Basic UCenter Functions Running

paparazzi · Sep 8, 2011 · 0fcc881 · 0fcc881
1 parent b09d04b
commit 0fcc881
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Showing 4 changed files with 30 additions and 18 deletions.
diff --git a/sw/airborne/modules/gps/gps_ubx_ucenter.c b/sw/airborne/modules/gps/gps_ubx_ucenter.c
@@ -19,18 +19,30 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#define GPS_UBX_UCENTER_RUNNING    1
-#define GPX_UBX_UCENTER_STOPPED    0
+#include "gps_ubx_ucenter.h"
+
+#define GPS_UBX_UCENTER_STATUS_RUNNING    1
+#define GPS_UBX_UCENTER_STATUS_STOPPED    0
+
+#define GPS_UBX_UCENTER_REPLY_NONE        0
+#define GPS_UBX_UCENTER_REPLY_ACK         1
+#define GPS_UBX_UCENTER_REPLY_NACK        2
+
+/** Space Vehicle Information */
+struct gps_ubx_ucenter_t {
+  uint8_t status;
+  uint8_t reply;
+} gps_ubx_ucenter;
 
-uint8_t gps_ubx_ucenter_status
 
 /////////////////////////////
 // Periodic Function
 
 void gps_ubx_ucenter_init(void)
 {
   // Start UCenter
-  gps_ubx_ucenter_status = GPS_UBX_UCENTER_RUNNING;
+  gps_ubx_ucenter.status = GPS_UBX_UCENTER_STATUS_RUNNING;
+  gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
 }
 
 
@@ -41,7 +53,7 @@ void gps_ubx_ucenter_init(void)
 void gps_ubx_ucenter_periodic(void)
 {
   // Save processing time inflight
-  if (gps_ubx_ucenter_status == GPX_UBX_UCENTER_STOPPED)
+  if (gps_ubx_ucenter.status == GPS_UBX_UCENTER_STATUS_STOPPED)
     return;
 
   // Autobaud
@@ -55,19 +67,22 @@ void gps_ubx_ucenter_periodic(void)
 void gps_ubx_ucenter_event(void)
 {
   // Save processing time inflight
-  if (gps_ubx_ucenter_status == GPX_UBX_UCENTER_STOPPED)
+  if (gps_ubx_ucenter_status == GPS_UBX_UCENTER_STATUS_STOPPED)
     return;
 
-  // Which Message
-  if (gps_ubx.msg_class == UBX_NAV_ID) {
-    if (gps_ubx.msg_id == UBX_NAV_SOL_ID) {
-    }
-  }    
+  // Read Configuration Reply's
   if (gps_ubx.msg_class == UBX_ACK_ID) {
     if (gps_ubx.msg_id == UBX_ACK_ACK_ID) {
-      gps_status_config++;
+      gps_ubx_ucenter.reply = GPX_UBX_UCENTER_REPLY_ACK;
+    }
+    else
+    {
+      gps_ubx_ucenter.reply = GPX_UBX_UCENTER_REPLY_NACK;
     }
   }
+  // Version info
+  else if (gps_ubx.msg_class == UBX_ACK_ID) {
+  }
 }
 
 
@@ -209,7 +224,6 @@ void gps_configure( void ) {
   }
   gps_configuring = user_gps_configure(gps_status_config);
 }
-#endif /* GPS_CONFIGURE */
 #endif // GPS_CONFIGURE
 
  */

diff --git a/sw/airborne/modules/gps/gps_ubx_ucenter.h b/sw/airborne/modules/gps/gps_ubx_ucenter.h
@@ -27,6 +27,7 @@
 #ifndef GPS_UBX_UCENTER_H
 #define GPS_UBX_UCENTER_H
 
+extern void gps_ubx_ucenter_init(void);
 extern void gps_ubx_ucenter_periodic(void);
 extern void gps_ubx_ucenter_event(void);
 

diff --git a/sw/airborne/subsystems/gps/gps_ubx.c b/sw/airborne/subsystems/gps/gps_ubx.c
@@ -388,7 +388,7 @@ void gps_configure( void ) {
 #endif /* GPS_CONFIGURE */
 
 #ifdef GPS_UBX_UCENTER
-#include GPX_UBX_UCENTER
+#include GPS_UBX_UCENTER
 #endif
 
 

diff --git a/sw/airborne/subsystems/gps/gps_ubx.h b/sw/airborne/subsystems/gps/gps_ubx.h
@@ -78,10 +78,7 @@ extern bool_t gps_configuring;
 #define GpsParseOrConfigure() gps_ubx_read_message()
 #endif
 
-#ifdef GPS_UBX_UCENTER
-extern void gps_ubx_ucenter_periodic(void);
-extern void gps_ubx_ucenter_event(void);
-#else
+#ifndef GPS_UBX_UCENTER
 #define gps_ubx_ucenter_event() {}
 #endif