uint8_t ao_gps_new;
uint8_t ao_gps_mutex;
-uint16_t ao_gps_tick;
+AO_TICK_TYPE ao_gps_tick;
struct ao_telemetry_location ao_gps_data;
struct ao_telemetry_satellite ao_gps_tracking_data;
static void ao_ublox_put_u16(uint16_t c)
{
- ao_ublox_put_u8(c);
- ao_ublox_put_u8(c>>8);
+ ao_ublox_put_u8((uint8_t) c);
+ ao_ublox_put_u8((uint8_t) (c>>8));
}
#if 0
static void ao_ublox_put_u32(uint32_t c)
{
- ao_ublox_put_u8(c);
- ao_ublox_put_u8(c>>8);
- ao_ublox_put_u8(c>>16);
- ao_ublox_put_u8(c>>24);
+ ao_ublox_put_u8((uint8_t) c);
+ ao_ublox_put_u8((uint8_t) (c>>8));
+ ao_ublox_put_u8((uint8_t) (c>>16));
+ ao_ublox_put_u8((uint8_t) (c>>24));
}
static void ao_ublox_put_i32(int32_t c)
uint16_t val;
val = data_byte();
- val |= data_byte () << 8;
+ val |= (uint16_t) ((uint16_t) data_byte () << 8);
*ptr = val;
}
ao_gps_putchar(0x62);
ao_ublox_put_u8(class);
ao_ublox_put_u8(id);
- ao_ublox_put_u8(len);
- ao_ublox_put_u8(len >> 8);
+ ao_ublox_put_u8((uint8_t) len);
+ ao_ublox_put_u8((uint8_t) (len >> 8));
}
static void
uint8_t class, id;
struct ao_ublox_cksum cksum;
uint8_t i;
+ AO_TICK_TYPE packet_start_tick;
+ AO_TICK_TYPE solution_tick = 0;
ao_gps_setup();
/* Locate the begining of the next record */
while (ao_ublox_byte() != (uint8_t) 0xb5)
;
+ packet_start_tick = ao_tick_count;
+
if (ao_ublox_byte() != (uint8_t) 0x62)
continue;
/* Length */
ao_ublox_len = header_byte();
- ao_ublox_len |= header_byte() << 8;
+ ao_ublox_len |= (uint16_t) ((uint16_t) header_byte() << 8);
- ao_gps_dbg(DBG_PROTO, "class %02x id %02x len %d\n", class, id, ao_ublox_len);
+ ao_gps_dbg(DBG_PROTO, "%6u class %02x id %02x len %d\n", packet_start_tick, class, id, ao_ublox_len);
if (ao_ublox_len > 1023)
continue;
if (ao_ublox_len != 52)
break;
ao_ublox_parse_nav_sol();
+ solution_tick = packet_start_tick;
break;
case UBLOX_NAV_SVINFO:
if (ao_ublox_len < 8)
switch (id) {
case UBLOX_NAV_TIMEUTC:
ao_mutex_get(&ao_gps_mutex);
- ao_gps_tick = ao_time();
+ ao_gps_tick = solution_tick;
ao_gps_data.flags = 0;
ao_gps_data.flags |= AO_GPS_RUNNING;
ao_gps_data.latitude = nav_posllh.lat;
ao_gps_data.longitude = nav_posllh.lon;
- ao_gps_data.year = nav_timeutc.year - 2000;
+ ao_gps_data.year = (uint8_t) (nav_timeutc.year - 2000);
ao_gps_data.month = nav_timeutc.month;
ao_gps_data.day = nav_timeutc.day;
/* we report dop scaled by 10, but ublox provides dop scaled by 100
*/
- ao_gps_data.pdop = nav_dop.pdop / 10;
- ao_gps_data.hdop = nav_dop.hdop / 10;
- ao_gps_data.vdop = nav_dop.vdop / 10;
+ ao_gps_data.pdop = (uint8_t) (nav_dop.pdop / 10);
+ ao_gps_data.hdop = (uint8_t) (nav_dop.hdop / 10);
+ ao_gps_data.vdop = (uint8_t) (nav_dop.vdop / 10);
- ao_gps_data.ground_speed = nav_velned.g_speed;
- ao_gps_data.climb_rate = -nav_velned.vel_d;
- ao_gps_data.course = nav_velned.heading / 200000;
+ ao_gps_data.ground_speed = (uint16_t) nav_velned.g_speed;
+ ao_gps_data.climb_rate = -(int16_t) nav_velned.vel_d;
+ ao_gps_data.course = (uint8_t) (nav_velned.heading / 200000);
ao_gps_tracking_data.channels = 0;