[FBW_GPS] convert all GPS modules to run in FBW

paparazzi · Nov 1, 2016 · f183541 · f183541
1 parent 7eb6669
commit f183541
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Showing 8 changed files with 64 additions and 43 deletions.
diff --git a/conf/modules/gps_datalink.xml b/conf/modules/gps_datalink.xml
@@ -17,23 +17,26 @@
   <periodic fun="gps_datalink_periodic_check()" freq="1." autorun="TRUE"/>
   <datalink message="REMOTE_GPS" fun="gps_datalink_parse_REMOTE_GPS()"/>
   <datalink message="REMOTE_GPS_SMALL" fun="gps_datalink_parse_REMOTE_GPS_SMALL()"/>
-  <makefile target="ap">
+  <makefile target="ap|fbw">
     <file name="gps_datalink.c" dir="subsystems/gps"/>
     <raw>
       ifdef SECONDARY_GPS
       ifneq (,$(findstring $(SECONDARY_GPS), datalink))
       # this is the secondary GPS
-      ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_datalink.h\"
-      ap.CFLAGS += -DSECONDARY_GPS=GPS_DATALINK
+      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_datalink.h\"
+      $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_DATALINK
       else
-      ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_datalink.h\"
-      ap.CFLAGS += -DPRIMARY_GPS=GPS_DATALINK
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_datalink.h\"
+      $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_DATALINK
       endif
       else
       # plain old single GPS usage
-      ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_datalink.h\"
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_datalink.h\"
       endif
     </raw>
   </makefile>
+  <makefile target="fbw">
+    <define name="USE_GPS"/>
+  </makefile>
 </module>
 
diff --git a/conf/modules/gps_furuno.xml b/conf/modules/gps_furuno.xml
@@ -18,7 +18,7 @@
   <init fun="gps_nmea_init()"/>
   <periodic fun="gps_nmea_periodic_check()" freq="1." autorun="TRUE"/>
   <event fun="gps_nmea_event()"/>
-  <makefile target="ap">
+  <makefile target="ap|fbw">
     <configure name="FURUNO_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
     <configure name="FURUNO_GPS_BAUD" default="$(GPS_BAUD)"/>
 
@@ -35,16 +35,19 @@
       ifdef SECONDARY_GPS
       ifneq (,$(findstring $(SECONDARY_GPS), nmea furuno))
       # this is the secondary GPS
-      ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_nmea.h\"
-      ap.CFLAGS += -DSECONDARY_GPS=GPS_NMEA
+      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_nmea.h\"
+      $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_NMEA
       else
-      ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
-      ap.CFLAGS += -DPRIMARY_GPS=GPS_NMEA
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
+      $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_NMEA
       endif
       else
       # plain old single GPS usage
-      ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
       endif
     </raw>
   </makefile>
+  <makefile target="fbw">
+    <define name="USE_GPS"/>
+  </makefile>
 </module>
diff --git a/conf/modules/gps_mediatek_diy.xml b/conf/modules/gps_mediatek_diy.xml
@@ -18,7 +18,7 @@
   <init fun="gps_mtk_init()"/>
   <periodic fun="gps_mtk_periodic_check()" freq="1." autorun="TRUE"/>
   <event fun="gps_mtk_event()"/>
-  <makefile target="ap">
+  <makefile target="ap|fbw">
     <configure name="MTK_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
     <configure name="MTK_GPS_BAUD" default="$(GPS_BAUD)"/>
 
@@ -31,16 +31,19 @@
       ifdef SECONDARY_GPS
       ifneq (,$(findstring $(SECONDARY_GPS), mtk mediatek))
       # this is the secondary GPS
-      ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_mtk.h\"
-      ap.CFLAGS += -DSECONDARY_GPS=GPS_MTK
+      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_mtk.h\"
+      $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_MTK
       else
-      ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_mtk.h\"
-      ap.CFLAGS += -DPRIMARY_GPS=GPS_MTK
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_mtk.h\"
+      $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_MTK
       endif
       else
       # plain old single GPS usage
-      ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_mtk.h\"
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_mtk.h\"
       endif
     </raw>
   </makefile>
+  <makefile target="fbw">
+    <define name="USE_GPS"/>
+  </makefile>
 </module>
diff --git a/conf/modules/gps_nmea.xml b/conf/modules/gps_nmea.xml
@@ -18,7 +18,7 @@
   <init fun="gps_nmea_init()"/>
   <periodic fun="gps_nmea_periodic_check()" freq="1." autorun="TRUE"/>
   <event fun="gps_nmea_event()"/>
-  <makefile target="ap">
+  <makefile target="ap|fbw">
     <configure name="NMEA_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
     <configure name="NMEA_GPS_BAUD" default="$(GPS_BAUD)"/>
 
@@ -31,16 +31,19 @@
       ifdef SECONDARY_GPS
       ifneq (,$(findstring $(SECONDARY_GPS), nmea))
       # this is the secondary GPS
-      ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_nmea.h\"
-      ap.CFLAGS += -DSECONDARY_GPS=GPS_NMEA
+      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_nmea.h\"
+      $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_NMEA
       else
-      ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
-      ap.CFLAGS += -DPRIMARY_GPS=GPS_NMEA
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
+      $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_NMEA
       endif
       else
       # plain old single GPS usage
-      ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
       endif
     </raw>
   </makefile>
+  <makefile target="fbw">
+    <define name="USE_GPS"/>
+  </makefile>
 </module>
diff --git a/conf/modules/gps_piksi.xml b/conf/modules/gps_piksi.xml
@@ -18,7 +18,7 @@
   <init fun="gps_piksi_init()"/>
   <periodic fun="gps_piksi_periodic_check()" freq="1." autorun="TRUE"/>
   <event fun="gps_piksi_event()"/>
-  <makefile target="ap">
+  <makefile target="ap|fbw">
     <configure name="PIKSI_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
     <configure name="PIKSI_GPS_BAUD" default="B115200"/>
 
@@ -34,16 +34,19 @@
       ifdef SECONDARY_GPS
       ifneq (,$(findstring $(SECONDARY_GPS), piksi))
       # this is the secondary GPS
-      ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_piksi.h\"
-      ap.CFLAGS += -DSECONDARY_GPS=GPS_PIKSI
+      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_piksi.h\"
+      $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_PIKSI
       else
-      ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_piksi.h\"
-      ap.CFLAGS += -DPRIMARY_GPS=GPS_PIKSI
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_piksi.h\"
+      $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_PIKSI
       endif
       else
       # plain old single GPS usage
-      ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_piksi.h\"
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_piksi.h\"
       endif
     </raw>
   </makefile>
+  <makefile target="fbw">
+    <define name="USE_GPS"/>
+  </makefile>
 </module>
diff --git a/conf/modules/gps_sirf.xml b/conf/modules/gps_sirf.xml
@@ -18,7 +18,7 @@
   <init fun="gps_sirf_init()"/>
   <periodic fun="gps_sirf_periodic_check()" freq="1." autorun="TRUE"/>
   <event fun="gps_sirf_event()"/>
-  <makefile target="ap">
+  <makefile target=target="ap|fbw">
     <configure name="SIRF_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
     <configure name="SIRF_GPS_BAUD" default="$(GPS_BAUD)"/>
 
@@ -31,16 +31,19 @@
       ifdef SECONDARY_GPS
       ifneq (,$(findstring $(SECONDARY_GPS), sirf))
       # this is the secondary GPS
-      ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_sirf.h\"
-      ap.CFLAGS += -DSECONDARY_GPS=GPS_SIRF
+      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_sirf.h\"
+      $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_SIRF
       else
-      ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sirf.h\"
-      ap.CFLAGS += -DPRIMARY_GPS=GPS_SIRF
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sirf.h\"
+      $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_SIRF
       endif
       else
       # plain old single GPS usage
-      ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sirf.h\"
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sirf.h\"
       endif
     </raw>
   </makefile>
+  <makefile target="fbw">
+    <define name="USE_GPS"/>
+  </makefile>
 </module>
diff --git a/conf/modules/gps_skytraq.xml b/conf/modules/gps_skytraq.xml
@@ -18,7 +18,7 @@
   <init fun="gps_skytraq_init()"/>
   <periodic fun="gps_skytraq_periodic_check()" freq="1." autorun="TRUE"/>
   <event fun="gps_skytraq_event()"/>
-  <makefile target="ap">
+  <makefile target="ap|fbw">
     <configure name="SKYTRAQ_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
     <configure name="SKYTRAQ_GPS_BAUD" default="$(GPS_BAUD)"/>
 
@@ -31,16 +31,19 @@
       ifdef SECONDARY_GPS
       ifneq (,$(findstring $(SECONDARY_GPS), skytraq))
       # this is the secondary GPS
-      ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_skytraq.h\"
-      ap.CFLAGS += -DSECONDARY_GPS=GPS_SKYTRAQ
+      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_skytraq.h\"
+      $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_SKYTRAQ
       else
-      ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_skytraq.h\"
-      ap.CFLAGS += -DPRIMARY_GPS=GPS_SKYTRAQ
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_skytraq.h\"
+      $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_SKYTRAQ
       endif
       else
       # plain old single GPS usage
-      ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_skytraq.h\"
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_skytraq.h\"
       endif
     </raw>
   </makefile>
+  <makefile target="fbw">
+    <define name="USE_GPS"/>
+  </makefile>
 </module>
diff --git a/conf/modules/gps_ubx_i2c.xml b/conf/modules/gps_ubx_i2c.xml
@@ -18,7 +18,7 @@
   <periodic fun="gps_ubx_i2c_periodic()" freq="10."/>
   <event fun="GpsUbxi2cEvent()"/>
 
-  <makefile target="ap">
+  <makefile target="ap|fbw">
     <configure name="GPS_UBX_I2C_DEV" default="i2c1" case="upper|lower"/>
     <define name="USE_$(GPS_UBX_I2C_DEV_UPPER)"/>
     <define name="GPS_UBX_I2C_DEV" value="$(GPS_UBX_I2C_DEV_LOWER)"/>