WebSVN - FlightCtrl - Diff - Rev 2039 and 2044 - /branches/dongfang_FC

 #define UBX_SYNC1_CHAR  0xB5
 #define UBX_SYNC2_CHAR  0x62
 typedef struct {
   uint32_t ITOW; // ms GPS Millisecond Time of Week
-  int32_t Frac; // ns remainder of rounded ms above
+  int32_t frac; // ns remainder of rounded ms above
   int16_t week; // GPS week
   uint8_t GPSfix; // GPSfix Type, range 0..6
-  uint8_t Flags; // Navigation Status Flags
+  uint8_t flags; // Navigation Status Flags
   int32_t ECEF_X; // cm ECEF X coordinate
   int32_t ECEF_Y; // cm ECEF Y coordinate
   int32_t ECEF_Z; // cm ECEF Z coordinate
-  uint32_t PAcc; // cm 3D Position Accuracy Estimate
+  uint32_t pAcc; // cm 3D Position Accuracy Estimate
   int32_t ECEFVX; // cm/s ECEF X velocity
   int32_t ECEFVY; // cm/s ECEF Y velocity
   int32_t ECEFVZ; // cm/s ECEF Z velocity
-  uint32_t SAcc; // cm/s Speed Accuracy Estimate
+  uint32_t sAcc; // cm/s Speed Accuracy Estimate
   uint16_t PDOP; // 0.01 Position DOP
   uint8_t res1; // reserved
   uint8_t numSV; // Number of SVs used in navigation solution
   uint32_t res2; // reserved
-  Status_t Status;
+  Status_t status;
 } UBX_SOL_t;
 typedef struct {
   uint32_t ITOW; // ms GPS Millisecond Time of Week
-  int32_t LON; // 1e-07 deg Longitude
+  int32_t lon; // 1e-07 deg Longitude
-  int32_t LAT; // 1e-07 deg Latitude
+  int32_t lat; // 1e-07 deg Latitude
-  int32_t HEIGHT; // mm Height above Ellipsoid
+  int32_t height; // mm Height above Ellipsoid
   int32_t HMSL; // mm Height above mean sea level
-  uint32_t Hacc; // mm Horizontal Accuracy Estimate
+  uint32_t hAcc; // mm Horizontal Accuracy Estimate
-  uint32_t Vacc; // mm Vertical Accuracy Estimate
+  uint32_t vAacc; // mm Vertical Accuracy Estimate
-  Status_t Status;
+  Status_t status;
 } UBX_POSLLH_t;
 typedef struct {
   uint32_t ITOW; // ms  GPS Millisecond Time of Week
   int32_t VEL_N; // cm/s  NED north velocity
   int32_t VEL_E; // cm/s  NED east velocity
   int32_t VEL_D; // cm/s  NED down velocity
-  uint32_t Speed; // cm/s  Speed (3-D)
+  uint32_t speed; // cm/s  Speed (3-D)
-  uint32_t GSpeed; // cm/s  Ground Speed (2-D)
+  uint32_t gSpeed; // cm/s  Ground Speed (2-D)
-  int32_t Heading; // 1e-05 deg  Heading 2-D
+  int32_t heading; // 1e-05 deg  Heading 2-D
-  uint32_t SAcc; // cm/s  Speed Accuracy Estimate
+  uint32_t sAcc; // cm/s  Speed Accuracy Estimate
-  uint32_t CAcc; // deg  Course / Heading Accuracy Estimate
-  Status_t Status;
+  uint32_t cAcc; // deg  Course / Heading Accuracy Estimate
-} UBX_VELNED_t;
+  Status_t status;
+} UBX_VELNED_t;
 UBX_SOL_t UbxSol =
-    { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID };
+UBX_SOL_t ubxSol = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID };
-UBX_POSLLH_t UbxPosLlh = { 0, 0, 0, 0, 0, 0, 0, INVALID };
+UBX_POSLLH_t ubxPosLlh = { 0, 0, 0, 0, 0, 0, 0, INVALID };
-UBX_VELNED_t UbxVelNed = { 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID };
+UBX_VELNED_t ubxVelNed = { 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID };
 GPS_INFO_t GPSInfo = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, INVALID };
 volatile uint8_t GPSTimeout = 0;
 void updateGPSInfo(void) {
-  if ((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA)
+  if ((ubxSol.status == NEWDATA) && (ubxPosLlh.status == NEWDATA)
-      && (UbxVelNed.Status == NEWDATA)) {
+      && (ubxVelNed.status == NEWDATA)) {
     //RED_FLASH;
     // DebugOut.Digital ....blah...
     if (GPSInfo.status != NEWDATA) {
       GPSInfo.status = INVALID;
       // NAV SOL
-      GPSInfo.flags = UbxSol.Flags;
+      GPSInfo.flags =   ubxSol.flags;
-      GPSInfo.satfix = UbxSol.GPSfix;
+      GPSInfo.satfix =  ubxSol.GPSfix;
-      GPSInfo.satnum = UbxSol.numSV;
+      GPSInfo.satnum =  ubxSol.numSV;
-      GPSInfo.PAcc = UbxSol.PAcc;
+      GPSInfo.PAcc =    ubxSol.pAcc;
-      GPSInfo.VAcc = UbxSol.SAcc;
+      GPSInfo.VAcc =    ubxSol.sAcc;
       // NAV POSLLH
-      GPSInfo.longitude = UbxPosLlh.LON;
+      GPSInfo.longitude =   ubxPosLlh.lon;
-      GPSInfo.latitude = UbxPosLlh.LAT;
+      GPSInfo.latitude =    ubxPosLlh.lat;
-      GPSInfo.altitude = UbxPosLlh.HEIGHT;
+      GPSInfo.altitude =    ubxPosLlh.height;
-      GPSInfo.veleast = UbxVelNed.VEL_E;
+      GPSInfo.veleast =     ubxVelNed.VEL_E;
-      GPSInfo.velnorth = UbxVelNed.VEL_N;
+      GPSInfo.velnorth =    ubxVelNed.VEL_N;
-      GPSInfo.veltop = -UbxVelNed.VEL_D;
+      GPSInfo.veltop =      -ubxVelNed.VEL_D;
-      GPSInfo.velground = UbxVelNed.GSpeed;
+      GPSInfo.velground =   ubxVelNed.gSpeed;
       GPSInfo.status = NEWDATA;
+    }
     break;
   case UBXSTATE_CLASS: // check message identifier
     switch (c) {
     case UBX_ID_POSLLH: // geodetic position
-      ubxP = (int8_t *) &UbxPosLlh; // data start pointer
+      ubxP = (int8_t *)     &ubxPosLlh; // data start pointer
-      ubxEp = (int8_t *) (&UbxPosLlh + 1); // data end pointer
+      ubxEp = (int8_t *)   (&ubxPosLlh + 1); // data end pointer
-      ubxSp = (int8_t *) &UbxPosLlh.Status; // status pointer
+      ubxSp = (int8_t *)    &ubxPosLlh.status; // status pointer
       break;
     case UBX_ID_SOL: // navigation solution
-      ubxP = (int8_t *) &UbxSol; // data start pointer
+      ubxP = (int8_t *)     &ubxSol; // data start pointer
-      ubxEp = (int8_t *) (&UbxSol + 1); // data end pointer
+      ubxEp = (int8_t *)   (&ubxSol + 1); // data end pointer
-      ubxSp = (int8_t *) &UbxSol.Status; // status pointer
+      ubxSp = (int8_t *)    &ubxSol.status; // status pointer
       break;
     case UBX_ID_VELNED: // velocity vector in tangent plane
-      ubxP = (int8_t *) &UbxVelNed; // data start pointer
+      ubxP = (int8_t *)     &ubxVelNed; // data start pointer
-      ubxEp = (int8_t *) (&UbxVelNed + 1); // data end pointer
+      ubxEp = (int8_t *)   (&ubxVelNed + 1); // data end pointer
-      ubxSp = (int8_t *) &UbxVelNed.Status; // status pointer
+      ubxSp = (int8_t *)    &ubxVelNed.status; // status pointer
       break;
   default: // unknown ubx state
     ubxstate = UBXSTATE_IDLE;
     break;
+  }
+}

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/ubx.c - Rev 2039 → 2044