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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 684 | killagreg | 1 | #include <inttypes.h> |
| 2 | #include "ubx.h" |
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| 702 | killagreg | 3 | #include "main.h" |
| 4 | #include <avr/io.h> |
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| 684 | killagreg | 5 | |
| 722 | killagreg | 6 | #include "uart.h" |
| 7 | |||
| 684 | killagreg | 8 | // ubx protocol parser state machine |
| 9 | #define UBXSTATE_IDLE 0 |
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| 10 | #define UBXSTATE_SYNC1 1 |
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| 11 | #define UBXSTATE_SYNC2 2 |
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| 12 | #define UBXSTATE_CLASS 3 |
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| 13 | #define UBXSTATE_LEN1 4 |
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| 14 | #define UBXSTATE_LEN2 5 |
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| 15 | #define UBXSTATE_DATA 6 |
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| 16 | #define UBXSTATE_CKA 7 |
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| 17 | #define UBXSTATE_CKB 8 |
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| 18 | |||
| 19 | // ublox protocoll identifier |
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| 20 | #define UBX_CLASS_NAV 0x01 |
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| 752 | killagreg | 21 | |
| 684 | killagreg | 22 | #define UBX_ID_POSLLH 0x02 |
| 752 | killagreg | 23 | #define UBX_ID_SOL 0x06 |
| 684 | killagreg | 24 | #define UBX_ID_VELNED 0x12 |
| 752 | killagreg | 25 | |
| 684 | killagreg | 26 | #define UBX_SYNC1_CHAR 0xB5 |
| 27 | #define UBX_SYNC2_CHAR 0x62 |
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| 28 | |||
| 29 | typedef struct { |
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| 30 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
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| 752 | killagreg | 31 | int32_t Frac; // ns remainder of rounded ms above |
| 32 | int16_t week; // GPS week |
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| 684 | killagreg | 33 | uint8_t GPSfix; // GPSfix Type, range 0..6 |
| 34 | uint8_t Flags; // Navigation Status Flags |
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| 752 | killagreg | 35 | int32_t ECEF_X; // cm ECEF X coordinate |
| 36 | int32_t ECEF_Y; // cm ECEF Y coordinate |
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| 37 | int32_t ECEF_Z; // cm ECEF Z coordinate |
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| 38 | uint32_t PAcc; // cm 3D Position Accuracy Estimate |
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| 39 | int32_t ECEFVX; // cm/s ECEF X velocity |
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| 40 | int32_t ECEFVY; // cm/s ECEF Y velocity |
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| 41 | int32_t ECEFVZ; // cm/s ECEF Z velocity |
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| 42 | uint32_t SAcc; // cm/s Speed Accuracy Estimate |
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| 43 | uint16_t PDOP; // 0.01 Position DOP |
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| 44 | uint8_t res1; // reserved |
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| 45 | uint8_t numSV; // Number of SVs used in navigation solution |
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| 46 | uint32_t res2; // reserved |
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| 702 | killagreg | 47 | uint8_t Status; |
| 752 | killagreg | 48 | } GPS_SOL_t; |
| 684 | killagreg | 49 | |
| 50 | typedef struct { |
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| 51 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
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| 52 | int32_t LON; // 1e-07 deg Longitude |
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| 53 | int32_t LAT; // 1e-07 deg Latitude |
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| 54 | int32_t HEIGHT; // mm Height above Ellipsoid |
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| 55 | int32_t HMSL; // mm Height above mean sea level |
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| 56 | uint32_t Hacc; // mm Horizontal Accuracy Estimate |
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| 57 | uint32_t Vacc; // mm Vertical Accuracy Estimate |
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| 702 | killagreg | 58 | uint8_t Status; |
| 684 | killagreg | 59 | } GPS_POSLLH_t; |
| 60 | |||
| 61 | typedef struct { |
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| 62 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
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| 63 | int32_t VEL_N; // cm/s NED north velocity |
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| 64 | int32_t VEL_E; // cm/s NED east velocity |
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| 65 | int32_t VEL_D; // cm/s NED down velocity |
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| 66 | uint32_t Speed; // cm/s Speed (3-D) |
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| 67 | uint32_t GSpeed; // cm/s Ground Speed (2-D) |
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| 68 | int32_t Heading; // 1e-05 deg Heading 2-D |
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| 69 | uint32_t SAcc; // cm/s Speed Accuracy Estimate |
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| 70 | uint32_t CAcc; // deg Course / Heading Accuracy Estimate |
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| 702 | killagreg | 71 | uint8_t Status; |
| 684 | killagreg | 72 | } GPS_VELNED_t; |
| 73 | |||
| 752 | killagreg | 74 | GPS_SOL_t GpsSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
| 726 | killagreg | 75 | GPS_POSLLH_t GpsPosLlh = {0,0,0,0,0,0,0, INVALID}; |
| 76 | GPS_VELNED_t GpsVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
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| 77 | GPS_INFO_t GPSInfo = {0,0,0,0,0,0,0,0,0,0, INVALID}; |
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| 684 | killagreg | 78 | |
| 726 | killagreg | 79 | volatile uint8_t GPSTimeout = 0; |
| 684 | killagreg | 80 | |
| 81 | void UpdateGPSInfo (void) |
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| 82 | { |
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| 752 | killagreg | 83 | if (GpsSol.Status == VALID) // valid packet |
| 684 | killagreg | 84 | { |
| 752 | killagreg | 85 | GPSInfo.satfix = GpsSol.GPSfix; |
| 86 | GPSInfo.satnum = GpsSol.numSV; |
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| 87 | GPSInfo.PAcc = GpsSol.PAcc; |
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| 88 | GPSInfo.VAcc = GpsSol.SAcc; |
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| 89 | GpsSol.Status = PROCESSED; // never update old data |
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| 684 | killagreg | 90 | } |
| 702 | killagreg | 91 | if (GpsPosLlh.Status == VALID) // valid packet |
| 684 | killagreg | 92 | { |
| 702 | killagreg | 93 | GPSInfo.longitude = GpsPosLlh.LON; |
| 94 | GPSInfo.latitude = GpsPosLlh.LAT; |
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| 95 | GPSInfo.altitude = GpsPosLlh.HEIGHT; |
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| 726 | killagreg | 96 | GpsPosLlh.Status = PROCESSED; // never update old data |
| 684 | killagreg | 97 | } |
| 702 | killagreg | 98 | if (GpsVelNed.Status == VALID) // valid packet |
| 684 | killagreg | 99 | { |
| 702 | killagreg | 100 | GPSInfo.veleast = GpsVelNed.VEL_E; |
| 101 | GPSInfo.velnorth = GpsVelNed.VEL_N; |
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| 102 | GPSInfo.veltop = -GpsVelNed.VEL_D; |
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| 726 | killagreg | 103 | GpsVelNed.Status = PROCESSED; // never update old data |
| 684 | killagreg | 104 | } |
| 781 | killagreg | 105 | if ((GpsSol.Status != INVALID) && (GpsPosLlh.Status != INVALID) && (GpsVelNed.Status != INVALID)) |
| 702 | killagreg | 106 | { |
| 726 | killagreg | 107 | GPSInfo.status = VALID; // set valid if data are updated |
| 702 | killagreg | 108 | } |
| 684 | killagreg | 109 | } |
| 110 | |||
| 724 | killagreg | 111 | |
| 684 | killagreg | 112 | // this function should be called within the UART RX ISR |
| 113 | void ubx_parser(uint8_t c) |
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| 114 | { |
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| 115 | static uint8_t ubxstate = UBXSTATE_IDLE; |
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| 116 | static uint8_t cka, ckb; |
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| 117 | static uint16_t msglen; |
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| 118 | static int8_t *ubxP, *ubxEp, *ubxSp; // pointers to data currently transfered |
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| 119 | |||
| 120 | switch(ubxstate) |
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| 121 | { |
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| 122 | case UBXSTATE_IDLE: // check 1st sync byte |
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| 123 | if (c == UBX_SYNC1_CHAR) ubxstate = UBXSTATE_SYNC1; |
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| 124 | else ubxstate = UBXSTATE_IDLE; // out of synchronization |
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| 125 | break; |
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| 126 | |||
| 127 | case UBXSTATE_SYNC1: // check 2nd sync byte |
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| 128 | if (c == UBX_SYNC2_CHAR) ubxstate = UBXSTATE_SYNC2; |
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| 129 | else ubxstate = UBXSTATE_IDLE; // out of synchronization |
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| 130 | break; |
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| 131 | |||
| 132 | case UBXSTATE_SYNC2: // check msg class to be NAV |
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| 133 | if (c == UBX_CLASS_NAV) ubxstate = UBXSTATE_CLASS; |
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| 134 | else ubxstate = UBXSTATE_IDLE; // unsupported message class |
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| 135 | break; |
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| 136 | |||
| 137 | case UBXSTATE_CLASS: // check message identifier |
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| 138 | switch(c) |
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| 139 | { |
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| 140 | case UBX_ID_POSLLH: // geodetic position |
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| 722 | killagreg | 141 | ubxP = (int8_t *)&GpsPosLlh; // data start pointer |
| 792 | killagreg | 142 | ubxEp = (int8_t *)(&GpsPosLlh + 1); // data end pointer |
| 722 | killagreg | 143 | ubxSp = (int8_t *)&GpsPosLlh.Status; // status pointer |
| 684 | killagreg | 144 | break; |
| 145 | |||
| 752 | killagreg | 146 | case UBX_ID_SOL: // navigation solution |
| 147 | ubxP = (int8_t *)&GpsSol; // data start pointer |
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| 792 | killagreg | 148 | ubxEp = (int8_t *)(&GpsSol + 1); // data end pointer |
| 752 | killagreg | 149 | ubxSp = (int8_t *)&GpsSol.Status; // status pointer |
| 684 | killagreg | 150 | break; |
| 151 | |||
| 152 | case UBX_ID_VELNED: // velocity vector in tangent plane |
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| 153 | ubxP = (int8_t *)&GpsVelNed; // data start pointer |
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| 792 | killagreg | 154 | ubxEp = (int8_t *)(&GpsVelNed + 1); // data end pointer |
| 702 | killagreg | 155 | ubxSp = (int8_t *)&GpsVelNed.Status; // status pointer |
| 684 | killagreg | 156 | break; |
| 157 | |||
| 158 | default: // unsupported identifier |
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| 159 | ubxstate = UBXSTATE_IDLE; |
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| 160 | break; |
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| 161 | } |
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| 162 | if (ubxstate != UBXSTATE_IDLE) |
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| 163 | { |
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| 164 | ubxstate = UBXSTATE_LEN1; |
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| 165 | cka = UBX_CLASS_NAV + c; |
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| 166 | ckb = UBX_CLASS_NAV + cka; |
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| 167 | } |
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| 168 | break; |
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| 169 | |||
| 170 | case UBXSTATE_LEN1: // 1st message length byte |
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| 171 | msglen = c; |
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| 172 | cka += c; |
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| 173 | ckb += cka; |
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| 174 | ubxstate = UBXSTATE_LEN2; |
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| 175 | break; |
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| 176 | |||
| 177 | case UBXSTATE_LEN2: // 2nd message length byte |
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| 178 | msglen += ((uint16_t)c)<<8; |
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| 179 | cka += c; |
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| 180 | ckb += cka; |
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| 181 | // if the old data are not processed so far then break parsing now |
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| 182 | // to avoid writing new data in ISR during reading by another function |
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| 183 | if ( *ubxSp == VALID ) ubxstate = UBXSTATE_IDLE; |
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| 184 | else // data invalid or allready processd |
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| 185 | { |
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| 186 | *ubxSp = INVALID; |
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| 187 | ubxstate = UBXSTATE_DATA; |
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| 188 | } |
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| 189 | break; |
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| 190 | |||
| 191 | case UBXSTATE_DATA: |
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| 192 | if (ubxP < ubxEp) *ubxP++ = c; // copy curent data byte if any space is left |
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| 193 | cka += c; |
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| 194 | ckb += cka; |
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| 195 | if (--msglen == 0) ubxstate = UBXSTATE_CKA; // switch to next state if all data was read |
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| 196 | break; |
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| 197 | |||
| 198 | case UBXSTATE_CKA: |
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| 199 | if (c == cka) ubxstate = UBXSTATE_CKB; |
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| 722 | killagreg | 200 | else |
| 201 | { |
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| 202 | *ubxSp = INVALID; |
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| 203 | ubxstate = UBXSTATE_IDLE; |
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| 204 | } |
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| 684 | killagreg | 205 | break; |
| 206 | |||
| 207 | case UBXSTATE_CKB: |
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| 208 | if (c == ckb) |
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| 209 | { |
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| 722 | killagreg | 210 | *ubxSp = VALID; // new data are valid |
| 211 | ROT_FLASH; |
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| 684 | killagreg | 212 | UpdateGPSInfo(); //update GPS info respectively |
| 726 | killagreg | 213 | GPSTimeout = 255; |
| 684 | killagreg | 214 | } |
| 722 | killagreg | 215 | else |
| 216 | { // if checksum not fit then set data invalid |
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| 217 | *ubxSp = INVALID; |
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| 218 | } |
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| 684 | killagreg | 219 | ubxstate = UBXSTATE_IDLE; // ready to parse new data |
| 220 | break; |
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| 221 | |||
| 222 | default: // unknown ubx state |
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| 223 | ubxstate = UBXSTATE_IDLE; |
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| 224 | break; |
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| 225 | } |
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| 226 | |||
| 227 | } |
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| 228 | |||
| 724 | killagreg | 229 |