new gps uart handling

sw/airborne/avr/uart_ap.c

@@ -163,3 +163,13 @@ void uart1_init( void ) {
   sbi(UCSR1B, RXCIE ); 
 }
 
+
+bool_t uart1_buffer_size;
+uint8_t uart1_buffer[UART_BUFFER_LEN];
+
+SIGNAL( SIG_UART1_RECV ) {
+  if (uart1_buffer_size < UART_BUFFER_LEN) {
+    uart1_buffer[uart1_buffer_size] = UDR1;
+    uart1_buffer_size++;
+  } /** else overrun */
+}

sw/airborne/avr/uart_ap_hw.h

@@ -39,3 +39,5 @@
     uint8_t c = UDR1; \
     cb(c); \
 }
+
+#define UART_BUFFER_LEN 16

sw/airborne/gps.h

@@ -74,5 +74,14 @@ extern struct svinfo gps_svinfos[GPS_NB_CHANNELS];
 #include "ubx.h"
 #endif
 
+#define GPS_BUFFER uart1_buffer
+#define GPS_BUFFER_SIZE uart1_buffer_size
+
+
+#define GpsBuffer() (GPS_BUFFER_SIZE > 0)
+#define ReadGpsBuffer() { \
+  GpsParse(GPS_BUFFER, GPS_BUFFER_SIZE); \
+  GPS_BUFFER_SIZE = 0; \
+}
 
 #endif /* GPS_H */

sw/airborne/gps_ubx.c

@@ -141,7 +141,7 @@ void parse_gps_msg( void ) {
 uint8_t gps_nb_ovrn;
 
 
-static inline void parse_ubx( uint8_t c ) {
+void parse_ubx( uint8_t c ) {
   if (ubx_status < GOT_PAYLOAD) {
     ck_a += c;
     ck_b += ck_a;
@@ -207,17 +207,3 @@ static inline void parse_ubx( uint8_t c ) {
   ubx_status = UNINIT;
   return;
 }
-
-#ifdef AVR_ARCH
-
-#ifdef SIMUL
-ReceiveUart0(parse_ubx);
-#endif
-
-#ifndef WAVECARD_ON_GPS
-ReceiveUart1(parse_ubx);
-#endif
-
-
-#endif /* AVR_ARCH */
-

sw/airborne/mainloop.c

@@ -130,6 +130,9 @@ void periodic_task_ap( void) {
 
 void event_task_ap( void ) {
 #ifdef GPS
+  if (GpsBuffer()) {
+    ReadGpsBuffer();
+  }
   if (gps_msg_received) {
     /* parse and use GPS messages */
     parse_gps_msg();

sw/airborne/uart_ap.h

@@ -25,6 +25,7 @@
 #define _UART_H_
 
 #include <inttypes.h>
+#include "std.h"
 #include "uart_ap_hw.h"
 
 extern void uart0_init_tx(void);
@@ -37,5 +38,7 @@ extern void uart0_print_hex16(const uint16_t);
 extern void uart0_transmit(const uint8_t);
 extern void uart1_transmit(const uint8_t);
 
+extern bool_t uart1_buffer_size;
+extern uint8_t uart1_buffer[UART_BUFFER_LEN];
 
 #endif

sw/airborne/ubx.h

@@ -57,5 +57,13 @@ extern uint8_t send_ck_a, send_ck_b;
 
 #define GPS_FIX_VALID(gps_mode) (gps_mode == 3)
 
+extern void parse_ubx( uint8_t c );
+
+#define GpsParse(_gps_buffer, _gps_buffer_size) { \
+  uint8_t i; \
+  for(i = 0; i < _gps_buffer_size; i++) { \
+    parse_ubx(_gps_buffer[i]); \
+  } \
+}
 
 #endif /* UBX_H */

sw/tools/gen_ubx.ml

@@ -115,7 +115,7 @@ let parse_message = fun class_name m ->
 	let s = sizeof (format f) in
 	let p = param_name f in
 	let t = param_type f in
-	fprintf out "  %s _%s = %s; UbxSend%dByAddr((uint8_t*)_%s);\\\n" t p p s p
+	fprintf out "  %s _%s = %s; UbxSend%dByAddr((uint8_t*)&_%s);\\\n" t p p s p
     | "block" ->
 	List.iter send_one_field (Xml.children f)
     | _ -> assert (false) in