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AP_GPS: Use enum classes in GSOF

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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
This commit is contained in:
Ryan Friedman 2023-05-09 11:52:45 -06:00 committed by Andrew Tridgell
parent c41d5f4ff6
commit 2f5f77712f
2 changed files with 20 additions and 18 deletions
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30
libraries/AP_GPS/AP_GPS_GSOF.cpp
View File

@ -46,7 +46,7 @@ AP_GPS_GSOF::AP_GPS_GSOF(AP_GPS &_gps, AP_GPS::GPS_State &_state,
AP_HAL::UARTDriver *_port) : AP_HAL::UARTDriver *_port) :
AP_GPS_Backend(_gps, _state, _port) AP_GPS_Backend(_gps, _state, _port)
{ {
gsof_msg.gsof_state = gsof_msg_parser_t::STARTTX; gsof_msg.gsof_state = gsof_msg_parser_t::gsof_states::STARTTX;
// baud request for port 0 // baud request for port 0
requestBaud(0); requestBaud(0);
@ -91,49 +91,49 @@ AP_GPS_GSOF::parse(const uint8_t temp)
switch (gsof_msg.gsof_state) switch (gsof_msg.gsof_state)
{ {
default: default:
case gsof_msg_parser_t::STARTTX: case gsof_msg_parser_t::gsof_states::STARTTX:
if (temp == GSOF_STX) if (temp == GSOF_STX)
{ {
gsof_msg.gsof_state = gsof_msg_parser_t::STATUS; gsof_msg.gsof_state = gsof_msg_parser_t::gsof_states::STATUS;
gsof_msg.read = 0; gsof_msg.read = 0;
gsof_msg.checksumcalc = 0; gsof_msg.checksumcalc = 0;
} }
break; break;
case gsof_msg_parser_t::STATUS: case gsof_msg_parser_t::gsof_states::STATUS:
gsof_msg.status = temp; gsof_msg.status = temp;
gsof_msg.gsof_state = gsof_msg_parser_t::PACKETTYPE; gsof_msg.gsof_state = gsof_msg_parser_t::gsof_states::PACKETTYPE;
gsof_msg.checksumcalc += temp; gsof_msg.checksumcalc += temp;
break; break;
case gsof_msg_parser_t::PACKETTYPE: case gsof_msg_parser_t::gsof_states::PACKETTYPE:
gsof_msg.packettype = temp; gsof_msg.packettype = temp;
gsof_msg.gsof_state = gsof_msg_parser_t::LENGTH; gsof_msg.gsof_state = gsof_msg_parser_t::gsof_states::LENGTH;
gsof_msg.checksumcalc += temp; gsof_msg.checksumcalc += temp;
break; break;
case gsof_msg_parser_t::LENGTH: case gsof_msg_parser_t::gsof_states::LENGTH:
gsof_msg.length = temp; gsof_msg.length = temp;
gsof_msg.gsof_state = gsof_msg_parser_t::DATA; gsof_msg.gsof_state = gsof_msg_parser_t::gsof_states::DATA;
gsof_msg.checksumcalc += temp; gsof_msg.checksumcalc += temp;
break; break;
case gsof_msg_parser_t::DATA: case gsof_msg_parser_t::gsof_states::DATA:
gsof_msg.data[gsof_msg.read] = temp; gsof_msg.data[gsof_msg.read] = temp;
gsof_msg.read++; gsof_msg.read++;
gsof_msg.checksumcalc += temp; gsof_msg.checksumcalc += temp;
if (gsof_msg.read >= gsof_msg.length) if (gsof_msg.read >= gsof_msg.length)
{ {
gsof_msg.gsof_state = gsof_msg_parser_t::CHECKSUM; gsof_msg.gsof_state = gsof_msg_parser_t::gsof_states::CHECKSUM;
} }
break; break;
case gsof_msg_parser_t::CHECKSUM: case gsof_msg_parser_t::gsof_states::CHECKSUM:
gsof_msg.checksum = temp; gsof_msg.checksum = temp;
gsof_msg.gsof_state = gsof_msg_parser_t::ENDTX; gsof_msg.gsof_state = gsof_msg_parser_t::gsof_states::ENDTX;
if (gsof_msg.checksum == gsof_msg.checksumcalc) if (gsof_msg.checksum == gsof_msg.checksumcalc)
{ {
return process_message(); return process_message();
} }
break; break;
case gsof_msg_parser_t::ENDTX: case gsof_msg_parser_t::gsof_states::ENDTX:
gsof_msg.endtx = temp; gsof_msg.endtx = temp;
gsof_msg.gsof_state = gsof_msg_parser_t::STARTTX; gsof_msg.gsof_state = gsof_msg_parser_t::gsof_states::STARTTX;
break; break;
} }

8
libraries/AP_GPS/AP_GPS_GSOF.h
View File

@ -48,10 +48,10 @@ private:
uint32_t SwapUint32(const uint8_t* src, const uint32_t pos) const WARN_IF_UNUSED; uint32_t SwapUint32(const uint8_t* src, const uint32_t pos) const WARN_IF_UNUSED;
uint16_t SwapUint16(const uint8_t* src, const uint32_t pos) const WARN_IF_UNUSED; uint16_t SwapUint16(const uint8_t* src, const uint32_t pos) const WARN_IF_UNUSED;
struct gsof_msg_parser_t struct gsof_msg_parser_t
{ {
enum
enum class gsof_states
{ {
STARTTX = 0, STARTTX = 0,
STATUS, STATUS,
@ -60,7 +60,9 @@ private:
DATA, DATA,
CHECKSUM, CHECKSUM,
ENDTX ENDTX
} gsof_state; };
gsof_states gsof_state;
uint8_t status; uint8_t status;
uint8_t packettype; uint8_t packettype;