[gps] call gps_periodic_check from module

paparazzi · Jun 15, 2016 · 6cc4d59 · 6cc4d59
1 parent 2374f82
commit 6cc4d59
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Showing 18 changed files with 19 additions and 22 deletions.
diff --git a/conf/modules/gps_furuno.xml b/conf/modules/gps_furuno.xml
@@ -14,7 +14,7 @@
     <file name="gps.h" dir="subsystems"/>
   </header>
   <init fun="gps_nmea_init()"/>
-  <!--periodic fun="gps_periodic_check()" freq="1." autorun="TRUE"/-->
+  <periodic fun="gps_periodic_check(&gps_nmea.state)" freq="1." autorun="TRUE"/>
   <event fun="gps_nmea_event()"/>
   <makefile target="ap">
     <configure name="FURUNO_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>

diff --git a/conf/modules/gps_mediatek_diy.xml b/conf/modules/gps_mediatek_diy.xml
@@ -14,7 +14,7 @@
     <file name="gps.h" dir="subsystems"/>
   </header>
   <init fun="gps_mtk_init()"/>
-  <!--periodic fun="gps_periodic_check()" freq="1." autorun="TRUE"/-->
+  <periodic fun="gps_periodic_check(&gps_mtk.state)" freq="1." autorun="TRUE"/>
   <event fun="gps_mtk_event()"/>
   <makefile target="ap">
     <configure name="MTK_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>

diff --git a/conf/modules/gps_nmea.xml b/conf/modules/gps_nmea.xml
@@ -14,7 +14,7 @@
     <file name="gps.h" dir="subsystems"/>
   </header>
   <init fun="gps_nmea_init()"/>
-  <!--periodic fun="gps_periodic_check()" freq="1." autorun="TRUE"/-->
+  <periodic fun="gps_periodic_check(&gps_nmea.state)" freq="1." autorun="TRUE"/>
   <event fun="gps_nmea_event()"/>
   <makefile target="ap">
     <configure name="NMEA_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>

diff --git a/conf/modules/gps_nps.xml b/conf/modules/gps_nps.xml
@@ -12,7 +12,7 @@
     <file name="gps.h" dir="subsystems"/>
   </header>
   <init fun="gps_nps_init()"/>
-  <!--periodic fun="gps_periodic_check()" freq="1." autorun="TRUE"/-->
+  <periodic fun="gps_periodic_check(&gps_nps)" freq="1." autorun="TRUE"/>
   <makefile target="nps">
     <file name="gps.c" dir="subsystems"/>
     <file name="gps_sim_nps.c" dir="subsystems/gps"/>

diff --git a/conf/modules/gps_piksi.xml b/conf/modules/gps_piksi.xml
@@ -13,9 +13,8 @@
   <header>
     <file name="gps.h" dir="subsystems"/>
   </header>
-  <!-- uncomment these when not called explicitly from main anymore -->
   <init fun="gps_piksi_init()"/>
-  <!--periodic fun="gps_periodic_check()" freq="1." autorun="TRUE"/-->
+  <periodic fun="gps_periodic_check(&gps_piksi)" freq="1." autorun="TRUE"/>
   <event fun="gps_piksi_event()"/>
   <makefile target="ap">
     <configure name="PIKSI_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>

diff --git a/conf/modules/gps_sim.xml b/conf/modules/gps_sim.xml
@@ -11,7 +11,7 @@
     <file name="gps.h" dir="subsystems"/>
   </header>
   <init fun="gps_sim_init()"/>
-  <!--periodic fun="gps_periodic_check()" freq="1." autorun="TRUE"/-->
+  <periodic fun="gps_periodic_check(&gps)" freq="1." autorun="TRUE"/>
   <makefile target="sim">
     <file name="gps.c" dir="subsystems"/>
     <file name="gps_sim.c" dir="subsystems/gps"/>

diff --git a/conf/modules/gps_sim_hitl.xml b/conf/modules/gps_sim_hitl.xml
@@ -12,7 +12,6 @@
     <file name="gps.h" dir="subsystems"/>
   </header>
   <init fun="gps_sim_hitl_init()"/>
-  <!--periodic fun="gps_periodic_check()" freq="1." autorun="TRUE"/-->
   <event fun="gps_sim_hitl_event()"/>
   <makefile target="ap" firmware="rotorcraft">
     <configure name="GPS_LED" default="none"/>

diff --git a/conf/modules/gps_sirf.xml b/conf/modules/gps_sirf.xml
@@ -14,7 +14,7 @@
     <file name="gps.h" dir="subsystems"/>
   </header>
   <init fun="gps_sirf_init()"/>
-  <!--periodic fun="gps_periodic_check()" freq="1." autorun="TRUE"/-->
+  <periodic fun="gps_periodic_check(&gps_sirf.state)" freq="1." autorun="TRUE"/>
   <event fun="gps_sirf_event()"/>
   <makefile target="ap">
     <configure name="SIRF_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>

diff --git a/conf/modules/gps_skytraq.xml b/conf/modules/gps_skytraq.xml
@@ -14,7 +14,7 @@
     <file name="gps.h" dir="subsystems"/>
   </header>
   <init fun="gps_skytraq_init()"/>
-  <!--periodic fun="gps_periodic_check()" freq="1." autorun="TRUE"/-->
+  <periodic fun="gps_periodic_check(&gps_skytraq.state)" freq="1." autorun="TRUE"/>
   <event fun="gps_skytraq_event()"/>
   <makefile target="ap">
     <configure name="SKYTRAQ_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>

diff --git a/conf/modules/gps_ublox.xml b/conf/modules/gps_ublox.xml
@@ -13,9 +13,8 @@
   <header>
     <file name="gps.h" dir="subsystems"/>
   </header>
-  <!-- uncomment these when not called explicitly from main anymore -->
   <init fun="gps_ubx_init()"/>
-  <!--periodic fun="gps_periodic_check()" freq="1." autorun="TRUE"/-->
+  <periodic fun="gps_periodic_check(&gps_ubx.state)" freq="1." autorun="TRUE"/>
   <event fun="gps_ubx_event()"/>
   <makefile target="ap">
     <configure name="UBX_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>

diff --git a/conf/modules/gps_udp.xml b/conf/modules/gps_udp.xml
@@ -13,7 +13,7 @@
     <file name="gps.h" dir="subsystems"/>
   </header>
   <init fun="gps_udp_init()"/>
-  <!--periodic fun="gps_periodic_check()" freq="1." autorun="TRUE"/-->
+  <periodic fun="gps_periodic_check(&gps_udp)" freq="1." autorun="TRUE"/>
   <makefile target="ap">
     <configure name="GPS_LED" default="none"/>
 

diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -638,10 +638,6 @@ void sensors_task(void)
   update_ahrs_from_sim();
 #endif
 
-#if USE_GPS
-  gps_periodic_check();
-#endif
-
   //FIXME: temporary hack, remove me
 #ifdef InsPeriodic
   InsPeriodic();

diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
@@ -340,7 +340,6 @@ STATIC_INLINE void failsafe_check(void)
 #endif
 
 #if USE_GPS
-  gps_periodic_check();
   if (autopilot_mode == AP_MODE_NAV &&
       autopilot_motors_on &&
 #if NO_GPS_LOST_WITH_RC_VALID

diff --git a/sw/airborne/subsystems/gps.c b/sw/airborne/subsystems/gps.c
@@ -160,10 +160,10 @@ static void send_gps_sol(struct transport_tx *trans, struct link_device *dev)
 }
 #endif
 
-void gps_periodic_check(void)
+void gps_periodic_check(struct GpsState *gps_s)
 {
-  if (sys_time.nb_sec - gps.last_msg_time > GPS_TIMEOUT) {
-    gps.fix = GPS_FIX_NONE;
+  if (sys_time.nb_sec - gps_s->last_msg_time > GPS_TIMEOUT) {
+    gps_s->fix = GPS_FIX_NONE;
   }
 }
 

diff --git a/sw/airborne/subsystems/gps.h b/sw/airborne/subsystems/gps.h
@@ -151,7 +151,7 @@ static inline bool gps_has_been_good(void)
 /** Periodic GPS check.
  * Marks GPS as lost when no GPS message was received for GPS_TIMEOUT seconds
  */
-extern void gps_periodic_check(void);
+extern void gps_periodic_check(struct GpsState *gps_s);
 
 /**
  * GPS Reset

diff --git a/sw/airborne/subsystems/gps/gps_piksi.h b/sw/airborne/subsystems/gps/gps_piksi.h
@@ -36,6 +36,8 @@
 #define PRIMARY_GPS GPS_PIKSI
 #endif
 
+extern struct GpsState gps_piksi;
+
 extern void gps_piksi_event(void);
 extern void gps_piksi_init(void);
 

diff --git a/sw/airborne/subsystems/gps/gps_sim_nps.h b/sw/airborne/subsystems/gps/gps_sim_nps.h
@@ -7,6 +7,7 @@
 #define PRIMARY_GPS GPS_SIM
 #endif
 
+extern struct GpsState gps_nps;
 extern bool gps_has_fix;
 
 extern void gps_feed_value();

diff --git a/sw/airborne/subsystems/gps/gps_udp.c b/sw/airborne/subsystems/gps/gps_udp.c
@@ -37,6 +37,8 @@
 unsigned char gps_udp_read_buffer[256];
 struct FmsNetwork *gps_network = NULL;
 
+struct GpsState gps_udp;
+
 void gps_udp_init(void)
 {
   gps_udp.fix = GPS_FIX_NONE;