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AP_GPS: Change search method of GPS type to switch statement.

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AP_GPS: Correct the tab code to white space.
This commit is contained in:
murata 2016-12-15 22:12:54 +09:00 committed by Randy Mackay
parent 22fd2025de
commit fd153f2861
1 changed files with 64 additions and 47 deletions
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111
libraries/AP_GPS/AP_GPS.cpp
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@ -266,30 +266,35 @@ AP_GPS::detect_instance(uint8_t instance)
struct detect_state *dstate = &detect_state[instance]; struct detect_state *dstate = &detect_state[instance];
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
switch (_type[instance]) {
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
if (_type[instance] == GPS_TYPE_PX4) { case GPS_TYPE_PX4:
// check for explicitely chosen PX4 GPS beforehand // check for explicitely chosen PX4 GPS beforehand
// it is not possible to autodetect it, nor does it require a real UART // it is not possible to autodetect it, nor does it require a real UART
_broadcast_gps_type("PX4", instance, -1); // baud rate isn't valid _broadcast_gps_type("PX4", instance, -1); // baud rate isn't valid
new_gps = new AP_GPS_PX4(*this, state[instance], _port[instance]); new_gps = new AP_GPS_PX4(*this, state[instance], _port[instance]);
goto found_gps; goto found_gps;
} break;
#endif #endif
#if CONFIG_HAL_BOARD == HAL_BOARD_QURT #if CONFIG_HAL_BOARD == HAL_BOARD_QURT
if (_type[instance] == GPS_TYPE_QURT) { case GPS_TYPE_QURT:
_broadcast_gps_type("QURTGPS", instance, -1); // baud rate isn't valid _broadcast_gps_type("QURTGPS", instance, -1); // baud rate isn't valid
new_gps = new AP_GPS_QURT(*this, state[instance], _port[instance]); new_gps = new AP_GPS_QURT(*this, state[instance], _port[instance]);
goto found_gps; goto found_gps;
} break;
#endif #endif
// user has to explicitly set the MAV type, do not use AUTO // user has to explicitly set the MAV type, do not use AUTO
// do not try to detect the MAV type, assume it's there // do not try to detect the MAV type, assume it's there
if (_type[instance] == GPS_TYPE_MAV) { case GPS_TYPE_MAV:
_broadcast_gps_type("MAV", instance, -1); _broadcast_gps_type("MAV", instance, -1);
new_gps = new AP_GPS_MAV(*this, state[instance], nullptr); new_gps = new AP_GPS_MAV(*this, state[instance], nullptr);
goto found_gps; goto found_gps;
break;
default:
break;
} }
if (_port[instance] == nullptr) { if (_port[instance] == nullptr) {
@ -301,17 +306,26 @@ AP_GPS::detect_instance(uint8_t instance)
state[instance].status = NO_GPS; state[instance].status = NO_GPS;
state[instance].hdop = 9999; state[instance].hdop = 9999;
// by default the sbf/trimble gps outputs no data on its port, until configured. switch (_type[instance]) {
if (_type[instance] == GPS_TYPE_SBF) { // by default the sbf/trimble gps outputs no data on its port, until configured.
_broadcast_gps_type("SBF", instance, -1); // baud rate isn't valid case GPS_TYPE_SBF:
new_gps = new AP_GPS_SBF(*this, state[instance], _port[instance]); _broadcast_gps_type("SBF", instance, -1); // baud rate isn't valid
} else if ((_type[instance] == GPS_TYPE_GSOF)) { new_gps = new AP_GPS_SBF(*this, state[instance], _port[instance]);
_broadcast_gps_type("GSOF", instance, -1); // baud rate isn't valid break;
new_gps = new AP_GPS_GSOF(*this, state[instance], _port[instance]);
} else if ((_type[instance] == GPS_TYPE_NOVA)) { case GPS_TYPE_GSOF:
_broadcast_gps_type("NOVA", instance, -1); // baud rate isn't valid _broadcast_gps_type("GSOF", instance, -1); // baud rate isn't valid
new_gps = new AP_GPS_NOVA(*this, state[instance], _port[instance]); new_gps = new AP_GPS_GSOF(*this, state[instance], _port[instance]);
} break;
case GPS_TYPE_NOVA:
_broadcast_gps_type("NOVA", instance, -1); // baud rate isn't valid
new_gps = new AP_GPS_NOVA(*this, state[instance], _port[instance]);
break;
default:
break;
}
// record the time when we started detection. This is used to try // record the time when we started detection. This is used to try
// to avoid initialising a uBlox as a NMEA GPS // to avoid initialising a uBlox as a NMEA GPS
@ -332,12 +346,12 @@ AP_GPS::detect_instance(uint8_t instance)
_port[instance]->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); _port[instance]->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
dstate->last_baud_change_ms = now; dstate->last_baud_change_ms = now;
if(_auto_config == 1){ if (_auto_config == 1) {
send_blob_start(instance, _initialisation_blob, sizeof(_initialisation_blob)); send_blob_start(instance, _initialisation_blob, sizeof(_initialisation_blob));
} }
} }
if(_auto_config == 1){ if (_auto_config == 1) {
send_blob_update(instance); send_blob_update(instance);
} }
@ -357,64 +371,66 @@ AP_GPS::detect_instance(uint8_t instance)
_broadcast_gps_type("u-blox", instance, dstate->current_baud); _broadcast_gps_type("u-blox", instance, dstate->current_baud);
new_gps = new AP_GPS_UBLOX(*this, state[instance], _port[instance]); new_gps = new AP_GPS_UBLOX(*this, state[instance], _port[instance]);
} }
else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_MTK19) && else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_MTK19) &&
AP_GPS_MTK19::_detect(dstate->mtk19_detect_state, data)) { AP_GPS_MTK19::_detect(dstate->mtk19_detect_state, data)) {
_broadcast_gps_type("MTK19", instance, dstate->current_baud); _broadcast_gps_type("MTK19", instance, dstate->current_baud);
new_gps = new AP_GPS_MTK19(*this, state[instance], _port[instance]); new_gps = new AP_GPS_MTK19(*this, state[instance], _port[instance]);
} }
else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_MTK) && else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_MTK) &&
AP_GPS_MTK::_detect(dstate->mtk_detect_state, data)) { AP_GPS_MTK::_detect(dstate->mtk_detect_state, data)) {
_broadcast_gps_type("MTK", instance, dstate->current_baud); _broadcast_gps_type("MTK", instance, dstate->current_baud);
new_gps = new AP_GPS_MTK(*this, state[instance], _port[instance]); new_gps = new AP_GPS_MTK(*this, state[instance], _port[instance]);
} }
else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SBP) && else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SBP) &&
AP_GPS_SBP::_detect(dstate->sbp_detect_state, data)) { AP_GPS_SBP::_detect(dstate->sbp_detect_state, data)) {
_broadcast_gps_type("SBP", instance, dstate->current_baud); _broadcast_gps_type("SBP", instance, dstate->current_baud);
new_gps = new AP_GPS_SBP(*this, state[instance], _port[instance]); new_gps = new AP_GPS_SBP(*this, state[instance], _port[instance]);
} }
// save a bit of code space on a 1280 // save a bit of code space on a 1280
else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SIRF) && else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_SIRF) &&
AP_GPS_SIRF::_detect(dstate->sirf_detect_state, data)) { AP_GPS_SIRF::_detect(dstate->sirf_detect_state, data)) {
_broadcast_gps_type("SIRF", instance, dstate->current_baud); _broadcast_gps_type("SIRF", instance, dstate->current_baud);
new_gps = new AP_GPS_SIRF(*this, state[instance], _port[instance]); new_gps = new AP_GPS_SIRF(*this, state[instance], _port[instance]);
} }
else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_ERB) && else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_ERB) &&
AP_GPS_ERB::_detect(dstate->erb_detect_state, data)) { AP_GPS_ERB::_detect(dstate->erb_detect_state, data)) {
_broadcast_gps_type("ERB", instance, dstate->current_baud); _broadcast_gps_type("ERB", instance, dstate->current_baud);
new_gps = new AP_GPS_ERB(*this, state[instance], _port[instance]); new_gps = new AP_GPS_ERB(*this, state[instance], _port[instance]);
} }
else if (now - dstate->detect_started_ms > (ARRAY_SIZE(_baudrates) * GPS_BAUD_TIME_MS)) { else if (now - dstate->detect_started_ms > (ARRAY_SIZE(_baudrates) * GPS_BAUD_TIME_MS)) {
// prevent false detection of NMEA mode in // prevent false detection of NMEA mode in
// a MTK or UBLOX which has booted in NMEA mode // a MTK or UBLOX which has booted in NMEA mode
if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_NMEA) && if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_NMEA) &&
AP_GPS_NMEA::_detect(dstate->nmea_detect_state, data)) { AP_GPS_NMEA::_detect(dstate->nmea_detect_state, data)) {
_broadcast_gps_type("NMEA", instance, dstate->current_baud); _broadcast_gps_type("NMEA", instance, dstate->current_baud);
new_gps = new AP_GPS_NMEA(*this, state[instance], _port[instance]); new_gps = new AP_GPS_NMEA(*this, state[instance], _port[instance]);
} }
} }
} }
found_gps: found_gps:
if (new_gps != nullptr) { if (new_gps != nullptr) {
state[instance].status = NO_FIX; state[instance].status = NO_FIX;
drivers[instance] = new_gps; drivers[instance] = new_gps;
timing[instance].last_message_time_ms = now; timing[instance].last_message_time_ms = now;
} }
} }
AP_GPS::GPS_Status AP_GPS::GPS_Status
AP_GPS::highest_supported_status(uint8_t instance) const AP_GPS::highest_supported_status(uint8_t instance) const
{ {
if (drivers[instance] != nullptr) if (drivers[instance] != nullptr) {
return drivers[instance]->highest_supported_status(); return drivers[instance]->highest_supported_status();
}
return AP_GPS::GPS_OK_FIX_3D; return AP_GPS::GPS_OK_FIX_3D;
} }
AP_GPS::GPS_Status AP_GPS::GPS_Status
AP_GPS::highest_supported_status(void) const AP_GPS::highest_supported_status(void) const
{ {
if (drivers[primary_instance] != nullptr) if (drivers[primary_instance] != nullptr) {
return drivers[primary_instance]->highest_supported_status(); return drivers[primary_instance]->highest_supported_status();
}
return AP_GPS::GPS_OK_FIX_3D; return AP_GPS::GPS_OK_FIX_3D;
} }
@ -447,7 +463,7 @@ AP_GPS::update_instance(uint8_t instance)
return; return;
} }
if(_auto_config == 1){ if (_auto_config == 1) {
send_blob_update(instance); send_blob_update(instance);
} }
@ -526,7 +542,7 @@ AP_GPS::update(void)
} }
} }
// update notify with gps status. We always base this on the primary_instance // update notify with gps status. We always base this on the primary_instance
AP_Notify::flags.gps_status = state[primary_instance].status; AP_Notify::flags.gps_status = state[primary_instance].status;
AP_Notify::flags.gps_num_sats = state[primary_instance].num_sats; AP_Notify::flags.gps_num_sats = state[primary_instance].num_sats;
} }
@ -634,8 +650,9 @@ AP_GPS::inject_data(uint8_t *data, uint8_t len)
void void
AP_GPS::inject_data(uint8_t instance, uint8_t *data, uint8_t len) AP_GPS::inject_data(uint8_t instance, uint8_t *data, uint8_t len)
{ {
if (instance < GPS_MAX_INSTANCES && drivers[instance] != nullptr) if (instance < GPS_MAX_INSTANCES && drivers[instance] != nullptr) {
drivers[instance]->inject_data(data, len); drivers[instance]->inject_data(data, len);
}
} }
void void