Subversion Repositories NaviCtrl

Compare Revisions

Ignore whitespace Rev 879 → Rev 880

/trunk/ftphelper.c
79,7 → 79,7
 
char FTP_data[DATA_TRANSFER_SIZE+10]; // rx & tx buffer to avoid 2 buffers
 
#define KEYWORD_COUNT 55
#define KEYWORD_COUNT 56
// most used gpx tags can be compressed
const char keyword[KEYWORD_COUNT][16]=
{"Altimeter>\0 \0",
136,7 → 136,8
"AvaiableMotorPo\0",
"FC_I2C_ErrorCou\0",
"FC_SPI_ErrorCou\0",
"TargetDistance>\0"
"TargetDistance>\0",
"_ErrorCounter>\0 "
};
//ACHTUNG: ggf. DATA_TRANSFER_SIZE vergrössern
 
/trunk/gpx.c
62,6 → 62,7
#include "spi_slave.h"
#include "main.h"
#include "uart1.h"
#include "uart2.h"
#include "compass.h"
#include "analog.h"
#include "main.h"
173,6 → 174,7
sprintf(string, "<GNSS_System>%d</GNSS_System>\r\n",gps_receive_config);
CheckSumAndWrite(&Check16File,string, doc->file);
}
if(NMEA_cnt_gga) { sprintf(string, "<External_GNSS_NMEA>YES</External_GNSS_NMEA>\r\n");CheckSumAndWrite(&Check16File,string, doc->file);}
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
sprintf(string, "<License>\r\n"); CheckSumAndWrite(&Check16File,string, doc->file);
if(tmp_license->User[0] != 0)
223,7 → 225,6
sprintf(string, "<FcTemperat.>%i.%1i</FcTemperat.>\r\n",FC_Temperatur/10,abs(FC_Temperatur)%10);CheckSumAndWrite(&Check16File,string, doc->file);
if(FromGimbalCtrl.GimbalStatus) {sprintf(string, "<GimbalCtrV>%i.%02i</GimbalCtrV>\r\n",1 + FromGimbalCtrl.Version / 100, FromGimbalCtrl.Version % 100);CheckSumAndWrite(&Check16File,string, doc->file);}
if(EE_Parameter.ExternalControl) {sprintf(string, "<ExternalControl>%i,%02x,%02x</ExternalControl>\r\n",EE_Parameter.ExternalControl,FromFC_ExternalCtrlCfg,FromFC_ExternalCtrlSwitch);CheckSumAndWrite(&Check16File,string, doc->file);}
 
sprintf(string, "<Channels>ALT:%i,GPS:%i,CF:%i,SL:%i,FS:%i,MSS:%i,SWP:%i,NWP:%i,CCM:%i,CCZ:%i</Channels>\r\n",EE_Parameter.HoeheChannel,EE_Parameter.NaviGpsModeChannel,EE_Parameter.CareFreeChannel, EE_Parameter.StartLandChannel, EE_Parameter.FailsafeChannel, EE_Parameter.MotorSafetySwitch,EE_Parameter.SingleWpControlChannel,EE_Parameter.MenuKeyChannel,EE_Parameter.CamCtrlModeChannel,EE_Parameter.CamCtrlZoomChannel);CheckSumAndWrite(&Check16File,string, doc->file);
// Alt = Altitude
// GPS = GPS
505,6 → 506,12
{
case 0:
Logged_GPX_Counter++;
 
if(NMEA_In_Fix_Txt[0] >= '1')
{
sprintf(string, "<trkpt lat=\"%s\" lon=\"%s\">\r\n",NMEA_In_Lat_Txt,NMEA_In_Lon_Txt);
}
else
if(GPSData.Position.Status != INVALID)
{
if(GPSData.Position.Latitude < 0) u8_1 = '-';
518,7 → 525,9
i32_1 = abs(GPSData.Position.Longitude)/10000000L;
i32_2 = abs(GPSData.Position.Longitude)%10000000L;
sprintf(string, "lon=\"%c%ld.%07ld\">\r\n",u8_1, i32_1, i32_2);
} else sprintf(string, "<trkpt lat=\"\" lon=\"\">");
}
else sprintf(string, "<trkpt lat=\"\" lon=\"\">");
 
CheckSumAndWrite(&Check16Block,string, doc->file);
altitude = GPSData.Position.Altitude;
break;
771,6 → 780,13
// sprintf(string, "<FCTemperat>%d</FCTemperat>\r\n",FC_Temperatur);
// CheckSumAndWrite(&Check16Block,string, doc->file);
 
if(NMEA_cnt_gga)
{
sprintf(string, "<Ext_GNSS_Fix>%s</Ext_GNSS_Fix>\r\n",NMEA_In_Fix_Txt);
CheckSumAndWrite(&Check16File,string, doc->file);
sprintf(string, "<Ext_GNSS_Alti>%s</Ext_GNSS_Alti>\r\n",NMEA_In_Alt_Txt);
CheckSumAndWrite(&Check16File,string, doc->file);
}
// eof extensions
sprintf(string, "</extensions>\r\n");
CheckSumAndWrite(&Check16Block,string, doc->file);
/trunk/main.c
671,6 → 671,14
{
TimerSecond += 1000;
if(MenuBlinkBit) MenuBlinkBit = 0; else MenuBlinkBit = 1;
if(NMEA_cnt) if(--NMEA_cnt == 0)
{
TrigLogging.NMEA_Lat[0] = 0;
TrigLogging.NMEA_Lon[0] = 0;
TrigLogging.NMEA_Alt[0] = 0;
NMEA_In_Fix_Txt[0] = 0;
NMEA_cnt_gga = 0;
}
if(FC.StatusFlags & FC_STATUS_FLY)
{
NaviData.FlyingTime++; // we want to count the battery-time
/trunk/main.h
1,9 → 1,13
#ifndef _MAIN_H
#define _MAIN_H
 
 
//#define HOME_TRANSMITTER
//#define FOLLOW_ME
 
#ifdef HOME_TRANSMITTER
#define FOLLOW_ME
#endif
 
#ifdef FOLLOW_ME
extern u8 TransmitAlsoToFC;
#endif
14,7 → 18,7
 
#define VERSION_MAJOR 2
#define VERSION_MINOR 21
#define VERSION_PATCH 0
#define VERSION_PATCH 1
// 0 = A
// 1 = B
// 2 = C
/trunk/menu.c
66,6 → 66,7
#include "menu.h"
#include "uart0.h"
#include "uart1.h"
#include "uart2.h"
#include "ncmag.h"
#include "logging.h"
#include "settings.h"
81,7 → 82,7
 
 
u8 MenuItem = 0;
u8 MaxMenuItem = 34;
u8 MaxMenuItem = 35;
 
void Menu_Putchar(char c)
{
218,7 → 219,7
else sign = '+';
i1 = abs(GPSData.Position.Latitude)/10000000L;
i2 = abs(GPSData.Position.Latitude)%10000000L;
LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
LCD_printfxy(0,2,"Lat: %c%02ld.%07ld deg",sign, i1, i2);
if(GPSData.Position.Altitude < 0) sign = '-';
else sign = '+';
i1 = abs(GPSData.Position.Altitude)/1000L;
327,7 → 328,7
else sign = '+';
i1 = abs(NaviData.HomePosition.Latitude)/10000000L;
i2 = abs(NaviData.HomePosition.Latitude)%10000000L;
LCD_printfxy(0,2,"Lat:%c%03ld.%07ld deg",sign, i1, i2);
LCD_printfxy(0,2,"Lat: %c%02ld.%07ld deg",sign, i1, i2);
if(NaviData.HomePosition.Altitude < 0) sign = '-';
else sign = '+';
i1 = abs(NaviData.HomePosition.Altitude)/1000L;
845,9 → 846,20
if(Keys & KEY3) BaroCalState = 0; // cancel
}
break;
case 35:
LCD_printfxy(0,0,"NMEA Input");
if(!NMEA_cnt) LCD_printfxy(0,3,"No Data ")
else
{
LCD_printfxy(0,1,"Lon:%s ",NMEA_In_Lon_Txt);
LCD_printfxy(0,2,"Lat:%s ",NMEA_In_Lat_Txt);
if(NMEA_In_Fix_Txt[0] < '1') LCD_printfxy(1,3,"No Fix! %s",NMEA_In_Fix_Txt)
else LCD_printfxy(0,3,"Fix:%s %s ",NMEA_In_Fix_Txt,NMEA_In_Alt_Txt);
 
 
 
LCD_printfxy(11,0,"%3u",NMEA_cnt_gga);
if(!NMEA_cnt_gga) LCD_printfxy(0,3,"No $GPGGA Data! ");
}
break;
default:
//MaxMenuItem = MenuItem - 1;
MenuItem = 0;
/trunk/spi_slave.c
61,6 → 61,7
#include "led.h"
#include "gps.h"
#include "uart1.h"
#include "uart2.h"
#include "spi_slave.h"
#include "compass.h"
#include "timer1.h"
530,7 → 531,7
ToFlightCtrl.Param.Byte[0] = EarthMagneticFieldFiltered/5;
ToFlightCtrl.Param.Byte[1] = EarthMagneticInclination;
ToFlightCtrl.Param.Byte[2] = EarthMagneticInclinationTheoretic;
//ToFlightCtrl.Param.Byte[3]
ToFlightCtrl.Param.Byte[3] = NMEA_In_Fix_Txt[0];
//ToFlightCtrl.Param.Byte[4]
//ToFlightCtrl.Param.Byte[5]
ToFlightCtrl.Param.Int[3] = NaviData.TargetPositionDeviation.Distance_dm / 10;
542,7 → 543,6
ToFlightCtrl.Param.sInt[7] = LuftdruckTemperaturOffset; // Bytes 14 & 15
ToFlightCtrl.Param.Int[8] = FromLaserCtrl.Distance; // Bytes 16 & 17
ToFlightCtrl.Param.Byte[18] = FlyzonePointCnt;
ToFlightCtrl.Param.Byte[19] = 0;
break;
 
case SPI_NCCMD_GPSINFO:
/trunk/spi_slave.h
390,6 → 390,4
#endif //_SPI_SLAVE_H
 
 
 
 
/trunk/triggerlog.c
60,6 → 60,7
#include "timer1.h"
#include "timer2.h"
#include "uart1.h"
#include "uart2.h"
#include "triggerlog.h"
#include "gpx.h"
#include "ssc.h"
99,6 → 100,22
if(SimulationFlags) TrigLogging.Yaw = CompassSetpointCorrected;
else TrigLogging.Yaw = GyroCompassCorrected;
TrigLogging.NewData++;
if(NMEA_cnt)
{
u8 i;
for(i=0; i<16;i++)
{
TrigLogging.NMEA_Lon[i] = NMEA_In_Lon_Txt[i];
TrigLogging.NMEA_Lat[i] = NMEA_In_Lat_Txt[i];
if(i<10) TrigLogging.NMEA_Alt[i] = NMEA_In_Alt_Txt[i];
}
}
else
{
TrigLogging.NMEA_Lon[0] = 0;
TrigLogging.NMEA_Lat[0] = 0;
TrigLogging.NMEA_Alt[0] = 0;
}
}
 
const s8 TRIG_DOCUMENT_FOOTER[] =
318,6 → 335,7
fputs_(string, doc->file);
if(SimulationFlags) { sprintf(string, " SIMULATED"); fputs_(string, doc->file);};
if(BlitzSchuhConnected){ sprintf(string, "\r\n#External hotshoe sensor connected"); fputs_(string, doc->file);};
if(NMEA_cnt){ sprintf(string, "\r\n#External GNSS-Data (NMEA) used"); fputs_(string, doc->file);};
}
return(retvalue);
}
356,6 → 374,13
sprintf(string, ";%04d-%02d-%02dT%02d:%02d:%02d.%dZ",SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Hour, SystemTime.Min, SystemTime.Sec,SystemTime.mSec/100);
fputs_(string, doc->file);
// Position
if(NMEA_In_Fix_Txt[0] >= '1')
{
sprintf(string,";%s;%s",TrigLogging.NMEA_Lat,TrigLogging.NMEA_Lon);
fputs_(string, doc->file);
}
else
{
if(TrigLogging.Latitude < 0) sign = '-';
else sign = '+';
i1 = abs(TrigLogging.Latitude)/10000000L;
362,7 → 387,7
i2 = abs(TrigLogging.Latitude)%10000000L;
sprintf(string,";%c%ld.%07ld",sign, i1, i2);
fputs_(string, doc->file);
 
if(TrigLogging.Longitude < 0) sign = '-';
else sign = '+';
i1 = abs(TrigLogging.Longitude)/10000000L;
369,8 → 394,17
i2 = abs(TrigLogging.Longitude)%10000000L;
sprintf(string,";%c%ld.%07ld",sign, i1, i2);
fputs_(string, doc->file);
}
// calculate relative altitude with respect to the altitude of the home position
 
// Altitude GPS
if(TrigLogging.NMEA_Alt[0])
{
sprintf(string,";%s",TrigLogging.NMEA_Alt);
fputs_(string, doc->file);
}
else
{
rel_altitude = TrigLogging.AltiGPS;// - NaviData.HomePosition.Altitude;
// if(rel_altitude < 0) rel_altitude = 0; // avoid negative altitudes in log
i1 = rel_altitude/1000L;
377,6 → 411,7
i2 = rel_altitude%1000L;
sprintf(string,";%ld.%03ld",i1, labs(i2));
fputs_(string, doc->file);
}
// Altitude Baro
sprintf(string,";%ld.%02d",TrigLogging.AltiBaro/100,abs(TrigLogging.AltiBaro%100));
fputs_(string, doc->file);
/trunk/triggerlog.h
43,6 → 43,9
u16 ServoControlNick;
u16 ServoControlPoi;
u8 NewData;
u8 NMEA_Lon[16];
u8 NMEA_Lat[16];
u8 NMEA_Alt[10];
} TrigLog_t;
extern TrigLog_t TrigLogging;
 
/trunk/uart1.c
157,7 → 157,8
UART_TypeDef *DebugUART = UART1;
 
#ifdef FOLLOW_ME
#define FOLLOW_ME_INTERVAL 200 // 5 Hz
#define FOLLOW_ME_INTERVAL 200 // 5 Hz
#define HOME_INTERVAL 400 // 2,5 Hz
u32 UART1_FollowMe_Timer = 0;
Point_t FollowMe;
#endif
1737,7 → 1738,9
FollowMe.Event_Flag = 1;
FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list
FollowMe.Type = POINT_TYPE_WP;
#ifdef HOME_TRANSMITTER
FollowMe.Type = POINT_TYPE_HOME;
#endif
FollowMe.WP_EventChannelValue = 100; // set servo value
FollowMe.AltitudeRate = 0; // do not change height
FollowMe.Speed = 0; // rate to change the Position (0 = max)
1761,7 → 1764,12
*/
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe));
}
#ifdef HOME_TRANSMITTER
UART1_FollowMe_Timer = SetDelay(HOME_INTERVAL); // set new update time
#else
UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time
#endif
 
}
#endif
#ifdef DEBUG // only include functions if DEBUG is defined
/trunk/uart2.c
64,6 → 64,13
u8 UART2_tbuffer[UART2_TX_BUFFER_LEN];
Buffer_t UART2_tx_buffer;
 
unsigned char NMEA_In_Lat_Txt[16];
unsigned char NMEA_In_Lon_Txt[16];
unsigned char NMEA_In_Alt_Txt[10];
unsigned char NMEA_In_Fix_Txt[10];
u16 NMEA_cnt,NMEA_cnt_gga;
 
 
/********************************************************/
/* Initialize UART2 */
/********************************************************/
169,13 → 176,220
UART1_PutString("ok");
}
 
 
void NEMA_Parser(unsigned char data)
{
static u16 state = 0, fx,la,lo,i,a;
if(data == '$') state = 0;
static u32 latitude;
static unsigned char lat_txt[16], lon_txt[16],fix_txt[10],alt_txt[10];
 
//$GPGGA,HHMMSS.ss,BBBB.BBBB,b,LLLLL.LLLL,l,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*PP
//$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45
//$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13
//$GPRMC,HHMMSS.sss,A,BBBB.BBBB,b,LLLLL.LLLL,l,GG.G,RR.R,DDMMYY,M.M,m,F*PP
//http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm
switch(state)
{
case 0: if(data == '$') state++;// $
fx = 0;
la = 1;
lo = 1;
fix_txt[0] = 0;
lat_txt[0] = 0;lon_txt[0] = 0;alt_txt[0] = 0;
break;
case 1: if(data == 'G') state++;// $G
break;
case 2: if(data == 'P') state++;// $GP
NMEA_cnt = 3;
break;
//+++++++++++++++++++++++++++++++++++++++++++++++++++
case 3: if(data == 'R') state++;// $GPR
if(data == 'G') state = 6;// $GPG
break;
case 4: if(data == 'M') state++;// $GPRM
break;
case 5: if(data == 'C') state = 100;// $GPRMC
break;
//+++++++++++++++++++++++++++++++++++++++++++++++++++
case 6: if(data == 'G') state++;// $GPGG
break;
case 7: if(data == 'A') state = 200;// $GPGGA
break;
//+++++++++++++++++++++++++++++++++++++++++++++++++++
// $GPRMC (RMC = recommended minimum sentence C, empfohlener Minimumdatensatz)
//+++++++++++++++++++++++++++++++++++++++++++++++++++
/*
case 100: if(data == ',') state++; // $GPRMC,
NMEA_cnt_rmc %= 1000;
NMEA_cnt_rmc++;
break;
case 101: if(data == ',') state = 110; // $GPRMC,162614.123, // time scipped
break;
case 110: if(data == ',') state++;
else fix_txt[0] = data; // $GPRMC,162614.123,A A = Active V = Void
break;
case 111: if(data == ',') state++; // / $GPRMC,162614.123,A,
break;
case 112: if(data == ',') state++; // $GPRMC,162614.123,A,5317.123456789 Latitude
else
{
if(la < 16) lat_txt[la++] = data;
lat_txt[la] = 0;
}
break;
case 113: if(data == ',') state++; //$GPRMC,162614.123,A,5230.5900,N,
if(data == 'N') lat_txt[0] = '+';
if(data == 'S') lat_txt[0] = '-';
break;
case 114: if(data == ',') state++; //$GPRMC,162614.123,A,5230.5900,N,00722.123456789
else
{
if(lo < 16) lon_txt[lo++] = data;
lon_txt[lo] = 0;
}
break;
case 115: if(data == ',') state++; //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,
if(data == 'O') lon_txt[0] = '+';
if(data == 'E') lon_txt[0] = '+';
if(data == 'W') lon_txt[0] = '-';
break;
case 116: if(data == ',') state++; //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,
break;
case 117: if(data == ',') state++; //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,
break;
case 118: if(data == ',') state++; //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,
break;
case 119:
if(data == ',')
{
state++; //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,
NMEA_In_Lat_Txt[0] = lat_txt[0];
NMEA_In_Lat_Txt[1] = lat_txt[1];
NMEA_In_Lat_Txt[2] = lat_txt[2];
NMEA_In_Lat_Txt[3] = '.';
NMEA_In_Lat_Txt[4] = lat_txt[3];
NMEA_In_Lat_Txt[5] = lat_txt[4];
for(i=5; i<16; i++)
{
if(lat_txt[i] == '.') i++;
NMEA_In_Lat_Txt[i] = lat_txt[i];
}
NMEA_In_Lon_Txt[0] = lon_txt[0];
NMEA_In_Lon_Txt[1] = lon_txt[1];
NMEA_In_Lon_Txt[2] = lon_txt[2];
NMEA_In_Lon_Txt[3] = lon_txt[3];
NMEA_In_Lon_Txt[4] = '.';
NMEA_In_Lon_Txt[5] = lon_txt[4];
NMEA_In_Lon_Txt[6] = lon_txt[5];
for(i=5; i<16; i++)
{
if(lon_txt[i] == '.') i++;
NMEA_In_Lon_Txt[i] = lon_txt[i];
}
}
break;
case 120: if(data == ',') state++; //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,
break;
case 121: state = 0; //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13
fix_txt[1] = data;
fix_txt[2] = 0;
NMEA_In_Fix_Txt[0] = fix_txt[0];
NMEA_In_Fix_Txt[1] = fix_txt[1];
break;
*/
//+++++++++++++++++++++++++++++++++++++++++++++++++++
// $GPGGA
//+++++++++++++++++++++++++++++++++++++++++++++++++++
case 200: if(data == ',') state++; //$GPGGA,
NMEA_cnt_gga %= 1000;
NMEA_cnt_gga++;
break;
case 201: if(data == ',') state = 212; //$GPGGA,191410 // time scipped
break;
case 212: if(data == ',') state++; //$GPGGA,191410,4735.5634 Latitude
else
{
if(la < 16) lat_txt[la++] = data;
lat_txt[la] = 0;
}
break;
case 213: if(data == ',') state++; //$GPGGA,191410,4735.5634,N
if(data == 'N') lat_txt[0] = '+';
if(data == 'S') lat_txt[0] = '-';
break;
case 214: if(data == ',') state++; //$GPGGA,191410,4735.5634,N,00739.3538
else
{
if(lo < 16) lon_txt[lo++] = data;
lon_txt[lo] = 0;
}
break;
case 215: if(data == ',') state++; //$GPGGA,191410,4735.5634,N,00739.3538,E
if(data == 'O') lon_txt[0] = '+';
if(data == 'E') lon_txt[0] = '+';
if(data == 'W') lon_txt[0] = '-';
i = 0; a = 0;
break;
case 216: //$GPGGA,191410,4735.5634,N,00739.3538,E,1 -> 0 = No Fix, 1, = Fix, 2 = DGPS, ...
case 217: //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04 -> Anzahl Sat
case 218: //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4 HDOP
if(data == ',')
{
if(++state != 219) // letztes Leerzeiten entfernen
fix_txt[i++] = ' '; // komma durch leerzeichen ersetzten
}
else if(i < 9) fix_txt[i++] = data;
fix_txt[i] = 0;
break;
case 219: if(data == ',') state++; //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5
else if(a < 9) alt_txt[a++] = data;
fix_txt[i] = 0;
break;
case 220:
if(data == ',')
{
state++; //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M
NMEA_In_Lat_Txt[0] = lat_txt[0];
NMEA_In_Lat_Txt[1] = lat_txt[1];
NMEA_In_Lat_Txt[2] = lat_txt[2];
NMEA_In_Lat_Txt[3] = '.';
NMEA_In_Lat_Txt[4] = lat_txt[3];
NMEA_In_Lat_Txt[5] = lat_txt[4];
for(i=5; i<16; i++)
{
if(lat_txt[i] == '.') i++;
NMEA_In_Lat_Txt[i] = lat_txt[i];
}
NMEA_In_Lon_Txt[0] = lon_txt[0];
NMEA_In_Lon_Txt[1] = lon_txt[1];
NMEA_In_Lon_Txt[2] = lon_txt[2];
NMEA_In_Lon_Txt[3] = lon_txt[3];
NMEA_In_Lon_Txt[4] = '.';
NMEA_In_Lon_Txt[5] = lon_txt[4];
NMEA_In_Lon_Txt[6] = lon_txt[5];
for(i=6; i<16; i++)
{
if(lon_txt[i] == '.') i++;
NMEA_In_Lon_Txt[i] = lon_txt[i];
}
}
for(i=0; i<10; i++)
{
NMEA_In_Alt_Txt[i] = alt_txt[i];
NMEA_In_Fix_Txt[i] = fix_txt[i];
}
break;
default: state = 0;
}
}
 
 
/********************************************************/
/* UART2 Interrupt Handler */
/********************************************************/
void UART2_IRQHandler(void)
{
 
 
// if receive irq or receive timeout irq has occured
if((UART_GetITStatus(UART2, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART2, UART_IT_ReceiveTimeOut) != RESET) )
{
190,7 → 404,8
// wait for space in the tx buffer of the UART1
while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == SET) {};
// move the byte from the rx buffer of UART2 to the tx buffer of UART1
UART_SendData(UART1, UART_ReceiveData(UART2));
if(UART_VersionInfo.HWMajor < 30) UART_SendData(UART1, UART_ReceiveData(UART2));
else UART_ReceiveData(UART2);
}
}
else
198,7 → 413,9
// ignore serial data from the FC
while(UART_GetFlagStatus(UART2, UART_FLAG_RxFIFOEmpty) != SET)
{
UART_ReceiveData(UART2);
unsigned char c;
c = UART_ReceiveData(UART2);
if(UART_VersionInfo.HWMajor >= 30) NEMA_Parser(c);
}
}
} // eof receive irq or receive timeout irq
/trunk/uart2.h
10,5 → 10,9
void UART2_TransmitTxData(void);
void UART2_ProcessRxData(void);
 
 
extern unsigned char NMEA_In_Lat_Txt[16];
extern unsigned char NMEA_In_Lon_Txt[16];
extern unsigned char NMEA_In_Fix_Txt[10];
extern unsigned char NMEA_In_Alt_Txt[10];
extern u16 NMEA_cnt,NMEA_cnt_gga;
#endif //__UART2_H