Put GPS init/thread code into its own file

Author: grantmd

GPS.c

@@ -0,0 +1,52 @@
+/*
+    ChibiCopter - https://github.com/grantmd/ChibiCopter
+    A quadcopter platform running under ChibiOS/RT.
+
+    Talks to a GPS receiver over serial
+*/
+
+#include "ch.h"
+#include "hal.h"
+
+#include "GPS.h"
+#include "TinyGPS.h"
+
+/*
+ * GPS setup
+ */
+static const SerialConfig sd1cfg = {
+	57600,
+	0,
+	USART_CR2_STOP1_BITS | USART_CR2_LINEN,
+	0
+};
+
+static WORKING_AREA(GPSWA, 128);
+static msg_t GPS(void *arg){
+
+	(void)arg;
+	chRegSetThreadName("GPS");
+	while (TRUE){
+		unsigned char newdata = 0;
+		// Read a byte off the GPS
+		uint8_t c = chIOGet((BaseChannel *)&SD1);
+		if (TinyGPS_encode(c)){
+			newdata = 1;
+		}
+	}
+	return 0;
+}
+
+/*
+ * Activates the serial driver 1 using the driver default configuration, but at 57600
+ * PA9(TX) and PA10(RX) are routed to USART1.
+ */
+
+void GPSInit(void){
+
+	sdStart(&SD1, &sd1cfg);
+	palSetPadMode(GPIOA, 9, PAL_MODE_ALTERNATE(7)); // not currently connected
+	palSetPadMode(GPIOA, 10, PAL_MODE_ALTERNATE(7)); // incoming data from the GPS
+
+	chThdCreateStatic(GPSWA, sizeof(GPSWA), NORMALPRIO, GPS, NULL);
+}

GPS.h

@@ -0,0 +1,14 @@
+/*
+    ChibiCopter - https://github.com/grantmd/ChibiCopter
+    A quadcopter platform running under ChibiOS/RT.
+
+    Talks to a GPS over serial
+*/
+
+#ifndef _GPS_H_
+#define _GPS_H_
+
+// Public functions
+void GPSInit(void);
+
+#endif /* _GPS_H_ */

Makefile

@@ -81,6 +81,7 @@ CSRC = $(PORTSRC) \
        $(CHIBIOS)/os/various/lis302dl.c \
        $(CHIBIOS)/os/various/chprintf.c \
        comms.c \
+       GPS.c \
        TinyGPS.c \
        Motors.c \
        Spektrum.c \

main.c

@@ -13,7 +13,7 @@
 #include "lis302dl.h"
 
 #include "Comms.h"
-#include "TinyGPS.h"
+#include "GPS.h"
 #include "Motors.h"
 #include "Spektrum.h"
 
@@ -55,32 +55,6 @@ static msg_t Blink(void *arg){
 	return 0;
 }
 
-/*
- * GPS setup
- */
-static const SerialConfig sd1cfg = {
-	57600,
-	0,
-	USART_CR2_STOP1_BITS | USART_CR2_LINEN,
-	0
-};
-
-static WORKING_AREA(GPSWA, 128);
-static msg_t GPS(void *arg){
-
-	(void)arg;
-	chRegSetThreadName("GPS");
-	while (TRUE){
-		unsigned char newdata = 0;
-		// Read a byte off the GPS
-		uint8_t c = chIOGet((BaseChannel *)&SD1);
-		if (TinyGPS_encode(c)){
-			newdata = 1;
-		}
-	}
-	return 0;
-}
-
 /*
  * Application entry point.
  */
@@ -102,16 +76,6 @@ int main(void){
 
 	CommsInit();
 
-	/*
-	 * Activates the serial driver 1 using the driver default configuration, but at 57600
-	 * PA9(TX) and PA10(RX) are routed to USART1.
-	 */
-
-	sdStart(&SD1, &sd1cfg);
-	palSetPadMode(GPIOA, 9, PAL_MODE_ALTERNATE(7)); // not currently connected
-	palSetPadMode(GPIOA, 10, PAL_MODE_ALTERNATE(7)); // incoming data from the GPS
-	//TinyGPS_init();
-
 	/*
 	 * SPI1 I/O pins setup.
 	 */
@@ -135,11 +99,15 @@ int main(void){
 	 */
 	MotorsInit();
 
+	/*
+	 * GPS
+	 */
+	GPSInit();
+
 	/*
 	 * Creates the threads
 	 */
 	chThdCreateStatic(BlinkWA, sizeof(BlinkWA), NORMALPRIO, Blink, NULL);
-	chThdCreateStatic(GPSWA, sizeof(GPSWA), NORMALPRIO, GPS, NULL);
 
 	/*
 	 * Normal main() thread activity