| 24,9 → 24,9 |
|---|
| |
| // days per month in normal and leap years |
| const uint32_t Leap[ 13 ] = { 0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335, 366 }; |
| const uint32_t Normal[ 13 ] = { 0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334, 365 }; |
| const uint32_t Normal[ 13 ] = { 0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334, 365 }; |
| |
| #define LEAP_SECONDS_FROM_1980 15 // the last one was on the Dec 31th 2008 |
| #define LEAP_SECONDS_FROM_1980 16 |
| |
| // message sync bytes |
| #define UBX_SYNC1_CHAR 0xB5 |
| 35,7 → 35,7 |
|---|
| #define UBX_CLASS_NAV 0x01 |
| // message id |
| #define UBX_ID_POSLLH 0x02 |
| #define UBX_ID_SOL 0x06 |
| #define UBX_ID_SOL 0x06 |
| #define UBX_ID_VELNED 0x12 |
| |
| // ------------------------------------------------------------------------------------------------ |
| 105,8 → 105,6 |
|---|
| uint8_t Status; // invalid/newdata/processed |
| } __attribute__((packed)) ubx_nav_posllh_t; |
| |
| |
| |
| //------------------------------------------------------------------------------------ |
| // global variables |
| |
| 114,19 → 112,25 |
|---|
| volatile ubx_nav_sol_t UbxSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
| volatile ubx_nav_posllh_t UbxPosLlh = {0,0,0,0,0,0,0, INVALID}; |
| volatile ubx_nav_velned_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
| ubxmsg_t UbxMsg; |
| |
| uint16_t CheckGPSOkay = 0; |
| |
| |
| // shared buffer |
| gps_data_t GPSData = {{0,0,0,INVALID},0,0,0,0,0,0,0, INVALID}; |
| gps_data_t GPSData = {200,{0,0,0,INVALID},0,0,0,0,0,0,0, INVALID}; |
| DateTime_t GPSDateTime = {0,0,0,0,0,0,0, INVALID}; |
| |
| #define UBX_TIMEOUT 500 // 500 ms |
| uint16_t UBX_Timeout = 0; |
| |
| |
| //------------------------------------------------------------------------------------ |
| // functions |
| |
| uint8_t IsLeapYear(uint16_t year) |
| { |
| if((year%400 == 0) || ( (year%4 == 0) && (year%100 != 0) ) ) return 1; |
| else return 0; |
| if((year%400 == 0) || ( (year%4 == 0) && (year%100 != 0) ) ) return 1; |
| else return 0; |
| } |
| |
| /********************************************************/ |
| 134,74 → 138,72 |
|---|
| /********************************************************/ |
| void SetGPSTime(DateTime_t * pTimeStruct) |
| { |
| uint32_t Days, Seconds, Week; |
| uint16_t YearPart; |
| uint32_t * MonthDayTab = 0; |
| uint8_t i; |
| uint32_t Days, Seconds, Week; |
| uint16_t YearPart; |
| uint32_t * MonthDayTab = 0; |
| uint8_t i; |
| |
| |
| |
| // if GPS data show valid time data |
| if((UbxSol.Status != INVALID) && (UbxSol.Flags & FLAG_WKNSET) && (UbxSol.Flags & FLAG_TOWSET) ) |
| { |
| Seconds = UbxSol.itow / 1000L; |
| Week = (uint32_t)UbxSol.week; |
| // correct leap seconds since 1980 |
| if(Seconds < LEAP_SECONDS_FROM_1980) |
| { |
| Week--; |
| Seconds = SECONDS_PER_WEEK - LEAP_SECONDS_FROM_1980 + Seconds; |
| } |
| else Seconds -= LEAP_SECONDS_FROM_1980; |
| // if GPS data show valid time data |
| if((UbxSol.Status != INVALID) && (UbxSol.Flags & FLAG_WKNSET) && (UbxSol.Flags & FLAG_TOWSET) ) |
| { |
| Seconds = UbxSol.itow / 1000L; |
| Week = (uint32_t)UbxSol.week; |
| // correct leap seconds since 1980 |
| if(Seconds < LEAP_SECONDS_FROM_1980) |
| { |
| Week--; |
| Seconds = SECONDS_PER_WEEK - LEAP_SECONDS_FROM_1980 + Seconds; |
| } |
| else Seconds -= LEAP_SECONDS_FROM_1980; |
| |
| Days = DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980; |
| Days += (Week * DAYS_PER_WEEK); |
| Days += Seconds / SECONDS_PER_DAY; // seperate days from GPS seconds of week |
| Days = DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980; |
| Days += (Week * DAYS_PER_WEEK); |
| Days += Seconds / SECONDS_PER_DAY; // seperate days from GPS seconds of week |
| |
| pTimeStruct->Year = 1; |
| YearPart = (uint16_t)(Days / DAYS_PER_400YEARS); |
| pTimeStruct->Year += YearPart * 400; |
| Days = Days % DAYS_PER_400YEARS; |
| YearPart = (uint16_t)(Days / DAYS_PER_100YEARS); |
| pTimeStruct->Year += YearPart * 100; |
| Days = Days % DAYS_PER_100YEARS; |
| YearPart = (uint16_t)(Days / DAYS_PER_4YEARS); |
| pTimeStruct->Year += YearPart * 4; |
| Days = Days % DAYS_PER_4YEARS; |
| if(Days < (3* DAYS_PER_YEAR)) YearPart = (uint16_t)(Days / DAYS_PER_YEAR); |
| else YearPart = 3; |
| pTimeStruct->Year += YearPart; |
| // calculate remaining days of year |
| Days -= (uint32_t)(YearPart * DAYS_PER_YEAR); |
| Days += 1; |
| // check if current year is a leap year |
| if(IsLeapYear(pTimeStruct->Year)) MonthDayTab = (uint32_t*)Leap; |
| else MonthDayTab = (uint32_t*)Normal; |
| // seperate month and day from days of year |
| for ( i = 0; i < 12; i++ ) |
| { |
| if ( (MonthDayTab[i]< Days) && (Days <= MonthDayTab[i+1]) ) |
| { |
| pTimeStruct->Month = i+1; |
| pTimeStruct->Day = Days - MonthDayTab[i]; |
| i = 12; |
| } |
| } |
| Seconds = Seconds % SECONDS_PER_DAY; // remaining seconds of current day |
| pTimeStruct->Hour = (uint8_t)(Seconds / SECONDS_PER_HOUR); |
| Seconds = Seconds % SECONDS_PER_HOUR; // remaining seconds of current hour |
| pTimeStruct->Min = (uint8_t)(Seconds / SECONDS_PER_MINUTE); |
| Seconds = Seconds % SECONDS_PER_MINUTE; // remaining seconds of current minute |
| pTimeStruct->Sec = (uint8_t)(Seconds); |
| pTimeStruct->mSec = (uint16_t)(UbxSol.itow % 1000L); |
| pTimeStruct->Valid = 1; |
| } |
| else |
| { |
| pTimeStruct->Valid = 0; |
| } |
| DebugOut.Analog[0]++; |
| |
| pTimeStruct->Year = 1; |
| YearPart = (uint16_t)(Days / DAYS_PER_400YEARS); |
| pTimeStruct->Year += YearPart * 400; |
| Days = Days % DAYS_PER_400YEARS; |
| YearPart = (uint16_t)(Days / DAYS_PER_100YEARS); |
| pTimeStruct->Year += YearPart * 100; |
| Days = Days % DAYS_PER_100YEARS; |
| YearPart = (uint16_t)(Days / DAYS_PER_4YEARS); |
| pTimeStruct->Year += YearPart * 4; |
| Days = Days % DAYS_PER_4YEARS; |
| if(Days < (3* DAYS_PER_YEAR)) YearPart = (uint16_t)(Days / DAYS_PER_YEAR); |
| else YearPart = 3; |
| pTimeStruct->Year += YearPart; |
| // calculate remaining days of year |
| Days -= (uint32_t)(YearPart * DAYS_PER_YEAR); |
| Days += 1; |
| // check if current year is a leap year |
| if(IsLeapYear(pTimeStruct->Year)) MonthDayTab = (uint32_t*)Leap; |
| else MonthDayTab = (uint32_t*)Normal; |
| // seperate month and day from days of year |
| for ( i = 0; i < 12; i++ ) |
| { |
| if ( (MonthDayTab[i]< Days) && (Days <= MonthDayTab[i+1]) ) |
| { |
| pTimeStruct->Month = i+1; |
| pTimeStruct->Day = Days - MonthDayTab[i]; |
| i = 12; |
| } |
| } |
| Seconds = Seconds % SECONDS_PER_DAY; // remaining seconds of current day |
| pTimeStruct->Hour = (uint8_t)(Seconds / SECONDS_PER_HOUR); |
| Seconds = Seconds % SECONDS_PER_HOUR; // remaining seconds of current hour |
| pTimeStruct->Min = (uint8_t)(Seconds / SECONDS_PER_MINUTE); |
| Seconds = Seconds % SECONDS_PER_MINUTE; // remaining seconds of current minute |
| pTimeStruct->Sec = (uint8_t)(Seconds); |
| pTimeStruct->mSec = (uint16_t)(UbxSol.itow % 1000L); |
| pTimeStruct->Valid = 1; |
| } |
| else |
| { |
| pTimeStruct->Valid = 0; |
| } |
| } |
| |
| |
| 211,209 → 213,243 |
|---|
| /********************************************************/ |
| void UBX_Init(void) |
| { |
| // mark msg buffers invalid |
| UbxSol.Status = INVALID; |
| UbxPosLlh.Status = INVALID; |
| UbxVelNed.Status = INVALID; |
| GPSData.Status = INVALID; |
| // mark msg buffers invalid |
| UbxSol.Status = INVALID; |
| UbxPosLlh.Status = INVALID; |
| UbxVelNed.Status = INVALID; |
| UbxMsg.Status = INVALID; |
| GPSData.Status = INVALID; |
| |
| UBX_Setup(); |
| |
| UBX_Timeout = SetDelay(2 * UBX_Timeout); |
| } |
| |
| /********************************************************/ |
| /* Upate GPS data stcructure */ |
| /********************************************************/ |
| void Update_GPSData (void) |
| void Update_GPSData(void) |
| { |
| static uint16_t Ubx_Timeout = 0; |
| static uint8_t Msg_Count = 0; |
| static uint32_t last_itow = 0; |
| |
| // the timeout is used to detect the delay between two message sets |
| // and is used for synchronisation so that always a set is collected |
| // that belongs together |
| // _______NAVSOL|POSLLH|VELNED|___________________NAVSOL|POSLLH|VELNED|_____________ |
| // | 8ms | 8ms | 184 ms | | | |
| // msg_count: 0 1 2 0 1 2 |
| |
| if(CheckDelay(Ubx_Timeout)) Msg_Count = 0; |
| else Msg_Count++; |
| Ubx_Timeout = SetDelay(100); // reset ubx msg timeout |
| // if a new set of ubx messages was collected |
| if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
| { // and the itow is equal (same time base) |
| if((UbxSol.itow == UbxPosLlh.itow) && (UbxPosLlh.itow == UbxVelNed.itow)) |
| { |
| UBX_Timeout = SetDelay(UBX_TIMEOUT); |
| DebugOut.Analog[11]++; |
| // update GPS data only if the status is INVALID or PROCESSED |
| if(GPSData.Status != NEWDATA) |
| { // wait for new data at all neccesary ubx messages |
| GPSData.Status = INVALID; |
| // update message cycle time |
| GPSData.MsgCycleTime = (uint16_t)(UbxSol.itow-last_itow); |
| last_itow = UbxSol.itow; // update last itow |
| // NAV SOL |
| GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
| GPSData.NumOfSats = UbxSol.numSV; |
| GPSData.SatFix = UbxSol.GPSfix; |
| GPSData.Position_Accuracy = UbxSol.PAcc; // in steps of 1cm |
| GPSData.Speed_Accuracy = UbxSol.SAcc; // in steps of 1cm/s |
| SetGPSTime(&SystemTime); // update system time |
| // NAV POSLLH |
| GPSData.Position.Status = INVALID; |
| GPSData.Position.Longitude = UbxPosLlh.LON; // in steps of 1E-7 deg |
| GPSData.Position.Latitude = UbxPosLlh.LAT; // in steps of 1E-7 deg |
| GPSData.Position.Altitude = UbxPosLlh.HMSL; // in steps of 1 mm |
| GPSData.Position.Status = NEWDATA; |
| // NAV VELNED |
| GPSData.Speed_East = UbxVelNed.VEL_E; // in steps of 1cm/s |
| GPSData.Speed_North = UbxVelNed.VEL_N; // in steps of 1cm/s |
| GPSData.Speed_Top = -UbxVelNed.VEL_D; // in steps of 1cm/s |
| GPSData.Speed_Ground = UbxVelNed.GSpeed; // in steps of 1cm/s |
| GPSData.Heading = UbxVelNed.Heading; //in steps of 1E-5 deg |
| |
| // if a new set of ubx messages was collected |
| if((Msg_Count >= 2)) |
| { // if set is complete |
| if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
| { |
| CheckGPSOkay++; |
| CountNewGpsDataIn5Sec++; |
| // update GPS data only if the status is INVALID or PROCESSED and the last ubx message was received within less than 100 ms |
| if(GPSData.Status != NEWDATA) // if last data were processed |
| { // wait for new data at all neccesary ubx messages |
| GPSData.Status = INVALID; |
| // NAV SOL |
| GPSData.Flags = UbxSol.Flags; |
| GPSData.NumOfSats = UbxSol.numSV; |
| GPSData.SatFix = UbxSol.GPSfix; |
| GPSData.Position_Accuracy = UbxSol.PAcc; |
| GPSData.Speed_Accuracy = UbxSol.SAcc; |
| SetGPSTime(&SystemTime); // update system time |
| // NAV POSLLH |
| GPSData.Position.Status = INVALID; |
| GPSData.Position.Longitude = UbxPosLlh.LON; |
| GPSData.Position.Latitude = UbxPosLlh.LAT; |
| GPSData.Position.Altitude = UbxPosLlh.HMSL; |
| GPSData.Position.Status = NEWDATA; |
| // NAV VELNED |
| GPSData.Speed_East = UbxVelNed.VEL_E; |
| GPSData.Speed_North = UbxVelNed.VEL_N; |
| GPSData.Speed_Top = -UbxVelNed.VEL_D; |
| GPSData.Speed_Ground = UbxVelNed.GSpeed; |
| GPSData.Heading = UbxVelNed.Heading; |
| |
| GPSData.Status = NEWDATA; // new data available |
| |
| GPSData.Status = PROCESSED; // TODO: |
| } // EOF if(GPSData.Status != NEWDATA) |
| } // EOF all ubx messages received |
| // set state to collect new data |
| UbxSol.Status = PROCESSED; // ready for new data |
| UbxPosLlh.Status = PROCESSED; // ready for new data |
| UbxVelNed.Status = PROCESSED; // ready for new data |
| } |
| GPSData.Status = NEWDATA; // new data available |
| } // EOF if(GPSData.Status != NEWDATA) |
| // set state to collect new data |
| UbxSol.Status = PROCESSED; // ready for new data |
| UbxPosLlh.Status = PROCESSED; // ready for new data |
| UbxVelNed.Status = PROCESSED; // ready for new data |
| } // EOF all itow are equal |
| } // EOF all ubx messages received |
| } |
| |
| |
| /********************************************************/ |
| /* UBX Parser */ |
| /********************************************************/ |
| void UBX_Parser(uint8_t c) |
| { |
| static ubxState_t ubxState = UBXSTATE_IDLE; |
| static uint16_t msglen; |
| static uint8_t cka, ckb; |
| static uint8_t *ubxP, *ubxEp, *ubxSp; // pointers to data currently transfered |
| static ubxState_t ubxState = UBXSTATE_IDLE; |
| static ubxmsghdr_t RxHdr; |
| static uint8_t RxData[UBX_MSG_DATA_SIZE]; |
| static uint16_t RxBytes = 0; |
| static uint8_t cka, ckb; |
| |
| |
| //state machine |
| switch (ubxState) // ubx message parser |
| { |
| case UBXSTATE_IDLE: // check 1st sync byte |
| if (c == UBX_SYNC1_CHAR) ubxState = UBXSTATE_SYNC1; |
| else ubxState = UBXSTATE_IDLE; // out of synchronization |
| break; |
| //state machine |
| switch (ubxState) // ubx message parser |
| { |
| case UBXSTATE_IDLE: // check 1st sync byte |
| if (c == UBX_SYNC1_CHAR) ubxState = UBXSTATE_SYNC1; |
| else ubxState = UBXSTATE_IDLE; // out of synchronization |
| break; |
| |
| case UBXSTATE_SYNC1: // check 2nd sync byte |
| if (c == UBX_SYNC2_CHAR) ubxState = UBXSTATE_SYNC2; |
| else ubxState = UBXSTATE_IDLE; // out of synchronization |
| break; |
| case UBXSTATE_SYNC1: // check 2nd sync byte |
| if (c == UBX_SYNC2_CHAR) ubxState = UBXSTATE_SYNC2; |
| else ubxState = UBXSTATE_IDLE; // out of synchronization |
| break; |
| |
| case UBXSTATE_SYNC2: // check msg class to be NAV |
| if (c == UBX_CLASS_NAV) ubxState = UBXSTATE_CLASS; |
| else ubxState = UBXSTATE_IDLE; // unsupported message class |
| break; |
| case UBXSTATE_SYNC2: // check msg class to be NAV |
| if (c == UBX_CLASS_NAV) ubxState = UBXSTATE_CLASS; |
| else ubxState = UBXSTATE_IDLE; // unsupported message class |
| break; |
| |
| case UBXSTATE_CLASS: // check message identifier |
| switch(c) |
| { |
| case UBX_ID_POSLLH: // geodetic position |
| ubxP = (uint8_t *)&UbxPosLlh; // data start pointer |
| ubxEp = (uint8_t *)(&UbxPosLlh + 1); // data end pointer |
| ubxSp = (uint8_t *)&UbxPosLlh.Status; // status pointer |
| break; |
| case UBXSTATE_CLASS: // check message identifier |
| RxHdr.Id = c; |
| ubxState = UBXSTATE_LEN1; |
| cka = RxHdr.Class + RxHdr.Id; |
| ckb = RxHdr.Class + cka; |
| break; |
| |
| case UBX_ID_SOL: // navigation solution |
| ubxP = (uint8_t *)&UbxSol; // data start pointer |
| ubxEp = (uint8_t *)(&UbxSol + 1); // data end pointer |
| ubxSp = (uint8_t *)&UbxSol.Status; // status pointer |
| break; |
| case UBXSTATE_LEN1: // 1st message length byte |
| RxHdr.Length = (uint16_t)c; // lowbyte first |
| cka += c; |
| ckb += cka; |
| ubxState = UBXSTATE_LEN2; |
| break; |
| |
| case UBX_ID_VELNED: // velocity vector in tangent plane |
| ubxP = (uint8_t *)&UbxVelNed; // data start pointer |
| ubxEp = (uint8_t *)(&UbxVelNed + 1); // data end pointer |
| ubxSp = (uint8_t *)&UbxVelNed.Status; // status pointer |
| break; |
| case UBXSTATE_LEN2: // 2nd message length byte |
| RxHdr.Length += ((uint16_t)c)<<8; // high byte last |
| if (RxHdr.Length >= UBX_MSG_DATA_SIZE) |
| { |
| ubxState = UBXSTATE_IDLE; |
| } |
| else |
| { |
| cka += c; |
| ckb += cka; |
| RxBytes = 0; // reset data byte counter |
| ubxState = UBXSTATE_DATA; |
| } |
| break; |
| |
| default: // unsupported identifier |
| ubxState = UBXSTATE_IDLE; |
| break; |
| } |
| if (ubxState != UBXSTATE_IDLE) |
| { |
| ubxState = UBXSTATE_LEN1; |
| cka = UBX_CLASS_NAV + c; |
| ckb = UBX_CLASS_NAV + cka; |
| } |
| break; |
| case UBXSTATE_DATA: // collecting data |
| if (RxBytes < UBX_MSG_DATA_SIZE) |
| { |
| RxData[RxBytes++] = c; // copy curent data byte if any space is left |
| cka += c; |
| ckb += cka; |
| if (RxBytes >= RxHdr.Length) ubxState = UBXSTATE_CKA; // switch to next state if all data have been received |
| } |
| else // rx buffer overrun |
| { |
| ubxState = UBXSTATE_IDLE; |
| } |
| break; |
| |
| case UBXSTATE_LEN1: // 1st message length byte |
| msglen = (uint16_t)c; // lowbyte first |
| cka += c; |
| ckb += cka; |
| ubxState = UBXSTATE_LEN2; |
| break; |
| |
| case UBXSTATE_LEN2: // 2nd message length byte |
| msglen += ((uint16_t)c)<<8; // high byte last |
| cka += c; |
| ckb += cka; |
| // if the old data are not processed so far then break parsing now |
| // to avoid writing new data in ISR during reading by another function |
| if ( *ubxSp == NEWDATA ) |
| { |
| ubxState = UBXSTATE_IDLE; |
| Update_GPSData(); //update GPS info respectively |
| } |
| else // data invalid or allready processd |
| { |
| *ubxSp = INVALID; // mark invalid during buffer filling |
| ubxState = UBXSTATE_DATA; |
| } |
| break; |
| case UBXSTATE_CKA: |
| if (c == cka) ubxState = UBXSTATE_CKB; |
| else |
| { |
| ubxState = UBXSTATE_IDLE; |
| } |
| break; |
| |
| case UBXSTATE_DATA: // collecting data |
| if (ubxP < ubxEp) |
| { |
| *ubxP++ = c; // copy curent data byte if any space is left |
| cka += c; |
| ckb += cka; |
| if (--msglen == 0) ubxState = UBXSTATE_CKA; // switch to next state if all data was read |
| } |
| else // rx buffer overrun |
| { |
| ubxState = UBXSTATE_IDLE; |
| } |
| break; |
| case UBXSTATE_CKB: |
| if (c == ckb) |
| { // checksum is ok |
| |
| case UBXSTATE_CKA: |
| if (c == cka) ubxState = UBXSTATE_CKB; |
| else |
| { |
| *ubxSp = INVALID; |
| ubxState = UBXSTATE_IDLE; |
| } |
| break; |
| switch(RxHdr.Class) |
| { |
| case UBX_CLASS_NAV: |
| switch(RxHdr.Id) |
| { |
| case UBX_ID_POSLLH: // geodetic position |
| memcpy((uint8_t*)&UbxPosLlh, RxData, RxHdr.Length); |
| UbxPosLlh.Status = NEWDATA; |
| break; |
| |
| case UBXSTATE_CKB: |
| if (c == ckb) |
| { |
| *ubxSp = NEWDATA; // new data are valid |
| Update_GPSData(); //update GPS info respectively |
| } |
| else |
| { // if checksum not match then set data invalid |
| *ubxSp = INVALID; |
| } |
| ubxState = UBXSTATE_IDLE; // ready to parse new data |
| break; |
| case UBX_ID_VELNED: // velocity vector in tangent plane |
| memcpy((uint8_t*)&UbxVelNed, RxData, RxHdr.Length); |
| UbxVelNed.Status = NEWDATA; |
| break; |
| |
| default: // unknown ubx state |
| ubxState = UBXSTATE_IDLE; |
| break; |
| case UBX_ID_SOL: // navigation solution |
| memcpy((uint8_t*)&UbxSol, RxData, RxHdr.Length); |
| UbxSol.Status = NEWDATA; |
| break; |
| |
| } |
| DebugOut.Analog[6] = GPSData.NumOfSats; |
| /* DebugOut.Analog[10] = GPSData.Speed_East; |
| DebugOut.Analog[9] = GPSData.Speed_North; |
| DebugOut.Analog[11] = GPSData.Speed_Top; |
| DebugOut.Analog[13] = GPSData.Position.Longitude; |
| DebugOut.Analog[14] = GPSData.Position.Latitude; |
| DebugOut.Analog[15] = GPSData.Position.Altitude;*/ |
| default: |
| break; |
| } // EOF switch(Id) |
| Update_GPSData(); |
| break; |
| |
| default: // any other class |
| break; |
| } // EOF switch(class) |
| |
| // check generic msg filter |
| if(UbxMsg.Status != NEWDATA) |
| { // msg buffer is free |
| if(((UbxMsg.Hdr.Class & UbxMsg.ClassMask) == (RxHdr.Class & UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id & UbxMsg.IdMask) == (RxHdr.Id & UbxMsg.IdMask))) |
| { // msg matches to the filter criteria |
| UbxMsg.Status = INVALID; |
| UbxMsg.Hdr.Class = RxHdr.Class; |
| UbxMsg.Hdr.Id = RxHdr.Id; |
| UbxMsg.Hdr.Length = RxHdr.Length; |
| if(UbxMsg.Hdr.Length <= UBX_MSG_DATA_SIZE) |
| { // copy data block |
| memcpy(UbxMsg.Data, RxData, RxHdr.Length); |
| UbxMsg.Status = NEWDATA; |
| } |
| } // EOF filter matches |
| } // EOF != INVALID |
| }// EOF crc ok |
| ubxState = UBXSTATE_IDLE; // ready to parse new data |
| break; |
| |
| default: // unknown ubx state |
| ubxState = UBXSTATE_IDLE; |
| break; |
| |
| } |
| } |
| |
| /**************************************************************/ |
| /* Create a UBX Message */ |
| /**************************************************************/ |
| uint8_t UBX_CreateMsg(Buffer_t* pBuff, uint8_t* pData, uint16_t Len) |
| { |
| uint16_t i; |
| uint8_t cka = 0, ckb = 0; |
| // check if buffer is available |
| if(pBuff->Locked) return(0); |
| // check if buffer size is sufficient |
| if(pBuff->Size < 8 + Len) return(0); |
| // lock the buffer |
| pBuff->Locked = 1; |
| // start at begin |
| pBuff->Position = 0; |
| pBuff->pData[pBuff->Position++] = UBX_SYNC1_CHAR; |
| pBuff->pData[pBuff->Position++] = UBX_SYNC2_CHAR; |
| for(i=0;i<Len;i++) |
| { |
| pBuff->pData[pBuff->Position++] = pData[i]; |
| } |
| // calculate checksum |
| for(i=2;i<pBuff->Position;i++) |
| { |
| cka += pBuff->pData[i]; |
| ckb += cka; |
| } |
| pBuff->pData[pBuff->Position++] = cka; |
| pBuff->pData[pBuff->Position++] = ckb; |
| pBuff->DataBytes = pBuff->Position; |
| pBuff->Position = 0; // reset buffer position for transmision |
| return(1); |
| } |
| |