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| Rev 212 | Rev 244 | ||
|---|---|---|---|
| Line 169... | Line 169... | ||
| 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... | ||
| 172 | 172 | ||
| 173 | // shared buffer |
173 | // shared buffer |
| 174 | gps_data_t GPSData = {{0,0,0,INVALID},0,0,0,0,0,0,0, INVALID}; |
174 | gps_data_t GPSData = {200,{0,0,0,INVALID},0,0,0,0,0,0,0, INVALID}; |
| Line 175... | Line 175... | ||
| 175 | DateTime_t GPSDateTime = {0,0,0,0,0,0,0, INVALID}; |
175 | DateTime_t GPSDateTime = {0,0,0,0,0,0,0, INVALID}; |
| 176 | 176 | ||
| Line 278... | Line 278... | ||
| 278 | /********************************************************/ |
278 | /********************************************************/ |
| 279 | void Update_GPSData (void) |
279 | void Update_GPSData (void) |
| 280 | { |
280 | { |
| 281 | static u32 Msg_Count_Timeout = 0; |
281 | static u32 Msg_Count_Timeout = 0; |
| 282 | static u8 Msg_Count = 0; |
282 | static u8 Msg_Count = 0; |
| - | 283 | static u32 LastTimeStamp = 0; |
|
| - | 284 | u32 TimeStamp; |
|
| Line 283... | Line 285... | ||
| 283 | 285 | ||
| 284 | // the timeout is used to detect the delay between two message sets |
286 | // the timeout is used to detect the delay between two message sets |
| 285 | // and is used for synchronisation so that always a set is collected |
287 | // and is used for synchronisation so that always a set is collected |
| 286 | // that belongs together |
288 | // that belongs together |
| Line 297... | Line 299... | ||
| 297 | { // if set is complete |
299 | { // if set is complete |
| 298 | if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
300 | if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
| 299 | { |
301 | { |
| 300 | UBX_Timeout = SetDelay(UBX_TIMEOUT); |
302 | UBX_Timeout = SetDelay(UBX_TIMEOUT); |
| 301 | DebugOut.Analog[9]++; |
303 | DebugOut.Analog[9]++; |
| - | 304 | ||
| 302 | // update GPS data only if the status is INVALID or PROCESSED and the last ubx message was received within less than 100 ms |
305 | // update GPS data only if the status is INVALID or PROCESSED and the last ubx message was received within less than 100 ms |
| 303 | if(GPSData.Status != NEWDATA) // if last data were processed |
306 | if(GPSData.Status != NEWDATA) // if last data were processed |
| 304 | { // wait for new data at all neccesary ubx messages |
307 | { // wait for new data at all neccesary ubx messages |
| 305 | GPSData.Status = INVALID; |
308 | GPSData.Status = INVALID; |
| - | 309 | // update message cycle time |
|
| - | 310 | TimeStamp = CountMilliseconds; |
|
| - | 311 | GPSData.MsgCycleTime = (u16)(TimeStamp - LastTimeStamp); |
|
| - | 312 | LastTimeStamp = TimeStamp; |
|
| - | 313 | DebugOut.Analog[16] = GPSData.MsgCycleTime; |
|
| 306 | // NAV SOL |
314 | // NAV SOL |
| 307 | GPSData.Flags = UbxSol.Flags; |
315 | GPSData.Flags = UbxSol.Flags; |
| 308 | GPSData.NumOfSats = UbxSol.numSV; |
316 | GPSData.NumOfSats = UbxSol.numSV; |
| 309 | GPSData.SatFix = UbxSol.GPSfix; |
317 | GPSData.SatFix = UbxSol.GPSfix; |
| 310 | GPSData.Position_Accuracy = UbxSol.PAcc; |
318 | GPSData.Position_Accuracy = UbxSol.PAcc; |