0,0 → 1,557 |
/*#######################################################################################*/ |
/* !!! THIS IS NOT FREE SOFTWARE !!! */ |
/*#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Software Nutzungsbedingungen (english version: see below) |
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
// + des Mitverschuldens offen. |
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Software LICENSING TERMS |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
// + The Software may only be used with the Licensor's products. |
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
// + agreement shall be the property of the Licensor. |
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
// + features that can be used to identify the program may not be altered or defaced by the customer. |
// + The customer shall be responsible for taking reasonable precautions |
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
// + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
// + #### END OF LICENSING TERMS #### |
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <string.h> |
#include "91x_lib.h" |
#include "uart1.h" |
#include "ubx.h" |
#include "led.h" |
#include "timer1.h" |
|
// ------------------------------------------------------------------------------------------------ |
// defines |
|
#define DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980 722819 // the year 0 does not exist! |
#define DAYS_PER_YEAR 365 |
#define DAYS_PER_LEAPYEAR 366 |
#define DAYS_PER_4YEARS 1461 //((3 * DAYS_PER_YEAR) + DAYS_PER_LEAPYEAR) // years dividable by 4 are leap years |
#define DAYS_PER_100YEARS 36524 //((25 * DAYS_PER_4YEARS) - 1) // years dividable by 100 are no leap years |
#define DAYS_PER_400YEARS 146097 //((4 * DAYS_PER_100YEARS) + 1L) // but years dividable by 400 are leap years |
#define SECONDS_PER_MINUTE 60 |
#define MINUTES_PER_HOUR 60 |
#define HOURS_PER_DAY 24 |
#define DAYS_PER_WEEK 7 |
#define SECONDS_PER_HOUR 3600 //(SECONDS_PER_MINUTE * MINUTES_PER_HOUR) |
#define SECONDS_PER_DAY 86400 //(SECONDS_PER_HOUR * HOURS_PER_DAY) |
#define SECONDS_PER_WEEK 604800 //(SECONDS_PER_DAY * DAYS_PER_WEEK) |
|
// days per month in normal and leap years |
const u32 Leap[ 13 ] = { 0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335, 366 }; |
const u32 Normal[ 13 ] = { 0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334, 365 }; |
|
#define LEAP_SECONDS_FROM_1980 15 |
|
// message sync bytes |
#define UBX_SYNC1_CHAR 0xB5 |
#define UBX_SYNC2_CHAR 0x62 |
// protocoll identifiers |
// navigation class |
#define UBX_CLASS_NAV 0x01 |
#define UBX_ID_POSLLH 0x02 |
#define UBX_ID_SOL 0x06 |
#define UBX_ID_VELNED 0x12 |
|
// ------------------------------------------------------------------------------------------------ |
// typedefs |
|
|
// ubx parser state |
typedef enum |
{ |
UBXSTATE_IDLE, |
UBXSTATE_SYNC1, |
UBXSTATE_SYNC2, |
UBXSTATE_CLASS, |
UBXSTATE_LEN1, |
UBXSTATE_LEN2, |
UBXSTATE_DATA, |
UBXSTATE_CKA, |
UBXSTATE_CKB |
} ubxState_t; |
|
typedef struct |
{ |
u32 itow; // ms GPS Millisecond Time of Week |
s32 frac; // ns remainder of rounded ms above |
s16 week; // GPS week |
u8 GPSfix; // GPSfix Type, range 0..6 |
u8 Flags; // Navigation Status Flags |
s32 ECEF_X; // cm ECEF X coordinate |
s32 ECEF_Y; // cm ECEF Y coordinate |
s32 ECEF_Z; // cm ECEF Z coordinate |
u32 PAcc; // cm 3D Position Accuracy Estimate |
s32 ECEFVX; // cm/s ECEF X velocity |
s32 ECEFVY; // cm/s ECEF Y velocity |
s32 ECEFVZ; // cm/s ECEF Z velocity |
u32 SAcc; // cm/s Speed Accuracy Estimate |
u16 PDOP; // 0.01 Position DOP |
u8 res1; // reserved |
u8 numSV; // Number of SVs used in navigation solution |
u32 res2; // reserved |
u8 Status; // invalid/newdata/processed |
} __attribute__((packed)) ubx_nav_sol_t; |
|
|
typedef struct |
{ |
u32 itow; // ms GPS Millisecond Time of Week |
s32 VEL_N; // cm/s NED north velocity |
s32 VEL_E; // cm/s NED east velocity |
s32 VEL_D; // cm/s NED down velocity |
u32 Speed; // cm/s Speed (3-D) |
u32 GSpeed; // cm/s Ground Speed (2-D) |
s32 Heading; // 1e-05 deg Heading 2-D |
u32 SAcc; // cm/s Speed Accuracy Estimate |
u32 CAcc; // deg Course / Heading Accuracy Estimate |
u8 Status; // invalid/newdata/processed |
} __attribute__((packed)) ubx_nav_velned_t; |
|
typedef struct |
{ |
u32 itow; // ms GPS Millisecond Time of Week |
s32 LON; // 1e-07 deg Longitude |
s32 LAT; // 1e-07 deg Latitude |
s32 HEIGHT; // mm Height above Ellipsoid |
s32 HMSL; // mm Height above mean sea level |
u32 Hacc; // mm Horizontal Accuracy Estimate |
u32 Vacc; // mm Vertical Accuracy Estimate |
u8 Status; // invalid/newdata/processed |
} __attribute__((packed)) ubx_nav_posllh_t; |
|
//------------------------------------------------------------------------------------ |
// global variables |
|
// local buffers for the incomming ubx messages |
ubx_nav_sol_t UbxSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
ubx_nav_posllh_t UbxPosLlh = {0,0,0,0,0,0,0, INVALID}; |
ubx_nav_velned_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
ubxmsg_t UbxMsg; |
|
// shared buffer |
gps_data_t GPSData = {200,{0,0,0,INVALID},0,0,0,0,0,0,0, INVALID}; |
DateTime_t GPSDateTime = {0,0,0,0,0,0,0, INVALID}; |
|
#define UBX_TIMEOUT 500 // 500 ms |
u32 UBX_Timeout = 0; |
|
//------------------------------------------------------------------------------------ |
// functions |
|
u8 IsLeapYear(u16 year) |
{ |
if((year%400 == 0) || ( (year%4 == 0) && (year%100 != 0) ) ) return 1; |
else return 0; |
} |
/********************************************************/ |
/* Calculates the UTC Time from the GPS week and tow */ |
/********************************************************/ |
void SetGPSTime(DateTime_t * pTimeStruct) |
{ |
u32 Days, Seconds, Week; |
u16 YearPart; |
u32 * MonthDayTab = 0; |
u8 i; |
|
|
// if GPS data show valid time data |
if((UbxSol.Status != INVALID) && (UbxSol.Flags & FLAG_WKNSET) && (UbxSol.Flags & FLAG_TOWSET) ) |
{ |
Seconds = UbxSol.itow / 1000L; |
Week = (u32)UbxSol.week; |
// correct leap seconds since 1980 |
if(Seconds < LEAP_SECONDS_FROM_1980) |
{ |
Week--; |
Seconds = SECONDS_PER_WEEK - LEAP_SECONDS_FROM_1980 + Seconds; |
} |
else Seconds -= LEAP_SECONDS_FROM_1980; |
|
Days = DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980; |
Days += (Week * DAYS_PER_WEEK); |
Days += Seconds / SECONDS_PER_DAY; // seperate days from GPS seconds of week |
|
pTimeStruct->Year = 1; |
YearPart = (u16)(Days / DAYS_PER_400YEARS); |
pTimeStruct->Year += YearPart * 400; |
Days = Days % DAYS_PER_400YEARS; |
YearPart = (u16)(Days / DAYS_PER_100YEARS); |
pTimeStruct->Year += YearPart * 100; |
Days = Days % DAYS_PER_100YEARS; |
YearPart = (u16)(Days / DAYS_PER_4YEARS); |
pTimeStruct->Year += YearPart * 4; |
Days = Days % DAYS_PER_4YEARS; |
if(Days < (3* DAYS_PER_YEAR)) YearPart = (u16)(Days / DAYS_PER_YEAR); |
else YearPart = 3; |
pTimeStruct->Year += YearPart; |
// calculate remaining days of year |
Days -= (u32)(YearPart * DAYS_PER_YEAR); |
Days += 1; |
// check if current year is a leap year |
if(IsLeapYear(pTimeStruct->Year)) MonthDayTab = (u32*)Leap; |
else MonthDayTab = (u32*)Normal; |
// seperate month and day from days of year |
for ( i = 0; i < 12; i++ ) |
{ |
if ( (MonthDayTab[i]< Days) && (Days <= MonthDayTab[i+1]) ) |
{ |
pTimeStruct->Month = i+1; |
pTimeStruct->Day = Days - MonthDayTab[i]; |
i = 12; |
} |
} |
Seconds = Seconds % SECONDS_PER_DAY; // remaining seconds of current day |
pTimeStruct->Hour = (u8)(Seconds / SECONDS_PER_HOUR); |
Seconds = Seconds % SECONDS_PER_HOUR; // remaining seconds of current hour |
pTimeStruct->Min = (u8)(Seconds / SECONDS_PER_MINUTE); |
Seconds = Seconds % SECONDS_PER_MINUTE; // remaining seconds of current minute |
pTimeStruct->Sec = (u8)(Seconds); |
pTimeStruct->mSec = (u16)(UbxSol.itow % 1000L); |
pTimeStruct->Valid = 1; |
} |
else |
{ |
pTimeStruct->Valid = 0; |
} |
} |
|
|
|
/********************************************************/ |
/* Initialize UBX Parser */ |
/********************************************************/ |
void UBX_Init(void) |
{ |
// mark msg buffers invalid |
UbxSol.Status = INVALID; |
UbxPosLlh.Status = INVALID; |
UbxVelNed.Status = INVALID; |
UbxMsg.Status = INVALID; |
GPSData.Status = INVALID; |
|
UBX_Timeout = SetDelay(2 * UBX_Timeout); |
} |
|
/********************************************************/ |
/* Upate GPS data stcructure */ |
/********************************************************/ |
void Update_GPSData(void) |
{ |
static u32 last_itow = 0; |
|
// if a new set of ubx messages was collected |
if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
{ // and the itow is equal (same time base) |
if((UbxSol.itow == UbxPosLlh.itow) && (UbxPosLlh.itow == UbxVelNed.itow)) |
{ |
UBX_Timeout = SetDelay(UBX_TIMEOUT); |
DebugOut.Analog[9]++; |
// update GPS data only if the status is INVALID or PROCESSED |
if(GPSData.Status != NEWDATA) |
{ // wait for new data at all neccesary ubx messages |
GPSData.Status = INVALID; |
// update message cycle time |
GPSData.MsgCycleTime = (u16)(UbxSol.itow-last_itow); |
last_itow = UbxSol.itow; // update last itow |
// DebugOut.Analog[16] = GPSData.MsgCycleTime; |
// NAV SOL |
GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
GPSData.NumOfSats = UbxSol.numSV; |
GPSData.SatFix = UbxSol.GPSfix; |
GPSData.Position_Accuracy = UbxSol.PAcc; |
GPSData.Speed_Accuracy = UbxSol.SAcc; |
SetGPSTime(&SystemTime); // update system time |
// NAV POSLLH |
GPSData.Position.Status = INVALID; |
GPSData.Position.Longitude = UbxPosLlh.LON; |
GPSData.Position.Latitude = UbxPosLlh.LAT; |
GPSData.Position.Altitude = UbxPosLlh.HMSL; |
GPSData.Position.Status = NEWDATA; |
// NAV VELNED |
GPSData.Speed_East = UbxVelNed.VEL_E; |
GPSData.Speed_North = UbxVelNed.VEL_N; |
GPSData.Speed_Top = -UbxVelNed.VEL_D; |
GPSData.Speed_Ground = UbxVelNed.GSpeed; |
GPSData.Heading = UbxVelNed.Heading; |
|
GPSData.Status = NEWDATA; // new data available |
} // EOF if(GPSData.Status != NEWDATA) |
// set state to collect new data |
UbxSol.Status = PROCESSED; // ready for new data |
UbxPosLlh.Status = PROCESSED; // ready for new data |
UbxVelNed.Status = PROCESSED; // ready for new data |
} // EOF all itow are equal |
} // EOF all ubx messages received |
|
|
//GPSData.Position.Longitude = 1517409123L; // Hamilton, Australia |
//GPSData.Position.Latitude = -329294773L; // Hamilton, Australia |
//GPSData.Position.Longitude =-1556010020L; // Alaska |
//GPSData.Position.Latitude = 629581270L; // Alaska |
//GPSData.Position.Longitude =-584343419L; // Buenos aires |
//GPSData.Position.Latitude = -345464421L; // Buenos aires |
//GPSData.Position.Longitude =1683362691L; // Neuseeland |
//GPSData.Position.Latitude = -465945926L; // Neuseeland |
} |
|
|
/********************************************************/ |
/* UBX Parser */ |
/********************************************************/ |
void UBX_RxParser(u8 c) |
{ |
static ubxState_t ubxState = UBXSTATE_IDLE; |
static ubxmsghdr_t RxHdr; |
static u8 RxData[UBX_MSG_DATA_SIZE]; |
static u16 RxBytes = 0; |
static u8 cka, ckb; |
|
|
//state machine |
switch (ubxState) // ubx message parser |
{ |
case UBXSTATE_IDLE: // check 1st sync byte |
if (c == UBX_SYNC1_CHAR) ubxState = UBXSTATE_SYNC1; |
else ubxState = UBXSTATE_IDLE; // out of synchronization |
break; |
|
case UBXSTATE_SYNC1: // check 2nd sync byte |
if (c == UBX_SYNC2_CHAR) ubxState = UBXSTATE_SYNC2; |
else ubxState = UBXSTATE_IDLE; // out of synchronization |
break; |
|
case UBXSTATE_SYNC2: // check msg class to be NAV |
RxHdr.Class = c; |
ubxState = UBXSTATE_CLASS; |
break; |
|
case UBXSTATE_CLASS: // check message identifier |
RxHdr.Id = c; |
ubxState = UBXSTATE_LEN1; |
cka = RxHdr.Class + RxHdr.Id; |
ckb = RxHdr.Class + cka; |
break; |
|
case UBXSTATE_LEN1: // 1st message length byte |
RxHdr.Length = (u16)c; // lowbyte first |
cka += c; |
ckb += cka; |
ubxState = UBXSTATE_LEN2; |
break; |
|
case UBXSTATE_LEN2: // 2nd message length byte |
RxHdr.Length += ((u16)c)<<8; // high byte last |
if (RxHdr.Length >= UBX_MSG_DATA_SIZE) |
{ |
ubxState = UBXSTATE_IDLE; |
} |
else |
{ |
cka += c; |
ckb += cka; |
RxBytes = 0; // reset data byte counter |
ubxState = UBXSTATE_DATA; |
} |
break; |
|
case UBXSTATE_DATA: // collecting data |
if (RxBytes < UBX_MSG_DATA_SIZE) |
{ |
RxData[RxBytes++] = c; // copy curent data byte if any space is left |
cka += c; |
ckb += cka; |
if (RxBytes >= RxHdr.Length) ubxState = UBXSTATE_CKA; // switch to next state if all data have been received |
} |
else // rx buffer overrun |
{ |
ubxState = UBXSTATE_IDLE; |
} |
break; |
|
case UBXSTATE_CKA: |
if (c == cka) ubxState = UBXSTATE_CKB; |
else |
{ |
ubxState = UBXSTATE_IDLE; |
} |
break; |
|
case UBXSTATE_CKB: |
if (c == ckb) |
{ // checksum is ok |
|
switch(RxHdr.Class) |
{ |
case UBX_CLASS_NAV: |
switch(RxHdr.Id) |
{ |
case UBX_ID_POSLLH: // geodetic position |
memcpy((u8*)&UbxPosLlh, RxData, RxHdr.Length); |
UbxPosLlh.Status = NEWDATA; |
break; |
|
case UBX_ID_VELNED: // velocity vector in tangent plane |
memcpy((u8*)&UbxVelNed, RxData, RxHdr.Length); |
UbxVelNed.Status = NEWDATA; |
break; |
|
case UBX_ID_SOL: // navigation solution |
memcpy((u8*)&UbxSol, RxData, RxHdr.Length); |
UbxSol.Status = NEWDATA; |
break; |
|
default: |
break; |
} // EOF switch(Id) |
Update_GPSData(); |
break; |
|
default: |
break; |
} // EOF switch(class) |
|
// check generic msg filter |
if(UbxMsg.Status != NEWDATA) |
{ // msg buffer is free |
if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (RxHdr.Class&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (RxHdr.Id&UbxMsg.IdMask))) |
{ // msg matches to the filter criteria |
UbxMsg.Status = INVALID; |
UbxMsg.Hdr.Class = RxHdr.Class; |
UbxMsg.Hdr.Id = RxHdr.Id; |
UbxMsg.Hdr.Length = RxHdr.Length; |
if(UbxMsg.Hdr.Length <= UBX_MSG_DATA_SIZE) |
{ // copy data block |
memcpy(UbxMsg.Data, RxData, RxHdr.Length); |
UbxMsg.Status = NEWDATA; |
} |
} // EOF filter matches |
} // EOF != INVALID |
}// EOF crc ok |
ubxState = UBXSTATE_IDLE; // ready to parse new data |
break; |
|
default: // unknown ubx state |
ubxState = UBXSTATE_IDLE; |
break; |
|
} |
} |
|
u8 UBX_CreateMsg(Buffer_t* pBuff, u8* pData, u16 Len) |
{ |
u16 i; |
u8 cka = 0, ckb = 0; |
// check if buffer is available |
if(pBuff->Locked == TRUE) return(0); |
// check if buffer size is sufficient |
if(pBuff->Size < 8 + Len) return(0); |
// lock the buffer |
pBuff->Locked = TRUE; |
// start at begin |
pBuff->Position = 0; |
pBuff->pData[pBuff->Position++] = UBX_SYNC1_CHAR; |
pBuff->pData[pBuff->Position++] = UBX_SYNC2_CHAR; |
for(i=0;i<Len;i++) |
{ |
pBuff->pData[pBuff->Position++] = pData[i]; |
} |
// calculate checksum |
for(i=2;i<pBuff->Position;i++) |
{ |
cka += pBuff->pData[i]; |
ckb += cka; |
} |
pBuff->pData[pBuff->Position++] = cka; |
pBuff->pData[pBuff->Position++] = ckb; |
pBuff->DataBytes = pBuff->Position; |
pBuff->Position = 0; // reset buffer position for transmision |
return(1); |
} |
/* |
switch(ubxclass) |
{ |
case UBX_CLASS_NAV: |
switch(ubxid) |
{ |
case UBX_ID_POSLLH: // geodetic position |
ubxSp = (u8 *)&UbxPosLlh; // data start pointer |
ubxEp = (u8 *)(&UbxPosLlh + 1); // data end pointer |
ubxStP = (u8 *)&UbxPosLlh.Status; // status pointer |
break; |
|
case UBX_ID_SOL: // navigation solution |
ubxSp = (u8 *)&UbxSol; // data start pointer |
ubxEp = (u8 *)(&UbxSol + 1); // data end pointer |
ubxStP = (u8 *)&UbxSol.Status; // status pointer |
break; |
|
case UBX_ID_VELNED: // velocity vector in tangent plane |
ubxSp = (u8 *)&UbxVelNed; // data start pointer |
ubxEp = (u8 *)(&UbxVelNed + 1); // data end pointer |
ubxStP = (u8 *)&UbxVelNed.Status; // status pointer |
break; |
|
default: // unsupported identifier |
ubxState = UBXSTATE_IDLE; |
return; |
} |
break; |
|
default: // other classes |
if(UbxMsg.Status == NEWDATA) ubxState = UBXSTATE_IDLE; |
else if(((UbxMsg.Hdr.Class&UbxMsg.ClassMask) == (ubxclass&UbxMsg.ClassMask)) && ((UbxMsg.Hdr.Id&UbxMsg.IdMask) == (ubxid&UbxMsg.IdMask))) |
{ // buffer is free and message matches to filter criteria |
UbxMsg.Status = INVALID; |
UbxMsg.Hdr.Class = ubxclass; |
UbxMsg.Hdr.Id = ubxid; |
UbxMsg.Hdr.Length = msglen; |
ubxSp = (u8 *)&(UbxMsg.Data); // data start pointer |
ubxEp = (u8 *)(&UbxMsg + 1); // data end pointer |
ubxStP = (u8 *)&UbxMsg.Status; // status pointer |
} |
else ubxState = UBXSTATE_IDLE; |
break; |
} |
*/ |
|