cmake remove circular linking and reorganize

- px4_add_module now requires MAIN - px4_add_library doesn't automatically link
2026-07-14 15:30:36 +08:00 · 2018-04-11 15:10:51 -04:00
parent a8bc3d187f
commit ea3acb7121
576 changed files with 1406 additions and 2014 deletions
@@ -0,0 +1,96 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ubx.cpp
+ *
+ * U-Blox protocol implementation. Following u-blox 6/7/8 Receiver Description
+ * including Prototol Specification.
+ *
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ *
+ * @author Hannes Delago
+ *   (rework, add ubx7+ compatibility)
+ *
+ * @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf
+ * @see http://www.u-blox.com/images/downloads/Product_Docs/u-bloxM8_ReceiverDescriptionProtocolSpec_%28UBX-13003221%29_Public.pdf
+ */
+
+#include <assert.h>
+#include <math.h>
+#include <poll.h>
+#include <stdio.h>
+#include <string.h>
+#include <time.h>
+#include <unistd.h>
+
+#include <systemlib/err.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_gps_position.h>
+#include <uORB/topics/satellite_info.h>
+#include <drivers/drv_hrt.h>
+
+#include "ubx_sim.h"
+#include <simulator/simulator.h>
+
+#define UBX_CONFIG_TIMEOUT	200		// ms, timeout for waiting ACK
+#define UBX_PACKET_TIMEOUT	2		// ms, if now data during this delay assume that full update received
+#define UBX_WAIT_BEFORE_READ	20		// ms, wait before reading to save read() calls
+#define DISABLE_MSG_INTERVAL	1000000		// us, try to disable message with this interval
+
+
+UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info) :
+	_fd(fd),
+	_gps_position(gps_position),
+	_satellite_info(satellite_info),
+{
+}
+
+UBX::~UBX()
+{
+}
+
+int UBX_SIM::configure(unsigned &baudrate)
+{
+	return 0;
+}
+
+int	// -1 = error, 0 = no message handled, 1 = message handled, 2 = sat info message handled
+UBX_SIM::receive(const unsigned timeout)
+{
+	/* copy data from simulator here */
+	usleep(1000000);
+	return 1;
+}