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[sim] added new gps support

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This commit is contained in:
masierra
2016-02-03 08:59:09 -08:00
parent cd0f166b3f
commit b222da438b
11 changed files with 33 additions and 15 deletions
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conf/firmwares/subsystems/fixedwing/ins_vectornav.makefile
+1 -1
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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.srcs += $(SRC_SUBSYSTEMS)/ins/ins_gps_passthrough_utm.c
sim.CFLAGS += -DUSE_GPS sim.CFLAGS += -DUSE_GPS
sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\" sim.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
sim.srcs += $(SRC_SUBSYSTEMS)/gps.c sim.srcs += $(SRC_SUBSYSTEMS)/gps.c
conf/firmwares/subsystems/fixedwing/ins_xsens.makefile
+1 -1
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@@ -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).srcs += $(SRC_SUBSYSTEMS)/ins/ins_gps_passthrough_utm.c
$(TARGET).CFLAGS += -DUSE_GPS $(TARGET).CFLAGS += -DUSE_GPS
$(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\" $(TARGET).CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c $(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c $(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
conf/firmwares/subsystems/rotorcraft/gps_ardrone2.makefile
+1 -1
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@@ -16,6 +16,6 @@ ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_ardrone2.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c $(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
nps.CFLAGS += -DUSE_GPS nps.CFLAGS += -DUSE_GPS
nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\" nps.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
conf/firmwares/subsystems/shared/gps_furuno.makefile
+1 -1
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@@ -21,7 +21,7 @@ ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_nmea.c $(SRC_SUBSYSTEMS)/gps/gps_furuno.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c $(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
sim.CFLAGS += -DUSE_GPS sim.CFLAGS += -DUSE_GPS
sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\" sim.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
nps.CFLAGS += -DUSE_GPS nps.CFLAGS += -DUSE_GPS
conf/firmwares/subsystems/shared/gps_mediatek_diy.makefile
+1 -1
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@@ -20,7 +20,7 @@ ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_mtk.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c $(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
sim.CFLAGS += -DUSE_GPS sim.CFLAGS += -DUSE_GPS
sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\" sim.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
nps.CFLAGS += -DUSE_GPS nps.CFLAGS += -DUSE_GPS
conf/firmwares/subsystems/shared/gps_nmea.makefile
+1 -1
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@@ -20,7 +20,7 @@ ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_nmea.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c $(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
sim.CFLAGS += -DUSE_GPS sim.CFLAGS += -DUSE_GPS
sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\" sim.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
nps.CFLAGS += -DUSE_GPS nps.CFLAGS += -DUSE_GPS
conf/firmwares/subsystems/shared/gps_piksi.makefile
+1 -1
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@@ -24,7 +24,7 @@ ap.CFLAGS += -I$(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 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 += -DUSE_GPS
sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\" sim.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
nps.CFLAGS += -DUSE_GPS nps.CFLAGS += -DUSE_GPS
conf/firmwares/subsystems/shared/gps_ublox.makefile
+1 -1
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@@ -19,7 +19,7 @@ ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_ubx.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c $(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
sim.CFLAGS += -DUSE_GPS sim.CFLAGS += -DUSE_GPS
sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\" sim.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
nps.CFLAGS += -DUSE_GPS nps.CFLAGS += -DUSE_GPS
conf/firmwares/subsystems/shared/ins_xsens700.makefile
+1 -1
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@@ -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).srcs += $(SRC_SUBSYSTEMS)/ins/ins_gps_passthrough_utm.c
$(TARGET).CFLAGS += -DUSE_GPS $(TARGET).CFLAGS += -DUSE_GPS
$(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\" $(TARGET).CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c $(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c $(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
sw/airborne/subsystems/gps/gps_sim.c
+14 -2
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@@ -19,14 +19,18 @@
* Boston, MA 02111-1307, USA. * Boston, MA 02111-1307, USA.
*/ */
#include "subsystems/gps.h" #include "subsystems/gps/gps_sim.h"
#include "subsystems/abi.h" #include "subsystems/abi.h"
void gps_impl_init(void) void sim_gps_impl_init(void)
{ {
gps.fix = GPS_FIX_NONE; gps.fix = GPS_FIX_NONE;
} }
void sim_gps_event(void)
{
}
void gps_sim_publish(void) void gps_sim_publish(void)
{ {
uint32_t now_ts = get_sys_time_usec(); uint32_t now_ts = get_sys_time_usec();
@@ -38,3 +42,11 @@ void gps_sim_publish(void)
} }
AbiSendMsgGPS(GPS_SIM_ID, now_ts, &gps); AbiSendMsgGPS(GPS_SIM_ID, now_ts, &gps);
} }
/*
* register callbacks & structs
*/
void sim_gps_register(void)
{
gps_register_impl(sim_gps_impl_init, sim_gps_event, GPS_SIM_ID, 0);
}
sw/airborne/subsystems/gps/gps_sim.h
+10 -4
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@@ -2,13 +2,19 @@
#define GPS_SIM_H #define GPS_SIM_H
#include "std.h" #include "std.h"
#include "subsystems/gps.h"
#define GPS_NB_CHANNELS 16 // #define GPS_NB_CHANNELS 16
#ifndef PrimaryGpsImpl
extern void gps_impl_init(void); #define PrimaryGpsImpl sim
#endif
extern void gps_sim_publish(void); extern void gps_sim_publish(void);
#define GpsEvent() {} extern void sim_gps_event(void);
extern void sim_gps_impl_init(void);
extern void sim_gps_register(void);
// #define GpsEvent() {}
#endif /* GPS_SIM_H */ #endif /* GPS_SIM_H */