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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