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Code Issues Releases Activity

Enable GPS module as "optional module" in CooterControl

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This commit is contained in:
Corvus Corax 2011-08-20 01:25:49 +02:00
parent dfd301571a
commit 53d0732fc6
6 changed files with 19 additions and 5 deletions
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3
flight/CopterControl/System/inc/pios_config.h
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@ -53,7 +53,8 @@
/* Supported USART-based PIOS modules */
#define PIOS_INCLUDE_TELEMETRY_RF
//#define PIOS_INCLUDE_GPS
#define PIOS_INCLUDE_GPS
#define PIOS_GPS_PURISTIC
#define PIOS_INCLUDE_SERVO
#define PIOS_INCLUDE_SPI

5
flight/CopterControl/System/pios_board.c
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@ -526,6 +526,7 @@ static const struct pios_sbus_cfg pios_sbus_cfg = {
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
#define PIOS_COM_GPS_RX_BUF_LEN 96
#define PIOS_COM_GPS_TX_BUF_LEN 16
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
@ -1035,10 +1036,12 @@ void PIOS_Board_Init(void) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
NULL, 0)) {
tx_buffer, PIOS_COM_GPS_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}

9
flight/Modules/GPS/GPS.c
View File

@ -77,9 +77,9 @@ static float GravityAccel(float latitude, float longitude, float altitude);
#endif
#else
#ifdef ENABLE_GPS_BINARY_GTOP
#define STACK_SIZE_BYTES 440
#define STACK_SIZE_BYTES 650
#else
#define STACK_SIZE_BYTES 440
#define STACK_SIZE_BYTES 650
#endif
#endif
@ -125,15 +125,18 @@ int32_t GPSStart(void)
int32_t GPSInitialize(void)
{
GPSPositionInitialize();
#if !defined(PIOS_GPS_PURISTIC)
GPSTimeInitialize();
HomeLocationInitialize();
#endif
// TODO: Get gps settings object
gpsPort = PIOS_COM_GPS;
return 0;
}
MODULE_INITCALL(GPSInitialize, GPSStart)
// optional module, gets initialized separately
//MODULE_INITCALL(GPSInitialize, GPSStart)
// ****************
/**

4
flight/OpenPilot/System/pios_board.c
View File

@ -31,6 +31,7 @@
#include <openpilot.h>
#include <uavobjectsinit.h>
#include "manualcontrolsettings.h"
#include "hwsettings.h"
//#define I2C_DEBUG_PIN 0
//#define USART_GPS_DEBUG_PIN 1
@ -1025,6 +1026,9 @@ void PIOS_Board_Init(void) {
EventDispatcherInitialize();
UAVObjInitialize();
HwSettingsInitialize();
ManualControlSettingsInitialize();
#if defined(PIOS_INCLUDE_RTC)
/* Initialize the real-time clock and its associated tick */
PIOS_RTC_Init(&pios_rtc_main_cfg);

2
flight/OpenPilot/System/pios_board_posix.c
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@ -29,6 +29,7 @@
#include <openpilot.h>
#include <uavobjectsinit.h>
#include "hwsettings.h"
#include "attituderaw.h"
#include "attitudeactual.h"
#include "positionactual.h"
@ -181,6 +182,7 @@ void PIOS_Board_Init(void) {
AttitudeActualInitialize();
VelocityActualInitialize();
PositionActualInitialize();
HwSettingsInitialize();
}

1
flight/OpenPilot/UAVObjects.inc
View File

@ -69,6 +69,7 @@ UAVOBJSRCFILENAMES += velocityactual
UAVOBJSRCFILENAMES += velocitydesired
UAVOBJSRCFILENAMES += watchdogstatus
UAVOBJSRCFILENAMES += flightstatus
UAVOBJSRCFILENAMES += hwsettings
UAVOBJSRCFILENAMES += cameradesired
UAVOBJSRCFILENAMES += camerastabsettings