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Move some GPS variables into struct. Some alignment with iNav

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This commit is contained in:
Martin Budden 2017-06-25 06:55:17 +01:00
parent 582af3d515
commit 564e0c94b8
22 changed files with 192 additions and 197 deletions
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40
src/main/io/gps.c
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@ -71,18 +71,11 @@ static char *gpsPacketLogChar = gpsPacketLog;
// **********************
// GPS
// **********************
int32_t GPS_coord[2]; // LAT/LON
uint8_t GPS_numSat;
uint16_t GPS_hdop = 9999; // Compute GPS quality signal
gpsSolutionData_t gpsSol;
uint32_t GPS_packetCount = 0;
uint32_t GPS_svInfoReceivedCount = 0; // SV = Space Vehicle, counter increments each time SV info is received.
uint8_t GPS_update = 0; // it's a binary toggle to distinct a GPS position update
uint16_t GPS_altitude; // altitude in 0.1m
uint16_t GPS_speed; // speed in 0.1m/s
uint16_t GPS_ground_course = 0; // degrees * 10
uint8_t GPS_numCh; // Number of channels
uint8_t GPS_svinfo_chn[GPS_SV_MAXSATS]; // Channel number
uint8_t GPS_svinfo_svid[GPS_SV_MAXSATS]; // Satellite ID
@ -424,7 +417,7 @@ void gpsInitHardware(void)
static void updateGpsIndicator(timeUs_t currentTimeUs)
{
static uint32_t GPSLEDTime;
if ((int32_t)(currentTimeUs - GPSLEDTime) >= 0 && (GPS_numSat >= 5)) {
if ((int32_t)(currentTimeUs - GPSLEDTime) >= 0 && (gpsSol.numSat >= 5)) {
GPSLEDTime = currentTimeUs + 150000;
LED1_TOGGLE;
}
@ -456,8 +449,7 @@ void gpsUpdate(timeUs_t currentTimeUs)
gpsData.baudrateIndex %= GPS_INIT_ENTRIES;
}
gpsData.lastMessage = millis();
// TODO - move some / all of these into gpsData
GPS_numSat = 0;
gpsSol.numSat = 0;
DISABLE_STATE(GPS_FIX);
gpsSetState(GPS_INITIALIZING);
break;
@ -746,16 +738,16 @@ static bool gpsNewFrameNMEA(char c)
*gpsPacketLogChar = LOG_NMEA_GGA;
frameOK = 1;
if (STATE(GPS_FIX)) {
GPS_coord[LAT] = gps_Msg.latitude;
GPS_coord[LON] = gps_Msg.longitude;
GPS_numSat = gps_Msg.numSat;
GPS_altitude = gps_Msg.altitude;
gpsSol.llh.lat = gps_Msg.latitude;
gpsSol.llh.lon = gps_Msg.longitude;
gpsSol.numSat = gps_Msg.numSat;
gpsSol.llh.alt = gps_Msg.altitude;
}
break;
case FRAME_RMC:
*gpsPacketLogChar = LOG_NMEA_RMC;
GPS_speed = gps_Msg.speed;
GPS_ground_course = gps_Msg.ground_course;
gpsSol.groundSpeed = gps_Msg.speed;
gpsSol.groundCourse = gps_Msg.ground_course;
break;
} // end switch
} else {
@ -952,9 +944,9 @@ static bool UBLOX_parse_gps(void)
case MSG_POSLLH:
*gpsPacketLogChar = LOG_UBLOX_POSLLH;
//i2c_dataset.time = _buffer.posllh.time;
GPS_coord[LON] = _buffer.posllh.longitude;
GPS_coord[LAT] = _buffer.posllh.latitude;
GPS_altitude = _buffer.posllh.altitude_msl / 10 / 100; //alt in m
gpsSol.llh.lon = _buffer.posllh.longitude;
gpsSol.llh.lat = _buffer.posllh.latitude;
gpsSol.llh.alt = _buffer.posllh.altitude_msl / 10 / 100; //alt in m
if (next_fix) {
ENABLE_STATE(GPS_FIX);
} else {
@ -973,14 +965,14 @@ static bool UBLOX_parse_gps(void)
next_fix = (_buffer.solution.fix_status & NAV_STATUS_FIX_VALID) && (_buffer.solution.fix_type == FIX_3D);
if (!next_fix)
DISABLE_STATE(GPS_FIX);
GPS_numSat = _buffer.solution.satellites;
GPS_hdop = _buffer.solution.position_DOP;
gpsSol.numSat = _buffer.solution.satellites;
gpsSol.hdop = _buffer.solution.position_DOP;
break;
case MSG_VELNED:
*gpsPacketLogChar = LOG_UBLOX_VELNED;
// speed_3d = _buffer.velned.speed_3d; // cm/s
GPS_speed = _buffer.velned.speed_2d; // cm/s
GPS_ground_course = (uint16_t) (_buffer.velned.heading_2d / 10000); // Heading 2D deg * 100000 rescaled to deg * 10
gpsSol.groundSpeed = _buffer.velned.speed_2d; // cm/s
gpsSol.groundCourse = (uint16_t) (_buffer.velned.heading_2d / 10000); // Heading 2D deg * 100000 rescaled to deg * 10
_new_speed = true;
break;
case MSG_SVINFO: