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Code Issues Wiki Activity

decouple cli/msp from each other. relocated non-msp code into

Browse source 
serial_common.c/h. decouple runtime_config from serial ports.  decouple
buzzer from serial ports.  decouple opening of the main serial port from
the msp code.  decouple serial rx providers from runtime_config.  rename
core_t to serialPorts_t since it only contained serial ports.  It's now
clear which files use serial ports based on the header files they
include.
This commit is contained in:
Dominic Clifton 2014-04-19 01:01:31 +01:00
parent 2baf385b99
commit a7e4c859bd
26 changed files with 209 additions and 135 deletions
Download patch file Download diff file Expand all files Collapse all files

31
src/gps_common.c
View file

@ -5,6 +5,9 @@
#include "flight_common.h"
#include "drivers/serial_common.h"
#include "serial_common.h"
#include "gps_common.h"
// GPS timeout for wrong baud rate/disconnection/etc in milliseconds (default 2.5second)
@ -95,7 +98,7 @@ void gpsInit(uint8_t baudrateIndex)
gpsSetPIDs();
// Open GPS UART, no callback - buffer will be read out in gpsThread()
core.gpsport = uartOpen(USART2, NULL, gpsInitData[baudrateIndex].baudrate, mode);
serialPorts.gpsport = uartOpen(USART2, NULL, gpsInitData[baudrateIndex].baudrate, mode);
// signal GPS "thread" to initialize when it gets to it
gpsSetState(GPS_INITIALIZING);
}
@ -105,7 +108,7 @@ void gpsInitHardware(void)
switch (mcfg.gps_type) {
case GPS_NMEA:
// nothing to do, just set baud rate and try receiving some stuff and see if it parses
serialSetBaudRate(core.gpsport, gpsInitData[gpsData.baudrateIndex].baudrate);
serialSetBaudRate(serialPorts.gpsport, gpsInitData[gpsData.baudrateIndex].baudrate);
gpsSetState(GPS_RECEIVINGDATA);
break;
@ -113,7 +116,7 @@ void gpsInitHardware(void)
// UBX will run at mcfg.gps_baudrate, it shouldn't be "autodetected". So here we force it to that rate
// Wait until GPS transmit buffer is empty
if (!isSerialTransmitBufferEmpty(core.gpsport))
if (!isSerialTransmitBufferEmpty(serialPorts.gpsport))
break;
if (gpsData.state == GPS_INITIALIZING) {
@ -123,9 +126,9 @@ void gpsInitHardware(void)
if (gpsData.state_position < GPS_INIT_ENTRIES) {
// try different speed to INIT
serialSetBaudRate(core.gpsport, gpsInitData[gpsData.state_position].baudrate);
serialSetBaudRate(serialPorts.gpsport, gpsInitData[gpsData.state_position].baudrate);
// but print our FIXED init string for the baudrate we want to be at
serialPrint(core.gpsport, gpsInitData[gpsData.baudrateIndex].ubx);
serialPrint(serialPorts.gpsport, gpsInitData[gpsData.baudrateIndex].ubx);
gpsData.state_position++;
gpsData.state_ts = m;
@ -136,10 +139,10 @@ void gpsInitHardware(void)
} else {
// GPS_INITDONE, set our real baud rate and push some ublox config strings
if (gpsData.state_position == 0)
serialSetBaudRate(core.gpsport, gpsInitData[gpsData.baudrateIndex].baudrate);
serialSetBaudRate(serialPorts.gpsport, gpsInitData[gpsData.baudrateIndex].baudrate);
if (gpsData.state_position < sizeof(ubloxInit)) {
serialWrite(core.gpsport, ubloxInit[gpsData.state_position]); // send ubx init binary
serialWrite(serialPorts.gpsport, ubloxInit[gpsData.state_position]); // send ubx init binary
gpsData.state_position++;
} else {
@ -161,9 +164,9 @@ void gpsInitHardware(void)
void gpsThread(void)
{
// read out available GPS bytes
if (core.gpsport) {
while (serialTotalBytesWaiting(core.gpsport))
gpsNewData(serialRead(core.gpsport));
if (serialPorts.gpsport) {
while (serialTotalBytesWaiting(serialPorts.gpsport))
gpsNewData(serialRead(serialPorts.gpsport));
}
switch (gpsData.state) {
@ -549,14 +552,14 @@ int8_t gpsSetPassthrough(void)
LED1_OFF;
while(1) {
if (serialTotalBytesWaiting(core.gpsport)) {
if (serialTotalBytesWaiting(serialPorts.gpsport)) {
LED0_ON;
serialWrite(core.mainport, serialRead(core.gpsport));
serialWrite(serialPorts.mainport, serialRead(serialPorts.gpsport));
LED0_OFF;
}
if (serialTotalBytesWaiting(core.mainport)) {
if (serialTotalBytesWaiting(serialPorts.mainport)) {
LED1_ON;
serialWrite(core.gpsport, serialRead(core.mainport));
serialWrite(serialPorts.gpsport, serialRead(serialPorts.mainport));
LED1_OFF;
}
}