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| Rev 119 | Rev 146 | ||
|---|---|---|---|
| Line 168... | Line 168... | ||
| 168 | // local buffers for the incomming ubx messages |
168 | // local buffers for the incomming ubx messages |
| 169 | volatile ubx_nav_sol_t UbxSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
169 | volatile ubx_nav_sol_t UbxSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
| 170 | volatile ubx_nav_posllh_t UbxPosLlh = {0,0,0,0,0,0,0, INVALID}; |
170 | volatile ubx_nav_posllh_t UbxPosLlh = {0,0,0,0,0,0,0, INVALID}; |
| 171 | volatile ubx_nav_velned_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
171 | volatile ubx_nav_velned_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
| Line 172... | Line -... | ||
| 172 | - | ||
| 173 | u32 CheckGPSOkay = 0; |
- | |
| 174 | 172 | ||
| 175 | // shared buffer |
173 | // shared buffer |
| 176 | gps_data_t GPSData = {{0,0,0,INVALID},0,0,0,0,0,0,0, INVALID}; |
174 | gps_data_t GPSData = {{0,0,0,INVALID},0,0,0,0,0,0,0, INVALID}; |
| Line -... | Line 175... | ||
| - | 175 | DateTime_t GPSDateTime = {0,0,0,0,0,0,0, INVALID}; |
|
| - | 176 | ||
| Line 177... | Line 177... | ||
| 177 | DateTime_t GPSDateTime = {0,0,0,0,0,0,0, INVALID}; |
177 | #define UBX_TIMEOUT 500 // 500 ms |
| 178 | 178 | u32 UBX_Timeout = 0; |
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| Line 179... | Line 179... | ||
| 179 | 179 | ||
| Line 268... | Line 268... | ||
| 268 | // mark msg buffers invalid |
268 | // mark msg buffers invalid |
| 269 | UbxSol.Status = INVALID; |
269 | UbxSol.Status = INVALID; |
| 270 | UbxPosLlh.Status = INVALID; |
270 | UbxPosLlh.Status = INVALID; |
| 271 | UbxVelNed.Status = INVALID; |
271 | UbxVelNed.Status = INVALID; |
| 272 | GPSData.Status = INVALID; |
272 | GPSData.Status = INVALID; |
| - | 273 | ||
| - | 274 | UBX_Timeout = SetDelay(2 * UBX_Timeout); |
|
| 273 | } |
275 | } |
| Line 274... | Line 276... | ||
| 274 | 276 | ||
| 275 | /********************************************************/ |
277 | /********************************************************/ |
| 276 | /* Upate GPS data stcructure */ |
278 | /* Upate GPS data stcructure */ |
| 277 | /********************************************************/ |
279 | /********************************************************/ |
| 278 | void Update_GPSData (void) |
280 | void Update_GPSData (void) |
| 279 | { |
281 | { |
| 280 | static u32 Ubx_Timeout = 0; |
282 | static u32 Msg_Count_Timeout = 0; |
| Line 281... | Line 283... | ||
| 281 | static u8 Msg_Count = 0; |
283 | static u8 Msg_Count = 0; |
| 282 | 284 | ||
| 283 | // the timeout is used to detect the delay between two message sets |
285 | // the timeout is used to detect the delay between two message sets |
| 284 | // and is used for synchronisation so that always a set is collected |
286 | // and is used for synchronisation so that always a set is collected |
| 285 | // that belongs together |
287 | // that belongs together |
| 286 | // _______NAVSOL|POSLLH|VELNED|___________________NAVSOL|POSLLH|VELNED|_____________ |
288 | // _______NAVSOL|POSLLH|VELNED|___________________NAVSOL|POSLLH|VELNED|_____________ |
| Line 287... | Line 289... | ||
| 287 | // | 8ms | 8ms | 184 ms | | | |
289 | // | 8ms | 8ms | 184 ms | | | |
| 288 | // msg_count: 0 1 2 0 1 2 |
290 | // msg_count: 0 1 2 0 1 2 |
| 289 | 291 | ||
| Line 290... | Line 292... | ||
| 290 | if(CheckDelay(Ubx_Timeout)) Msg_Count = 0; |
292 | if(CheckDelay(Msg_Count_Timeout)) Msg_Count = 0; |
| 291 | else Msg_Count++; |
293 | else Msg_Count++; |
| 292 | Ubx_Timeout = SetDelay(100); // reset ubx msg timeout |
294 | Msg_Count_Timeout = SetDelay(100); // reset ubx msg timeout |
| 293 | 295 | ||
| 294 | // if a new set of ubx messages was collected |
296 | // if a new set of ubx messages was collected |
| 295 | if((Msg_Count >= 2)) |
297 | if((Msg_Count >= 2)) |
| 296 | { // if set is complete |
298 | { // if set is complete |
| 297 | if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
299 | if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
| 298 | { |
300 | { |
| 299 | CheckGPSOkay++; |
301 | UBX_Timeout = SetDelay(UBX_TIMEOUT); |
| 300 | DebugOut.Analog[9]++; |
302 | DebugOut.Analog[9]++; |