PiOS_posix: Add support for pios_debug API, to allow building of GPS module in x86 environment

flight/OpenPilot/Makefile.posix

@@ -53,7 +53,7 @@ FLASH_TOOL = OPENOCD
 USE_THUMB_MODE = YES
 
 # List of modules to include
-MODULES =  Telemetry Actuator Stabilization Guidance ManualControl FlightPlan
+MODULES =  Telemetry Actuator Stabilization Guidance ManualControl FlightPlan GPS
 #MODULES =  Telemetry ManualControl Actuator Attitude Stabilization
 #MODULES = Telemetry Example
 #MODULES = Telemetry MK/MKSerial
@@ -170,6 +170,7 @@ SRC += $(PIOSPOSIX)/pios_udp.c
 SRC += $(PIOSPOSIX)/pios_com.c
 SRC += $(PIOSPOSIX)/pios_servo.c
 SRC += $(PIOSPOSIX)/pios_wdg.c
+SRC += $(PIOSPOSIX)/pios_debug.c
 
 ## Libraries for flight calculations
 #SRC += $(FLIGHTLIB)/fifo_buffer.c

flight/OpenPilot/System/inc/pios_config_posix.h

@@ -56,4 +56,7 @@
 /* Stabilization options */
 #define PIOS_QUATERNION_STABILIZATION
 
+/* GPS options */
+#define PIOS_GPS_SETS_HOMELOCATION
+
 #endif /* PIOS_CONFIG_POSIX_H */

flight/PiOS.posix/inc/pios_debug.h

@@ -0,0 +1,56 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @defgroup   PIOS_DEBUG Debugging Functions
+ * @brief Debugging functionality
+ * @{
+ *
+ * @file       pios_i2c.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Debug helper functions header.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_DEBUG_H
+#define PIOS_DEBUG_H
+
+extern const char *PIOS_DEBUG_AssertMsg;
+
+void PIOS_DEBUG_Init(void);
+void PIOS_DEBUG_PinHigh(uint8_t pin);
+void PIOS_DEBUG_PinLow(uint8_t pin);
+void PIOS_DEBUG_PinValue8Bit(uint8_t value);
+void PIOS_DEBUG_PinValue4BitL(uint8_t value);
+void PIOS_DEBUG_Panic(const char *msg);
+
+#ifdef DEBUG
+#define PIOS_DEBUG_Assert(test) if (!(test)) PIOS_DEBUG_Panic(PIOS_DEBUG_AssertMsg);
+#define PIOS_Assert(test) PIOS_DEBUG_Assert(test)
+#else
+#define PIOS_DEBUG_Assert(test)
+#define PIOS_Assert(test) if (!(test)) while (1);
+#endif
+
+#endif /* PIOS_DEBUG_H */
+
+/**
+  * @}
+  * @}
+  */

flight/PiOS.posix/pios.h

@@ -63,6 +63,7 @@
 #include <pios_com.h>
 #include <pios_servo.h>
 #include <pios_wdg.h>
+#include <pios_debug.h>
 
 #define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))
 

flight/PiOS.posix/posix/pios_debug.c

@@ -0,0 +1,89 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @defgroup   PIOS_DEBUG Debugging Functions
+ * @brief Debugging functionality
+ * @{
+ *
+ * @file       pios_debug.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Debugging Functions
+ * @see        The GNU Public License (GPL) Version 3
+ * 
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/* Project Includes */
+#include "pios.h"
+
+// Global variables
+const char *PIOS_DEBUG_AssertMsg = "ASSERT FAILED";
+
+/* Private Function Prototypes */
+
+/**
+* Initialise Debug-features
+*/
+void PIOS_DEBUG_Init(void)
+{
+}
+
+/**
+* Set debug-pin high
+* \param pin 0 for S1 output
+*/
+void PIOS_DEBUG_PinHigh(uint8_t Pin)
+{
+}
+
+/**
+* Set debug-pin low
+* \param pin 0 for S1 output
+*/
+void PIOS_DEBUG_PinLow(uint8_t Pin)
+{
+}
+
+
+void PIOS_DEBUG_PinValue8Bit(uint8_t value)
+{
+}
+
+void PIOS_DEBUG_PinValue4BitL(uint8_t value)
+{
+}
+
+
+/**
+ * Report a serious error and halt
+ */
+void PIOS_DEBUG_Panic(const char *msg)
+{
+#ifdef PIOS_COM_DEBUG
+	register int *lr asm("lr");	// Link-register holds the PC of the caller
+	PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_DEBUG, "\r%s @0x%x\r", msg, lr);
+#endif
+
+	// Stay put
+	while (1) ;
+}
+
+/**
+  * @}
+  * @}
+  */