void gps_geodetic_message() {
unsigned int year = gps_payload[11] << 8 | gps_payload[12];
unsigned int month = gps_payload[13];
unsigned int day = gps_payload[14];
unsigned int hour = gps_payload[15];
unsigned int minute = gps_payload[16];
unsigned int rawsecond = (gps_payload[17] << 8 | gps_payload[18]);
unsigned int second = rawsecond / 1000;
unsigned int millis = rawsecond % 1000;
unsigned int gps_week = gps_payload[5] << 8 | gps_payload[6];
unsigned int gps_tow = (unsigned int)gps_payload[7] << 24
| (unsigned int)gps_payload[8] << 16
| (unsigned int)gps_payload[9] << 8
| (unsigned int)gps_payload[10];
unsigned int gps_tow_sec = gps_tow / 1000L;
unsigned int numsvs = gps_payload[88];
debug_int(year); debug("-"); debug_int(month); debug("-"); debug_int(day);
debug(" ");
debug_int(hour); debug(":"); debug_int(minute); debug(":");
debug_int(second); debug("."); debug_int(millis);
debug(", ");
debug_int(numsvs);
debug(" SVs\r\n");
int utc_offset = gps_utc_offset(hour, minute, second, gps_tow_sec);
time_set_date(gps_week, gps_tow_sec, utc_offset);
health_set_gps_status(GPS_OK);
health_reset_gps_watchdog();
}
void health_watchdog_tick() {
if (gps_watchdog <= 3)
gps_watchdog ++;
if (gps_watchdog == 3) {
debug("GPS watchdog expired\r\n");
health_set_gps_status(GPS_UNLOCK);
}
if (fll_watchdog <= HOLDOVER_LIMIT_SEC)
fll_watchdog ++;
if (fll_watchdog == HOLDOVER_LIMIT_SEC) {
debug("Holdover expired\r\n");
health_set_fll_status(FLL_UNLOCK);
}
}