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| Rev 263 | Rev 264 | ||
|---|---|---|---|
| Line 277... | Line 277... | ||
| 277 | /********************************************************/ |
277 | /********************************************************/ |
| 278 | /* Upate GPS data stcructure */ |
278 | /* Upate GPS data stcructure */ |
| 279 | /********************************************************/ |
279 | /********************************************************/ |
| 280 | void Update_GPSData(void) |
280 | void Update_GPSData(void) |
| 281 | { |
281 | { |
| 282 | static u32 LastTimeStamp = 0; |
- | |
| 283 | u32 TimeStamp; |
- | |
| 284 | static u32 last_itow = 0; |
282 | static u32 last_itow = 0; |
| Line 285... | Line 283... | ||
| 285 | 283 | ||
| 286 | // if a new set of ubx messages was collected |
284 | // if a new set of ubx messages was collected |
| 287 | if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
285 | if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
| 288 | { // and the itow is equal (same time base) |
286 | { // and the itow is equal (same time base) |
| 289 | if((UbxSol.itow == UbxPosLlh.itow) && (UbxPosLlh.itow == UbxVelNed.itow)) |
287 | if((UbxSol.itow == UbxPosLlh.itow) && (UbxPosLlh.itow == UbxVelNed.itow)) |
| 290 | { |
- | |
| 291 | DebugOut.Analog[23] = (u16)(UbxSol.itow-last_itow); |
- | |
| 292 | last_itow = UbxSol.itow; // update last itow |
288 | { |
| 293 | UBX_Timeout = SetDelay(UBX_TIMEOUT); |
289 | UBX_Timeout = SetDelay(UBX_TIMEOUT); |
| 294 | DebugOut.Analog[9]++; |
290 | DebugOut.Analog[9]++; |
| 295 | // update GPS data only if the status is INVALID or PROCESSED |
291 | // update GPS data only if the status is INVALID or PROCESSED |
| 296 | if(GPSData.Status != NEWDATA) |
292 | if(GPSData.Status != NEWDATA) |
| 297 | { // wait for new data at all neccesary ubx messages |
293 | { // wait for new data at all neccesary ubx messages |
| 298 | GPSData.Status = INVALID; |
294 | GPSData.Status = INVALID; |
| 299 | // update message cycle time |
- | |
| 300 | TimeStamp = CountMilliseconds; |
295 | // update message cycle time |
| 301 | GPSData.MsgCycleTime = (u16)(TimeStamp - LastTimeStamp); |
296 | GPSData.MsgCycleTime = (u16)(UbxSol.itow-last_itow); |
| 302 | LastTimeStamp = TimeStamp; |
297 | last_itow = UbxSol.itow; // update last itow |
| 303 | DebugOut.Analog[16] = GPSData.MsgCycleTime; |
298 | DebugOut.Analog[16] = GPSData.MsgCycleTime; |
| 304 | // NAV SOL |
299 | // NAV SOL |
| 305 | GPSData.Flags = UbxSol.Flags; |
300 | GPSData.Flags = UbxSol.Flags; |
| 306 | GPSData.NumOfSats = UbxSol.numSV; |
301 | GPSData.NumOfSats = UbxSol.numSV; |