[gps datalink] added new gps support

conf/firmwares/subsystems/rotorcraft/gps_datalink.makefile

@@ -3,7 +3,7 @@
 GPS_LED ?= none
 
 ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
-ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_datalink.h\"
+ap.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_datalink.h\"
 ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_datalink.c
 
 ap.CFLAGS += -DUSE_GPS -DGPS_DATALINK
@@ -14,5 +14,5 @@ endif
 
 nps.CFLAGS += -DUSE_GPS
 nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
-nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
+nps.CFLAGS += -DPRIMARY_GPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
 nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c

sw/airborne/subsystems/gps/gps_datalink.c

@@ -40,7 +40,7 @@ struct EnuCoor_i enu_pos, enu_speed;
 bool_t gps_available;   ///< Is set to TRUE when a new REMOTE_GPS packet is received and parsed
 
 /** GPS initialization */
-void gps_impl_init(void)
+void datalink_gps_impl_init(void)
 {
   gps.fix = GPS_FIX_NONE;
   gps_available = FALSE;
@@ -58,6 +58,10 @@ void gps_impl_init(void)
   ltp_def_from_ecef_i(&ltp_def, &ecef_nav0);
 }
 
+void datalink_gps_event(void)
+{
+}
+
 // Parse the REMOTE_GPS_SMALL datalink packet
 void parse_gps_datalink_small(uint8_t num_sv, uint32_t pos_xyz, uint32_t speed_xyz, int16_t heading)
 {
@@ -173,3 +177,11 @@ void parse_gps_datalink(uint8_t numsv, int32_t ecef_x, int32_t ecef_y, int32_t e
   AbiSendMsgGPS(GPS_DATALINK_ID, now_ts, &gps);
 }
 
+
+/*
+ * register callbacks & structs
+ */
+void datalink_gps_register(void)
+{
+  gps_register_impl(datalink_gps_impl_init, datalink_gps_event, GPS_DATALINK_ID, 0);
+}

sw/airborne/subsystems/gps/gps_datalink.h

@@ -32,7 +32,15 @@
 
 #include "std.h"
 #include "generated/airframe.h"
-#define GPS_NB_CHANNELS 0
+#define DATALINK_GPS_NB_CHANNELS 0
+
+#ifndef PrimaryGpsImpl
+#define PrimaryGpsImpl datalink
+#endif
+
+extern void datalink_gps_event(void);
+extern void datalink_gps_impl_init(void);
+extern void datalink_gps_register(void);
 
 extern bool_t gps_available;
 
@@ -44,6 +52,6 @@ extern void parse_gps_datalink(uint8_t numsv, int32_t ecef_x, int32_t ecef_y, in
                                uint32_t tow, int32_t course);
 
 // dummy
-#define GpsEvent() {}
+// #define GpsEvent() {}
 
 #endif /* GPS_DATALINK_H */