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Basic UCenter Functions Running

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This commit is contained in:
Christophe De Wagter
2011-09-08 09:27:40 +02:00
parent b09d04bbb6
commit 0fcc8813d7
4 changed files with 30 additions and 18 deletions
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sw/airborne/modules/gps/gps_ubx_ucenter.c
+27 -13
View File
@@ -19,10 +19,21 @@
* Boston, MA 02111-1307, USA.
*/
#define GPS_UBX_UCENTER_RUNNING 1
#define GPX_UBX_UCENTER_STOPPED 0
#include "gps_ubx_ucenter.h"
#define GPS_UBX_UCENTER_STATUS_RUNNING 1
#define GPS_UBX_UCENTER_STATUS_STOPPED 0
#define GPS_UBX_UCENTER_REPLY_NONE 0
#define GPS_UBX_UCENTER_REPLY_ACK 1
#define GPS_UBX_UCENTER_REPLY_NACK 2
/** Space Vehicle Information */
struct gps_ubx_ucenter_t {
uint8_t status;
uint8_t reply;
} gps_ubx_ucenter;
uint8_t gps_ubx_ucenter_status
/////////////////////////////
// Periodic Function
@@ -30,7 +41,8 @@ uint8_t gps_ubx_ucenter_status
void gps_ubx_ucenter_init(void)
{
// Start UCenter
gps_ubx_ucenter_status = GPS_UBX_UCENTER_RUNNING;
gps_ubx_ucenter.status = GPS_UBX_UCENTER_STATUS_RUNNING;
gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
}
@@ -41,7 +53,7 @@ void gps_ubx_ucenter_init(void)
void gps_ubx_ucenter_periodic(void)
{
// Save processing time inflight
if (gps_ubx_ucenter_status == GPX_UBX_UCENTER_STOPPED)
if (gps_ubx_ucenter.status == GPS_UBX_UCENTER_STATUS_STOPPED)
return;
// Autobaud
@@ -55,18 +67,21 @@ void gps_ubx_ucenter_periodic(void)
void gps_ubx_ucenter_event(void)
{
// Save processing time inflight
if (gps_ubx_ucenter_status == GPX_UBX_UCENTER_STOPPED)
if (gps_ubx_ucenter_status == GPS_UBX_UCENTER_STATUS_STOPPED)
return;
// Which Message
if (gps_ubx.msg_class == UBX_NAV_ID) {
if (gps_ubx.msg_id == UBX_NAV_SOL_ID) {
}
}
// Read Configuration Reply's
if (gps_ubx.msg_class == UBX_ACK_ID) {
if (gps_ubx.msg_id == UBX_ACK_ACK_ID) {
gps_status_config++;
gps_ubx_ucenter.reply = GPX_UBX_UCENTER_REPLY_ACK;
}
else
{
gps_ubx_ucenter.reply = GPX_UBX_UCENTER_REPLY_NACK;
}
}
// Version info
else if (gps_ubx.msg_class == UBX_ACK_ID) {
}
}
@@ -209,7 +224,6 @@ void gps_configure( void ) {
}
gps_configuring = user_gps_configure(gps_status_config);
}
#endif /* GPS_CONFIGURE */
#endif // GPS_CONFIGURE
*/
sw/airborne/modules/gps/gps_ubx_ucenter.h
+1
View File
@@ -27,6 +27,7 @@
#ifndef GPS_UBX_UCENTER_H
#define GPS_UBX_UCENTER_H
extern void gps_ubx_ucenter_init(void);
extern void gps_ubx_ucenter_periodic(void);
extern void gps_ubx_ucenter_event(void);
sw/airborne/subsystems/gps/gps_ubx.c
+1 -1
View File
@@ -388,7 +388,7 @@ void gps_configure( void ) {
#endif /* GPS_CONFIGURE */
#ifdef GPS_UBX_UCENTER
#include GPX_UBX_UCENTER
#include GPS_UBX_UCENTER
#endif
sw/airborne/subsystems/gps/gps_ubx.h
+1 -4
View File
@@ -78,10 +78,7 @@ extern bool_t gps_configuring;
#define GpsParseOrConfigure() gps_ubx_read_message()
#endif
#ifdef GPS_UBX_UCENTER
extern void gps_ubx_ucenter_periodic(void);
extern void gps_ubx_ucenter_event(void);
#else
#ifndef GPS_UBX_UCENTER
#define gps_ubx_ucenter_event() {}
#endif