| 3,6 → 3,9 |
|---|
| #include "main.h" |
| #include <avr/io.h> |
| |
| #include "uart.h" |
| #include "timer0.h" |
| |
| // ubx protocol parser state machine |
| #define UBXSTATE_IDLE 0 |
| #define UBXSTATE_SYNC1 1 |
| 105,9 → 108,9 |
|---|
| GPSInfo.veltop = -GpsVelNed.VEL_D; |
| GpsPosUtm.Status = PROCESSED; // never update old data |
| } |
| if (GpsStatus.Status | GpsVelNed.Status | GpsPosLlh.Status | GpsPosUtm.Status) |
| if (GpsStatus.Status != INVALID) |
| { |
| GPSInfo.status = VALID; |
| GPSInfo.status = VALID; // set valid if data are updated |
| } |
| } |
| |
| 143,13 → 146,12 |
|---|
| ubxP = (int8_t *)&GpsPosUtm; // data start pointer |
| ubxEp = (int8_t *)(&GpsPosUtm + sizeof(GPS_POSUTM_t)); // data end pointer |
| ubxSp = (int8_t *)&GpsPosUtm.Status; // status pointer |
| |
| break; |
| |
| case UBX_ID_POSLLH: // geodetic position |
| ubxP = (int8_t *)&GpsStatus; // data start pointer |
| ubxEp = (int8_t *)(&GpsStatus + sizeof(GPS_STATUS_t)); // data end pointer |
| ubxSp = (int8_t *)&GpsStatus.Status; // status pointer |
| ubxP = (int8_t *)&GpsPosLlh; // data start pointer |
| ubxEp = (int8_t *)(&GpsPosLlh + sizeof(GPS_POSLLH_t)); // data end pointer |
| ubxSp = (int8_t *)&GpsPosLlh.Status; // status pointer |
| break; |
| |
| case UBX_ID_STATUS: // receiver status |
| 206,17 → 208,24 |
|---|
| |
| case UBXSTATE_CKA: |
| if (c == cka) ubxstate = UBXSTATE_CKB; |
| else ubxstate = UBXSTATE_IDLE; |
| else |
| { |
| *ubxSp = INVALID; |
| ubxstate = UBXSTATE_IDLE; |
| } |
| break; |
| |
| case UBXSTATE_CKB: |
| if (c == ckb) |
| { |
| *ubxSp = VALID; // new data are availabe |
| *ubxSp = VALID; // new data are valid |
| ROT_FLASH; |
| UpdateGPSInfo(); //update GPS info respectively |
| ROT_FLASH; |
| |
| } |
| else |
| { // if checksum not fit then set data invalid |
| *ubxSp = INVALID; |
| } |
| ubxstate = UBXSTATE_IDLE; // ready to parse new data |
| break; |
| |