gps configuration code open for user

sw/airborne/gps.h

@@ -55,15 +55,12 @@ extern int32_t gps_lat, gps_lon; /* 1e7 deg */
 extern uint16_t gps_PDOP;
 extern uint32_t gps_Pacc, gps_Sacc;
 extern uint8_t gps_numSV;
-extern uint8_t gps_status_config;
+extern uint8_t gps_configuring;
 extern uint16_t gps_reset;
 
 extern uint16_t last_gps_msg_t; /** cputime of the last gps message */
 extern bool_t gps_verbose_downlink;
 
-#define GPS_CONFIG_INIT 0
-#define GPS_CONFIG_DONE 7
-
 void gps_init( void );
 void gps_configure( void );
 void parse_gps_msg( void );
@@ -122,5 +119,32 @@ extern struct svinfo gps_svinfos[GPS_NB_CHANNELS];
 }
 
 
+#ifdef GPS_CONFIGURE
+#define GpsParseOrConfigure() { \
+  if (gps_configuring) \
+    gps_configure(); \
+  else \
+    parse_gps_msg(); \
+}
+#else
+#define GpsParseOrConfigure() parse_gps_msg()
+#endif
+    
+
+#define GpsEventCheckAndHandle(_callback, _verbose) { \
+  if (GpsBuffer()) { \
+    ReadGpsBuffer(); \
+  } \
+  if (gps_msg_received) { \
+    GpsParseOrConfigure(); \
+    gps_msg_received = FALSE; \
+    if (gps_pos_available) { \
+      gps_verbose_downlink = _verbose; \
+      UseGpsPos(_callback); \
+      gps_pos_available = FALSE; \
+    } \
+  } \
+}
+
 
 #endif /* GPS_H */

sw/airborne/gps_ubx.c

@@ -103,30 +103,27 @@ static uint8_t  ubx_msg_idx;
 static uint8_t ck_a, ck_b;
 uint8_t send_ck_a, send_ck_b;
 
-uint8_t gps_status_config;
+bool_t gps_configuring;
+static uint8_t gps_status_config;
 
 void gps_init( void ) {
   ubx_status = UNINIT;
 #ifdef GPS_CONFIGURE
-  gps_status_config = GPS_CONFIG_INIT;
+  gps_status_config = 0;
+  gps_configuring = TRUE;
 #endif
 }
 
-
 #define UBX_PROTO_MASK  0x0001
 #define NMEA_PROTO_MASK 0x0002
 #define RTCM_PROTO_MASK 0x0004
 
-#define NAV_DYN_AIRBORNE_1G 5
-#define NAV_DYN_AIRBORNE_2G 6
-#define NAV_DYN_AIRBORNE_4G 7
-
 #ifdef GPS_CONFIGURE
 /* GPS dynamic configuration */
 
 #include "uart.h"
 
-/* Configure the GPS baud rate using the current uart baud rate. Busy
+/* Configure the GPS baud rateó< using the current uart baud rate. Busy
    wait for the end of the transmit. Then, BEFORE waiting for the ACK,
    change the uart rate. */
 void gps_configure_uart ( void ) {
@@ -135,15 +132,11 @@ void gps_configure_uart ( void ) {
   GpsUartInitParam( UART_BAUD(GPS_BAUD),  UART_8N1, UART_FIFO_8);
 }
 
-/* GPS configuration. Must be called on ack message reception while 
+#ifdef USER_GPS_CONFIGURE
-   gps_status_config < GPS_CONFIG_DONE */
+#include USER_GPS_CONFIGURE
-void gps_configure ( void ) {
+#else 
-  if (ubx_class == UBX_ACK_ID) {
+static bool_t user_gps_configure(bool_t cpt) {
-    if (ubx_id == UBX_ACK_ACK_ID) {
+  switch (cpt) {
-      gps_status_config++;
-    }
-  }
-  switch (gps_status_config) {
   case 0:
     UbxSend_CFG_NAV(NAV_DYN_AIRBORNE_2G, 3, 16, 24, 20, 5, 0, 0x3C, 0x3C, 0x14, 0x03E8 ,0x0000, 0x0, 0x17, 0x00FA, 0x00FA, 0x0064, 0x012C, 0x000F, 0x00, 0x00);
     break;
@@ -164,8 +157,21 @@ void gps_configure ( void ) {
     break;
   case 6:
     UbxSend_CFG_RATE(0x00FA, 0x0001, 0x0000);   
-    break;
+    return FALSE;
   }
+  return TRUE; /* Continue, except for the last case */
+}
+#endif // ! USER_GPS_CONFIGURE
+
+/* GPS configuration. Must be called on ack message reception while 
+   gps_status_config < GPS_CONFIG_DONE */
+void gps_configure ( void ) {
+  if (ubx_class == UBX_ACK_ID) {
+    if (ubx_id == UBX_ACK_ACK_ID) {
+      gps_status_config++;
+    }
+  }
+  gps_configuring = user_gps_configure(gps_status_config);
 }
 #endif /* GPS_CONFIGURE */
 

sw/airborne/gps_ubx.h

@@ -59,6 +59,14 @@ extern void parse_ubx( uint8_t c );
 #define CFG_RST_Reset_Controlled_GPS_stop 0x08
 #define CFG_RST_Reset_Controlled_GPS_start 0x09
 
+#define NAV_DYN_STATIONARY  1
+#define NAV_DYN_PEDESTRIAN  2
+#define NAV_DYN_AUTOMOTIVE  3
+#define NAV_DYN_SEA         4
+#define NAV_DYN_AIRBORNE_1G 5
+#define NAV_DYN_AIRBORNE_2G 6
+#define NAV_DYN_AIRBORNE_4G 7
+
 void ubxsend_cfg_rst(uint16_t, uint8_t);
 
 #define gps_ubx_Reset(_val) { gps_reset = _val; if (gps_reset > CFG_RST_BBR_Warmstart) gps_reset = CFG_RST_BBR_Coldstart; ubxsend_cfg_rst(gps_reset, CFG_RST_Reset_Controlled); }

sw/airborne/main_ap.c

@@ -640,7 +640,7 @@ void event_task_ap( void ) {
   if (gps_msg_received) {
     /* parse and use GPS messages */
 #ifdef GPS_CONFIGURE
-    if (gps_status_config < GPS_CONFIG_DONE)		
+    if (gps_configuring)
       gps_configure();
     else
 #endif