void gps_mtk_event(void);
extern void gps_mtk_init(void);
extern void gps_mtk_register(void);
#ifdef GPS_CONFIGURE
extern void gps_configure(void);
@@ -98,14 +80,5 @@ extern bool_t gps_configuring;
#define GpsConfigure() {}
#endif
extern void gps_mtk_read_message(void);
extern void gps_mtk_parse(uint8_t c);
extern void gps_mtk_msg(void);
extern void mtk_gps_event(void);
extern void mtk_gps_impl_init(void);
extern void mtk_gps_register(void);
#endif /* MTK_H */
sw/airborne/subsystems/gps/gps_nmea.c
+4 -8
View File
@@ -63,7 +63,7 @@ static void nmea_parse_RMC(void);
static void nmea_parse_GGA(void);
static void nmea_parse_GSV(void);
void nmea_gps_impl_init(void)
void gps_nmea_init(void)
{
gps_nmea.state.nb_channels = GPS_NMEA_NB_CHANNELS;
gps_nmea.is_configured = FALSE;
@@ -76,7 +76,7 @@ void nmea_gps_impl_init(void)
nmea_configure();
}
void nmea_gps_event(void)
void gps_nmea_event(void)
{
struct link_device *dev = &((NMEA_GPS_LINK).device);
@@ -546,11 +546,7 @@ static void nmea_parse_GSV(void)
/*
* register callbacks & structs
*/
void nmea_gps_register(void)
void gps_nmea_register(void)
{
#ifdef GPS_SECONDARY_NMEA
gps_register_impl(nmea_gps_impl_init, nmea_gps_event, GPS_NMEA_ID, 1);
#else
gps_register_impl(nmea_gps_impl_init, nmea_gps_event, GPS_NMEA_ID, 0);
#endif
gps_register_impl(nmea_gps_init, nmea_gps_event, GPS_NMEA_ID);
}
sw/airborne/subsystems/gps/gps_nmea.h
+7 -20
View File
@@ -29,7 +29,7 @@
#ifndef GPS_NMEA_H
#define GPS_NMEA_H
#include "mcu_periph/uart.h"
#include "subsystems/gps.h"
@@ -37,26 +37,13 @@
#define NMEA_MAXLEN 255
#if GPS_SECONDARY_NMEA
#ifndef NMEA_GPS_LINK
#define NMEA_GPS_LINK GPS_SECONDARY_PORT
#define SecondaryGpsImpl nmea
#endif
#else
#ifndef PrimaryGpsImpl
#define PrimaryGpsImpl nmea
#endif
#endif
#if GPS_PRIMARY_NMEA
#ifndef NMEA_GPS_LINK
#define NMEA_GPS_LINK GPS_PRIMARY_PORT
#endif
#ifndef PRIMARY_GPS
#define PRIMARY_GPS gps_nmea
#endif
void nmea_gps_impl_init(void);
void nmea_gps_event(void);
extern void nmea_gps_register(void);
void nmea_gps_msg(void);
extern void gps_nmea_init(void);
extern void gps_nmea_event(void);
extern void gps_nmea_register(void);
struct GpsNmea {
bool_t msg_available;
@@ -87,7 +74,7 @@ extern void nmea_parse_msg(void);
extern uint8_t nmea_calc_crc(const char *buff, int buff_sz);
extern void nmea_parse_prop_init(void);
extern void nmea_parse_prop_msg(void);
extern void gps_nmea_msg(void);
extern void nmea_gps_msg(void);
/** Read until a certain character, placed here for proprietary includes */
static inline void nmea_read_until(int *i)
sw/airborne/subsystems/gps/gps_piksi.c
+4 -8
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@@ -305,7 +305,7 @@ static void spb_heartbeat_callback(uint16_t sender_id __attribute__((unused)),
/*
* Initialize the Piksi GPS and write the settings
*/
void piksi_gps_impl_init(void)
void gps_piksi_init(void)
{
/* Setup SBP nodes */
sbp_state_init(&sbp_state);
@@ -346,7 +346,7 @@ void piksi_gps_impl_init(void)
/*
* Event handler for reading the GPS UART bytes
*/
void piksi_gps_event(void)
void gps_piksi_event(void)
{
if ( get_sys_time_msec() - time_since_last_pos_update > POS_ECEF_TIMEOUT ) {
gps_piksi.fix = GPS_FIX_NONE;
@@ -413,11 +413,7 @@ void gps_inject_data(uint8_t packet_id, uint8_t length, uint8_t *data)
/*
* register callbacks & structs
*/
void piksi_gps_register(void)
void gps_piksi_register(void)
{
#ifdef GPS_SECONDARY_PIKSI
gps_register_impl(piksi_gps_impl_init, piksi_gps_event, GPS_PIKSI_ID, 1);
#else
gps_register_impl(piksi_gps_impl_init, piksi_gps_event, GPS_PIKSI_ID, 0);
#endif
gps_register_impl(gps_piksi_init, gps_piksi_event, GPS_PIKSI_ID);
}
sw/airborne/subsystems/gps/gps_piksi.h
+5 -27
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@@ -32,39 +32,17 @@
#ifndef GPS_PIKSI_H
#define GPS_PIKSI_H
// #define GPS_NB_CHANNELS 10
#define PIKSI_HEARTBEAT_MSG
#if GPS_SECONDARY_PIKSI
#ifndef PIKSI_GPS_LINK
#define PIKSI_GPS_LINK GPS_SECONDARY_PORT
#define SecondaryGpsImpl piksi
#endif
#else
#ifndef PrimaryGpsImpl
#define PrimaryGpsImpl piksi
#endif
#endif
#if GPS_PRIMARY_PIKSI
#ifndef PIKSI_GPS_LINK
#define PIKSI_GPS_LINK GPS_PRIMARY_PORT
#endif
#ifndef PRIMARY_GPS
#define PRIMARY_GPS gps_piksi
#endif
extern void piksi_gps_event(void);
extern void piksi_gps_impl_init(void);
extern void piksi_gps_register(void);
extern void gps_piksi_event(void);
extern void gps_piksi_init(void);
extern void gps_piksi_register(void);
/*
* Reset base station position
*/
extern void gps_piksi_set_base_pos(void);
/*
* The GPS event
*/
//#define GpsEvent gps_piksi_event
#endif /* GPS_PIKSI_H */
sw/airborne/subsystems/gps/gps_sim.c
+3 -7
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@@ -22,15 +22,11 @@
#include "subsystems/gps/gps_sim.h"
#include "subsystems/abi.h"
void sim_gps_impl_init(void)
void gps_sim_init(void)
{
gps.fix = GPS_FIX_NONE;
}
void sim_gps_event(void)
{
}
void gps_sim_publish(void)
{
uint32_t now_ts = get_sys_time_usec();
@@ -46,7 +42,7 @@ void gps_sim_publish(void)
/*
* register callbacks & structs
*/
void sim_gps_register(void)
void gps_sim_register(void)
{
gps_register_impl(sim_gps_impl_init, sim_gps_event, GPS_SIM_ID, 0);
gps_register_impl(gps_sim_init, NULL, GPS_SIM_ID);
}
sw/airborne/subsystems/gps/gps_sim.h
+4 -8
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@@ -4,17 +4,13 @@
#include "std.h"
#include "subsystems/gps.h"
// #define GPS_NB_CHANNELS 16
#ifndef PrimaryGpsImpl
#define PrimaryGpsImpl sim
#ifndef PRIMARY_GPS
#define PRIMARY_GPS gps_sim
#endif
extern void gps_sim_publish(void);
extern void sim_gps_event(void);
extern void sim_gps_impl_init(void);
extern void sim_gps_register(void);
// #define GpsEvent() {}
extern void gps_sim_init(void);
extern void gps_sim_register(void);
#endif /* GPS_SIM_H */
sw/airborne/subsystems/gps/gps_sim_hitl.c
+4 -4
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@@ -36,12 +36,12 @@
bool_t gps_available;
uint32_t gps_sim_hitl_timer;
void sim_hitl_gps_impl_init(void)
void gps_sim_hitl_init(void)
{
gps.fix = GPS_FIX_NONE;
}
void sim_hitl_gps_event(void)
void gps_sim_hitl_event(void)
{
if (SysTimeTimer(gps_sim_hitl_timer) > 100000) {
SysTimeTimerStart(gps_sim_hitl_timer);
@@ -98,7 +98,7 @@ void sim_hitl_gps_event(void)
/*
* register callbacks & structs
*/
void sim_hitl_gps_register(void)
void gps_sim_hitl_register(void)
{
gps_register_impl(sim_hitl_gps_impl_init, sim_hitl_gps_event, GPS_SIM_ID, 0);
gps_register_impl(gps_sim_hitl_init, gps_sim_hitl_event, GPS_SIM_ID);
}
sw/airborne/subsystems/gps/gps_sim_hitl.h
+5 -7
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@@ -27,14 +27,12 @@
#ifndef GPS_SIM_HITL_H
#define GPS_SIM_HITL_H
#ifndef PrimaryGpsImpl
#define PrimaryGpsImpl sim_hitl
#ifndef PRIMARY_GPS
#define PRIMARY_GPS gps_sim_hitl
#endif
extern void sim_hitl_gps_event(void);
extern void sim_hitl_gps_impl_init(void);
extern void sim_hitl_gps_register(void);
// #define GpsEvent gps_sim_hitl_event
extern void gps_sim_hitl_event(void);
extern void gps_sim_hitl_impl_init(void);
extern void gps_sim_hitl_register(void);
#endif /* GPS_SIM_HITL_H */
sw/airborne/subsystems/gps/gps_sim_nps.c
+4 -9
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@@ -28,7 +28,7 @@
struct GpsState gps_nps;
bool_t gps_has_fix;
void gps_feed_value()
void gps_feed_value(void)
{
// FIXME, set proper time instead of hardcoded to May 2014
gps_nps.week = 1794;
@@ -87,20 +87,15 @@ void gps_feed_value()
AbiSendMsgGPS(GPS_SIM_ID, now_ts, &gps_nps);
}
void nps_gps_impl_init()
void gps_nps_init(void)
{
gps_has_fix = TRUE;
}
extern void nps_gps_event(void)
{
return;
}
/*
* register callbacks & structs
*/
void nps_gps_register(void)
void gps_nps_register(void)
{
gps_register_impl(nps_gps_impl_init, nps_gps_event, GPS_SIM_ID, 0);
gps_register_impl(gps_nps_init, NULL, GPS_SIM_ID);
}
sw/airborne/subsystems/gps/gps_sim_nps.h
+5 -6
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@@ -3,17 +3,16 @@
#include "std.h"
//#define GPS_NB_CHANNELS 16
#define PrimaryGpsImpl nps
#ifndef PRIMARY_GPS
#define PRIMARY_GPS gps_nps
#endif
extern bool_t gps_has_fix;
extern void gps_feed_value();
extern void nps_gps_impl_init();
extern void nps_gps_event(void);
extern void nps_gps_register(void);
extern void gps_nps_impl_init();
extern void gps_nps_register(void);
#endif /* GPS_SIM_NPS_H */
sw/airborne/subsystems/gps/gps_sirf.c
+99 -7
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@@ -32,11 +32,94 @@
#include <stdio.h>
#include "gps_sirf.h"
#include "pprzlink/pprzlink_device.h"
#include "mcu_periph/uart.h"
//Invert bytes
#define Invert2Bytes(x) ((x>>8) | (x<<8))
#define Invert4Bytes(x) ((x>>24) | ((x<<8) & 0x00FF0000) | ((x>>8) & 0x0000FF00) | (x<<24))
/** Message ID 2 from GPS. Total payload length should be 41 bytes. */
struct sirf_msg_2 {
uint8_t msg_id; ///< hex value 0x02 ( = decimal 2)
int32_t x_pos; ///< x-position in m
int32_t y_pos; ///< y-position in m
int32_t z_pos; ///< z-position in m
int16_t vx; ///< x-velocity * 8 in m/s
int16_t vy; ///< y-velocity * 8 in m/s
int16_t vz; ///< z-velocity * 8 in m/s
uint8_t mode1;
uint8_t hdop; ///< horizontal dilution of precision *5 (0.2 precision)
uint8_t mode2;
uint16_t week;
uint32_t tow; ///< time of week in seconds * 10^2
uint8_t num_sat; ///< Number of satellites in fix
uint8_t ch1prn; ///< pseudo-random noise, 12 channels
uint8_t ch2prn;
uint8_t ch3prn;
uint8_t ch4prn;
uint8_t ch5prn;
uint8_t ch6prn;
uint8_t ch7prn;
uint8_t ch8prn;
uint8_t ch9prn;
uint8_t ch10prn;
uint8_t ch11prn;
uint8_t ch12prn;
} __attribute__((packed));
/** Message ID 41 from GPS. Total payload length should be 91 bytes. */
struct sirf_msg_41 {
uint8_t msg_id; ///< hex value 0x29 (= decimal 41)
uint16_t nav_valid; ///< if equal to 0x0000, then navigation solution is valid
uint16_t nav_type;
uint16_t extended_week_number;
uint32_t tow; ///< time of week in seconds *10^3]
uint16_t year;
uint8_t month;
uint8_t day;
uint8_t hour;
uint8_t minute;
uint16_t second;
uint32_t sat_id; ///< satellites used in solution. Each satellite corresponds with a bit, e.g. bit 1 ON = SV 1 is used in solution
int32_t latitude; ///< in degrees (+= North) *10^7
int32_t longitude; ///< in degrees (+= East) *10*7
int32_t alt_ellipsoid; ///< in meters *10^2
int32_t alt_msl; ///< in meters *10^2
int8_t map_datum;
uint16_t sog; ///< speed over ground, in m/s * 10^2
uint16_t cog; ///< course over ground, in degrees clockwise from true north * 10^2
int16_t mag_var; ///< not implemented
int16_t climb_rate; ///< in m/s * 10^2
int16_t heading_rate; ///< in deg/s * 10^2
uint32_t ehpe; ///< estimated horizontal position error, in meters * 10^2
uint32_t evpe; ///< estimated vertical position error, in meters * 10^2
uint32_t ete; ///< estimated time error, in seconds * 10^2
uint16_t ehve; ///< estimated horizontal velocity error in m/s * 10^2
int32_t clock_bias; ///< in m * 10^2
uint32_t clock_bias_err; ///< in m * 10^2
int32_t clock_drift; ///< in m/s * 10^2
uint32_t clock_drift_err; ///< in m/s * 10^2
uint32_t distance; ///< Distance traveled since reset in m
uint16_t distance_err; ///< in meters
uint16_t heading_err; ///< in degrees * 10^2
uint8_t num_sat; ///< Number of satellites used for solution
uint8_t hdop; ///< Horizontal dilution of precision x 5 (0.2 precision)
uint8_t add_info; ///< Additional mode info
} __attribute__((packed));
struct GpsSirf gps_sirf;
void sirf_parse_char(uint8_t c);
void sirf_parse_msg(void);
void gps_sirf_msg(void);
void sirf_parse_2(void);
void sirf_parse_41(void);
void sirf_gps_impl_init(void)
void gps_sirf_init(void)
{
gps_sirf.msg_available = FALSE;
gps_sirf.pos_available = FALSE;
@@ -202,14 +285,23 @@ void sirf_parse_msg(void)
}
void gps_sirf_event(void)
{
struct link_device *dev = &((SIRF_GPS_LINK).device);
while (dev->char_available(dev->periph)) {
sirf_parse_char(dev->get_byte(dev->periph));
if (gps_sirf.msg_available) {
gps_sirf_msg();
}
}
}
/*
* register callbacks & structs
*/
void sirf_gps_register(void)
void gps_sirf_register(void)
{
#ifdef GPS_SECONDARY_SIRF
gps_register_impl(sirf_gps_impl_init, sirf_gps_event, GPS_SIRF_ID, 1);
#else
gps_register_impl(sirf_gps_impl_init, sirf_gps_event, GPS_SIRF_ID, 0);
#endif
gps_register_impl(gps_sirf_init, gps_sirf_event, GPS_SIRF_ID);
}
sw/airborne/subsystems/gps/gps_sirf.h
+5 -110
View File
@@ -31,20 +31,8 @@
#include "std.h"
#if GPS_SECONDARY_SIRF
#ifndef SIRF_GPS_LINK
#define SIRF_GPS_LINK GPS_SECONDARY_PORT
#define SecondaryGpsImpl sirf
#endif
#else
#ifndef PrimaryGpsImpl
#define PrimaryGpsImpl sirf
#endif
#endif
#if GPS_PRIMARY_SIRF
#ifndef SIRF_GPS_LINK
#define SIRF_GPS_LINK GPS_PRIMARY_PORT
#endif
#ifndef PRIMARY_GPS
#define PRIMARY_GPS gps_sirf
#endif
#define SIRF_GPS_NB_CHANNELS 16
@@ -67,102 +55,9 @@ struct GpsSirf {
extern struct GpsSirf gps_sirf;
//Invert bytes
#define Invert2Bytes(x) ((x>>8) | (x<<8))
#define Invert4Bytes(x) ((x>>24) | ((x<<8) & 0x00FF0000) | ((x>>8) & 0x0000FF00) | (x<<24))
extern void gps_sirf_init(void);
extern void gps_sirf_event(void);
extern void gps_sirf_register(void);
/** Message ID 2 from GPS. Total payload length should be 41 bytes. */
struct sirf_msg_2 {
uint8_t msg_id; ///< hex value 0x02 ( = decimal 2)
int32_t x_pos; ///< x-position in m
int32_t y_pos; ///< y-position in m
int32_t z_pos; ///< z-position in m
int16_t vx; ///< x-velocity * 8 in m/s
int16_t vy; ///< y-velocity * 8 in m/s
int16_t vz; ///< z-velocity * 8 in m/s
uint8_t mode1;
uint8_t hdop; ///< horizontal dilution of precision *5 (0.2 precision)
uint8_t mode2;
uint16_t week;
uint32_t tow; ///< time of week in seconds * 10^2
uint8_t num_sat; ///< Number of satellites in fix
uint8_t ch1prn; ///< pseudo-random noise, 12 channels
uint8_t ch2prn;
uint8_t ch3prn;
uint8_t ch4prn;
uint8_t ch5prn;
uint8_t ch6prn;
uint8_t ch7prn;
uint8_t ch8prn;
uint8_t ch9prn;
uint8_t ch10prn;
uint8_t ch11prn;
uint8_t ch12prn;
} __attribute__((packed));
/** Message ID 41 from GPS. Total payload length should be 91 bytes. */
struct sirf_msg_41 {
uint8_t msg_id; ///< hex value 0x29 (= decimal 41)
uint16_t nav_valid; ///< if equal to 0x0000, then navigation solution is valid
uint16_t nav_type;
uint16_t extended_week_number;
uint32_t tow; ///< time of week in seconds *10^3]
uint16_t year;
uint8_t month;
uint8_t day;
uint8_t hour;
uint8_t minute;
uint16_t second;
uint32_t sat_id; ///< satellites used in solution. Each satellite corresponds with a bit, e.g. bit 1 ON = SV 1 is used in solution
int32_t latitude; ///< in degrees (+= North) *10^7
int32_t longitude; ///< in degrees (+= East) *10*7
int32_t alt_ellipsoid; ///< in meters *10^2
int32_t alt_msl; ///< in meters *10^2
int8_t map_datum;
uint16_t sog; ///< speed over ground, in m/s * 10^2
uint16_t cog; ///< course over ground, in degrees clockwise from true north * 10^2
int16_t mag_var; ///< not implemented
int16_t climb_rate; ///< in m/s * 10^2
int16_t heading_rate; ///< in deg/s * 10^2
uint32_t ehpe; ///< estimated horizontal position error, in meters * 10^2
uint32_t evpe; ///< estimated vertical position error, in meters * 10^2
uint32_t ete; ///< estimated time error, in seconds * 10^2
uint16_t ehve; ///< estimated horizontal velocity error in m/s * 10^2
int32_t clock_bias; ///< in m * 10^2
uint32_t clock_bias_err; ///< in m * 10^2
int32_t clock_drift; ///< in m/s * 10^2
uint32_t clock_drift_err; ///< in m/s * 10^2
uint32_t distance; ///< Distance traveled since reset in m
uint16_t distance_err; ///< in meters
uint16_t heading_err; ///< in degrees * 10^2
uint8_t num_sat; ///< Number of satellites used for solution
uint8_t hdop; ///< Horizontal dilution of precision x 5 (0.2 precision)
uint8_t add_info; ///< Additional mode info
} __attribute__((packed));
/*
* This part is used by the autopilot to read data from a uart
*/
#include "pprzlink/pprzlink_device.h"
#include "mcu_periph/uart.h"
extern void sirf_parse_char(uint8_t c);
extern void sirf_parse_msg(void);
extern void gps_sirf_msg(void);
void sirf_gps_impl_init(void);
void sirf_gps_register(void);
static inline void sirf_gps_event(void)
{
struct link_device *dev = &((SIRF_GPS_LINK).device);
while (dev->char_available(dev->periph)) {
sirf_parse_char(dev->get_byte(dev->periph));
if (gps_sirf.msg_available) {
gps_sirf_msg();
}
}
}
#endif /* GPS_SIRF_H */
sw/airborne/subsystems/gps/gps_skytraq.c
+10 -12
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@@ -23,8 +23,7 @@
#include "subsystems/gps/gps_skytraq.h"
#include "subsystems/abi.h"
#include "led.h"
struct GpsSkytraq gps_skytraq;
#include "pprzlink/pprzlink_device.h"
/* parser status */
#define UNINIT 0
@@ -49,6 +48,11 @@ struct GpsSkytraq gps_skytraq;
#define SKYTRAQ_SYNC3 0x0D
#define SKYTRAQ_SYNC4 0x0A
struct GpsSkytraq gps_skytraq;
void gps_skytraq_read_message(void);
void gps_skytraq_parse(uint8_t c);
void gps_skytraq_msg(void);
static inline uint16_t bswap16(uint16_t a)
{
@@ -86,11 +90,9 @@ static inline uint16_t bswap16(uint16_t a)
static int distance_too_great(struct EcefCoor_i *ecef_ref, struct EcefCoor_i *ecef_pos);
void skytraq_gps_impl_init(void)
void gps_skytraq_init(void)
{
gps_skytraq.status = UNINIT;
}
void gps_skytraq_msg(void)
@@ -110,7 +112,7 @@ void gps_skytraq_msg(void)
gps_skytraq.msg_available = FALSE;
}
void skytraq_gps_event(void)
void gps_skytraq_event(void)
{
struct link_device *dev = &((SKYTRAQ_GPS_LINK).device);
@@ -289,11 +291,7 @@ static int distance_too_great(struct EcefCoor_i *ecef_ref, struct EcefCoor_i *ec
/*
* register callbacks & structs
*/
void skytraq_gps_register(void)
void gps_skytraq_register(void)
{
#ifdef GPS_SECONDARY_PIKSI
gps_register_impl(skytraq_gps_impl_init, skytraq_gps_event, GPS_SKYTRAQ_ID, 1);
#else
gps_register_impl(skytraq_gps_impl_init, skytraq_gps_event, GPS_SKYTRAQ_ID, 0);
#endif
gps_register_impl(gps_skytraq_init, gps_skytraq_event, GPS_SKYTRAQ_ID);
}
sw/airborne/subsystems/gps/gps_skytraq.h
+5 -26
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@@ -26,20 +26,8 @@
#define SKYTRAQ_ID_NAVIGATION_DATA 0XA8
#if GPS_SECONDARY_SKYTRAQ
#ifndef SKYTRAQ_GPS_LINK
#define SKYTRAQ_GPS_LINK GPS_SECONDARY_PORT
#define SecondaryGpsImpl skytraq
#endif
#else
#ifndef PrimaryGpsImpl
#define PrimaryGpsImpl skytraq
#endif
#endif
#if GPS_PRIMARY_SKYTRAQ
#ifndef SKYTRAQ_GPS_LINK
#define SKYTRAQ_GPS_LINK GPS_PRIMARY_PORT
#endif
#ifndef PRIMARY_GPS
#define PRIMARY_GPS gps_skytraq
#endif
/* last error type */
@@ -72,17 +60,8 @@ struct GpsSkytraq {
extern struct GpsSkytraq gps_skytraq;
/*
* This part is used by the autopilot to read data from a uart
*/
#include "pprzlink/pprzlink_device.h"
extern void gps_skytraq_read_message(void);
extern void gps_skytraq_parse(uint8_t c);
extern void gps_skytraq_msg(void);
extern void skytraq_gps_register(void);
void skytraq_gps_impl_init(void);
void skytraq_gps_event(void);
extern void gps_skytraq_init(void);
extern void gps_skytraq_event(void);
extern void gps_skytraq_register(void);
#endif /* GPS_SKYTRAQ_H */
sw/airborne/subsystems/gps/gps_ubx.c
+4 -8
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@@ -57,7 +57,7 @@ struct GpsUbxRaw gps_ubx_raw;
struct GpsTimeSync gps_ubx_time_sync;
void ubx_gps_impl_init(void)
void gps_ubx_init(void)
{
gps_ubx.status = UNINIT;
gps_ubx.msg_available = FALSE;
@@ -67,7 +67,7 @@ void ubx_gps_impl_init(void)
gps_ubx.state.comp_id = GPS_UBX_ID;
}
void ubx_gps_event(void)
void gps_ubx_event(void)
{
struct link_device *dev = &((UBX_GPS_LINK).device);
@@ -347,11 +347,7 @@ void gps_ubx_msg(void)
gps_ubx.msg_available = FALSE;
}
void ubx_gps_register(void)
void gps_ubx_register(void)
{
#ifdef GPS_SECONDARY_UBX
gps_register_impl(ubx_gps_impl_init, ubx_gps_event, GPS_UBX_ID, 1);
#else
gps_register_impl(ubx_gps_impl_init, ubx_gps_event, GPS_UBX_ID, 0);
#endif
gps_register_impl(gps_ubx_init, gps_ubx_event, GPS_UBX_ID);
}
sw/airborne/subsystems/gps/gps_ubx.h
+7 -19
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@@ -27,22 +27,6 @@
#ifndef GPS_UBX_H
#define GPS_UBX_H
#if GPS_SECONDARY_UBX
#ifndef UBX_GPS_LINK
#define UBX_GPS_LINK GPS_SECONDARY_PORT
#define SecondaryGpsImpl ubx
#endif
#else
#ifndef PrimaryGpsImpl
#define PrimaryGpsImpl ubx
#endif
#endif
#if GPS_PRIMARY_UBX
#ifndef UBX_GPS_LINK
#define UBX_GPS_LINK GPS_PRIMARY_PORT
#endif
#endif
#include "subsystems/gps.h"
#ifdef GPS_CONFIGURE
@@ -51,9 +35,13 @@
#include "mcu_periph/uart.h"
void ubx_gps_impl_init(void);
void ubx_gps_event(void);
extern void ubx_gps_register(void);
#ifndef PRIMARY_GPS
#define PRIMARY_GPS gps_ubx
#endif
void gps_ubx_init(void);
void gps_ubx_event(void);
extern void gps_ubx_register(void);
#define GPS_UBX_NB_CHANNELS 16
sw/airborne/subsystems/gps/gps_udp.c
+4 -4
View File
@@ -37,7 +37,7 @@
unsigned char gps_udp_read_buffer[256];
struct FmsNetwork *gps_network = NULL;
void udp_gps_impl_init(void)
void gps_udp_init(void)
{
gps.fix = GPS_FIX_NONE;
gps_network = network_new(STRINGIFY(GPS_UDP_HOST), 6000 /*out*/, 7000 /*in*/, TRUE);
@@ -47,7 +47,7 @@ void udp_gps_impl_init(void)
#define UDP_GPS_INT(_udp_gps_payload) (int32_t)(*((uint8_t*)_udp_gps_payload)|*((uint8_t*)_udp_gps_payload+1)<<8|((int32_t)*((uint8_t*)_udp_gps_payload+2))<<16|((int32_t)*((uint8_t*)_udp_gps_payload+3))<<24)
void gps_parse(void)
void gps_udp_parse(void)
{
if (gps_network == NULL) { return; }
@@ -97,7 +97,7 @@ void gps_parse(void)
/*
* register callbacks & structs
*/
void udp_gps_register(void)
void gps_udp_register(void)
{
gps_register_impl(udp_gps_impl_init, gps_parse, GPS_UDP_ID, 0);
gps_register_impl(gps_udp_init, gps_udp_parse, GPS_UDP_ID);
}
sw/airborne/subsystems/gps/gps_udp.h
+5 -9
View File
@@ -5,16 +5,12 @@
#define UDP_GPS_NB_CHANNELS 16
#ifndef PrimaryGpsImpl
#define PrimaryGpsImpl udp
#ifndef PRIMARY_GPS
#define PRIMARY_GPS gps_udp
#endif
extern void gps_parse(void);
extern void udp_gps_impl_init(void);
extern void udp_gps_register(void);
// #define GpsEvent gps_parse
extern void gps_udp_parse(void);
extern void gps_udp_init(void);
extern void gps_udp_register(void);
#endif /* GPS_UDP_H */