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SITL: use PACKED attribute instead of pragma pack

mission-4.1.18
Andrew Tridgell 12 years ago
parent
06b6f4b04e
commit
ed918dc6bc
1 changed files with 8 additions and 16 deletions
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  1. 22
      libraries/AP_HAL_AVR_SITL/sitl_gps.cpp

22
libraries/AP_HAL_AVR_SITL/sitl_gps.cpp
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@ -145,8 +145,7 @@ static uint32_t millis_time_of_week(void)
*/ */
void SITL_State::_update_gps_ubx(const struct gps_data *d) void SITL_State::_update_gps_ubx(const struct gps_data *d)
{ {
#pragma pack(push,1) struct PACKED ubx_nav_posllh {
struct ubx_nav_posllh {
uint32_t time; // GPS msToW uint32_t time; // GPS msToW
int32_t longitude; int32_t longitude;
int32_t latitude; int32_t latitude;
@ -155,7 +154,7 @@ void SITL_State::_update_gps_ubx(const struct gps_data *d)
uint32_t horizontal_accuracy; uint32_t horizontal_accuracy;
uint32_t vertical_accuracy; uint32_t vertical_accuracy;
} pos; } pos;
struct ubx_nav_status { struct PACKED ubx_nav_status {
uint32_t time; // GPS msToW uint32_t time; // GPS msToW
uint8_t fix_type; uint8_t fix_type;
uint8_t fix_status; uint8_t fix_status;
@ -164,7 +163,7 @@ void SITL_State::_update_gps_ubx(const struct gps_data *d)
uint32_t time_to_first_fix; uint32_t time_to_first_fix;
uint32_t uptime; // milliseconds uint32_t uptime; // milliseconds
} status; } status;
struct ubx_nav_velned { struct PACKED ubx_nav_velned {
uint32_t time; // GPS msToW uint32_t time; // GPS msToW
int32_t ned_north; int32_t ned_north;
int32_t ned_east; int32_t ned_east;
@ -175,7 +174,7 @@ void SITL_State::_update_gps_ubx(const struct gps_data *d)
uint32_t speed_accuracy; uint32_t speed_accuracy;
uint32_t heading_accuracy; uint32_t heading_accuracy;
} velned; } velned;
struct ubx_nav_solution { struct PACKED ubx_nav_solution {
uint32_t time; uint32_t time;
int32_t time_nsec; int32_t time_nsec;
int16_t week; int16_t week;
@ -194,7 +193,6 @@ void SITL_State::_update_gps_ubx(const struct gps_data *d)
uint8_t satellites; uint8_t satellites;
uint32_t res2; uint32_t res2;
} sol; } sol;
#pragma pack(pop)
const uint8_t MSG_POSLLH = 0x2; const uint8_t MSG_POSLLH = 0x2;
const uint8_t MSG_STATUS = 0x3; const uint8_t MSG_STATUS = 0x3;
const uint8_t MSG_VELNED = 0x12; const uint8_t MSG_VELNED = 0x12;
@ -266,8 +264,7 @@ static void mtk_checksum(const uint8_t *data, uint8_t n, uint8_t *ck_a, uint8_t
*/ */
void SITL_State::_update_gps_mtk(const struct gps_data *d) void SITL_State::_update_gps_mtk(const struct gps_data *d)
{ {
#pragma pack(push,1) struct PACKED mtk_msg {
struct mtk_msg {
uint8_t preamble1; uint8_t preamble1;
uint8_t preamble2; uint8_t preamble2;
uint8_t msg_class; uint8_t msg_class;
@ -283,7 +280,6 @@ void SITL_State::_update_gps_mtk(const struct gps_data *d)
uint8_t ck_a; uint8_t ck_a;
uint8_t ck_b; uint8_t ck_b;
} p; } p;
#pragma pack(pop)
p.preamble1 = 0xb5; p.preamble1 = 0xb5;
p.preamble2 = 0x62; p.preamble2 = 0x62;
@ -322,8 +318,7 @@ void SITL_State::_update_gps_mtk(const struct gps_data *d)
*/ */
void SITL_State::_update_gps_mtk16(const struct gps_data *d) void SITL_State::_update_gps_mtk16(const struct gps_data *d)
{ {
#pragma pack(push,1) struct PACKED mtk_msg {
struct mtk_msg {
uint8_t preamble1; uint8_t preamble1;
uint8_t preamble2; uint8_t preamble2;
uint8_t size; uint8_t size;
@ -340,7 +335,6 @@ void SITL_State::_update_gps_mtk16(const struct gps_data *d)
uint8_t ck_a; uint8_t ck_a;
uint8_t ck_b; uint8_t ck_b;
} p; } p;
#pragma pack(pop)
p.preamble1 = 0xd0; p.preamble1 = 0xd0;
p.preamble2 = 0xdd; p.preamble2 = 0xdd;
@ -380,8 +374,7 @@ void SITL_State::_update_gps_mtk16(const struct gps_data *d)
*/ */
void SITL_State::_update_gps_mtk19(const struct gps_data *d) void SITL_State::_update_gps_mtk19(const struct gps_data *d)
{ {
#pragma pack(push,1) struct PACKED mtk_msg {
struct mtk_msg {
uint8_t preamble1; uint8_t preamble1;
uint8_t preamble2; uint8_t preamble2;
uint8_t size; uint8_t size;
@ -398,7 +391,6 @@ void SITL_State::_update_gps_mtk19(const struct gps_data *d)
uint8_t ck_a; uint8_t ck_a;
uint8_t ck_b; uint8_t ck_b;
} p; } p;
#pragma pack(pop)
p.preamble1 = 0xd1; p.preamble1 = 0xd1;
p.preamble2 = 0xdd; p.preamble2 = 0xdd;

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