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Code Issues Releases Activity

OP-1370 - Remove autoconfig from CC (removing sat info to spare some ram and adding autoconfig does not make much sense), fixed compilation for all other targets

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This commit is contained in:
Alessio Morale 2014-08-22 22:34:52 +02:00
parent c4d5234ee6
commit 5bf866c96e
2 changed files with 26 additions and 17 deletions
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38
flight/modules/GPS/GPS.c
View File

@ -48,8 +48,9 @@
#include "GPS.h"
#include "NMEA.h"
#include "UBX.h"
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
#include "inc/ubx_autoconfig.h"
#endif
// ****************
// Private functions
@ -64,8 +65,10 @@ static float GravityAccel(float latitude, float longitude, float altitude);
#ifdef PIOS_INCLUDE_GPS_UBX_PARSER
void AuxMagSettingsUpdatedCb(UAVObjEvent *ev);
#ifndef PIOS_GPS_MINIMAL
void updateGpsSettings(UAVObjEvent *ev);
#endif
#endif
// ****************
// Private constants
@ -199,7 +202,9 @@ int32_t GPSInitialize(void)
gps_rx_buffer = NULL;
}
PIOS_Assert(gps_rx_buffer);
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
GPSSettingsConnectCallback(updateGpsSettings);
#endif
return 0;
}
@ -230,13 +235,13 @@ static void gpsTask(__attribute__((unused)) void *parameters)
timeOfLastCommandMs = timeNowMs;
GPSPositionSensorGet(&gpspositionsensor);
#ifdef PIOS_INCLUDE_GPS_UBX_PARSER
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
updateGpsSettings(0);
#endif
// Loop forever
while (1) {
uint8_t c;
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER)
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
if (gpsSettings.DataProtocol == GPSSETTINGS_DATAPROTOCOL_UBX) {
char *buffer = 0;
uint16_t count = 0;
@ -257,16 +262,19 @@ static void gpsTask(__attribute__((unused)) void *parameters)
break;
#endif
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER)
case GPSSETTINGS_DATAPROTOCOL_UBX:{
int32_t ac_status = ubx_autoconfig_get_status();
gpspositionsensor.AutoConfigStatus =
ac_status == UBX_AUTOCONFIG_STATUS_DISABLED ? GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_DISABLED :
ac_status == UBX_AUTOCONFIG_STATUS_DONE ? GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_DONE :
ac_status == UBX_AUTOCONFIG_STATUS_ERROR? GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_ERROR :
GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_RUNNING;
res = parse_ubx_stream(c, gps_rx_buffer, &gpspositionsensor, &gpsRxStats);
}
break;
case GPSSETTINGS_DATAPROTOCOL_UBX:
{
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
int32_t ac_status = ubx_autoconfig_get_status();
gpspositionsensor.AutoConfigStatus =
ac_status == UBX_AUTOCONFIG_STATUS_DISABLED ? GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_DISABLED :
ac_status == UBX_AUTOCONFIG_STATUS_DONE ? GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_DONE :
ac_status == UBX_AUTOCONFIG_STATUS_ERROR ? GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_ERROR :
GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_RUNNING;
#endif
res = parse_ubx_stream(c, gps_rx_buffer, &gpspositionsensor, &gpsRxStats);
}
break;
#endif
default:
res = NO_PARSER; // this should not happen
@ -423,7 +431,7 @@ void AuxMagSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
load_mag_settings();
}
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev)
{
uint8_t ubxAutoConfig;
@ -447,7 +455,7 @@ void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev)
UBX_DYNMODEL_AIRBORNE1G;
ubx_autoconfig_set(newconfig);
}
#endif /* if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL) */
#endif /* ifdef PIOS_INCLUDE_GPS_UBX_PARSER */
/**
* @}

5
flight/modules/GPS/inc/ubx_autoconfig.h
View File

@ -27,9 +27,10 @@
#ifndef UBX_AUTOCONFIG_H_
#define UBX_AUTOCONFIG_H_
#include "UBX.h"
#include <stdint.h>
#include <stdbool.h>
#include "UBX.h"
// defines
// TODO: NEO8 max rate is for Rom version, flash is limited to 10Hz, need to handle that.
#define UBX_MAX_RATE_VER8 18
@ -37,7 +38,7 @@
#define UBX_MAX_RATE 5
#define UBX_REPLY_TIMEOUT (500 * 1000)
#define UBX_MAX_RETRIES 5
#define UBX_MAX_RETRIES 5
// types
typedef enum {