mirror of https://github.com/ArduPilot/ardupilot
uncrustify libraries/AP_GPS/AP_GPS_MTK16.cpp
This commit is contained in:
uncrustify
Pat Hickey
parent
87299da0dd
commit
7de08acf09
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@ -14,9 +14,9 @@
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#include "AP_GPS_MTK16.h"
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#include <stdint.h>
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#if defined(ARDUINO) && ARDUINO >= 100
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#include "Arduino.h"
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#include "Arduino.h"
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#else
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#include <wiring.h>
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#include <wiring.h>
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#endif
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// Constructors ////////////////////////////////////////////////////////////////
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@ -37,11 +37,11 @@ AP_GPS_MTK16::init(enum GPS_Engine_Setting nav_setting)
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// set 5Hz update rate
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_port->print(MTK_OUTPUT_5HZ);
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// set SBAS on
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_port->print(SBAS_ON);
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// set SBAS on
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_port->print(SBAS_ON);
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// set WAAS on
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_port->print(WAAS_ON);
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// set WAAS on
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_port->print(WAAS_ON);
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// set initial epoch code
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_epoch = TIME_OF_DAY;
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@ -64,12 +64,12 @@ AP_GPS_MTK16::init(enum GPS_Engine_Setting nav_setting)
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bool
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AP_GPS_MTK16::read(void)
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{
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uint8_t data;
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int16_t numc;
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bool parsed = false;
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uint8_t data;
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int16_t numc;
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bool parsed = false;
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numc = _port->available();
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for (int16_t i = 0; i < numc; i++) { // Process bytes received
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for (int16_t i = 0; i < numc; i++) { // Process bytes received
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// read the next byte
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data = _port->read();
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@ -77,15 +77,15 @@ AP_GPS_MTK16::read(void)
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restart:
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switch(_step) {
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// Message preamble, class, ID detection
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//
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// If we fail to match any of the expected bytes, we
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// reset the state machine and re-consider the failed
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// byte as the first byte of the preamble. This
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// improves our chances of recovering from a mismatch
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// and makes it less likely that we will be fooled by
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// the preamble appearing as data in some other message.
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//
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// Message preamble, class, ID detection
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//
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// If we fail to match any of the expected bytes, we
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// reset the state machine and re-consider the failed
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// byte as the first byte of the preamble. This
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// improves our chances of recovering from a mismatch
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// and makes it less likely that we will be fooled by
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// the preamble appearing as data in some other message.
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//
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case 0:
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if(PREAMBLE1 == data)
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_step++;
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@ -100,16 +100,16 @@ restart:
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case 2:
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if (sizeof(_buffer) == data) {
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_step++;
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_ck_b = _ck_a = data; // reset the checksum accumulators
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_ck_b = _ck_a = data; // reset the checksum accumulators
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_payload_counter = 0;
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} else {
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_step = 0; // reset and wait for a message of the right class
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_step = 0; // reset and wait for a message of the right class
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goto restart;
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}
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break;
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// Receive message data
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//
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// Receive message data
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//
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case 3:
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_buffer.bytes[_payload_counter++] = data;
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_ck_b += (_ck_a += data);
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@ -117,8 +117,8 @@ restart:
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_step++;
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break;
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// Checksum and message processing
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//
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// Checksum and message processing
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//
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case 4:
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_step++;
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if (_ck_a != data) {
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@ -131,19 +131,19 @@ restart:
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break;
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}
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fix = ((_buffer.msg.fix_type == FIX_3D) ||
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(_buffer.msg.fix_type == FIX_3D_SBAS));
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latitude = _buffer.msg.latitude * 10; // XXX doc says *10e7 but device says otherwise
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longitude = _buffer.msg.longitude * 10; // XXX doc says *10e7 but device says otherwise
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altitude = _buffer.msg.altitude;
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ground_speed = _buffer.msg.ground_speed;
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ground_course = _buffer.msg.ground_course;
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num_sats = _buffer.msg.satellites;
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hdop = _buffer.msg.hdop;
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date = _buffer.msg.utc_date;
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fix = ((_buffer.msg.fix_type == FIX_3D) ||
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(_buffer.msg.fix_type == FIX_3D_SBAS));
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latitude = _buffer.msg.latitude * 10; // XXX doc says *10e7 but device says otherwise
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longitude = _buffer.msg.longitude * 10; // XXX doc says *10e7 but device says otherwise
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altitude = _buffer.msg.altitude;
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ground_speed = _buffer.msg.ground_speed;
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ground_course = _buffer.msg.ground_course;
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num_sats = _buffer.msg.satellites;
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hdop = _buffer.msg.hdop;
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date = _buffer.msg.utc_date;
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// time from gps is UTC, but convert here to msToD
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int32_t time_utc = _buffer.msg.utc_time;
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int32_t time_utc = _buffer.msg.utc_time;
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int32_t temp = (time_utc/10000000);
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time_utc -= temp*10000000;
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time = temp * 3600000;
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@ -154,26 +154,26 @@ restart:
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parsed = true;
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#ifdef FAKE_GPS_LOCK_TIME
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if (millis() > FAKE_GPS_LOCK_TIME*1000) {
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fix = true;
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latitude = -35000000UL;
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longitude = 149000000UL;
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altitude = 584;
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}
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if (millis() > FAKE_GPS_LOCK_TIME*1000) {
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fix = true;
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latitude = -35000000UL;
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longitude = 149000000UL;
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altitude = 584;
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}
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#endif
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/* Waiting on clarification of MAVLink protocol!
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if(!_offset_calculated && parsed) {
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int32_t tempd1 = date;
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int32_t day = tempd1/10000;
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tempd1 -= day * 10000;
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int32_t month = tempd1/100;
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int32_t year = tempd1 - month * 100;
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_time_offset = _calc_epoch_offset(day, month, year);
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_epoch = UNIX_EPOCH;
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_offset_calculated = TRUE;
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}
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*/
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* if(!_offset_calculated && parsed) {
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* int32_t tempd1 = date;
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* int32_t day = tempd1/10000;
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* tempd1 -= day * 10000;
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* int32_t month = tempd1/100;
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* int32_t year = tempd1 - month * 100;
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* _time_offset = _calc_epoch_offset(day, month, year);
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* _epoch = UNIX_EPOCH;
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* _offset_calculated = TRUE;
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* }
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*/
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}
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}
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