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Code Issues Releases Activity

OP-1477 - Use UBX_DDC driver

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This commit is contained in:
Alessio Morale 2014-09-07 22:41:57 +02:00
parent 11522ccbb0
commit 28f3ca9a17
1 changed files with 10 additions and 38 deletions
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48
flight/modules/gpsp/gpsdsysmod.c
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@ -43,7 +43,7 @@
// private includes
#include "inc/gpsdsysmod.h"
#include <pios_hmc5x83.h>
#include <pios_ubx_ddc.h>
// UAVOs
#include <systemstats.h>
@ -58,18 +58,14 @@ extern uint32_t pios_com_main_id;
#define DEBUG_MSG(format, ...)
#endif
#define GPS_I2C_ADDRESS (0x42 << 1)
#define GPS_I2C_STREAM_REG 0xFF
#define GPS_I2C_STREAM_SIZE_HIGH_REG 0xFD
#define GPS_I2C_STREAM_SIZE_LOW_REG 0xFE
// Private constants
#define SYSTEM_UPDATE_PERIOD_MS 2
#define SYSTEM_UPDATE_PERIOD_MS 2
#define STACK_SIZE_BYTES 450
#define STACK_SIZE_BYTES 450
#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
#define BUFFER_SIZE 128
#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
#define BUFFER_SIZE 64
uint8_t buffer[BUFFER_SIZE];
char outbuf[40];
@ -262,36 +258,12 @@ void ReadMag()
void ReadGPS()
{
uint16_t bytesToRead = 2;
uint8_t tmp[2];
uint8_t addr_buffer[1] = { GPS_I2C_STREAM_SIZE_HIGH_REG };
struct pios_i2c_txn txn_list[] = {
{
.info = __func__,
.addr = GPS_I2C_ADDRESS,
.rw = PIOS_I2C_TXN_WRITE,
.len = 1,
.buf = addr_buffer,
}
,
{
.info = __func__,
.addr = GPS_I2C_ADDRESS,
.rw = PIOS_I2C_TXN_READ,
.len = 2,
.buf = tmp,
}
};
int32_t datacounter = PIOS_UBX_DDC_GetAvailableBytes(PIOS_I2C_GPS);
if (PIOS_I2C_Transfer(PIOS_I2C_GPS, txn_list, NELEMENTS(txn_list)) == 0) {
bytesToRead = (tmp[0] << 8) | tmp[1];
bytesToRead = bytesToRead < 255 ? bytesToRead : 254;
addr_buffer[0] = GPS_I2C_STREAM_REG;
txn_list[1].len = bytesToRead > BUFFER_SIZE ? BUFFER_SIZE : bytesToRead;
txn_list[1].buf = buffer;
if (bytesToRead > 0 && PIOS_I2C_Transfer(PIOS_I2C_GPS, txn_list, NELEMENTS(txn_list)) == 0) {
PIOS_COM_SendBuffer(pios_com_main_id, buffer, bytesToRead);
}
if (datacounter > 0) {
uint8_t toread = datacounter > BUFFER_SIZE ? BUFFER_SIZE : (uint8_t)datacounter;
PIOS_UBX_DDC_ReadData(PIOS_I2C_GPS, buffer, toread);
PIOS_COM_SendBuffer(pios_com_main_id, buffer, toread);
}
}