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[gps] update gps_mtk to use generic device

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This commit is contained in:
Gautier Hattenberger
2015-03-16 00:42:20 +01:00
parent f4ada86a90
commit b80cc08bc7
3 changed files with 39 additions and 64 deletions
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sw/airborne/subsystems/gps/gps_mtk.c
+4 -1
View File
@@ -393,9 +393,12 @@ restart:
*/
#ifdef GPS_CONFIGURE
#include "mcu_periph/link_device.h"
static void MtkSend_CFG(char *dat)
{
while (*dat != 0) { GpsLink(Transmit(*dat++)); }
struct link_device *dev = &((GPS_LINK).device);
while (*dat != 0) { dev->transmit(dev->periph, *dat++); }
}
void gps_configure_uart(void)
sw/airborne/subsystems/gps/gps_mtk.h
+34 -36
View File
@@ -58,7 +58,6 @@ extern struct GpsMtk gps_mtk;
#define _GpsLink(dev, _x) __GpsLink(dev, _x)
#define GpsLink(_x) _GpsLink(GPS_LINK, _x)
#define GpsBuffer() GpsLink(ChAvailable())
#ifdef GPS_CONFIGURE
extern bool_t gps_configuring;
@@ -70,44 +69,43 @@ extern bool_t gps_configuring;
#define GpsConfigure() {}
#endif
#define GpsEvent(_sol_available_callback) { \
if (GpsBuffer()) { \
ReadGpsBuffer(); \
GpsConfigure(); \
} \
if (gps_mtk.msg_available) { \
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; \
} \
_sol_available_callback(); \
} \
gps_mtk.msg_available = FALSE; \
} \
}
#define ReadGpsBuffer() { \
while (GpsLink(ChAvailable())&&!gps_mtk.msg_available) \
gps_mtk_parse(GpsLink(Getch())); \
}
extern void gps_mtk_read_message(void);
extern void gps_mtk_parse(uint8_t c);
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_ubx.msg_available) {
gps_mtk_parse(dev->getchar(dev->periph));
}
GpsConfigure();
}
if (gps_mtk.msg_available) {
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;
}
_sol_available_callback();
}
gps_mtk.msg_available = FALSE;
}
}
/*
* dynamic GPS configuration
*/
sw/tools/generators/gen_mtk.ml
+1 -27
View File
@@ -105,33 +105,7 @@ let parse_message = fun class_name m ->
if l <> !offset then raise (Length_error (m, l, !offset))
with
Xml.No_attribute("length") -> () (** Undefined length authorized *)
end;
(** Generating send function *)
let param_name = fun f -> String.lowercase (field_name f) in
let rec param_names = fun f r ->
if Xml.tag f = "field" then
param_name f :: r
else
List.fold_right param_names (Xml.children f) r in
let param_type = fun f -> c_type (format f) in
fprintf out "\n#define MtkSend_%s_%s(" class_name msg_name;
fprintf out "%s" (String.concat "," (param_names m []));
fprintf out ") { \\\n";
fprintf out " MtkHeader(MTK_%s_ID, %s, %d);\\\n" class_name msg_id !offset;
let rec send_one_field = fun f ->
match Xml.tag f with
"field" ->
let s = sizeof (format f) in
let p = param_name f in
let t = param_type f in
fprintf out " %s _%s = %s; MtkSend%dByAddr((uint8_t*)&_%s);\\\n" t p p s p
| "block" ->
List.iter send_one_field (Xml.children f)
| _ -> assert (false) in
List.iter send_one_field (Xml.children m);
fprintf out " MtkTrailer();\\\n";
fprintf out "}\n\n#define MTK_%s_%s_LENGTH %d\n" class_name msg_name !offset
end
let parse_class = fun c ->