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OP-1584 - Remove auxmagsupport from cc3d for now as it is unused, remove other stuffs from ubx when GPS_MINIMAL is selected

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This commit is contained in:
Alessio Morale 2014-10-31 19:56:38 +01:00
parent aefed47a33
commit c0ca20f661
3 changed files with 18 additions and 16 deletions
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27
flight/modules/GPS/UBX.c
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@ -37,9 +37,12 @@
#include "inc/UBX.h"
#include "inc/GPS.h"
#include <string.h>
#ifndef PIOS_GPS_MINIMAL
#include <auxmagsupport.h>
static bool useMag = false;
#endif
static GPSPositionSensorSensorTypeOptions sensorType = GPSPOSITIONSENSOR_SENSORTYPE_UNKNOWN;
static bool usePvt = false;
@ -54,7 +57,6 @@ typedef struct {
} ubx_message_handler;
// parsing functions, roughly ordered by reception rate (higher rate messages on top)
static void parse_ubx_op_mag(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
static void parse_ubx_nav_pvt(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
static void parse_ubx_nav_posllh(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
@ -66,31 +68,31 @@ static void parse_ubx_nav_timeutc(struct UBXPacket *ubx, GPSPositionSensorData *
static void parse_ubx_nav_svinfo(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
static void parse_ubx_op_sys(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
#endif
static void parse_ubx_op_mag(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
static void parse_ubx_ack_ack(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
static void parse_ubx_ack_nak(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
static void parse_ubx_mon_ver(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
#endif
const ubx_message_handler ubx_handler_table[] = {
{ .msgClass = UBX_CLASS_OP_CUST, .msgID = UBX_ID_OP_MAG, .handler = &parse_ubx_op_mag },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_PVT, .handler = &parse_ubx_nav_pvt },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_POSLLH, .handler = &parse_ubx_nav_posllh },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_VELNED, .handler = &parse_ubx_nav_velned },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SOL, .handler = &parse_ubx_nav_sol },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_DOP, .handler = &parse_ubx_nav_dop },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_PVT, .handler = &parse_ubx_nav_pvt },
#ifndef PIOS_GPS_MINIMAL
{ .msgClass = UBX_CLASS_OP_CUST, .msgID = UBX_ID_OP_MAG, .handler = &parse_ubx_op_mag },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SVINFO, .handler = &parse_ubx_nav_svinfo },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_TIMEUTC, .handler = &parse_ubx_nav_timeutc },
{ .msgClass = UBX_CLASS_OP_CUST, .msgID = UBX_ID_OP_SYS, .handler = &parse_ubx_op_sys },
#endif
{ .msgClass = UBX_CLASS_ACK, .msgID = UBX_ID_ACK_ACK, .handler = &parse_ubx_ack_ack },
{ .msgClass = UBX_CLASS_ACK, .msgID = UBX_ID_ACK_NAK, .handler = &parse_ubx_ack_nak },
{ .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_VER, .handler = &parse_ubx_mon_ver },
#endif
};
#define UBX_HANDLER_TABLE_SIZE NELEMENTS(ubx_handler_table)
@ -405,9 +407,7 @@ static void parse_ubx_nav_timeutc(struct UBXPacket *ubx, __attribute__((unused))
return;
}
}
#endif /* if !defined(PIOS_GPS_MINIMAL) */
#if !defined(PIOS_GPS_MINIMAL)
static void parse_ubx_nav_svinfo(struct UBXPacket *ubx, __attribute__((unused)) GPSPositionSensorData *GpsPosition)
{
uint8_t chan;
@ -434,7 +434,6 @@ static void parse_ubx_nav_svinfo(struct UBXPacket *ubx, __attribute__((unused))
GPSSatellitesSet(&svdata);
}
#endif /* if !defined(PIOS_GPS_MINIMAL) */
static void parse_ubx_ack_ack(struct UBXPacket *ubx, __attribute__((unused)) GPSPositionSensorData *GpsPosition)
{
@ -460,8 +459,6 @@ static void parse_ubx_mon_ver(struct UBXPacket *ubx, __attribute__((unused)) GPS
((ubxHwVersion >= 70000) ? GPSPOSITIONSENSOR_SENSORTYPE_UBX7 : GPSPOSITIONSENSOR_SENSORTYPE_UBX);
}
#if !defined(PIOS_GPS_MINIMAL)
static void parse_ubx_op_sys(struct UBXPacket *ubx, __attribute__((unused)) GPSPositionSensorData *GpsPosition)
{
struct UBX_OP_SYSINFO *sysinfo = &ubx->payload.op_sysinfo;
@ -476,7 +473,7 @@ static void parse_ubx_op_sys(struct UBXPacket *ubx, __attribute__((unused)) GPSP
data.Status = GPSEXTENDEDSTATUS_STATUS_GPSV9;
GPSExtendedStatusSet(&data);
}
#endif
static void parse_ubx_op_mag(struct UBXPacket *ubx, __attribute__((unused)) GPSPositionSensorData *GpsPosition)
{
if (!useMag) {
@ -486,6 +483,7 @@ static void parse_ubx_op_mag(struct UBXPacket *ubx, __attribute__((unused)) GPSP
float mags[3] = { mag->x, mag->y, mag->z };
auxmagsupport_publish_samples(mags, AUXMAGSENSOR_STATUS_OK);
}
#endif /* if !defined(PIOS_GPS_MINIMAL) */
// UBX message parser
@ -531,6 +529,8 @@ uint32_t parse_ubx_message(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosi
return id;
}
#if !defined(PIOS_GPS_MINIMAL)
void load_mag_settings()
{
auxmagsupport_reload_settings();
@ -544,4 +544,5 @@ void load_mag_settings()
useMag = true;
}
}
#endif
#endif // PIOS_INCLUDE_GPS_UBX_PARSER

3
flight/modules/GPS/inc/UBX.h
View File

@ -33,7 +33,10 @@
#include "openpilot.h"
#include "gpspositionsensor.h"
#include "gpsextendedstatus.h"
#ifndef PIOS_GPS_MINIMAL
#include "auxmagsensor.h"
#endif
#include "GPS.h"
#define UBX_HW_VERSION_8 80000

4
flight/targets/boards/coptercontrol/firmware/Makefile
View File

@ -77,8 +77,7 @@ ifndef TESTAPP
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/uavobjectpersistence.c
SRC += $(OPUAVOBJ)/eventdispatcher.c
SRC += $(FLIGHTLIB)/auxmagsupport.c
## UAVObjects
SRC += $(OPUAVSYNTHDIR)/accessorydesired.c
SRC += $(OPUAVSYNTHDIR)/objectpersistence.c
@ -130,7 +129,6 @@ ifndef TESTAPP
SRC += $(OPUAVSYNTHDIR)/airspeedstate.c
SRC += $(OPUAVSYNTHDIR)/mpu6000settings.c
SRC += $(OPUAVSYNTHDIR)/perfcounter.c
SRC += $(OPUAVSYNTHDIR)/auxmagsensor.c
else
## Test Code
SRC += $(OPTESTS)/test_common.c