| 4,7 → 4,6 |
|---|
| #include <avr/io.h> |
| |
| #include "uart.h" |
| #include "timer0.h" |
| |
| // ubx protocol parser state machine |
| #define UBXSTATE_IDLE 0 |
| 26,7 → 25,6 |
|---|
| #define UBX_SYNC1_CHAR 0xB5 |
| #define UBX_SYNC2_CHAR 0x62 |
| |
| |
| typedef struct { |
| uint32_t ITOW; // ms GPS Millisecond Time of Week |
| uint8_t GPSfix; // GPSfix Type, range 0..6 |
| 106,7 → 104,7 |
|---|
| GPSInfo.veleast = GpsVelNed.VEL_E; |
| GPSInfo.velnorth = GpsVelNed.VEL_N; |
| GPSInfo.veltop = -GpsVelNed.VEL_D; |
| GpsPosUtm.Status = PROCESSED; // never update old data |
| GpsVelNed.Status = PROCESSED; // never update old data |
| } |
| if (GpsStatus.Status != INVALID) |
| { |
| 114,6 → 112,15 |
|---|
| } |
| } |
| |
| void ubx_init(void) |
| { |
| GpsStatus.Status = INVALID; |
| GpsPosLlh.Status = INVALID; |
| GpsPosUtm.Status = INVALID; |
| GpsVelNed.Status = INVALID; |
| GPSInfo.status = INVALID; |
| } |
| |
| // this function should be called within the UART RX ISR |
| void ubx_parser(uint8_t c) |
| { |
| 236,3 → 243,4 |
|---|
| |
| } |
| |
| |