uavcan periph f103-GPS 只保留GPS , test

Tools/AP_Periph/AP_Periph.cpp

@@ -30,9 +30,7 @@
 #include <AP_HAL_ChibiOS/hwdef/common/watchdog.h>
 #include <AP_HAL_ChibiOS/I2CDevice.h>
 #endif
-#ifndef HAL_PERIPH_ENABLE_GPS
+
-#define HAL_PERIPH_ENABLE_GPS 1
-#endif
 extern const AP_HAL::HAL &hal;
 
 AP_Periph_FW periph;
@@ -148,7 +146,8 @@ void AP_Periph_FW::init()
 
 #ifdef HAL_PERIPH_ENABLE_GPS
     if (gps.get_type(0) != AP_GPS::GPS_Type::GPS_TYPE_NONE && g.gps_port >= 0) {
-        serial_manager.set_protocol_and_baud(g.gps_port, AP_SerialManager::SerialProtocol_GPS, AP_SERIALMANAGER_GPS_BAUD);
+        hal.serial(3)->printf("gps port: %d\n", (uint8_t)g.gps_port);
+        serial_manager.set_protocol_and_baud(g.gps_port, AP_SerialManager::SerialProtocol_GPS, 115200);
 #if HAL_LOGGING_ENABLED
         #define MASK_LOG_GPS (1<<2)
         gps.set_log_gps_bit(MASK_LOG_GPS);
@@ -209,9 +208,9 @@ void AP_Periph_FW::update()
 {
     static uint32_t last_led_ms;
     uint32_t now = AP_HAL::native_millis();
-    if (now - last_led_ms > 500) {
+    if (now - last_led_ms > 1000) {
         last_led_ms = now;
-        hal.serial(1)->printf("update: %lu\n", now);
+        hal.serial(3)->printf("update: %lu,status: %u,sat:%u\n\r", now,(unsigned)gps.status(),(unsigned)gps.num_sats());
 
 #ifdef HAL_GPIO_PIN_LED
         if (!no_iface_finished_dna) {
@@ -220,7 +219,7 @@ void AP_Periph_FW::update()
 #endif
 #if 1
 #ifdef HAL_PERIPH_ENABLE_GPS
-        hal.serial(1)->printf("GPS status: %u\n", (unsigned)gps.status());
+        hal.serial(3)->printf("GPS status: %u\n", (unsigned)gps.status());
 #endif
         hal.scheduler->delay(1);
 #endif

Tools/AP_Periph/wscript

@@ -53,7 +53,7 @@ def build(bld):
                      'AP_ROMFS',
                      'AP_MSP',
                     #  'SRV_Channel',
-                     'AP_Notify',
+                    #  'AP_Notify',
                      'AP_SerialLED',
                      'AP_Filesystem',
                     #  'AP_InertialSensor',

libraries/AP_GPS/AP_GPS.cpp

@@ -751,13 +751,13 @@ void AP_GPS::detect_instance(uint8_t instance)
             new_gps = new AP_GPS_SIRF(*this, state[instance], _port[instance]);
         }
 #endif
-#if AP_GPS_ERB_ENABLED
+#if 1
         else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_ERB) &&
                  AP_GPS_ERB::_detect(dstate->erb_detect_state, data)) {
             new_gps = new AP_GPS_ERB(*this, state[instance], _port[instance]);
         }
 #endif // AP_GPS_ERB_ENABLED
-#if AP_GPS_NMEA_ENABLED
+#if 1
         else if ((_type[instance] == GPS_TYPE_AUTO || _type[instance] == GPS_TYPE_NMEA ||
                     _type[instance] == GPS_TYPE_HEMI ||
                     _type[instance] == GPS_TYPE_ALLYSTAR) &&

libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.inc

@@ -135,4 +135,5 @@ define HAL_CAN_RX_QUEUE_SIZE 32
 # disable stack checking to reduce flash cost
 define CH_DBG_ENABLE_STACK_CHECK FALSE
 
-define HAL_GCS_ENABLED 0
+define HAL_GCS_ENABLED 0
+define HAL_PERIPH_ENABLE_GPS 1