void Process_GpsDataInHandler(void)
{
int loop;
if(gpsUartRcvBuff_WrPt==gpsUartRcvBuff_RdPt)
{
return;
}
loop=0;
do
{
input_ubx(&ubxRawData,gpsUartRcvBuff[gpsUartRcvBuff_RdPt]);
gpsUartRcvBuff_RdPt = (gpsUartRcvBuff_RdPt+1)%1024;
loop++;
if(ubxRawData.frameReady == TRUE)
{
break;
}
}while((loop<100)&&(gpsUartRcvBuff_WrPt!=gpsUartRcvBuff_RdPt));
Receive_UbxData_byte();
Decode_UbxData(); // if new gnss data coming,decode
if(ubxRawData.frameReady == TRUE)
{
memset(&ubxRawData, 0, sizeof(ubxRawData));
ubxRawData.frameReady = FALSE;
}
}
/* input receiver raw data from stream -----------------------------------------
* fetch next receiver raw data and input a message from stream
* args : raw_t *raw IO receiver raw data control struct
* int format I receiver raw data format (STRFMT_???)
* unsigned char data I stream data (1 byte)
* return : status (-1: error message, 0: no message, 1: input observation data,
* 2: input ephemeris, 3: input sbas message,
* 9: input ion/utc parameter, 31: input lex message)
*-----------------------------------------------------------------------------*/
extern int input_raw(raw_t *raw, int format, unsigned char data)
{
trace(5,"input_raw: format=%d data=0x%02x\n",format,data);
switch (format) {
case STRFMT_OEM4 :
return input_oem4 (raw,data);
case STRFMT_OEM3 :
return input_oem3 (raw,data);
case STRFMT_UBX :
return input_ubx (raw,data);
case STRFMT_SS2 :
return input_ss2 (raw,data);
case STRFMT_CRES :
return input_cres (raw,data);
case STRFMT_STQ :
return input_stq (raw,data);
case STRFMT_GW10 :
return input_gw10 (raw,data);
case STRFMT_JAVAD:
return input_javad(raw,data);
case STRFMT_NVS :
return input_nvs (raw,data);
case STRFMT_LEXR :
return input_lexr (raw,data);
}
return 0;
}
int decode_raw(rtksvr_t* svr, int index)
{
uint8_t* i;
Error err;
char str[20];
int res=0,res2=0,res3=0;
switch (svr->format[index])
{
case STRFMT_UBX:
{
if (svr->buffPtr[index] + svr->nb[index] <= MAX_RAW_LEN)
{
for (i = svr->buff[index] + svr->buffPtr[index] ;
i < svr->buff[index] + svr->buffPtr[index] + svr->nb[index]; i++)
{
err = input_ubx(&svr->raw[index],*i);
if (err>=NO_ERROR1)
{
updatesvr(svr,err,index);
if (err==OBS)
{
res+=1;
}
else if (err==EPHEMERIS)
{
res2+=1;
}
else if (err==SOLUTION)
{
res3+=1;
}
}
}
}
else
{
for (i = svr->buff[index] + svr->buffPtr[index] ;
i < svr->buff[index] + MAX_RAW_LEN; i++)
{
err = input_ubx(&svr->raw[index],*i);
if (err>=NO_ERROR1)
{
updatesvr(svr,err,index);
if (err==OBS)
{
res+=1;
}
else if (err==EPHEMERIS)
{
res2+=1;
}
else if (err==SOLUTION)
{
res3+=1;
}
}
}
for (i = svr->buff[index] ;
i < svr->buff[index] + svr->nb[index] + svr->buffPtr[index] - MAX_RAW_LEN ; i++)
{
err = input_ubx(&svr->raw[index],*i);
if (err>=NO_ERROR1)
{
updatesvr(svr,err,index);
if (err==OBS)
{
res+=1;
}
else if (err==EPHEMERIS)
{
res2+=1;
}
else if (err==SOLUTION)
{
res3+=1;
}
}
}
}
break;
}
case STRFMT_SS2:
{
if (svr->buffPtr[index] + svr->nb[index] <= MAX_RAW_LEN)
{
for (i = svr->buff[index] + svr->buffPtr[index] ;
i < svr->buff[index] + svr->buffPtr[index] + svr->nb[index]; i++)
{
err = input_ss2(&svr->raw[index],*i);
if (err>=NO_ERROR1)
{
updatesvr(svr,err,index);
if (err==OBS)
{
res+=1;
}
else if (err==EPHEMERIS)
{
res2+=1;
}
else if (err==SOLUTION)
{
res3+=1;
}
}
}
}
else
{
for (i = svr->buff[index] + svr->buffPtr[index] ;
i < svr->buff[index] + MAX_RAW_LEN; i++)
{
err = input_ss2(&svr->raw[index],*i);
if (err>=NO_ERROR1)
{
updatesvr(svr,err,index);
if (err==OBS)
{
res+=1;
}
else if (err==EPHEMERIS)
{
res2+=1;
}
else if (err==SOLUTION)
{
res3+=1;
}
}
}
for (i = svr->buff[index] ;
i < svr->buff[index] + svr->nb[index] + svr->buffPtr[index] - MAX_RAW_LEN ; i++)
{
err = input_ss2(&svr->raw[index],*i);
if (err>=NO_ERROR1)
{
updatesvr(svr,err,index);
if (err==OBS)
{
res+=1;
}
else if (err==EPHEMERIS)
{
res2+=1;
}
else if (err==SOLUTION)
{
res3+=1;
}
}
}
}
break;
}
}
/*
if (index==0)
{
sprintf(str,"%d,%d,%d\r\n",res,res2,res3);
SendStr(str);
}
*/
return res;
}
