UAV-develop/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-07-27 00:48:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

septentrio: avoid compilation error

Browse Source 
Even though all enum values fit into 13 bits, there's an error:
../../src/drivers/gnss/septentrio/sbf/messages.h:101:21: error: ‘septentrio::sbf::Header::id_number’ is too small to hold all values of ‘enum class septentrio::sbf::BlockID’ [-Werror]
This is with GCC 13.3.0 under Ubuntu 24.04
This commit is contained in:
Beat Küng
2025-06-19 13:23:25 +02:00
parent d5942bd631
commit 8721269c78
4 changed files with 13 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/drivers/gnss/septentrio/sbf/decoder.cpp
View File

@@ -102,7 +102,7 @@ Decoder::State Decoder::add_byte(uint8_t byte)
BlockID Decoder::id() const
{
return _state == State::Done ? _message.header.id_number : BlockID::Invalid;
return _state == State::Done ? static_cast<BlockID>(_message.header.id_number) : BlockID::Invalid;
}
int Decoder::parse(Header *header) const

12
src/drivers/gnss/septentrio/sbf/messages.h
View File

@@ -98,7 +98,7 @@ struct Header {
uint8_t sync1;
uint8_t sync2;
uint16_t crc;
BlockID id_number: 13;
uint16_t id_number: 13;
uint16_t id_revision: 3;
uint16_t length;
uint32_t tow;
@@ -143,7 +143,7 @@ struct PVTGeodetic {
MissingBaseStationCoordinates = 9,
MissingRequiredRTKFixedPosition = 10,
};
ModeType mode_type: 4;
uint8_t mode_type: 4;
uint8_t mode_reserved: 2;
uint8_t mode_base_fixed: 1;
uint8_t mode_2d: 1;
@@ -314,8 +314,8 @@ struct AttEuler {
InsufficientMeasurements = 1,
};
uint8_t nr_sv;
Error error_aux1: 2;
Error error_aux2: 2;
uint8_t error_aux1: 2;
uint8_t error_aux2: 2;
uint8_t error_reserved: 3;
uint8_t error_not_requested: 1;
uint16_t mode;
@@ -334,8 +334,8 @@ struct AttCovEuler {
InsufficientMeasurements = 1,
};
uint8_t reserved;
Error error_aux1: 2;
Error error_aux2: 2;
uint8_t error_aux1: 2;
uint8_t error_aux2: 2;
uint8_t error_reserved: 3;
uint8_t error_not_requested: 1;
float cov_headhead;

10
src/drivers/gnss/septentrio/septentrio.cpp
View File

@@ -1075,7 +1075,7 @@ int SeptentrioDriver::process_message()
PVTGeodetic pvt_geodetic;
if (_sbf_decoder.parse(&header) == PX4_OK && _sbf_decoder.parse(&pvt_geodetic) == PX4_OK) {
switch (pvt_geodetic.mode_type) {
switch (static_cast<sbf::PVTGeodetic::ModeType>(pvt_geodetic.mode_type)) {
case ModeType::NoPVT:
_message_gps_state.fix_type = sensor_gps_s::FIX_TYPE_NONE;
break;
@@ -1242,8 +1242,8 @@ int SeptentrioDriver::process_message()
if (_sbf_decoder.parse(&att_euler) == PX4_OK &&
!att_euler.error_not_requested &&
att_euler.error_aux1 == Error::None &&
att_euler.error_aux2 == Error::None &&
static_cast<AttEuler::Error>(att_euler.error_aux1) == Error::None &&
static_cast<AttEuler::Error>(att_euler.error_aux2) == Error::None &&
att_euler.heading > k_dnu_f4_value) {
float heading = att_euler.heading * M_PI_F / 180.0f; // Range of degrees to range of radians in [0, 2PI].
@@ -1267,8 +1267,8 @@ int SeptentrioDriver::process_message()
if (_sbf_decoder.parse(&att_cov_euler) == PX4_OK &&
!att_cov_euler.error_not_requested &&
att_cov_euler.error_aux1 == Error::None &&
att_cov_euler.error_aux2 == Error::None &&
static_cast<AttCovEuler::Error>(att_cov_euler.error_aux1) == Error::None &&
static_cast<AttCovEuler::Error>(att_cov_euler.error_aux2) == Error::None &&
att_cov_euler.cov_headhead > k_dnu_f4_value) {
_message_gps_state.heading_accuracy = att_cov_euler.cov_headhead * M_PI_F / 180.0f; // Convert range of degrees to range of radians in [0, 2PI]
}

2
src/drivers/gnss/septentrio/septentrio_fuzz_tests.cpp
View File

@@ -45,7 +45,7 @@ TEST(SeptentrioTestDecoding, decodeMessage)
septentrio::sbf::message_t m{};
m.header.sync1 = '$';
m.header.sync2 = '@';
m.header.id_number = septentrio::sbf::BlockID::PVTGeodetic;
m.header.id_number = static_cast<uint16_t>(septentrio::sbf::BlockID::PVTGeodetic);
m.header.length = sizeof(m.header) + sizeof(septentrio::sbf::PVTGeodetic);
septentrio::sbf::PVTGeodetic pvt{};
pvt.latitude = 123;