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Line 108... Line 108...
108 
u8 UART1_DisplayLine                    = 0;
 108 
u8 UART1_DisplayLine                    = 0;
109 
u8 UART1_ConfirmFrame                   = 0;
 109 
u8 UART1_ConfirmFrame                   = 0;
110 
u8 UART1_Request_FTP                    = FALSE;
 110 
u8 UART1_Request_FTP                    = FALSE;
111 
u8 LastTransmittedFCStatusFlags2 = 0;
 111 
u8 LastTransmittedFCStatusFlags2 = 0;
112 
u8 UART1_ExternalControlConfirmFrame = FALSE;
 112 
u8 UART1_ExternalControlConfirmFrame = FALSE;
- 
 
 113 
u8 Send_NMEA_RMC = FALSE;
Line 113... Line 114...
113 
 
 114 
 
Line 114... Line 115...
114 
UART_TypeDef *DebugUART = UART1;
 115 
UART_TypeDef *DebugUART = UART1;
115 
 
 116 
 
Line 679... Line 680...
679 
}
 680 
}
Line 680... Line 681...
680 
 
 681 
 
681 
//$GPGGA,HHMMSS.ss,BBBB.BBBB,b,LLLLL.LLLL,l,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*PP
 682 
//$GPGGA,HHMMSS.ss,BBBB.BBBB,b,LLLLL.LLLL,l,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*PP
682 
//$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45
 683 
//$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45
- 
 
 684 
//$GPGGA,092120.20,,,,,0,00,99.99,,,,,,*6C
683 
//$GPGGA,092120.20,,,,,0,00,99.99,,,,,,*6C
 685 
//http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm
684 
void CreateNmeaGGA(void)
 686 
void CreateNmeaGGA(void)
685 
{
 687 
{
686 
 unsigned char array[100], i = 0, crc = 0, x;
 688 
 unsigned char array[200], i = 0, crc = 0, x;
687 
 long tmp1, tmp2;
 689 
 long tmp1, tmp2;
688 
 i += sprintf(array, "$GPGGA,");
 690 
 i += sprintf(array, "$GPGGA,");
689 
// +++++++++++++++++++++++++++++++++++++++++++
 691 
// +++++++++++++++++++++++++++++++++++++++++++
690 
 if(SystemTime.Valid)
 692 
 if(SystemTime.Valid)
Line 745... Line 747...
745 
  }
 747 
  }
746 
  i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a);
 748 
  i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a);
747 
  AddSerialData(&UART1_tx_buffer,array,i);
 749 
  AddSerialData(&UART1_tx_buffer,array,i);
Line 748... Line 750...
748 
 
 750 
 
- 
 
 751 
// +++++++++++++++++++++++++++++++++++++++++++
- 
 
 752 
}
- 
 
 753 
 
- 
 
 754 
//$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13
- 
 
 755 
//$GPRMC,HHMMSS.sss,A,BBBB.BBBB,b,LLLLL.LLLL,l,GG.G,RR.R,DDMMYY,M.M,m,F*PP
- 
 
 756 
 
- 
 
 757 
void CreateNmeaRMC(void)
- 
 
 758 
{
- 
 
 759 
 unsigned char array[200], i = 0, crc = 0, x;
- 
 
 760 
 int tmp_int;
- 
 
 761 
 long tmp1, tmp2;
- 
 
 762 
// +++++++++++++++++++++++++++++++++++++++++++
- 
 
 763 
 i += sprintf(array, "$GPRMC,");
- 
 
 764 
// +++++++++++++++++++++++++++++++++++++++++++
- 
 
 765 
 if(SystemTime.Valid)
- 
 
 766 
  {
- 
 
 767 
   i += sprintf(&array[i], "%02d%02d%02d.%03d,",SystemTime.Hour,SystemTime.Min,SystemTime.Sec,SystemTime.mSec);
- 
 
 768 
  }
- 
 
 769 
 else
- 
 
 770 
  {
- 
 
 771 
  i += sprintf(&array[i], ",");
- 
 
 772 
  }
- 
 
 773 
 if(GPSData.Flags & FLAG_GPSFIXOK)
- 
 
 774 
 {
- 
 
 775 
// +++++++++++++++++++++++++++++++++++++++++++
- 
 
 776 
  tmp1 = abs(GPSData.Position.Latitude)/10000000L;
- 
 
 777 
  i += sprintf(&array[i],"A,%02d",tmp1); // Status: A = Okay  V = Warnung
- 
 
 778 
 
- 
 
 779 
  tmp1 = abs(GPSData.Position.Latitude)%10000000L;
- 
 
 780 
  tmp1 *= 6; // in Minuten
- 
 
 781 
  tmp2 = tmp1 / 1000000L;
- 
 
 782 
  i += sprintf(&array[i],"%02d",tmp2);
- 
 
 783 
  tmp2 = tmp1 % 1000000L;
- 
 
 784 
  tmp2 /= 10; // eine Stelle zu viel
- 
 
 785 
  i += sprintf(&array[i],".%05d,",tmp2);
- 
 
 786 
  if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,");
- 
 
 787 
  else i += sprintf(&array[i],"S,");
- 
 
 788 
// +++++++++++++++++++++++++++++++++++++++++++
- 
 
 789 
  tmp1 = abs(GPSData.Position.Longitude)/10000000L;
- 
 
 790 
  i += sprintf(&array[i],"%03d",tmp1);
- 
 
 791 
 
- 
 
 792 
  tmp1 = abs(GPSData.Position.Longitude)%10000000L;
- 
 
 793 
  tmp1 *= 6; // in Minuten
- 
 
 794 
  tmp2 = tmp1 / 1000000L;
- 
 
 795 
  i += sprintf(&array[i],"%02d",tmp2);
- 
 
 796 
  tmp2 = tmp1 % 1000000L;
- 
 
 797 
  tmp2 /= 10; // eine Stelle zu viel
- 
 
 798 
  i += sprintf(&array[i],".%05d,",tmp2);
- 
 
 799 
  if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,");
- 
 
 800 
  else i += sprintf(&array[i],"W,");
- 
 
 801 
// +++++++++++++++++++++++++++++++++++++++++++
- 
 
 802 
  tmp_int = GPSData.Speed_Ground; // in cm/sek
- 
 
 803 
  tmp_int *= 90;
- 
 
 804 
  tmp_int /= 463;
- 
 
 805 
  i += sprintf(&array[i],"%02d.%d,",tmp_int/10,tmp_int%10); // in Knoten
- 
 
 806 
// +++++++++++++++++++++++++++++++++++++++++++
- 
 
 807 
  i += sprintf(&array[i],"%03d.%d,",GyroCompassCorrected/10,GyroCompassCorrected%10);
- 
 
 808 
// +++++++++++++++++++++++++++++++++++++++++++
- 
 
 809 
 if(SystemTime.Valid)
- 
 
 810 
  {
- 
 
 811 
   i += sprintf(&array[i], "%02d%02d%02d,",SystemTime.Day,SystemTime.Month,SystemTime.Year);
- 
 
 812 
  }
- 
 
 813 
 else
- 
 
 814 
  {
- 
 
 815 
  i += sprintf(&array[i], ",");
- 
 
 816 
  }
- 
 
 817 
// +++++++++++++++++++++++++++++++++++++++++++
- 
 
 818 
  i += sprintf(&array[i],"%d.%1d,", abs(GeoMagDec)/10,abs(GeoMagDec)%10);
- 
 
 819 
  if(GeoMagDec < 0) i += sprintf(&array[i], "W,"); else i += sprintf(&array[i], "E,");
- 
 
 820 
// +++++++++++++++++++++++++++++++++++++++++++
- 
 
 821 
  if(GPSData.Flags & FLAG_DIFFSOLN) i += sprintf(&array[i], "D,");
- 
 
 822 
  else i += sprintf(&array[i], "A,");
- 
 
 823 
 }
- 
 
 824 
 else // kein Satfix
- 
 
 825 
  {
- 
 
 826 
   i += sprintf(&array[i], "V,,,,,,,,,,N*");
- 
 
 827 
  }
- 
 
 828 
// +++++++++++++++++++++++++++++++++++++++++++
- 
 
 829 
//  CRC
- 
 
 830 
// +++++++++++++++++++++++++++++++++++++++++++
- 
 
 831 
 for(x=1; x<i-1; x++)
- 
 
 832 
  {
- 
 
 833 
   crc ^= array[x];
- 
 
 834 
  }
- 
 
 835 
  i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a);
- 
 
 836 
// +++++++++++++++++++++++++++++++++++++++++++
- 
 
 837 
  AddSerialData(&UART1_tx_buffer,array,i);
749 
// +++++++++++++++++++++++++++++++++++++++++++
 838 
// +++++++++++++++++++++++++++++++++++++++++++
Line 750... Line 839...
750 
/*
 839 
/*
Line 926... Line 1015...
926 
                UART1_Request_MotorData = FALSE;
 1015 
                UART1_Request_MotorData = FALSE;
927 
        }
 1016 
        }
928 
        else if((((NMEA_Interval > 0) && CheckDelay(NMEA_Timer))) && (UART1_tx_buffer.Locked == FALSE))
 1017 
        else if((((NMEA_Interval > 0) && CheckDelay(NMEA_Timer))) && (UART1_tx_buffer.Locked == FALSE))
929 
        {
 1018 
        {
930 
                CreateNmeaGGA();
 1019 
                CreateNmeaGGA();
- 
 
 1020 
                Send_NMEA_RMC = TRUE;   // das muss noch da hinter
931 
                NMEA_Timer = SetDelay(NMEA_Interval);
 1021 
                NMEA_Timer = SetDelay(NMEA_Interval);
932 
        }
 1022 
        }
- 
 
 1023 
        else if(Send_NMEA_RMC == TRUE && (UART1_tx_buffer.Locked == FALSE))
- 
 
 1024 
        {
- 
 
 1025 
          CreateNmeaRMC();
- 
 
 1026 
          Send_NMEA_RMC = FALSE;
- 
 
 1027 
        }
Line 933... Line 1028...
933 
 
 1028 
 
934 
        /*
 1029 
        /*
935 
        else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE))
 1030 
        else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE))
936 
        {
 1031 
        {