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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_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
requestBaud(0);
@ -91,49 +91,49 @@ AP_GPS_GSOF::parse(const uint8_t temp)
switch (gsof_msg.gsof_state)
{
default:
case gsof_msg_parser_t::STARTTX:
case gsof_msg_parser_t::gsof_states::STARTTX:
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.checksumcalc = 0;
}
break;
case gsof_msg_parser_t::STATUS:
case gsof_msg_parser_t::gsof_states::STATUS:
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;
break;
case gsof_msg_parser_t::PACKETTYPE:
case gsof_msg_parser_t::gsof_states::PACKETTYPE:
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;
break;
case gsof_msg_parser_t::LENGTH:
case gsof_msg_parser_t::gsof_states::LENGTH:
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;
break;
case gsof_msg_parser_t::DATA:
case gsof_msg_parser_t::gsof_states::DATA:
gsof_msg.data[gsof_msg.read] = temp;
gsof_msg.read++;
gsof_msg.checksumcalc += temp;
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;
case gsof_msg_parser_t::CHECKSUM:
case gsof_msg_parser_t::gsof_states::CHECKSUM:
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)
{
return process_message();
}
break;
case gsof_msg_parser_t::ENDTX:
case gsof_msg_parser_t::gsof_states::ENDTX:
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;
}

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