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OP-25 Flight/GPS: Optimized GPS, buffer overflow fixed, RMC sentence handler
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@660 ebee16cc-31ac-478f-84a7-5cbb03baadba
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sambas
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@ -49,6 +49,8 @@
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#define NMEA_DEBUG_PKT ///< define to enable debug of all NMEA messages
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#define NMEA_DEBUG_GGA ///< define to enable debug of GGA messages
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#define NMEA_DEBUG_VTG ///< define to enable debug of VTG messages
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#define NMEA_DEBUG_RMC ///< define to enable debug of RMC messages
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#define NMEA_DEBUG_GSA ///< define to enable debug of GSA messages
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#endif
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// Private functions
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@ -59,6 +61,7 @@ char* nmeaGetPacketBuffer(void);
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char nmeaChecksum(char* gps_buffer);
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uint8_t nmeaProcess(cBuffer* rxBuffer);
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void nmeaProcessGPGGA(char* packet);
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void nmeaProcessGPRMC(char* packet);
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void nmeaProcessGPVTG(char* packet);
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void nmeaProcessGPGSA(char* packet);
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@ -74,7 +77,7 @@ void nmeaProcessGPGSA(char* packet);
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static COMPortTypeDef gpsPort;
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static xTaskHandle gpsTaskHandle;
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cBuffer gpsRxBuffer;
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static char gpsRxData[1024];
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static char gpsRxData[512];
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char NmeaPacket[NMEA_BUFFERSIZE];
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/**
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@ -89,7 +92,7 @@ int32_t GpsInitialize(void)
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gpsPort = COM_USART2;
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// Init input buffer size 512
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bufferInit(&gpsRxBuffer, (unsigned char *)gpsRxData, 1024);
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bufferInit(&gpsRxBuffer, (unsigned char *)gpsRxData, 512);
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// Start gps task
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xReturn = xTaskCreate(gpsTask, (signed char*)"GPS", STACK_SIZE, NULL, TASK_PRIORITY, &gpsTaskHandle);
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@ -121,10 +124,8 @@ static void gpsTask(void* parameters)
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gpsRxOverflow++;
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break;
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}
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//PIOS_COM_SendFormattedStringNonBlocking(COM_USART1, "%d\r", PIOS_COM_ReceiveBufferUsed(gpsPort));
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//vTaskDelay(xDelay);
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nmeaProcess(&gpsRxBuffer);
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}
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nmeaProcess(&gpsRxBuffer);
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vTaskDelay(xDelay);
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}
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}
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@ -161,10 +162,17 @@ char nmeaChecksum(char* gps_buffer)
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}
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//PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART,"$%d=%d\r\n",checksum_received,checksum);
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if(checksum == checksum_received)
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{
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GpsObjectData GpsData;
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GpsObjectGet(&GpsData);
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GpsData.Updates++;
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GpsObjectSet(&GpsData);
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return 1;
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}
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else
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{
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return 0;
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}
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}
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/**
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@ -266,7 +274,7 @@ uint8_t nmeaProcess(cBuffer* rxBuffer)
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else if(!strncmp(NmeaPacket, "GPRMC", 5))
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{
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// process packet of this type
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//nmeaProcessGPRMC(NmeaPacket);
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nmeaProcessGPRMC(NmeaPacket);
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// report packet type
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foundpacket = NMEA_GPRMC;
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}
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@ -296,7 +304,7 @@ void nmeaProcessGPGGA(char* packet)
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long deg,min,desim;
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#ifdef NMEA_DEBUG_GGA
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//PIOS_COM_SendFormattedStringNonBlocking(COM_USART1,"NMEA: %s\r\n",packet);
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PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART,"$%s\r\n",packet);
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#endif
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// start parsing just after "GPGGA,"
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@ -307,11 +315,10 @@ void nmeaProcessGPGGA(char* packet)
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if(!nmeaChecksum(packet))
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{
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// checksum not valid
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//PIOS_LED_Toggle(LED2);
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return;
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}
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GpsObjectGet(&GpsData);
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GpsObjectGet(&GpsData);
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// tokenizer for nmea sentence
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//GPGGA header
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tokens = strsep(&packet, delimiter);
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@ -376,8 +383,8 @@ void nmeaProcessGPGGA(char* packet)
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// 0 = Invalid, 1 = Valid SPS, 2 = Valid DGPS, 3 = Valid PPS
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// check for good position fix
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tokens = strsep(&packet, delimiter);
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if((tokens[0] != '0') || (tokens[0] != 0))
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GpsData.Updates++;
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//if((tokens[0] != '0') || (tokens[0] != 0))
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// GpsData.Updates++;
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// next field: satellites used
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// get number of satellites used in GPS solution
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@ -407,6 +414,117 @@ void nmeaProcessGPGGA(char* packet)
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GpsObjectSet(&GpsData);
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}
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/**
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* Prosesses NMEA GPRMC sentences
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* \param[in] Buffer for parsed nmea GPRMC sentence
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*/
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void nmeaProcessGPRMC(char* packet)
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{
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GpsObjectData GpsData;
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char *tokens;
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char *delimiter = ",";
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char *pEnd;
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char token_length=0;
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long deg,min,desim;
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#ifdef NMEA_DEBUG_RMC
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PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART,"$%s\r\n",packet);
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#endif
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// start parsing just after "GPRMC,"
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// attempt to reject empty packets right away
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if(packet[6]==',' && packet[7]==',')
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return;
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if(!nmeaChecksum(packet))
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{
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// checksum not valid
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return;
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}
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GpsObjectGet(&GpsData);
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// tokenizer for nmea sentence
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//GPRMC header
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tokens = strsep(&packet, delimiter);
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// get UTC time [hhmmss.sss]
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tokens = strsep(&packet, delimiter);
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//strcpy(GpsInfo.TimeOfFix,tokens);
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// next field: Navigation receiver warning A = OK, V = warning
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tokens = strsep(&packet, delimiter);
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// next field: latitude
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// get latitude [ddmm.mmmmm]
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tokens = strsep(&packet, delimiter);
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token_length=strlen(tokens);
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deg=strtol (tokens,&pEnd,10);
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min=deg%100;
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deg=deg/100;
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desim=strtol (pEnd+1,NULL,10);
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/*if(token_length==10)// 5 desimal output
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{
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GpsData.Latitude=deg+(min+desim/100000.0)/60.0; // to desimal degrees
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}
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else if(token_length==9) // 4 desimal output
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{
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GpsData.Latitude=deg+(min+desim/10000.0)/60.0; // to desimal degrees
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}
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else if(token_length==11) // 6 desimal output OPGPS
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{
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GpsData.Latitude=deg+(min+desim/1000000.0)/60.0; // to desimal degrees
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}*/
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// next field: N/S indicator
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// correct latitute for N/S
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tokens = strsep(&packet, delimiter);
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//if(tokens[0] == 'S') GpsData.Latitude = -GpsData.Latitude;
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// next field: longitude
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// get longitude [dddmm.mmmmm]
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tokens = strsep(&packet, delimiter);
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token_length=strlen(tokens);
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deg=strtol (tokens,&pEnd,10);
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min=deg%100;
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deg=deg/100;
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desim=strtol (pEnd+1,NULL,10);
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/*if(token_length==11)// 5 desimal output
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{
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GpsData.Longitude=deg+(min+desim/100000.0)/60.0; // to desimal degrees
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}
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else if(token_length==10) // 4 desimal output
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{
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GpsData.Longitude=deg+(min+desim/10000.0)/60.0; // to desimal degrees
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}
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else if(token_length==12) // 6 desimal output OPGPS
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{
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GpsData.Longitude=deg+(min+desim/1000000.0)/60.0; // to desimal degrees
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}*/
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// next field: E/W indicator
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// correct latitute for E/W
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tokens = strsep(&packet, delimiter);
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//if(tokens[0] == 'W') GpsData.Longitude = -GpsData.Longitude;
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// next field: speed (knots)
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// get speed in knots
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tokens = strsep(&packet, delimiter);
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// next field: True course
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// get True course
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tokens = strsep(&packet, delimiter);
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// next field: Date of fix
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// get Date of fix
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tokens = strsep(&packet, delimiter);
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// next field: Magnetic variation
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// next field: E or W
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// next field: checksum
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GpsObjectSet(&GpsData);
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}
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/**
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* Prosesses NMEA GPVTG sentences
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* \param[in] Buffer for parsed nmea GPVTG sentence
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@ -419,7 +537,7 @@ void nmeaProcessGPVTG(char* packet)
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char *delimiter = ",";
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#ifdef NMEA_DEBUG_VTG
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//PIOS_COM_SendFormattedStringNonBlocking(COM_USART1,"NMEA: %s\r\n",packet);
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PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART,"$%s\r\n",packet);
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#endif
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// start parsing just after "GPVTG,"
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@ -430,7 +548,6 @@ void nmeaProcessGPVTG(char* packet)
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if(!nmeaChecksum(packet))
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{
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// checksum not valid
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//PIOS_LED_Toggle(LED2);
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return;
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}
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GpsObjectGet(&GpsData);
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@ -479,7 +596,7 @@ void nmeaProcessGPGSA(char* packet)
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long value,desim;
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#ifdef NMEA_DEBUG_GSA
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//PIOS_COM_SendFormattedStringNonBlocking(COM_USART1,"NMEA: %s\r\n",packet);
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PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART,"$%s\r\n",packet);
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#endif
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// start parsing just after "GPGSA,"
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@ -490,7 +607,6 @@ void nmeaProcessGPGSA(char* packet)
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if(!nmeaChecksum(packet))
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{
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// checksum not valid
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//PIOS_LED_Toggle(LED2);
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return;
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}
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GpsObjectGet(&GpsData);
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