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AP_GPS: fixed build without logging

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This commit is contained in:
Andrew Tridgell 2022-06-05 21:19:13 +10:00
parent 2c962e46c1
commit 6832eab8a5
2 changed files with 11 additions and 1 deletions
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6
libraries/AP_GPS/AP_GPS_SBP.cpp
View File

@ -30,7 +30,7 @@
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
#define SBP_DEBUGGING 1 #define SBP_DEBUGGING 1
#define SBP_HW_LOGGING 1 #define SBP_HW_LOGGING HAL_LOGGING_ENABLED
#define SBP_TIMEOUT_HEATBEAT 4000 #define SBP_TIMEOUT_HEATBEAT 4000
#define SBP_TIMEOUT_PVT 500 #define SBP_TIMEOUT_PVT 500
@ -228,7 +228,9 @@ AP_GPS_SBP::_sbp_process_message() {
break; break;
} }
#if SBP_HW_LOGGING
logging_log_raw_sbp(parser_state.msg_type, parser_state.sender_id, parser_state.msg_len, parser_state.msg_buff); logging_log_raw_sbp(parser_state.msg_type, parser_state.sender_id, parser_state.msg_len, parser_state.msg_buff);
#endif
} }
bool bool
@ -292,7 +294,9 @@ AP_GPS_SBP::_attempt_state_update()
last_full_update_cpu_ms = now; last_full_update_cpu_ms = now;
state.rtk_iar_num_hypotheses = last_iar_num_hypotheses; state.rtk_iar_num_hypotheses = last_iar_num_hypotheses;
#if SBP_HW_LOGGING
logging_log_full_update(); logging_log_full_update();
#endif
ret = true; ret = true;
} else if (now - last_full_update_cpu_ms > SBP_TIMEOUT_PVT) { } else if (now - last_full_update_cpu_ms > SBP_TIMEOUT_PVT) {

6
libraries/AP_GPS/AP_GPS_SBP2.cpp
View File

@ -208,17 +208,21 @@ AP_GPS_SBP2::_sbp_process_message() {
case SBP_EXT_EVENT_MSGTYPE: case SBP_EXT_EVENT_MSGTYPE:
memcpy(&last_event, parser_state.msg_buff, sizeof(struct sbp_ext_event_t)); memcpy(&last_event, parser_state.msg_buff, sizeof(struct sbp_ext_event_t));
check_new_itow(last_event.tow, parser_state.msg_len); check_new_itow(last_event.tow, parser_state.msg_len);
#if HAL_LOGGING_ENABLED
logging_ext_event(); logging_ext_event();
#endif
break; break;
default: default:
break; break;
} }
#if HAL_LOGGING_ENABLED
// send all messages we receive to log, even if it's an unsupported message, // send all messages we receive to log, even if it's an unsupported message,
// so we can do additional post-processing from logs. // so we can do additional post-processing from logs.
// The log mask will be used to adjust or suppress logging // The log mask will be used to adjust or suppress logging
logging_log_raw_sbp(parser_state.msg_type, parser_state.sender_id, parser_state.msg_len, parser_state.msg_buff); logging_log_raw_sbp(parser_state.msg_type, parser_state.sender_id, parser_state.msg_len, parser_state.msg_buff);
#endif
} }
int32_t int32_t
@ -440,6 +444,7 @@ AP_GPS_SBP2::_detect(struct SBP2_detect_state &state, uint8_t data)
return false; return false;
} }
#if HAL_LOGGING_ENABLED
void void
AP_GPS_SBP2::logging_log_full_update() AP_GPS_SBP2::logging_log_full_update()
{ {
@ -525,4 +530,5 @@ AP_GPS_SBP2::logging_ext_event() {
}; };
AP::logger().WriteBlock(&pkt, sizeof(pkt)); AP::logger().WriteBlock(&pkt, sizeof(pkt));
}; };
#endif // HAL_LOGGING_ENABLED
#endif //AP_GPS_SBP2_ENABLED #endif //AP_GPS_SBP2_ENABLED