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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 886 | killagreg | 1 | #include <inttypes.h> |
| 2 | #include "ubx.h" |
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| 3 | #include "main.h" |
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| 4 | #include <avr/io.h> |
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| 5 | |||
| 6 | #include "uart.h" |
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| 7 | |||
| 8 | // ubx protocol parser state machine |
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| 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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| 21 | |||
| 22 | #define UBX_ID_POSLLH 0x02 |
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| 23 | #define UBX_ID_SOL 0x06 |
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| 24 | #define UBX_ID_VELNED 0x12 |
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| 25 | |||
| 26 | #define UBX_SYNC1_CHAR 0xB5 |
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| 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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| 31 | int32_t Frac; // ns remainder of rounded ms above |
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| 32 | int16_t week; // GPS week |
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| 33 | uint8_t GPSfix; // GPSfix Type, range 0..6 |
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| 34 | uint8_t Flags; // Navigation Status Flags |
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| 35 | int32_t ECEF_X; // cm ECEF X coordinate |
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| 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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| 47 | uint8_t Status; |
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| 48 | } GPS_SOL_t; |
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| 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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| 58 | uint8_t Status; |
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| 59 | } GPS_POSLLH_t; |
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| 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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| 71 | uint8_t Status; |
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| 72 | } GPS_VELNED_t; |
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| 73 | |||
| 74 | GPS_SOL_t GpsSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
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| 75 | GPS_POSLLH_t GpsPosLlh = {0,0,0,0,0,0,0, INVALID}; |
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| 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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| 78 | |||
| 79 | volatile uint8_t GPSTimeout = 0; |
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| 80 | |||
| 81 | void UpdateGPSInfo (void) |
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| 82 | { |
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| 83 | static uint32_t lasttime; |
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| 84 | if (GpsSol.Status == VALID) // valid packet |
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| 85 | { |
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| 86 | GPSInfo.satfix = GpsSol.GPSfix; |
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| 87 | GPSInfo.satnum = GpsSol.numSV; |
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| 88 | GPSInfo.PAcc = GpsSol.PAcc; |
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| 89 | GPSInfo.VAcc = GpsSol.SAcc; |
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| 90 | GpsSol.Status = PROCESSED; // never update old data |
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| 91 | } |
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| 92 | if (GpsPosLlh.Status == VALID) // valid packet |
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| 93 | { |
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| 94 | GPSInfo.updatetime = GpsPosLlh.ITOW - lasttime; |
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| 95 | lasttime = GpsPosLlh.ITOW; |
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| 96 | GPSInfo.longitude = GpsPosLlh.LON; |
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| 97 | GPSInfo.latitude = GpsPosLlh.LAT; |
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| 98 | GPSInfo.altitude = GpsPosLlh.HEIGHT; |
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| 99 | GpsPosLlh.Status = PROCESSED; // never update old data |
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| 100 | } |
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| 101 | if (GpsVelNed.Status == VALID) // valid packet |
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| 102 | { |
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| 103 | GPSInfo.veleast = GpsVelNed.VEL_E; |
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| 104 | GPSInfo.velnorth = GpsVelNed.VEL_N; |
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| 105 | GPSInfo.veltop = -GpsVelNed.VEL_D; |
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| 106 | GPSInfo.velground = GpsVelNed.GSpeed; |
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| 107 | GpsVelNed.Status = PROCESSED; // never update old data |
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| 108 | } |
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| 109 | if ((GpsSol.Status != INVALID) && (GpsPosLlh.Status != INVALID) && (GpsVelNed.Status != INVALID)) |
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| 110 | { |
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| 111 | GPSInfo.status = VALID; // set valid if data are updated |
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| 112 | } |
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| 113 | } |
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| 114 | |||
| 115 | |||
| 116 | // this function should be called within the UART RX ISR |
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| 117 | void ubx_parser(uint8_t c) |
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| 118 | { |
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| 119 | static uint8_t ubxstate = UBXSTATE_IDLE; |
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| 120 | static uint8_t cka, ckb; |
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| 121 | static uint16_t msglen; |
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| 122 | static int8_t *ubxP, *ubxEp, *ubxSp; // pointers to data currently transfered |
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| 123 | |||
| 124 | switch(ubxstate) |
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| 125 | { |
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| 126 | case UBXSTATE_IDLE: // check 1st sync byte |
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| 127 | if (c == UBX_SYNC1_CHAR) ubxstate = UBXSTATE_SYNC1; |
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| 128 | else ubxstate = UBXSTATE_IDLE; // out of synchronization |
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| 129 | break; |
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| 130 | |||
| 131 | case UBXSTATE_SYNC1: // check 2nd sync byte |
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| 132 | if (c == UBX_SYNC2_CHAR) ubxstate = UBXSTATE_SYNC2; |
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| 133 | else ubxstate = UBXSTATE_IDLE; // out of synchronization |
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| 134 | break; |
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| 135 | |||
| 136 | case UBXSTATE_SYNC2: // check msg class to be NAV |
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| 137 | if (c == UBX_CLASS_NAV) ubxstate = UBXSTATE_CLASS; |
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| 138 | else ubxstate = UBXSTATE_IDLE; // unsupported message class |
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| 139 | break; |
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| 140 | |||
| 141 | case UBXSTATE_CLASS: // check message identifier |
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| 142 | switch(c) |
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| 143 | { |
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| 144 | case UBX_ID_POSLLH: // geodetic position |
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| 145 | ubxP = (int8_t *)&GpsPosLlh; // data start pointer |
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| 146 | ubxEp = (int8_t *)(&GpsPosLlh + 1); // data end pointer |
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| 147 | ubxSp = (int8_t *)&GpsPosLlh.Status; // status pointer |
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| 148 | break; |
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| 149 | |||
| 150 | case UBX_ID_SOL: // navigation solution |
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| 151 | ubxP = (int8_t *)&GpsSol; // data start pointer |
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| 152 | ubxEp = (int8_t *)(&GpsSol + 1); // data end pointer |
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| 153 | ubxSp = (int8_t *)&GpsSol.Status; // status pointer |
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| 154 | break; |
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| 155 | |||
| 156 | case UBX_ID_VELNED: // velocity vector in tangent plane |
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| 157 | ubxP = (int8_t *)&GpsVelNed; // data start pointer |
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| 158 | ubxEp = (int8_t *)(&GpsVelNed + 1); // data end pointer |
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| 159 | ubxSp = (int8_t *)&GpsVelNed.Status; // status pointer |
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| 160 | break; |
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| 161 | |||
| 162 | default: // unsupported identifier |
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| 163 | ubxstate = UBXSTATE_IDLE; |
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| 164 | break; |
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| 165 | } |
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| 166 | if (ubxstate != UBXSTATE_IDLE) |
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| 167 | { |
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| 168 | ubxstate = UBXSTATE_LEN1; |
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| 169 | cka = UBX_CLASS_NAV + c; |
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| 170 | ckb = UBX_CLASS_NAV + cka; |
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| 171 | } |
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| 172 | break; |
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| 173 | |||
| 174 | case UBXSTATE_LEN1: // 1st message length byte |
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| 175 | msglen = c; |
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| 176 | cka += c; |
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| 177 | ckb += cka; |
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| 178 | ubxstate = UBXSTATE_LEN2; |
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| 179 | break; |
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| 180 | |||
| 181 | case UBXSTATE_LEN2: // 2nd message length byte |
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| 182 | msglen += ((uint16_t)c)<<8; |
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| 183 | cka += c; |
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| 184 | ckb += cka; |
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| 185 | // if the old data are not processed so far then break parsing now |
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| 186 | // to avoid writing new data in ISR during reading by another function |
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| 911 | killagreg | 187 | if ( *ubxSp == VALID ) |
| 188 | { |
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| 189 | UpdateGPSInfo(); //update GPS info respectively |
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| 190 | ubxstate = UBXSTATE_IDLE; |
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| 191 | } |
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| 886 | killagreg | 192 | else // data invalid or allready processd |
| 193 | { |
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| 194 | *ubxSp = INVALID; |
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| 195 | ubxstate = UBXSTATE_DATA; |
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| 196 | } |
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| 197 | break; |
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| 198 | |||
| 199 | case UBXSTATE_DATA: |
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| 200 | if (ubxP < ubxEp) *ubxP++ = c; // copy curent data byte if any space is left |
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| 201 | cka += c; |
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| 202 | ckb += cka; |
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| 203 | if (--msglen == 0) ubxstate = UBXSTATE_CKA; // switch to next state if all data was read |
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| 204 | break; |
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| 205 | |||
| 206 | case UBXSTATE_CKA: |
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| 207 | if (c == cka) ubxstate = UBXSTATE_CKB; |
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| 208 | else |
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| 209 | { |
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| 210 | *ubxSp = INVALID; |
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| 211 | ubxstate = UBXSTATE_IDLE; |
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| 212 | } |
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| 213 | break; |
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| 214 | |||
| 215 | case UBXSTATE_CKB: |
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| 216 | if (c == ckb) |
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| 217 | { |
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| 218 | *ubxSp = VALID; // new data are valid |
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| 219 | ROT_FLASH; |
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| 220 | UpdateGPSInfo(); //update GPS info respectively |
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| 221 | GPSTimeout = 255; |
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| 222 | } |
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| 223 | else |
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| 224 | { // if checksum not fit then set data invalid |
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| 225 | *ubxSp = INVALID; |
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| 226 | } |
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| 227 | ubxstate = UBXSTATE_IDLE; // ready to parse new data |
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| 228 | break; |
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| 229 | |||
| 230 | default: // unknown ubx state |
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| 231 | ubxstate = UBXSTATE_IDLE; |
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| 232 | break; |
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| 233 | } |
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| 234 | |||
| 235 | } |
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| 236 | |||
| 237 |