Differences

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--- code:interrupt_driven_ubx [2009/05/11 06:30] – laurenceb
+++ code:interrupt_driven_ubx [2009/05/11 20:17] (current) – laurenceb
@@ Line 1: / Line 1: @@
 under construction...
-<code c>
+===== demo code =====
+<code c>
 #include <stdlib.h>
 #include <stdio.h>
@@ Line 11: / Line 16: @@
 volatile ubx_gps_type Gps;
-volatile u08 sats;
 int uart_putchar(char c, FILE *stream)
 {
@@ Line 37: / Line 42: @@
 		if(Gps.packetflag==REQUIRED_DATA)
 		{
-			printf("%d,%d,%d,%d,%d\n",Gps.latitude,Gps.longitude,Gps.altitude,Gps.status,Gps.nosats);
+			printf("%li,%li,%li,%2X,%2X\n",Gps.latitude,Gps.longitude,Gps.altitude,Gps.status,Gps.nosats);
 			Gps.packetflag=0;	//unlock the data
 		}
@@ Line 45: / Line 50: @@
 ISR(USART_RX_vect)				//UART interrupt on mega xx8 series
 {
-	static u08 state,class,id,checksum_1,checksum_2;
+	static u08 state,class,id,checksum_1,checksum_2,counter;
 	static u16 lenght;
 	static ubx_gps_type gps;
@@ Line 77: / Line 82: @@
 		case 5:				//the most significant byte
 			lenght|=c<<8;
+			counter=0;
 			state=6;
 			break;
@@ Line 94: / Line 100: @@
 				if(id==SOL_DATA && lenght==SOL_POS)
 					gps.status=c;
-				if(id==SVINFO_DATA && lenght==SATS_POS)
+				if(id==SOL_DATA && lenght==SATS_POS)
 					gps.nosats=c;
+				/*if(id==SVINFO_DATA)//this appears to find the number of hardware channels avaliable
+				{
+					counter++;//this counts from the start of data
+					if(counter==SATS_POS)
+						gps.nosats=c;
+				}*/
 			}
 			lenght--;
@@ Line 142: / Line 154: @@
 }
 </code>
+===== header =====
+<code c>typedef unsigned char u08;
+typedef uint16_t u16;
+typedef uint32_t u32;
+typedef int32_t s32;
+typedef struct
+{
+	u32 time;					//milliseconds/week
+	s32 vnorth;					//cm/s
+	s32 veast;
+	s32 vdown;
+	s32 longitude;					//degrees/10^-7
+	s32 latitude;
+	s32 altitude;					//height/mm
+	u08 packetflag;					//packetflag lets us see when our packet has been updated
+	u08 status;					//type of fix
+	u08 nosats;					//number of tracked satellites
+} ubx_gps_type;
+#define REQUIRED_DATA 0x0F
+#define LLH_DATA 0x02
+#define VELNED_DATA 0x12
+#define SVINFO_DATA 0x30
+#define SOL_DATA 0x06
+#define NAV_CLASS 0x01
+#define SATS_POS 5
+#define SOL_POS 42
+#define POS_OFFSET 40
+#define POS_START 12
+#define POS_END 25
+#define VEL_OFFSET 36
+#define VEL_START 20
+#define VEL_END 37
+#define SYNC_1 0xB5
+#define SYNC_2 0x62
+#define BAUDRATE 38400UL
+#define BAUDDIV 32
+//#define BAUDDIV  (u16)( ((float)F_CPU/(BAUDRATE*16UL)) -1 )//baud divider
+#define TOGGLE_PIN PIND=0x20				//led on port D.5
+</code>