Rev 426 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 426 | killagreg | 1 | #include "gps.h" |
| 2 | #include "uart0.h" |
||
| 3 | #include "main.h" |
||
| 4 | #include "timer0.h" |
||
| 5 | |||
| 436 | killagreg | 6 | #define GPS_TIMEOUT 1000 // if no new gps data arrive within that time an error is set |
| 426 | killagreg | 7 | #define GPS_MINSATS 4 |
| 8 | |||
| 9 | //------------------------------------------------------------ |
||
| 10 | // copy GPS position from source position to target position |
||
| 11 | uint8_t GPS_CopyPosition(GPS_Pos_t * pGPSPosSrc, GPS_Pos_t* pGPSPosTgt) |
||
| 12 | { |
||
| 13 | uint8_t retval = 0; |
||
| 14 | if((pGPSPosSrc == 0) || (pGPSPosTgt == 0)) return(retval); // bad pointer |
||
| 15 | // copy only valid positions |
||
| 16 | if(pGPSPosSrc->Status != INVALID) |
||
| 17 | { |
||
| 18 | // if the source GPS position is not invalid |
||
| 19 | pGPSPosTgt->Longitude = pGPSPosSrc->Longitude; |
||
| 20 | pGPSPosTgt->Latitude = pGPSPosSrc->Latitude; |
||
| 21 | pGPSPosTgt->Altitude = pGPSPosSrc->Altitude; |
||
| 22 | pGPSPosTgt->Status = NEWDATA; // mark data in target position as new |
||
| 23 | retval = 1; |
||
| 24 | } |
||
| 25 | return(retval); |
||
| 26 | } |
||
| 27 | |||
| 28 | //------------------------------------------------------------ |
||
| 29 | // clear position data |
||
| 30 | uint8_t GPS_ClearPosition(GPS_Pos_t * pGPSPos) |
||
| 31 | { |
||
| 32 | uint8_t retval = 0; |
||
| 33 | if(pGPSPos == 0) return(retval); // bad pointer |
||
| 34 | else |
||
| 35 | { |
||
| 36 | pGPSPos->Longitude = 0; |
||
| 37 | pGPSPos->Latitude = 0; |
||
| 38 | pGPSPos->Altitude = 0; |
||
| 39 | pGPSPos->Status = INVALID; |
||
| 40 | retval = 1; |
||
| 41 | } |
||
| 42 | return (retval); |
||
| 43 | } |
||
| 44 | |||
| 45 | |||
| 46 | //------------------------------------------------------------ |
||
| 47 | // check for new GPS data |
||
| 48 | void GPS_Update(void) |
||
| 49 | { |
||
| 50 | static uint16_t GPS_Timeout = 0; |
||
| 51 | static uint16_t beep_rythm = 0; |
||
| 52 | |||
| 53 | switch(GPSData.Status) |
||
| 54 | { |
||
| 55 | case INVALID: |
||
| 56 | Error |= ERROR_GPS_RX_TIMEOUT; |
||
| 57 | GPS_ClearPosition(&(FollowMe.Position)); // clear followme position |
||
| 58 | break; |
||
| 59 | |||
| 60 | case PROCESSED: |
||
| 61 | // wait for timeout |
||
| 62 | if(CheckDelay(GPS_Timeout)) |
||
| 63 | { |
||
| 64 | GPSData.Status = INVALID; |
||
| 65 | } |
||
| 66 | break; |
||
| 67 | |||
| 68 | case NEWDATA: |
||
| 69 | GPS_Timeout = SetDelay(GPS_TIMEOUT); // reset gps timeout |
||
| 70 | Error &= ~ERROR_GPS_RX_TIMEOUT; // clear possible error |
||
| 71 | beep_rythm++; |
||
| 72 | |||
| 73 | // update data in the follow me message |
||
| 74 | if((GPSData.SatFix & SATFIX_3D) && (GPSData.NumOfSats >= GPS_MINSATS)) |
||
| 75 | { |
||
| 76 | GPS_CopyPosition(&(GPSData.Position),&(FollowMe.Position)); |
||
| 77 | } |
||
| 78 | else |
||
| 79 | { |
||
| 80 | GPS_ClearPosition(&(FollowMe.Position)); // clear followme position |
||
| 81 | } |
||
| 82 | |||
| 83 | // NC like sound on bad gps signals |
||
| 84 | if(SysState == STATE_SEND_FOLLOWME) |
||
| 85 | { |
||
| 86 | if(!(GPSData.Flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
||
| 87 | else if ((GPSData.NumOfSats < GPS_MINSATS) && !(beep_rythm % 5)) BeepTime = 10; |
||
| 88 | } |
||
| 89 | |||
| 90 | GPSData.Status = PROCESSED; // set to processed unlocks the buffer for new data |
||
| 91 | break; |
||
| 92 | |||
| 93 | default: |
||
| 94 | GPSData.Status = INVALID; |
||
| 95 | break; |
||
| 96 | } |
||
| 97 | } |
||
| 98 |