[gps] update some gps for generic device

conf/firmwares/subsystems/fixedwing/gps_furuno.makefile

@@ -3,9 +3,10 @@
 # Furuno NMEA GPS unit
 
 GPS_LED ?= none
+FURUNO_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
 
 ap.CFLAGS += -DUSE_GPS -DGPS_USE_LATLONG
-ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
+ap.CFLAGS += -DGPS_LINK=$(FURUNO_GPS_PORT_LOWER)
 ap.CFLAGS += -DUSE_$(GPS_PORT)
 ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
 ap.CFLAGS += -DNMEA_PARSE_PROP

conf/firmwares/subsystems/fixedwing/gps_mediatek_diy.makefile

@@ -3,9 +3,10 @@
 # Mediatek MT3329, DIYDrones V1.4/1.6 protocol
 
 GPS_LED ?= none
+MTK_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
 
 ap.CFLAGS += -DUSE_GPS -DGPS_CONFIGURE -DGPS_USE_LATLONG
-ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
+ap.CFLAGS += -DGPS_LINK=$(MTK_GPS_PORT_LOWER)
 ap.CFLAGS += -DUSE_$(GPS_PORT)
 ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
 

conf/firmwares/subsystems/fixedwing/gps_nmea.makefile

@@ -3,9 +3,10 @@
 # NMEA GPS unit
 
 GPS_LED ?= none
+NMEA_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
 
 ap.CFLAGS += -DUSE_GPS -DGPS_USE_LATLONG
-ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
+ap.CFLAGS += -DGPS_LINK=$(NMEA_GPS_PORT_LOWER)
 ap.CFLAGS += -DUSE_$(GPS_PORT)
 ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
 

conf/firmwares/subsystems/fixedwing/gps_skytraq.makefile

@@ -1,9 +1,10 @@
 # Hey Emacs, this is a -*- makefile -*-
 
 GPS_LED ?= none
+SKYTRAQ_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
 
 ap.CFLAGS += -DUSE_GPS -DGPS_USE_LATLONG
-ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
+ap.CFLAGS += -DGPS_LINK=$(SKYTRAQ_GPS_PORT_LOWER)
 ap.CFLAGS += -DUSE_$(GPS_PORT)
 ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
 

conf/firmwares/subsystems/rotorcraft/gps_furuno.makefile

@@ -2,9 +2,10 @@
 
 # Furuno NMEA GPS unit
 
+FURUNO_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
 
 ap.CFLAGS += -DUSE_GPS
-ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
+ap.CFLAGS += -DGPS_LINK=$(FURUNO_GPS_PORT_LOWER)
 ap.CFLAGS += -DUSE_$(GPS_PORT)
 ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
 ap.CFLAGS += -DNMEA_PARSE_PROP

conf/firmwares/subsystems/rotorcraft/gps_nmea.makefile

@@ -2,9 +2,10 @@
 
 # NMEA GPS unit
 
+NMEA_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
 
 ap.CFLAGS += -DUSE_GPS
-ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
+ap.CFLAGS += -DGPS_LINK=$(NMEA_GPS_PORT_LOWER)
 ap.CFLAGS += -DUSE_$(GPS_PORT)
 ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
 

conf/firmwares/subsystems/rotorcraft/gps_sirf.makefile

@@ -3,9 +3,10 @@
 # Sirf GPS unit
 
 GPS_LED ?= none
+SIRF_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
 
 ap.CFLAGS += -DUSE_GPS
-ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
+ap.CFLAGS += -DGPS_LINK=$(SIRF_GPS_PORT_LOWER)
 ap.CFLAGS += -DUSE_$(GPS_PORT)
 ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
 

conf/firmwares/subsystems/rotorcraft/gps_skytraq.makefile

@@ -1,9 +1,10 @@
 # Hey Emacs, this is a -*- makefile -*-
 
 GPS_LED ?= none
+SKYTRAQ_GPS_PORT_LOWER=$(shell echo $(GPS_PORT) | tr A-Z a-z)
 
 ap.CFLAGS += -DUSE_GPS
-ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
+ap.CFLAGS += -DGPS_LINK=$(SKYTRAQ_GPS_PORT_LOWER)
 ap.CFLAGS += -DUSE_$(GPS_PORT)
 ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
 

sw/airborne/subsystems/gps/gps_furuno.c

@@ -47,6 +47,8 @@ static const char *gps_furuno_settings[GPS_FURUNO_SETTINGS_NB] = {
 
 static void nmea_parse_perdcrv(void);
 
+#define GpsLinkDevice (&(GPS_LINK).device)
+
 void nmea_parse_prop_init(void)
 {
   static uint8_t i = 0;
@@ -64,9 +66,9 @@ void nmea_parse_prop_init(void)
     sprintf(buf, "$%s*%02X\r\n", gps_furuno_settings[i], crc);
 
     // Check if there is enough space to send the config msg
-    if (GpsLink(CheckFreeSpace(len + 6))) {
+    if (GpsLinkDevice->check_free_space(GpsLinkDevice->periph, len + 6)) {
       for (j = 0; j < len + 6; j++) {
-        GpsLink(Transmit(buf[j]));
+        GpsLinkDevice->transmit(GpsLinkDevice->periph, buf[j]);
       }
     } else {
       break;

sw/airborne/subsystems/gps/gps_mtk.c

@@ -115,6 +115,30 @@ void gps_impl_init(void)
 #endif
 }
 
+void gps_mtk_msg(void (* _cb)(void))
+{
+  gps.last_msg_ticks = sys_time.nb_sec_rem;
+  gps.last_msg_time = sys_time.nb_sec;
+  gps_mtk_read_message();
+  if (gps_mtk.msg_class == MTK_DIY14_ID &&
+      gps_mtk.msg_id == MTK_DIY14_NAV_ID) {
+    if (gps.fix == GPS_FIX_3D) {
+      gps.last_3dfix_ticks = sys_time.nb_sec_rem;
+      gps.last_3dfix_time = sys_time.nb_sec;
+    }
+    _sol_available_callback();
+  }
+  if (gps_mtk.msg_class == MTK_DIY16_ID &&
+      gps_mtk.msg_id == MTK_DIY16_NAV_ID) {
+    if (gps.fix == GPS_FIX_3D) {
+      gps.last_3dfix_ticks = sys_time.nb_sec_rem;
+      gps.last_3dfix_time = sys_time.nb_sec;
+    }
+    _cb();
+  }
+  gps_mtk.msg_available = FALSE;
+}
+
 static void gps_mtk_time2itow(uint32_t  gps_date, uint32_t  gps_time,
                               int16_t *gps_week, uint32_t *gps_itow)
 {

sw/airborne/subsystems/gps/gps_mtk.h

@@ -54,10 +54,7 @@ extern struct GpsMtk gps_mtk;
 /*
  * This part is used by the autopilot to read data from a uart
  */
-#define __GpsLink(dev, _x) dev##_x
+#include "mcu_periph/link_device.h"
-#define _GpsLink(dev, _x)  __GpsLink(dev, _x)
-#define GpsLink(_x) _GpsLink(GPS_LINK, _x)
-
 
 #ifdef GPS_CONFIGURE
 extern bool_t gps_configuring;
@@ -83,26 +80,7 @@ static inline void GpsEvent(void (* _sol_available_callback)(void))
     GpsConfigure();
   }
   if (gps_mtk.msg_available) {
-    gps.last_msg_ticks = sys_time.nb_sec_rem;
+    gps_mtk_msg(_sol_available_callback);
-    gps.last_msg_time = sys_time.nb_sec;
-    gps_mtk_read_message();
-    if (gps_mtk.msg_class == MTK_DIY14_ID &&
-        gps_mtk.msg_id == MTK_DIY14_NAV_ID) {
-      if (gps.fix == GPS_FIX_3D) {
-        gps.last_3dfix_ticks = sys_time.nb_sec_rem;
-        gps.last_3dfix_time = sys_time.nb_sec;
-      }
-      _sol_available_callback();
-    }
-    if (gps_mtk.msg_class == MTK_DIY16_ID &&
-        gps_mtk.msg_id == MTK_DIY16_NAV_ID) {
-      if (gps.fix == GPS_FIX_3D) {
-        gps.last_3dfix_ticks = sys_time.nb_sec_rem;
-        gps.last_3dfix_time = sys_time.nb_sec;
-      }
-      _sol_available_callback();
-    }
-    gps_mtk.msg_available = FALSE;
   }
 }
 

sw/airborne/subsystems/gps/gps_nmea.c

@@ -63,6 +63,21 @@ void gps_impl_init(void)
   nmea_parse_prop_init();
 }
 
+void gps_nmea_msg(void (* _cb)(void))
+{
+  gps.last_msg_ticks = sys_time.nb_sec_rem;
+  gps.last_msg_time = sys_time.nb_sec;
+  nmea_parse_msg();
+  if (gps_nmea.pos_available) {
+    if (gps.fix == GPS_FIX_3D) {
+      gps.last_3dfix_ticks = sys_time.nb_sec_rem;
+      gps.last_3dfix_time = sys_time.nb_sec;
+    }
+    _cb();
+  }
+  gps_nmea.msg_available = FALSE;
+}
+
 void WEAK nmea_parse_prop_init(void)
 {
 }

sw/airborne/subsystems/gps/gps_nmea.h

@@ -52,44 +52,30 @@ extern struct GpsNmea gps_nmea;
 /*
  * This part is used by the autopilot to read data from a uart
  */
-#define __GpsLink(dev, _x) dev##_x
-#define _GpsLink(dev, _x)  __GpsLink(dev, _x)
-#define GpsLink(_x) _GpsLink(GPS_LINK, _x)
 
-#define GpsBuffer() GpsLink(ChAvailable())
+/** The function to be called when a characted from the device is available */
+#include "mcu_periph/link_device.h"
 
-#define GpsEvent(_sol_available_callback) {             \
-    nmea_parse_prop_init();                             \
-    if (GpsBuffer()) {                                  \
-      ReadGpsBuffer();                                  \
-    }                                                   \
-    if (gps_nmea.msg_available) {                       \
-      gps.last_msg_ticks = sys_time.nb_sec_rem;         \
-      gps.last_msg_time = sys_time.nb_sec;              \
-      nmea_parse_msg();                                 \
-      if (gps_nmea.pos_available) {                     \
-        if (gps.fix == GPS_FIX_3D) {                    \
-          gps.last_3dfix_ticks = sys_time.nb_sec_rem;   \
-          gps.last_3dfix_time = sys_time.nb_sec;        \
-        }                                               \
-        _sol_available_callback();                      \
-      }                                                 \
-      gps_nmea.msg_available = FALSE;                   \
-    }                                                   \
-  }
-
-#define ReadGpsBuffer() {         \
-    while (GpsLink(ChAvailable())&&!gps_nmea.msg_available) \
-      nmea_parse_char(GpsLink(Getch()));      \
-  }
-
-
-/** The function to be called when a characted friom the device is available */
 extern void nmea_parse_char(uint8_t c);
 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 (* _cb)(void));
+
+static inline void GpsEvent(void (* _sol_available_callback)(void))
+{
+  struct link_device *dev = &((GPS_LINK).device);
+
+  if (dev->char_available(dev->periph)) {
+    while (dev->char_available(dev->periph)) {
+      nmea_parse_char(dev->getchar(dev->periph));
+    }
+  }
+  if (gps_nmea.msg_available) {
+    gps_nmea_msg(_sol_available_callback);
+  }
+}
 
 /** Read until a certain character, placed here for proprietary includes */
 static inline void nmea_read_until(int *i)

sw/airborne/subsystems/gps/gps_sirf.c

@@ -48,6 +48,21 @@ void gps_impl_init(void)
   gps_sirf.read_state = 0;
 }
 
+void gps_sirf_msg(void (* _cb)(void))
+{
+  gps.last_msg_ticks = sys_time.nb_sec_rem;
+  gps.last_msg_time = sys_time.nb_sec;
+  sirf_parse_msg();
+  if (gps_sirf.pos_available) {
+    if (gps.fix == GPS_FIX_3D) {
+      gps.last_3dfix_ticks = sys_time.nb_sec_rem;
+      gps.last_3dfix_time = sys_time.nb_sec;
+    }
+    _cb();
+  }
+  gps_sirf.msg_available = FALSE;
+}
+
 void sirf_parse_char(uint8_t c)
 {
   switch (gps_sirf.read_state) {

sw/airborne/subsystems/gps/gps_sirf.h

@@ -127,37 +127,24 @@ struct sirf_msg_41 {
 /*
  * This part is used by the autopilot to read data from a uart
  */
-#define __GpsLink(dev, _x) dev##_x
+#include "mcu_periph/link_device.h"
-#define _GpsLink(dev, _x)  __GpsLink(dev, _x)
-#define GpsLink(_x) _GpsLink(GPS_LINK, _x)
-
-#define GpsBuffer() GpsLink(ChAvailable())
-
-#define GpsEvent(_sol_available_callback) {             \
-    if (GpsBuffer()) {                                  \
-      ReadGpsBuffer();                                  \
-    }                                                   \
-    if (gps_sirf.msg_available) {                       \
-      gps.last_msg_ticks = sys_time.nb_sec_rem;         \
-      gps.last_msg_time = sys_time.nb_sec;              \
-      sirf_parse_msg();                                 \
-      if (gps_sirf.pos_available) {                     \
-        if (gps.fix == GPS_FIX_3D) {                    \
-          gps.last_3dfix_ticks = sys_time.nb_sec_rem;   \
-          gps.last_3dfix_time = sys_time.nb_sec;        \
-        }                                               \
-        _sol_available_callback();                      \
-      }                                                 \
-      gps_sirf.msg_available = FALSE;                   \
-    }                                                   \
-  }
-
-#define ReadGpsBuffer() {                                   \
-    while (GpsLink(ChAvailable())&&!gps_sirf.msg_available) \
-      sirf_parse_char(GpsLink(Getch()));                    \
-  }
 
 extern void sirf_parse_char(uint8_t c);
 extern void sirf_parse_msg(void);
+extern void gps_sirf_msg(void (* _cb)(void));
+
+static inline void GpsEvent(void (* _sol_available_callback)(void))
+{
+  struct link_device *dev = &((GPS_LINK).device);
+
+  if (dev->char_available(dev->periph)) {
+    while (dev->char_available(dev->periph)) {
+      sirf_parse_char(dev->getchar(dev->periph));
+    }
+  }
+  if (gps_sirf.msg_available) {
+    gps_sirf_msg(_sol_available_callback);
+  }
+}
 
 #endif /* GPS_SIRF_H */

sw/airborne/subsystems/gps/gps_skytraq.c

@@ -97,6 +97,21 @@ void gps_impl_init(void)
 
 }
 
+void gps_skytraq_msg(void (* _cb)(void))
+{
+  gps.last_msg_ticks = sys_time.nb_sec_rem;
+  gps.last_msg_time = sys_time.nb_sec;
+  gps_skytraq_read_message();
+  if (gps_skytraq.msg_id == SKYTRAQ_ID_NAVIGATION_DATA) {
+    if (gps.fix == GPS_FIX_3D) {
+      gps.last_3dfix_ticks = sys_time.nb_sec_rem;
+      gps.last_3dfix_time = sys_time.nb_sec;
+    }
+    _cb();
+  }
+  gps_skytraq.msg_available = FALSE;
+}
+
 
 void gps_skytraq_read_message(void)
 {

sw/airborne/subsystems/gps/gps_skytraq.h

@@ -58,38 +58,24 @@ extern struct GpsSkytraq gps_skytraq;
 /*
  * This part is used by the autopilot to read data from a uart
  */
-#define __GpsLink(dev, _x) dev##_x
+#include "mcu_periph/link_device.h"
-#define _GpsLink(dev, _x)  __GpsLink(dev, _x)
-#define GpsLink(_x) _GpsLink(GPS_LINK, _x)
-
-#define GpsBuffer() GpsLink(ChAvailable())
-
-#define GpsEvent(_sol_available_callback) {                     \
-    if (GpsBuffer()) {                                          \
-      ReadGpsBuffer();                                          \
-    }                                                           \
-    if (gps_skytraq.msg_available) {                            \
-      gps.last_msg_ticks = sys_time.nb_sec_rem;                 \
-      gps.last_msg_time = sys_time.nb_sec;                      \
-      gps_skytraq_read_message();                               \
-      if (gps_skytraq.msg_id == SKYTRAQ_ID_NAVIGATION_DATA) { \
-        if (gps.fix == GPS_FIX_3D) {                            \
-          gps.last_3dfix_ticks = sys_time.nb_sec_rem;           \
-          gps.last_3dfix_time = sys_time.nb_sec;                \
-        }                                                       \
-        _sol_available_callback();                              \
-      }                                                         \
-      gps_skytraq.msg_available = FALSE;                        \
-    }                                                           \
-  }
-
-#define ReadGpsBuffer() {           \
-    while (GpsLink(ChAvailable())&&!gps_skytraq.msg_available)  \
-      gps_skytraq_parse(GpsLink(Getch()));        \
-  }
-
 
 extern void gps_skytraq_read_message(void);
 extern void gps_skytraq_parse(uint8_t c);
+extern void gps_skytraq_msg(void (* _cb)(void));
+
+static inline void GpsEvent(void (* _sol_available_callback)(void))
+{
+  struct link_device *dev = &((GPS_LINK).device);
+
+  if (dev->char_available(dev->periph)) {
+    while (dev->char_available(dev->periph) && !gps_mtk.msg_available) {
+      gps_skytraq_parse(dev->getchar(dev->periph));
+    }
+  }
+  if (gps_skytraq.msg_available) {
+    gps_skytraq_msg(_sol_available_callback);
+  }
+}
 
 #endif /* GPS_SKYTRAQ_H */

sw/airborne/subsystems/gps/gps_ubx.h

@@ -82,6 +82,7 @@ extern struct GpsUbxRaw gps_ubx_raw;
 /*
  * This part is used by the autopilot to read data from a uart
  */
+#include "mcu_periph/link_device.h"
 
 extern void ubx_header(struct link_device *dev, uint8_t nav_id, uint8_t msg_id, uint16_t len);
 extern void ubx_trailer(struct link_device *dev);