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Code Issues Releases Activity

OP-1477 - Remove hardcoded strings for initialization config

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This commit is contained in:
Alessio Morale 2014-09-28 15:01:19 +02:00
parent adc9821cd3
commit f2058dfc7f
2 changed files with 52 additions and 18 deletions
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27
flight/modules/gpsp/gps9gpshandler.c
View File

@ -36,9 +36,6 @@
uint32_t lastUnsentData = 0;
uint8_t buffer[BUFFER_SIZE];
// cfg-prt I2C. In UBX+RTCM, Out UBX, Slave Addr 0x42
const char cfg_settings[] = "\xB5\x62\x06\x00\x14\x00\x00\x00\x00\x00\x84\x00\x00\x00\x00\x00\x00\x00\x07\x00\x01\x00\x00\x00\x00\x00\xA6\xC6";
void handleGPS()
{
bool completeSentenceSent = false;
@ -80,17 +77,21 @@ typedef struct {
const uint8_t *sentence;
} ubx_init_sentence;
const ubx_init_sentence gps_config[] = {
[0] = {
.sentence = (uint8_t *)cfg_settings,
.size = sizeof(cfg_settings),
},
};
void setupGPS()
{
for (uint8_t i = 0; i < NELEMENTS(gps_config); i++) {
PIOS_UBX_DDC_WriteData(PIOS_I2C_GPS, gps_config[i].sentence, gps_config[i].size);
}
CfgPrtPkt cfgprt;
cfgprt.fragments.data.portID = CFG_PRT_DATA_PORTID_DDC;
cfgprt.fragments.data.reserved0 = 0;
cfgprt.fragments.data.txReady = CFG_PRT_DATA_TXREADI_DISABLED;
cfgprt.fragments.data.mode = CFG_PRT_DATA_MODE_ADDR;
cfgprt.fragments.data.reserved3 = 0;
cfgprt.fragments.data.inProtoMask = CFG_PRT_DATA_PROTO_UBX | CFG_PRT_DATA_PROTO_RTCM;
cfgprt.fragments.data.outProtoMask = CFG_PRT_DATA_PROTO_UBX;
cfgprt.fragments.data.flags = 0;
cfgprt.fragments.data.reserved5 = 0;
ubx_buildPacket(&cfgprt.packet, UBX_CFG_CLASS, UBX_CFG_PRT, sizeof(CfgPrtData));
PIOS_UBX_DDC_WriteData(PIOS_I2C_GPS, cfgprt.packet.binarystream, sizeof(CfgPrtPkt));
}

43
flight/modules/gpsp/inc/gps9protocol.h
View File

@ -31,12 +31,24 @@
#include <pios_helpers.h>
#include <ubx_utils.h>
#define UBX_OP_CUST_CLASS 0x99
#define UBX_OP_SYS 0x01
#define UBX_OP_MAG 0x02
#define UBX_CFG_CLASS 0x06
#define UBX_CFG_PRT 0x00
#define UBX_OP_CUST_CLASS 0x99
#define UBX_OP_SYS 0x01
#define UBX_OP_MAG 0x02
#define SYS_DATA_OPTIONS_FLASH 0x01
#define SYS_DATA_OPTIONS_MAG 0x02
#define SYS_DATA_OPTIONS_FLASH 0x01
#define SYS_DATA_OPTIONS_MAG 0x02
#define CFG_PRT_DATA_PORTID_DDC 0x00
#define CFG_PRT_DATA_TXREADI_DISABLED 0x00
#define CFG_PRT_DATA_PORTID_DDC 0x00
#define CFG_PRT_DATA_MODE_ADDR (0x42 << 1)
#define CFG_PRT_DATA_PROTO_UBX 0x01
#define CFG_PRT_DATA_PROTO_NMEA 0x02
#define CFG_PRT_DATA_PROTO_RTCM 0x04
#define CFG_PRT_DATA_FLAGS_EXTTIMEOUT 0x02
typedef struct {
@ -74,4 +86,25 @@ typedef union {
} SysUbxPkt;
typedef struct {
uint8_t portID;
uint8_t reserved0;
uint16_t txReady;
uint32_t mode;
uint32_t reserved3;
uint16_t inProtoMask;
uint16_t outProtoMask;
uint16_t flags;
uint16_t reserved5;
} __attribute__((packed)) CfgPrtData;
typedef union {
struct {
UBXHeader_t header;
CfgPrtData data;
UBXFooter_t footer;
} fragments;
UBXPacket_t packet;
} CfgPrtPkt;
#endif /* GPSV9PROTOCOL_H_ */