| 0,0 → 1,98 |
|---|
| #include "gps.h" |
| #include "uart0.h" |
| #include "main.h" |
| #include "timer0.h" |
| |
| #define GPS_TIMEOUT 1000 // of ne new gps data arrivw within that time an error ist set |
| #define GPS_MINSATS 4 |
| |
| //------------------------------------------------------------ |
| // copy GPS position from source position to target position |
| uint8_t GPS_CopyPosition(GPS_Pos_t * pGPSPosSrc, GPS_Pos_t* pGPSPosTgt) |
| { |
| uint8_t retval = 0; |
| if((pGPSPosSrc == 0) || (pGPSPosTgt == 0)) return(retval); // bad pointer |
| // copy only valid positions |
| if(pGPSPosSrc->Status != INVALID) |
| { |
| // if the source GPS position is not invalid |
| pGPSPosTgt->Longitude = pGPSPosSrc->Longitude; |
| pGPSPosTgt->Latitude = pGPSPosSrc->Latitude; |
| pGPSPosTgt->Altitude = pGPSPosSrc->Altitude; |
| pGPSPosTgt->Status = NEWDATA; // mark data in target position as new |
| retval = 1; |
| } |
| return(retval); |
| } |
| |
| //------------------------------------------------------------ |
| // clear position data |
| uint8_t GPS_ClearPosition(GPS_Pos_t * pGPSPos) |
| { |
| uint8_t retval = 0; |
| if(pGPSPos == 0) return(retval); // bad pointer |
| else |
| { |
| pGPSPos->Longitude = 0; |
| pGPSPos->Latitude = 0; |
| pGPSPos->Altitude = 0; |
| pGPSPos->Status = INVALID; |
| retval = 1; |
| } |
| return (retval); |
| } |
| |
| |
| //------------------------------------------------------------ |
| // check for new GPS data |
| void GPS_Update(void) |
| { |
| static uint16_t GPS_Timeout = 0; |
| static uint16_t beep_rythm = 0; |
| |
| switch(GPSData.Status) |
| { |
| case INVALID: |
| Error |= ERROR_GPS_RX_TIMEOUT; |
| GPS_ClearPosition(&(FollowMe.Position)); // clear followme position |
| break; |
| |
| case PROCESSED: |
| // wait for timeout |
| if(CheckDelay(GPS_Timeout)) |
| { |
| GPSData.Status = INVALID; |
| } |
| break; |
| |
| case NEWDATA: |
| GPS_Timeout = SetDelay(GPS_TIMEOUT); // reset gps timeout |
| Error &= ~ERROR_GPS_RX_TIMEOUT; // clear possible error |
| beep_rythm++; |
| |
| // update data in the follow me message |
| if((GPSData.SatFix & SATFIX_3D) && (GPSData.NumOfSats >= GPS_MINSATS)) |
| { |
| GPS_CopyPosition(&(GPSData.Position),&(FollowMe.Position)); |
| } |
| else |
| { |
| GPS_ClearPosition(&(FollowMe.Position)); // clear followme position |
| } |
| |
| // NC like sound on bad gps signals |
| if(FollowMe_active) |
| { |
| if(!(GPSData.Flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
| else if ((GPSData.NumOfSats < GPS_MINSATS) && !(beep_rythm % 5)) BeepTime = 10; |
| } |
| |
| GPSData.Status = PROCESSED; // set to processed unlocks the buffer for new data |
| break; |
| |
| default: |
| GPSData.Status = INVALID; |
| break; |
| } |
| } |
| |