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uncrustify libraries/AP_GPS/AP_GPS_NMEA.cpp

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uncrustify 2012-08-21 19:19:51 -07:00 committed by Pat Hickey
parent 924dea9a19
commit 39f71f750d
1 changed files with 46 additions and 46 deletions
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92
libraries/AP_GPS/AP_GPS_NMEA.cpp
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@ -41,16 +41,16 @@
// the autodetection process. // the autodetection process.
// //
const prog_char AP_GPS_NMEA::_SiRF_init_string[] PROGMEM = const prog_char AP_GPS_NMEA::_SiRF_init_string[] PROGMEM =
"$PSRF103,0,0,1,1*25\r\n" // GGA @ 1Hz "$PSRF103,0,0,1,1*25\r\n" // GGA @ 1Hz
"$PSRF103,1,0,0,1*25\r\n" // GLL off "$PSRF103,1,0,0,1*25\r\n" // GLL off
"$PSRF103,2,0,0,1*26\r\n" // GSA off "$PSRF103,2,0,0,1*26\r\n" // GSA off
"$PSRF103,3,0,0,1*27\r\n" // GSV off "$PSRF103,3,0,0,1*27\r\n" // GSV off
"$PSRF103,4,0,1,1*20\r\n" // RMC off "$PSRF103,4,0,1,1*20\r\n" // RMC off
"$PSRF103,5,0,1,1*20\r\n" // VTG @ 1Hz "$PSRF103,5,0,1,1*20\r\n" // VTG @ 1Hz
"$PSRF103,6,0,0,1*22\r\n" // MSS off "$PSRF103,6,0,0,1*22\r\n" // MSS off
"$PSRF103,8,0,0,1*2C\r\n" // ZDA off "$PSRF103,8,0,0,1*2C\r\n" // ZDA off
"$PSRF151,1*3F\r\n" // WAAS on (not always supported) "$PSRF151,1*3F\r\n" // WAAS on (not always supported)
"$PSRF106,21*0F\r\n" // datum = WGS84 "$PSRF106,21*0F\r\n" // datum = WGS84
""; "";
// MediaTek init messages ////////////////////////////////////////////////////// // MediaTek init messages //////////////////////////////////////////////////////
@ -59,10 +59,10 @@ const prog_char AP_GPS_NMEA::_SiRF_init_string[] PROGMEM =
// MediaTek-based GPS. // MediaTek-based GPS.
// //
const prog_char AP_GPS_NMEA::_MTK_init_string[] PROGMEM = const prog_char AP_GPS_NMEA::_MTK_init_string[] PROGMEM =
"$PMTK314,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n" // GGA & VTG once every fix "$PMTK314,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n" // GGA & VTG once every fix
"$PMTK330,0*2E\r\n" // datum = WGS84 "$PMTK330,0*2E\r\n" // datum = WGS84
"$PMTK313,1*2E\r\n" // SBAS on "$PMTK313,1*2E\r\n" // SBAS on
"$PMTK301,2*2E\r\n" // use SBAS data for DGPS "$PMTK301,2*2E\r\n" // use SBAS data for DGPS
""; "";
// ublox init messages ///////////////////////////////////////////////////////// // ublox init messages /////////////////////////////////////////////////////////
@ -75,9 +75,9 @@ const prog_char AP_GPS_NMEA::_MTK_init_string[] PROGMEM =
// and we don't know the baudrate. // and we don't know the baudrate.
// //
const prog_char AP_GPS_NMEA::_ublox_init_string[] PROGMEM = const prog_char AP_GPS_NMEA::_ublox_init_string[] PROGMEM =
"$PUBX,40,gga,0,1,0,0,0,0*7B\r\n" // GGA on at one per fix "$PUBX,40,gga,0,1,0,0,0,0*7B\r\n" // GGA on at one per fix
"$PUBX,40,vtg,0,1,0,0,0,0*7F\r\n" // VTG on at one per fix "$PUBX,40,vtg,0,1,0,0,0,0*7F\r\n" // VTG on at one per fix
"$PUBX,40,rmc,0,0,0,0,0,0*67\r\n" // RMC off (XXX suppress other message types?) "$PUBX,40,rmc,0,0,0,0,0,0*67\r\n" // RMC off (XXX suppress other message types?)
""; "";
// NMEA message identifiers //////////////////////////////////////////////////// // NMEA message identifiers ////////////////////////////////////////////////////
@ -88,7 +88,7 @@ const char AP_GPS_NMEA::_gpvtg_string[] PROGMEM = "GPVTG";
// Convenience macros ////////////////////////////////////////////////////////// // Convenience macros //////////////////////////////////////////////////////////
// //
#define DIGIT_TO_VAL(_x) (_x - '0') #define DIGIT_TO_VAL(_x) (_x - '0')
// Constructors //////////////////////////////////////////////////////////////// // Constructors ////////////////////////////////////////////////////////////////
AP_GPS_NMEA::AP_GPS_NMEA(Stream *s) : AP_GPS_NMEA::AP_GPS_NMEA(Stream *s) :
@ -99,7 +99,7 @@ AP_GPS_NMEA::AP_GPS_NMEA(Stream *s) :
// Public Methods ////////////////////////////////////////////////////////////// // Public Methods //////////////////////////////////////////////////////////////
void AP_GPS_NMEA::init(enum GPS_Engine_Setting nav_setting) void AP_GPS_NMEA::init(enum GPS_Engine_Setting nav_setting)
{ {
BetterStream *bs = (BetterStream *)_port; BetterStream *bs = (BetterStream *)_port;
// send the SiRF init strings // send the SiRF init strings
bs->print_P((const prog_char_t *)_SiRF_init_string); bs->print_P((const prog_char_t *)_SiRF_init_string);
@ -198,7 +198,7 @@ uint32_t AP_GPS_NMEA::_parse_degrees()
char *p, *q; char *p, *q;
uint8_t deg = 0, min = 0; uint8_t deg = 0, min = 0;
uint16_t frac_min = 0; uint16_t frac_min = 0;
int32_t ret = 0; int32_t ret = 0;
// scan for decimal point or end of field // scan for decimal point or end of field
for (p = _term; isdigit(*p); p++) for (p = _term; isdigit(*p); p++)
@ -230,7 +230,7 @@ uint32_t AP_GPS_NMEA::_parse_degrees()
frac_min += *q++ - '0'; frac_min += *q++ - '0';
} }
} }
ret = (int32_t)deg * (int32_t)1000000UL + (int32_t)((min * 100000UL + frac_min) / 6UL); ret = (int32_t)deg * (int32_t)1000000UL + (int32_t)((min * 100000UL + frac_min) / 6UL);
return ret; return ret;
} }
@ -245,26 +245,26 @@ bool AP_GPS_NMEA::_term_complete()
if (_gps_data_good) { if (_gps_data_good) {
switch (_sentence_type) { switch (_sentence_type) {
case _GPS_SENTENCE_GPRMC: case _GPS_SENTENCE_GPRMC:
time = _new_time; time = _new_time;
date = _new_date; date = _new_date;
latitude = _new_latitude * 10; // degrees*10e5 -> 10e7 latitude = _new_latitude * 10; // degrees*10e5 -> 10e7
longitude = _new_longitude * 10; // degrees*10e5 -> 10e7 longitude = _new_longitude * 10; // degrees*10e5 -> 10e7
ground_speed = _new_speed; ground_speed = _new_speed;
ground_course = _new_course; ground_course = _new_course;
fix = true; fix = true;
break; break;
case _GPS_SENTENCE_GPGGA: case _GPS_SENTENCE_GPGGA:
altitude = _new_altitude; altitude = _new_altitude;
time = _new_time; time = _new_time;
latitude = _new_latitude * 10; // degrees*10e5 -> 10e7 latitude = _new_latitude * 10; // degrees*10e5 -> 10e7
longitude = _new_longitude * 10; // degrees*10e5 -> 10e7 longitude = _new_longitude * 10; // degrees*10e5 -> 10e7
num_sats = _new_satellite_count; num_sats = _new_satellite_count;
hdop = _new_hdop; hdop = _new_hdop;
fix = true; fix = true;
break; break;
case _GPS_SENTENCE_GPVTG: case _GPS_SENTENCE_GPVTG:
ground_speed = _new_speed; ground_speed = _new_speed;
ground_course = _new_course; ground_course = _new_course;
// VTG has no fix indicator, can't change fix status // VTG has no fix indicator, can't change fix status
break; break;
} }
@ -304,8 +304,8 @@ bool AP_GPS_NMEA::_term_complete()
// 32 = RMC, 64 = GGA, 96 = VTG // 32 = RMC, 64 = GGA, 96 = VTG
if (_sentence_type != _GPS_SENTENCE_OTHER && _term[0]) { if (_sentence_type != _GPS_SENTENCE_OTHER && _term[0]) {
switch (_sentence_type + _term_number) { switch (_sentence_type + _term_number) {
// operational status // operational status
// //
case _GPS_SENTENCE_GPRMC + 2: // validity (RMC) case _GPS_SENTENCE_GPRMC + 2: // validity (RMC)
_gps_data_good = _term[0] == 'A'; _gps_data_good = _term[0] == 'A';
break; break;
@ -322,8 +322,8 @@ bool AP_GPS_NMEA::_term_complete()
_new_hdop = _parse_decimal(); _new_hdop = _parse_decimal();
break; break;
// time and date // time and date
// //
case _GPS_SENTENCE_GPRMC + 1: // Time (RMC) case _GPS_SENTENCE_GPRMC + 1: // Time (RMC)
case _GPS_SENTENCE_GPGGA + 1: // Time (GGA) case _GPS_SENTENCE_GPGGA + 1: // Time (GGA)
_new_time = _parse_decimal(); _new_time = _parse_decimal();
@ -332,8 +332,8 @@ bool AP_GPS_NMEA::_term_complete()
_new_date = atol(_term); _new_date = atol(_term);
break; break;
// location // location
// //
case _GPS_SENTENCE_GPRMC + 3: // Latitude case _GPS_SENTENCE_GPRMC + 3: // Latitude
case _GPS_SENTENCE_GPGGA + 2: case _GPS_SENTENCE_GPGGA + 2:
_new_latitude = _parse_degrees(); _new_latitude = _parse_degrees();
@ -356,11 +356,11 @@ bool AP_GPS_NMEA::_term_complete()
_new_altitude = _parse_decimal(); _new_altitude = _parse_decimal();
break; break;
// course and speed // course and speed
// //
case _GPS_SENTENCE_GPRMC + 7: // Speed (GPRMC) case _GPS_SENTENCE_GPRMC + 7: // Speed (GPRMC)
case _GPS_SENTENCE_GPVTG + 5: // Speed (VTG) case _GPS_SENTENCE_GPVTG + 5: // Speed (VTG)
_new_speed = (_parse_decimal() * 514) / 1000; // knots-> m/sec, approximiates * 0.514 _new_speed = (_parse_decimal() * 514) / 1000; // knots-> m/sec, approximiates * 0.514
break; break;
case _GPS_SENTENCE_GPRMC + 8: // Course (GPRMC) case _GPS_SENTENCE_GPRMC + 8: // Course (GPRMC)
case _GPS_SENTENCE_GPVTG + 1: // Course (VTG) case _GPS_SENTENCE_GPVTG + 1: // Course (VTG)