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uncrustify libraries/AP_GPS/AP_GPS_MTK.cpp

This commit is contained in:
uncrustify 2012-08-21 19:19:51 -07:00 committed by Pat Hickey
parent cf69da594f
commit 7fa1a9d3b6
1 changed files with 34 additions and 34 deletions
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68
libraries/AP_GPS/AP_GPS_MTK.cpp
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@ -30,12 +30,12 @@ AP_GPS_MTK::init(enum GPS_Engine_Setting nav_setting)
// set 5Hz update rate
_port->print(MTK_OUTPUT_5HZ);
// set SBAS on
_port->print(SBAS_ON);
// set WAAS on
_port->print(WAAS_ON);
// set SBAS on
_port->print(SBAS_ON);
// set WAAS on
_port->print(WAAS_ON);
// set initial epoch code
_epoch = TIME_OF_DAY;
@ -57,12 +57,12 @@ AP_GPS_MTK::init(enum GPS_Engine_Setting nav_setting)
bool
AP_GPS_MTK::read(void)
{
uint8_t data;
int16_t numc;
bool parsed = false;
uint8_t data;
int16_t numc;
bool parsed = false;
numc = _port->available();
for (int16_t i = 0; i < numc; i++) { // Process bytes received
for (int16_t i = 0; i < numc; i++) { // Process bytes received
// read the next byte
data = _port->read();
@ -70,15 +70,15 @@ AP_GPS_MTK::read(void)
restart:
switch(_step) {
// Message preamble, class, ID detection
//
// If we fail to match any of the expected bytes, we
// reset the state machine and re-consider the failed
// byte as the first byte of the preamble. This
// improves our chances of recovering from a mismatch
// and makes it less likely that we will be fooled by
// the preamble appearing as data in some other message.
//
// Message preamble, class, ID detection
//
// If we fail to match any of the expected bytes, we
// reset the state machine and re-consider the failed
// byte as the first byte of the preamble. This
// improves our chances of recovering from a mismatch
// and makes it less likely that we will be fooled by
// the preamble appearing as data in some other message.
//
case 0:
if(PREAMBLE1 == data)
_step++;
@ -93,9 +93,9 @@ restart:
case 2:
if (MESSAGE_CLASS == data) {
_step++;
_ck_b = _ck_a = data; // reset the checksum accumulators
_ck_b = _ck_a = data; // reset the checksum accumulators
} else {
_step = 0; // reset and wait for a message of the right class
_step = 0; // reset and wait for a message of the right class
goto restart;
}
break;
@ -110,8 +110,8 @@ restart:
}
break;
// Receive message data
//
// Receive message data
//
case 4:
_buffer.bytes[_payload_counter++] = data;
_ck_b += (_ck_a += data);
@ -119,8 +119,8 @@ restart:
_step++;
break;
// Checksum and message processing
//
// Checksum and message processing
//
case 5:
_step++;
if (_ck_a != data) {
@ -135,17 +135,17 @@ restart:
break;
}
fix = ((_buffer.msg.fix_type == FIX_3D) ||
(_buffer.msg.fix_type == FIX_3D_SBAS));
latitude = _swapl(&_buffer.msg.latitude) * 10;
longitude = _swapl(&_buffer.msg.longitude) * 10;
altitude = _swapl(&_buffer.msg.altitude);
ground_speed = _swapl(&_buffer.msg.ground_speed);
ground_course = _swapl(&_buffer.msg.ground_course) / 10000;
num_sats = _buffer.msg.satellites;
fix = ((_buffer.msg.fix_type == FIX_3D) ||
(_buffer.msg.fix_type == FIX_3D_SBAS));
latitude = _swapl(&_buffer.msg.latitude) * 10;
longitude = _swapl(&_buffer.msg.longitude) * 10;
altitude = _swapl(&_buffer.msg.altitude);
ground_speed = _swapl(&_buffer.msg.ground_speed);
ground_course = _swapl(&_buffer.msg.ground_course) / 10000;
num_sats = _buffer.msg.satellites;
// time from gps is UTC, but convert here to msToD
int32_t time_utc = _swapl(&_buffer.msg.utc_time);
int32_t time_utc = _swapl(&_buffer.msg.utc_time);
int32_t temp = (time_utc/10000000);
time_utc -= temp*10000000;
time = temp * 3600000;