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[modules] Compile gps_ubx_ucenter.c independently.

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closes #571
This commit is contained in:
Ben Laurie
2013-10-29 10:57:33 +00:00
committed by Felix Ruess
parent 81631c2f8e
commit 2f37affd61
5 changed files with 27 additions and 31 deletions
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sw/airborne/modules/gps/gps_ubx_ucenter.c
+1
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@@ -28,6 +28,7 @@
*/
#include "gps_ubx_ucenter.h"
#include "subsystems/gps/gps_ubx.h"
//////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////
sw/airborne/modules/gps/gps_ubx_ucenter.h
+2
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@@ -28,6 +28,8 @@
#ifndef GPS_UBX_UCENTER_H
#define GPS_UBX_UCENTER_H
#include "std.h"
/** U-Center Variables */
#define GPS_UBX_UCENTER_CONFIG_STEPS 17
sw/airborne/subsystems/gps/gps_ubx.c
-28
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@@ -53,30 +53,7 @@
#define UTM_HEM_SOUTH 1
#define GpsUartSend1(c) GpsLink(Transmit(c))
#define GpsUartSetBaudrate(_a) GpsLink(SetBaudrate(_a))
#define GpsUartRunning GpsLink(TxRunning)
#define GpsUartSendMessage GpsLink(SendMessage)
#define UbxInitCheksum() { gps_ubx.send_ck_a = gps_ubx.send_ck_b = 0; }
#define UpdateChecksum(c) { gps_ubx.send_ck_a += c; gps_ubx.send_ck_b += gps_ubx.send_ck_a; }
#define UbxTrailer() { GpsUartSend1(gps_ubx.send_ck_a); GpsUartSend1(gps_ubx.send_ck_b); GpsUartSendMessage(); }
#define UbxSend1(c) { uint8_t i8=c; GpsUartSend1(i8); UpdateChecksum(i8); }
#define UbxSend2(c) { uint16_t i16=c; UbxSend1(i16&0xff); UbxSend1(i16 >> 8); }
#define UbxSend1ByAddr(x) { UbxSend1(*x); }
#define UbxSend2ByAddr(x) { UbxSend1(*x); UbxSend1(*(x+1)); }
#define UbxSend4ByAddr(x) { UbxSend1(*x); UbxSend1(*(x+1)); UbxSend1(*(x+2)); UbxSend1(*(x+3)); }
#define UbxHeader(nav_id, msg_id, len) { \
GpsUartSend1(UBX_SYNC1); \
GpsUartSend1(UBX_SYNC2); \
UbxInitCheksum(); \
UbxSend1(nav_id); \
UbxSend1(msg_id); \
UbxSend2(len); \
}
struct GpsUbx gps_ubx;
@@ -267,11 +244,6 @@ void gps_ubx_parse( uint8_t c ) {
return;
}
#ifdef GPS_UBX_UCENTER
#include GPS_UBX_UCENTER
#endif
void ubxsend_cfg_rst(uint16_t bbr , uint8_t reset_mode) {
#ifdef GPS_LINK
UbxSend_CFG_RST(bbr, reset_mode, 0x00);
sw/airborne/subsystems/gps/gps_ubx.h
+22
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@@ -134,5 +134,27 @@ extern void ubxsend_cfg_rst(uint16_t, uint8_t);
ubxsend_cfg_rst(gps_ubx.reset, CFG_RST_Reset_Controlled); \
}
#define GpsUartSendMessage GpsLink(SendMessage)
#define GpsUartSend1(c) GpsLink(Transmit(c))
#define UbxInitCheksum() { gps_ubx.send_ck_a = gps_ubx.send_ck_b = 0; }
#define UpdateChecksum(c) { gps_ubx.send_ck_a += c; gps_ubx.send_ck_b += gps_ubx.send_ck_a; }
#define UbxSend1(c) { uint8_t i8=c; GpsUartSend1(i8); UpdateChecksum(i8); }
#define UbxSend2(c) { uint16_t i16=c; UbxSend1(i16&0xff); UbxSend1(i16 >> 8); }
#define UbxSend1ByAddr(x) { UbxSend1(*x); }
#define UbxSend2ByAddr(x) { UbxSend1(*x); UbxSend1(*(x+1)); }
#define UbxSend4ByAddr(x) { UbxSend1(*x); UbxSend1(*(x+1)); UbxSend1(*(x+2)); UbxSend1(*(x+3)); }
#define GpsUartSetBaudrate(_a) GpsLink(SetBaudrate(_a))
#define UbxHeader(nav_id, msg_id, len) { \
GpsUartSend1(UBX_SYNC1); \
GpsUartSend1(UBX_SYNC2); \
UbxInitCheksum(); \
UbxSend1(nav_id); \
UbxSend1(msg_id); \
UbxSend2(len); \
}
#define UbxTrailer() { GpsUartSend1(gps_ubx.send_ck_a); GpsUartSend1(gps_ubx.send_ck_b); GpsUartSendMessage(); }
#endif /* GPS_UBX_H */