AP_GPS: save some memory and code space on APM2 for ublox

don't include structures we don't need for low end CPUs
This commit is contained in:
Andrew Tridgell 2015-07-30 08:39:11 +10:00
parent 8aa7a3cffc
commit b6beeb6f2f
2 changed files with 17 additions and 13 deletions

View File

@ -41,18 +41,6 @@ extern const AP_HAL::HAL& hal;
# define Debug(fmt, args ...)
#endif
/*
only do detailed hardware logging on boards likely to have more log
storage space
*/
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
#define UBLOX_HW_LOGGING 1
#define UBLOX_RXM_RAW_LOGGING 1
#else
#define UBLOX_HW_LOGGING 0
#define UBLOX_RXM_RAW_LOGGING 0
#endif
AP_GPS_UBLOX::AP_GPS_UBLOX(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port) :
AP_GPS_Backend(_gps, _state, _port),
_step(0),
@ -452,6 +440,7 @@ AP_GPS_UBLOX::_parse_gps(void)
return false;
}
#if UBLOX_GNSS_SETTINGS
if (_class == CLASS_CFG && _msg_id == MSG_CFG_GNSS && gps._gnss_mode != 0) {
uint8_t gnssCount = 0;
Debug("Got GNSS Settings %u %u %u %u:\n",
@ -510,6 +499,7 @@ AP_GPS_UBLOX::_parse_gps(void)
sizeof(_buffer.sbas));
}
}
#endif
#if UBLOX_HW_LOGGING
if (_class == CLASS_MON) {

View File

@ -45,8 +45,12 @@
#define UBLOX_RXM_RAW_LOGGING 1
#define UBLOX_MAX_RXM_RAW_SATS 22
#define UBLOX_MAX_RXM_RAWX_SATS 32
#define UBLOX_GNSS_SETTINGS 1
#define UBLOX_HW_LOGGING 1
#else
#define UBLOX_RXM_RAW_LOGGING 0
#define UBLOX_GNSS_SETTINGS 0
#define UBLOX_HW_LOGGING 0
#endif
#define UBLOX_MAX_GNSS_CONFIG_BLOCKS 7
@ -72,6 +76,7 @@ private:
uint8_t msg_id;
uint16_t length;
};
#if UBLOX_GNSS_SETTINGS
struct PACKED ubx_cfg_gnss {
uint8_t msgVer;
uint8_t numTrkChHw;
@ -85,6 +90,7 @@ private:
uint32_t flags;
} configBlock[UBLOX_MAX_GNSS_CONFIG_BLOCKS];
};
#endif
struct PACKED ubx_cfg_nav_rate {
uint16_t measure_rate_ms;
uint16_t nav_rate;
@ -113,6 +119,7 @@ private:
uint32_t res3;
uint32_t res4;
};
#if UBLOX_GNSS_SETTINGS
struct PACKED ubx_cfg_sbas {
uint8_t mode;
uint8_t usage;
@ -120,7 +127,7 @@ private:
uint8_t scanmode2;
uint32_t scanmode1;
};
#endif
struct PACKED ubx_nav_posllh {
uint32_t time; // GPS msToW
int32_t longitude;
@ -179,6 +186,8 @@ private:
uint32_t speed_accuracy;
uint32_t heading_accuracy;
};
#if UBLOX_HW_LOGGING
// Lea6 uses a 60 byte message
struct PACKED ubx_mon_hw_60 {
uint32_t pinSel;
@ -231,6 +240,7 @@ private:
uint32_t postStatus;
uint32_t reserved2;
};
#endif
struct PACKED ubx_nav_svinfo_header {
uint32_t itow;
uint8_t numCh;
@ -286,11 +296,15 @@ private:
ubx_nav_solution solution;
ubx_nav_velned velned;
ubx_cfg_nav_settings nav_settings;
#if UBLOX_HW_LOGGING
ubx_mon_hw_60 mon_hw_60;
ubx_mon_hw_68 mon_hw_68;
ubx_mon_hw2 mon_hw2;
#endif
#if UBLOX_GNSS_SETTINGS
ubx_cfg_gnss gnss;
ubx_cfg_sbas sbas;
#endif
ubx_nav_svinfo_header svinfo_header;
#if UBLOX_RXM_RAW_LOGGING
ubx_rxm_raw rxm_raw;