Merge pull request #624 from jacobmcnamee/track

Tracking channel refactor, specialize by code type

src/Makefile

@@ -114,6 +114,9 @@ CSRC := $(PORTSRC) \
         $(SWIFTNAV_ROOT)/src/sbp_utils.o \
         $(SWIFTNAV_ROOT)/src/error.o \
         $(SWIFTNAV_ROOT)/src/track.o \
+        $(SWIFTNAV_ROOT)/src/track_internal.o \
+        $(SWIFTNAV_ROOT)/src/track_api.o \
+        $(SWIFTNAV_ROOT)/src/track_gps_l1ca.o \
         $(SWIFTNAV_ROOT)/src/acq.o \
         $(SWIFTNAV_ROOT)/src/manage.o \
         $(SWIFTNAV_ROOT)/src/settings.o \

src/board/nap/nap_exti.c

@@ -106,22 +106,7 @@ static void handle_nap_exti(void)
 
   /* Mask off everything but tracking irqs. */
   irq &= NAP_IRQ_TRACK_MASK;
-
-  /* Loop over tracking irq bit flags. */
-  for (u8 n = 0; n < nap_track_n_channels; n++) {
-    /* Save a bit of time by seeing if the rest of the bits
-     * are zero in one go so we don't have to loop over all
-     * of them.
-     */
-    if (!(irq >> n))
-      break;
-
-    /* Test if the nth tracking irq flag is set, if so service it. */
-    if ((irq >> n) & 1) {
-      tracking_channel_get_corrs(n);
-      tracking_channel_update(n);
-    }
-  }
+  tracking_channels_update(irq);
 
   watchdog_notify(WD_NOTIFY_NAP_ISR);
   nap_exti_count++;

src/decode_gps_l1.c

@@ -98,11 +98,8 @@ static void decoder_gps_l1_process(const decoder_channel_info_t *channel_info,
     }
   }
 
-  /* Check if there is a new nav msg subframe to process.
-   * TODO: move this into a function */
-  tracking_channel_t *ch = &tracking_channel[channel_info->tracking_channel];
-  if ((ch->state != TRACKING_RUNNING) ||
-      !subframe_ready(&data->nav_msg))
+  /* Check if there is a new nav msg subframe to process. */
+  if (!subframe_ready(&data->nav_msg))
     return;
 
   /* Decode ephemeris to temporary struct */

src/main.c

@@ -28,6 +28,7 @@
 #include "init.h"
 #include "manage.h"
 #include "track.h"
+#include "track_gps_l1ca.h"
 #include "timing.h"
 #include "ext_events.h"
 #include "solution.h"
@@ -178,15 +179,16 @@ int main(void)
   static s32 serial_number;
   serial_number = nap_conf_rd_serial_number();
 
+  rng_setup();
   max2769_setup();
   timing_setup();
   ext_event_setup();
   position_setup();
-  tracking_setup();
+  track_setup();
+  track_gps_l1ca_register();
   decode_setup();
   decode_gps_l1_register();
 
-  rng_setup();
   manage_acq_setup();
   manage_track_setup();
   system_monitor_setup();