Subversion Repositories FlightCtrl

Rev

Rev 2051 | Rev 2059 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 2051 Rev 2058
Line 1... Line 1...
1 
#include <inttypes.h>
 1 
#include <inttypes.h>
2 
#include "ubx.h"
 2 
#include "ubx.h"
3 
//#include "main.h"
 - 
 
4 
#include <avr/io.h>
 3 
#include <avr/io.h>
- 
 
 4 
#include "output.h"
Line 5... Line 5...
5 
 
 5 
 
6 
// ubx protocol parser state machine
 6 
// ubx protocol parser state machine
7 
#define UBXSTATE_IDLE   0
 7 
#define UBXSTATE_IDLE   0
8 
#define UBXSTATE_SYNC1  1
 8 
#define UBXSTATE_SYNC1  1
Line 73... Line 73...
73 
UBX_POSLLH_t ubxPosLlh = { 0, 0, 0, 0, 0, 0, 0, INVALID };
 73 
UBX_POSLLH_t ubxPosLlh = { 0, 0, 0, 0, 0, 0, 0, INVALID };
74 
UBX_VELNED_t ubxVelNed = { 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID };
 74 
UBX_VELNED_t ubxVelNed = { 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID };
75 
GPS_INFO_t GPSInfo = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID };
 75 
GPS_INFO_t GPSInfo = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID };
Line 76... Line 76...
76 
 
 76 
 
- 
 
 77 
volatile uint8_t GPSTimeout = 0;
Line 77... Line 78...
77 
volatile uint8_t GPSTimeout = 0;
 78 
volatile uint16_t GPSDatasetCounter = 0;
78 
 
 79 
 
79 
void updateGPSInfo(void) {
 - 
 
80 
  if ((ubxSol.status == NEWDATA) && (ubxPosLlh.status == NEWDATA)
 80 
void updateGPSInfo(void) {
81 
      && (ubxVelNed.status == NEWDATA)) {
 81 
  if ((ubxSol.status == NEWDATA) && (ubxPosLlh.status == NEWDATA) && (ubxVelNed.status == NEWDATA)) {
82 
    //RED_FLASH;
 82 
    //RED_FLASH;
- 
 
 83 
    // DebugOut.Digital ....blah...
- 
 
 84 
    if (GPSInfo.status != NEWDATA) {
- 
 
 85 
      GPSDatasetCounter++;
83 
    // DebugOut.Digital ....blah...
 86 
      debugOut.analog[31] = GPSDatasetCounter;
84 
    if (GPSInfo.status != NEWDATA) {
 87 
 
85 
      GPSInfo.status = INVALID;
 88 
      GPSInfo.status = INVALID;
86 
      // NAV SOL
 89 
      // NAV SOL
87 
      GPSInfo.flags =   ubxSol.flags;
 90 
      GPSInfo.flags =   ubxSol.flags;
Line 183... Line 186...
183 
    // if the old data are not processed so far then break parsing now
 186 
    // if the old data are not processed so far then break parsing now
184 
    // to avoid writing new data in ISR during reading by another function
 187 
    // to avoid writing new data in ISR during reading by another function
185 
    if (*ubxSp == NEWDATA) {
 188 
    if (*ubxSp == NEWDATA) {
186 
      updateGPSInfo(); //update GPS info respectively
 189 
      updateGPSInfo(); //update GPS info respectively
187 
      ubxstate = UBXSTATE_IDLE;
 190 
      ubxstate = UBXSTATE_IDLE;
188 
    } else // data invalid or allready processd
 191 
    } else {// data invalid or already processd
189 
    {
 - 
 
190 
      *ubxSp = INVALID;
 192 
      *ubxSp = INVALID;
191 
      ubxstate = UBXSTATE_DATA;
 193 
      ubxstate = UBXSTATE_DATA;
192 
    }
 194 
    }
193 
    break;
 195 
    break;