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Merge pull request #3113 from mikeller/reduce_ublox_firmware_size 

Reduce firmware footprint of uBlox code.
This commit is contained in:
Michael Keller 2017-05-23 22:45:52 +12:00 committed by GitHub
parent dbdbd8724a a3a65e1c67
commit a1c2f79dcd
1 changed files with 15 additions and 8 deletions
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23
src/main/io/gps.c
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@ -152,7 +152,11 @@ static const uint8_t ubloxInit[] = {
// 31.21 CFG-SBAS (0x06 0x16), Page 142/210
// A.10 SBAS Configuration (UBX-CFG-SBAS), Page 198/210 - GPS.G6-SW-10018-F
#define UBLOX_SBAS_MESSAGE_LENGTH 16
#define UBLOX_SBAS_PREFIX_LENGTH 10
static const uint8_t ubloxSbasPrefix[UBLOX_SBAS_PREFIX_LENGTH] = { 0xB5, 0x62, 0x06, 0x16, 0x08, 0x00, 0x03, 0x07, 0x03, 0x00 };
#define UBLOX_SBAS_MESSAGE_LENGTH 6
typedef struct ubloxSbas_s {
sbasMode_e mode;
uint8_t message[UBLOX_SBAS_MESSAGE_LENGTH];
@ -163,11 +167,11 @@ typedef struct ubloxSbas_s {
// Note: these must be defined in the same order is sbasMode_e since no lookup table is used.
static const ubloxSbas_t ubloxSbas[] = {
// NOTE this could be optimized to save a few bytes of flash space since the same prefix is used for each command.
{ SBAS_AUTO, { 0xB5, 0x62, 0x06, 0x16, 0x08, 0x00, 0x03, 0x07, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x31, 0xE5}},
{ SBAS_EGNOS, { 0xB5, 0x62, 0x06, 0x16, 0x08, 0x00, 0x03, 0x07, 0x03, 0x00, 0x51, 0x08, 0x00, 0x00, 0x8A, 0x41}},
{ SBAS_WAAS, { 0xB5, 0x62, 0x06, 0x16, 0x08, 0x00, 0x03, 0x07, 0x03, 0x00, 0x04, 0xE0, 0x04, 0x00, 0x19, 0x9D}},
{ SBAS_MSAS, { 0xB5, 0x62, 0x06, 0x16, 0x08, 0x00, 0x03, 0x07, 0x03, 0x00, 0x00, 0x02, 0x02, 0x00, 0x35, 0xEF}},
{ SBAS_GAGAN, { 0xB5, 0x62, 0x06, 0x16, 0x08, 0x00, 0x03, 0x07, 0x03, 0x00, 0x80, 0x01, 0x00, 0x00, 0xB2, 0xE8}}
{ SBAS_AUTO, { 0x00, 0x00, 0x00, 0x00, 0x31, 0xE5}},
{ SBAS_EGNOS, { 0x51, 0x08, 0x00, 0x00, 0x8A, 0x41}},
{ SBAS_WAAS, { 0x04, 0xE0, 0x04, 0x00, 0x19, 0x9D}},
{ SBAS_MSAS, { 0x00, 0x02, 0x02, 0x00, 0x35, 0xEF}},
{ SBAS_GAGAN, { 0x80, 0x01, 0x00, 0x00, 0xB2, 0xE8}}
};
@ -372,8 +376,11 @@ void gpsInitUblox(void)
}
if (gpsData.messageState == GPS_MESSAGE_STATE_SBAS) {
if (gpsData.state_position < UBLOX_SBAS_MESSAGE_LENGTH) {
serialWrite(gpsPort, ubloxSbas[gpsConfig()->sbasMode].message[gpsData.state_position]);
if (gpsData.state_position < UBLOX_SBAS_PREFIX_LENGTH) {
serialWrite(gpsPort, ubloxSbasPrefix[gpsData.state_position]);
gpsData.state_position++;
} else if (gpsData.state_position < UBLOX_SBAS_PREFIX_LENGTH + UBLOX_SBAS_MESSAGE_LENGTH) {
serialWrite(gpsPort, ubloxSbas[gpsConfig()->sbasMode].message[gpsData.state_position - UBLOX_SBAS_PREFIX_LENGTH]);
gpsData.state_position++;
} else {
gpsData.messageState++;