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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2039 | - | 1 | #include <inttypes.h> |
| 2 | #include "ubx.h" |
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| 3 | #include <avr/io.h> |
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| 2058 | - | 4 | #include "output.h" |
| 2039 | - | 5 | |
| 6 | // ubx protocol parser state machine |
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| 7 | #define UBXSTATE_IDLE 0 |
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| 8 | #define UBXSTATE_SYNC1 1 |
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| 9 | #define UBXSTATE_SYNC2 2 |
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| 10 | #define UBXSTATE_CLASS 3 |
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| 11 | #define UBXSTATE_LEN1 4 |
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| 12 | #define UBXSTATE_LEN2 5 |
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| 13 | #define UBXSTATE_DATA 6 |
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| 14 | #define UBXSTATE_CKA 7 |
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| 15 | #define UBXSTATE_CKB 8 |
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| 16 | |||
| 17 | // ublox protocoll identifier |
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| 18 | #define UBX_CLASS_NAV 0x01 |
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| 19 | |||
| 20 | #define UBX_ID_POSLLH 0x02 |
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| 21 | #define UBX_ID_SOL 0x06 |
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| 22 | #define UBX_ID_VELNED 0x12 |
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| 23 | |||
| 24 | #define UBX_SYNC1_CHAR 0xB5 |
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| 25 | #define UBX_SYNC2_CHAR 0x62 |
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| 26 | |||
| 27 | typedef struct { |
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| 28 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
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| 2044 | - | 29 | int32_t frac; // ns remainder of rounded ms above |
| 2039 | - | 30 | int16_t week; // GPS week |
| 31 | uint8_t GPSfix; // GPSfix Type, range 0..6 |
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| 2044 | - | 32 | uint8_t flags; // Navigation Status Flags |
| 2039 | - | 33 | int32_t ECEF_X; // cm ECEF X coordinate |
| 34 | int32_t ECEF_Y; // cm ECEF Y coordinate |
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| 35 | int32_t ECEF_Z; // cm ECEF Z coordinate |
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| 2044 | - | 36 | uint32_t pAcc; // cm 3D Position Accuracy Estimate |
| 2039 | - | 37 | int32_t ECEFVX; // cm/s ECEF X velocity |
| 38 | int32_t ECEFVY; // cm/s ECEF Y velocity |
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| 39 | int32_t ECEFVZ; // cm/s ECEF Z velocity |
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| 2044 | - | 40 | uint32_t sAcc; // cm/s Speed Accuracy Estimate |
| 2039 | - | 41 | uint16_t PDOP; // 0.01 Position DOP |
| 42 | uint8_t res1; // reserved |
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| 43 | uint8_t numSV; // Number of SVs used in navigation solution |
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| 44 | uint32_t res2; // reserved |
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| 2044 | - | 45 | Status_t status; |
| 2039 | - | 46 | } UBX_SOL_t; |
| 47 | |||
| 48 | typedef struct { |
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| 49 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
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| 2044 | - | 50 | int32_t lon; // 1e-07 deg Longitude |
| 51 | int32_t lat; // 1e-07 deg Latitude |
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| 52 | int32_t height; // mm Height above Ellipsoid |
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| 2039 | - | 53 | int32_t HMSL; // mm Height above mean sea level |
| 2044 | - | 54 | uint32_t hAcc; // mm Horizontal Accuracy Estimate |
| 55 | uint32_t vAacc; // mm Vertical Accuracy Estimate |
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| 56 | Status_t status; |
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| 2039 | - | 57 | } UBX_POSLLH_t; |
| 58 | |||
| 59 | typedef struct { |
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| 60 | uint32_t ITOW; // ms GPS Millisecond Time of Week |
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| 61 | int32_t VEL_N; // cm/s NED north velocity |
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| 62 | int32_t VEL_E; // cm/s NED east velocity |
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| 63 | int32_t VEL_D; // cm/s NED down velocity |
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| 2044 | - | 64 | uint32_t speed; // cm/s Speed (3-D) |
| 65 | uint32_t gSpeed; // cm/s Ground Speed (2-D) |
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| 66 | int32_t heading; // 1e-05 deg Heading 2-D |
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| 67 | uint32_t sAcc; // cm/s Speed Accuracy Estimate |
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| 68 | uint32_t cAcc; // deg Course / Heading Accuracy Estimate |
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| 69 | Status_t status; |
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| 2039 | - | 70 | } UBX_VELNED_t; |
| 71 | |||
| 2044 | - | 72 | UBX_SOL_t ubxSol = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID }; |
| 73 | UBX_POSLLH_t ubxPosLlh = { 0, 0, 0, 0, 0, 0, 0, INVALID }; |
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| 74 | UBX_VELNED_t ubxVelNed = { 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID }; |
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| 2088 | - | 75 | GPS_INFO_t GPSInfo = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID }; |
| 2039 | - | 76 | |
| 77 | volatile uint8_t GPSTimeout = 0; |
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| 2058 | - | 78 | volatile uint16_t GPSDatasetCounter = 0; |
| 2039 | - | 79 | |
| 80 | void updateGPSInfo(void) { |
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| 2058 | - | 81 | if ((ubxSol.status == NEWDATA) && (ubxPosLlh.status == NEWDATA) && (ubxVelNed.status == NEWDATA)) { |
| 2039 | - | 82 | //RED_FLASH; |
| 83 | // DebugOut.Digital ....blah... |
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| 84 | if (GPSInfo.status != NEWDATA) { |
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| 2058 | - | 85 | GPSDatasetCounter++; |
| 2039 | - | 86 | GPSInfo.status = INVALID; |
| 87 | // NAV SOL |
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| 2044 | - | 88 | GPSInfo.flags = ubxSol.flags; |
| 89 | GPSInfo.satfix = ubxSol.GPSfix; |
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| 90 | GPSInfo.satnum = ubxSol.numSV; |
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| 2079 | - | 91 | |
| 2088 | - | 92 | GPSInfo.position3DAcc = ubxSol.pAcc; |
| 93 | GPSInfo.verticalAcc = ubxPosLlh.vAacc; |
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| 94 | GPSInfo.velocityAcc = ubxSol.sAcc; |
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| 95 | |||
| 96 | debugOut.analog[30] = ubxPosLlh.HMSL/1000L; |
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| 97 | debugOut.analog[31] = GPSInfo.verticalAcc/1000L; |
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| 98 | |||
| 2039 | - | 99 | // NAV POSLLH |
| 2044 | - | 100 | GPSInfo.longitude = ubxPosLlh.lon; |
| 101 | GPSInfo.latitude = ubxPosLlh.lat; |
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| 102 | GPSInfo.altitude = ubxPosLlh.height; |
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| 2039 | - | 103 | |
| 2044 | - | 104 | GPSInfo.veleast = ubxVelNed.VEL_E; |
| 105 | GPSInfo.velnorth = ubxVelNed.VEL_N; |
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| 2051 | - | 106 | GPSInfo.veltop = -ubxVelNed.VEL_D; |
| 2044 | - | 107 | GPSInfo.velground = ubxVelNed.gSpeed; |
| 2039 | - | 108 | |
| 109 | GPSInfo.status = NEWDATA; |
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| 110 | } |
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| 111 | |||
| 112 | // set state to collect new data |
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| 2044 | - | 113 | ubxSol.status = PROCESSED; // never update old data |
| 114 | ubxPosLlh.status = PROCESSED; // never update old data |
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| 115 | ubxVelNed.status = PROCESSED; // never update old data |
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| 2039 | - | 116 | } |
| 117 | } |
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| 118 | |||
| 119 | // this function should be called within the UART RX ISR |
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| 120 | void ubx_parser(uint8_t c) { |
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| 121 | static uint8_t ubxstate = UBXSTATE_IDLE; |
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| 122 | static uint8_t cka, ckb; |
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| 123 | static uint16_t msglen; |
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| 124 | static int8_t *ubxP, *ubxEp, *ubxSp; // pointers to data currently transfered |
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| 125 | |||
| 126 | switch (ubxstate) { |
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| 127 | case UBXSTATE_IDLE: // check 1st sync byte |
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| 128 | if (c == UBX_SYNC1_CHAR) |
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| 129 | ubxstate = UBXSTATE_SYNC1; |
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| 130 | else |
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| 131 | ubxstate = UBXSTATE_IDLE; // out of synchronization |
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| 132 | break; |
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| 133 | |||
| 134 | case UBXSTATE_SYNC1: // check 2nd sync byte |
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| 135 | if (c == UBX_SYNC2_CHAR) |
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| 136 | ubxstate = UBXSTATE_SYNC2; |
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| 137 | else |
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| 138 | ubxstate = UBXSTATE_IDLE; // out of synchronization |
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| 139 | break; |
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| 140 | |||
| 141 | case UBXSTATE_SYNC2: // check msg class to be NAV |
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| 142 | if (c == UBX_CLASS_NAV) |
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| 143 | ubxstate = UBXSTATE_CLASS; |
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| 144 | else |
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| 145 | ubxstate = UBXSTATE_IDLE; // unsupported message class |
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| 146 | break; |
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| 147 | |||
| 148 | case UBXSTATE_CLASS: // check message identifier |
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| 149 | switch (c) { |
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| 150 | case UBX_ID_POSLLH: // geodetic position |
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| 2044 | - | 151 | ubxP = (int8_t *) &ubxPosLlh; // data start pointer |
| 152 | ubxEp = (int8_t *) (&ubxPosLlh + 1); // data end pointer |
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| 153 | ubxSp = (int8_t *) &ubxPosLlh.status; // status pointer |
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| 2039 | - | 154 | break; |
| 155 | |||
| 156 | case UBX_ID_SOL: // navigation solution |
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| 2044 | - | 157 | ubxP = (int8_t *) &ubxSol; // data start pointer |
| 158 | ubxEp = (int8_t *) (&ubxSol + 1); // data end pointer |
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| 159 | ubxSp = (int8_t *) &ubxSol.status; // status pointer |
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| 2039 | - | 160 | break; |
| 161 | |||
| 162 | case UBX_ID_VELNED: // velocity vector in tangent plane |
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| 2044 | - | 163 | ubxP = (int8_t *) &ubxVelNed; // data start pointer |
| 164 | ubxEp = (int8_t *) (&ubxVelNed + 1); // data end pointer |
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| 165 | ubxSp = (int8_t *) &ubxVelNed.status; // status pointer |
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| 2039 | - | 166 | break; |
| 167 | |||
| 168 | default: // unsupported identifier |
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| 169 | ubxstate = UBXSTATE_IDLE; |
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| 170 | break; |
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| 171 | } |
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| 172 | if (ubxstate != UBXSTATE_IDLE) { |
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| 173 | ubxstate = UBXSTATE_LEN1; |
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| 174 | cka = UBX_CLASS_NAV + c; |
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| 175 | ckb = UBX_CLASS_NAV + cka; |
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| 176 | } |
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| 177 | break; |
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| 178 | |||
| 179 | case UBXSTATE_LEN1: // 1st message length byte |
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| 180 | msglen = c; |
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| 181 | cka += c; |
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| 182 | ckb += cka; |
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| 183 | ubxstate = UBXSTATE_LEN2; |
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| 184 | break; |
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| 185 | |||
| 186 | case UBXSTATE_LEN2: // 2nd message length byte |
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| 187 | msglen += ((uint16_t) c) << 8; |
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| 188 | cka += c; |
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| 189 | ckb += cka; |
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| 190 | // if the old data are not processed so far then break parsing now |
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| 191 | // to avoid writing new data in ISR during reading by another function |
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| 192 | if (*ubxSp == NEWDATA) { |
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| 193 | updateGPSInfo(); //update GPS info respectively |
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| 194 | ubxstate = UBXSTATE_IDLE; |
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| 2058 | - | 195 | } else {// data invalid or already processd |
| 2039 | - | 196 | *ubxSp = INVALID; |
| 197 | ubxstate = UBXSTATE_DATA; |
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| 198 | } |
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| 199 | break; |
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| 200 | |||
| 201 | case UBXSTATE_DATA: |
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| 202 | if (ubxP < ubxEp) |
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| 203 | *ubxP++ = c; // copy curent data byte if any space is left |
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| 204 | cka += c; |
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| 205 | ckb += cka; |
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| 206 | if (--msglen == 0) |
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| 207 | ubxstate = UBXSTATE_CKA; // switch to next state if all data was read |
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| 208 | break; |
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| 209 | |||
| 210 | case UBXSTATE_CKA: |
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| 211 | if (c == cka) |
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| 212 | ubxstate = UBXSTATE_CKB; |
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| 213 | else { |
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| 214 | *ubxSp = INVALID; |
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| 215 | ubxstate = UBXSTATE_IDLE; |
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| 216 | } |
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| 217 | break; |
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| 218 | |||
| 219 | case UBXSTATE_CKB: |
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| 220 | if (c == ckb) { |
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| 221 | *ubxSp = NEWDATA; // new data are valid |
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| 222 | updateGPSInfo(); //update GPS info respectively |
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| 223 | GPSTimeout = 255; |
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| 224 | } else { // if checksum not match 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 | } |