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