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GPS_DUMP_COMM: dump all gps instances

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Roman Dvořák 2020-12-08 11:45:24 +01:00 committed by GitHub
parent fd261b590c
commit bc1c8fb73a
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2 changed files with 5 additions and 6 deletions
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4
msg/gps_dump.msg
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@ -3,8 +3,10 @@
uint64 timestamp # time since system start (microseconds)
uint8 instance # Instance of GNSS reciever
uint8 len # length of data, MSB bit set = message to the gps device,
# clear = message from the device
uint8[79] data # data to write to the log
uint8[79] data # data to write to the log
uint8 ORB_QUEUE_LENGTH = 8

7
src/drivers/gps/gps.cpp
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@ -579,10 +579,6 @@ void GPS::initializeCommunicationDump()
return; //dumping disabled
}
if (_instance != Instance::Main) {
return;
}
_dump_from_device = new gps_dump_s();
_dump_to_device = new gps_dump_s();
@ -607,7 +603,8 @@ void GPS::dumpGpsData(uint8_t *data, size_t len, bool msg_to_gps_device)
return;
}
gps_dump_s *dump_data = msg_to_gps_device ? _dump_to_device : _dump_from_device;
gps_dump_s *dump_data = msg_to_gps_device ? _dump_to_device : _dump_from_device;
dump_data->instance = (uint8_t) _instance;
while (len > 0) {
size_t write_len = len;