X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_gps_skytraq.c;h=1d457a1fbf60dabb835fd3ed0f216a10e391dc55;hb=713bd503902526c17a7657c18be947ef8fa6a47a;hp=d88ded8bd89473e962b11cee6cab7f056eaaf26e;hpb=8266d8d39c0103e68ef3e476b9639574d9a48771;p=fw%2Faltos

diff --git a/src/drivers/ao_gps_skytraq.c b/src/drivers/ao_gps_skytraq.c
index d88ded8b..1d457a1f 100644
--- a/src/drivers/ao_gps_skytraq.c
+++ b/src/drivers/ao_gps_skytraq.c
@@ -153,13 +153,15 @@ ao_gps_hex(void)
 static int32_t
 ao_gps_parse_pos(uint8_t deg_width) __reentrant
 {
-	int32_t	d;
-	int32_t	m;
-	int32_t	f;
+	static __pdata uint16_t	d;
+	static __pdata uint8_t	m;
+	static __pdata uint16_t	f;
+	char c;
 
 	d = ao_gps_decimal(deg_width);
 	m = ao_gps_decimal(2);
-	if (ao_gps_char == '.') {
+	c = ao_gps_char;
+	if (c == '.') {
 		f = ao_gps_decimal(4);
 		while (ao_gps_num_width < 4) {
 			f *= 10;
@@ -167,17 +169,14 @@ ao_gps_parse_pos(uint8_t deg_width) __reentrant
 		}
 	} else {
 		f = 0;
-		if (ao_gps_char != ',')
+		if (c != ',')
 			ao_gps_error = 1;
 	}
-	d = d * 10000000l;
-	m = m * 10000l + f;
-	d = d + m * 50 / 3;
-	return d;
+	return d * 10000000l + (m * 10000l + f) * 50 / 3;
 }
 
 static uint8_t
-ao_gps_parse_flag(char no_c, char yes_c) __reentrant
+ao_gps_parse_flag(char no_c, char yes_c)
 {
 	uint8_t	ret = 0;
 	ao_gps_skip_sep();
@@ -192,7 +191,27 @@ ao_gps_parse_flag(char no_c, char yes_c) __reentrant
 }
 
 static void
-ao_nmea_gga()
+ao_nmea_finish(void)
+{
+	char c;
+	/* Skip remaining fields */
+	for (;;) {
+		c = ao_gps_char;
+		if (c == '*' || c == '\n' || c == '\r')
+			break;
+		ao_gps_lexchar();
+		ao_gps_skip_field();
+	}
+	if (c == '*') {
+		uint8_t cksum = ao_gps_cksum ^ '*';
+		if (cksum != ao_gps_hex())
+			ao_gps_error = 1;
+	} else
+		ao_gps_error = 1;
+}
+
+static void
+ao_nmea_gga(void)
 {
 	uint8_t	i;
 
@@ -261,17 +280,8 @@ ao_nmea_gga()
 	ao_gps_next.altitude = ao_gps_decimal(0xff);
 	ao_gps_skip_field();	/* skip any fractional portion */
 
-	/* Skip remaining fields */
-	while (ao_gps_char != '*' && ao_gps_char != '\n' && ao_gps_char != '\r') {
-		ao_gps_lexchar();
-		ao_gps_skip_field();
-	}
-	if (ao_gps_char == '*') {
-		uint8_t cksum = ao_gps_cksum ^ '*';
-		if (cksum != ao_gps_hex())
-			ao_gps_error = 1;
-	} else
-		ao_gps_error = 1;
+	ao_nmea_finish();
+
 	if (!ao_gps_error) {
 		ao_mutex_get(&ao_gps_mutex);
 		ao_gps_tick = ao_gps_next_tick;
@@ -326,13 +336,9 @@ ao_nmea_gsv(void)
 				ao_gps_tracking_next.channels = i + 1;
 		}
 	}
-	if (ao_gps_char == '*') {
-		uint8_t cksum = ao_gps_cksum ^ '*';
-		if (cksum != ao_gps_hex())
-			ao_gps_error = 1;
-	}
-	else
-		ao_gps_error = 1;
+
+	ao_nmea_finish();
+
 	if (ao_gps_error)
 		ao_gps_tracking_next.channels = 0;
 	else if (done) {
@@ -381,17 +387,9 @@ ao_nmea_rmc(void)
 	a = ao_gps_decimal(2);
 	c = ao_gps_decimal(2);
 	i = ao_gps_decimal(2);
-	/* Skip remaining fields */
-	while (ao_gps_char != '*' && ao_gps_char != '\n' && ao_gps_char != '\r') {
-		ao_gps_lexchar();
-		ao_gps_skip_field();
-	}
-	if (ao_gps_char == '*') {
-		uint8_t cksum = ao_gps_cksum ^ '*';
-		if (cksum != ao_gps_hex())
-			ao_gps_error = 1;
-	} else
-		ao_gps_error = 1;
+
+	ao_nmea_finish();
+
 	if (!ao_gps_error) {
 		ao_gps_next.year = i;
 		ao_gps_next.month = c;