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Code Issues Releases Activity

gps: initialize GPS UAVO and start GPS module only if port is configured

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This commit is contained in:
Oleg Semyonov 2011-09-29 00:41:51 +03:00
parent 469feecb13
commit 7800fbe6de
1 changed files with 33 additions and 28 deletions
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61
flight/Modules/GPS/GPS.c
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@ -99,12 +99,17 @@ static uint32_t numParsingErrors;
int32_t GPSStart(void)
{
// Start gps task
xTaskCreate(gpsTask, (signed char *)"GPS", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &gpsTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_GPS, gpsTaskHandle);
if (gpsPort) {
// Start gps task
xTaskCreate(gpsTask, (signed char *)"GPS", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &gpsTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_GPS, gpsTaskHandle);
return 0;
}
return 0;
AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_CRITICAL);
return -1;
}
/**
* Initialise the gps module
* \return -1 if initialisation failed
@ -112,29 +117,33 @@ int32_t GPSStart(void)
*/
int32_t GPSInitialize(void)
{
GPSPositionInitialize();
#if !defined(PIOS_GPS_MINIMAL)
GPSTimeInitialize();
GPSSatellitesInitialize();
#endif
#ifdef PIOS_GPS_SETS_HOMELOCATION
HomeLocationInitialize();
#endif
HwSettingsInitialize();
// Update GPS settings
updateSettings();
// Listen for settings updates, connect a callback function
HwSettingsConnectCallback(&SettingsUpdatedCb);
// TODO: Get gps settings object
gpsPort = PIOS_COM_GPS;
gps_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH);
PIOS_Assert(gps_rx_buffer);
if (gpsPort) {
return 0;
GPSPositionInitialize();
#if !defined(PIOS_GPS_MINIMAL)
GPSTimeInitialize();
GPSSatellitesInitialize();
#endif
#ifdef PIOS_GPS_SETS_HOMELOCATION
HomeLocationInitialize();
#endif
HwSettingsInitialize();
// TODO: Get gps settings object
updateSettings();
// Listen for settings updates, connect a callback function
HwSettingsConnectCallback(&SettingsUpdatedCb);
gps_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH);
PIOS_Assert(gps_rx_buffer);
return 0;
}
return -1;
}
// ****************
@ -360,9 +369,6 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
*/
static void updateSettings()
{
// Set port
gpsPort = PIOS_COM_GPS;
if (gpsPort) {
// Retrieve settings
@ -396,7 +402,6 @@ static void updateSettings()
}
}
/**
* @}
* @}