//*****************************************************************************
//
//! Sends data over the UART port.
//!
//! \param pucData is the buffer containing the data to write out to the UART
//! port.
//! \param ulSize is the number of bytes provided in \e pucData buffer that
//! will be written out to the UART port.
//!
//! This function sends \e ulSize bytes of data from the buffer pointed to by
//! \e pucData via the UART port.
//!
//! \return None.
//
//*****************************************************************************
void
UARTSend(const unsigned char *pucData, unsigned long ulSize)
{
//
// Transmit the number of bytes requested on the UART port.
//
while(ulSize--)
{
//
// Make sure that the transmit FIFO is not full.
//
while((HWREG(UART0_BASE + UART_O_FR) & UART_FR_TXFF))
{
}
//
// Send out the next byte.
//
HWREG(UART0_BASE + UART_O_DR) = *pucData++;
}
//
// Wait until the UART is done transmitting.
//
UARTFlush();
}
//*****************************************************************************
//
//! Sends data over the UART port.
//!
//! \param pui8Data is the buffer containing the data to write out to the UART
//! port.
//! \param ui32Size is the number of bytes provided in \e pui8Data buffer that
//! will be written out to the UART port.
//!
//! This function sends \e ui32Size bytes of data from the buffer pointed to by
//! \e pui8Data via the UART port.
//!
//! \return None.
//
//*****************************************************************************
void
UARTSend(const uint8_t *pui8Data, uint32_t ui32Size)
{
//
// Transmit the number of bytes requested on the UART port.
//
while(ui32Size--)
{
//
// Make sure that the transmit FIFO is not full.
//
while((HWREG(UARTx_BASE + UART_O_FR) & UART_FR_TXFF))
{
}
//
// Send out the next byte.
//
HWREG(UARTx_BASE + UART_O_DR) = *pui8Data++;
}
//
// Wait until the UART is done transmitting.
//
UARTFlush();
}
/**
* static int Gps_set(void * _self, va_list *app) - Perform a new gps acquisition.
* \param *_self - pointer to the device
* \param *app - none
* \return:
<LI><Breturn = 0:</B>when the GPS device is connected on a Grove nest DIG port, with or without a valid connection </LI>
<LI><Breturn = -1:</B>when the GPS device is not connected on a Grove nest DIG port. </LI>
</UL>
*/
static int Gps_set(void *_self,va_list *app)
{
struct Gps *self = _self;
char gps_sentences[70];
unsigned int timer = 65000;
flag = 1;
nmea_zero_INFO(&self->info);
nmea_parser_init(&self->parser);
UARTOn(self->uart_module);
UARTFlush(self->uart_module);
vTaskDelay(50);
while((UARTBufferSize(self->uart_module)<3) && timer)
timer--;
if(!timer)
return -1;
timer = 500;
while((gps_sentences[0] != '$') && timer)
{
timer--;
while(UARTBufferSize(self->uart_module)<1);
UARTRead(self->uart_module,gps_sentences,1);
if(gps_sentences[0] == '$')
{
while(UARTBufferSize(self->uart_module) < 5);
UARTRead(self->uart_module,(gps_sentences+1),5); //Reads all the chars in the
if((gps_sentences[4] == 'M'))
{
while(UARTBufferSize(self->uart_module) < 65);
UARTRead(self->uart_module,(gps_sentences+6),64); //Reads all the chars in the
gps_sentences[70] = '\0';
int i = 0;
i = nmea_parse(&self->parser, gps_sentences, (int)strlen(gps_sentences), &self->info);
if(i)
{
flag = 0;
self->lat = nmea_ndeg2degree (self->info.lat);
self->lon = -nmea_ndeg2degree (self->info.lon);
self->year = self->info.utc.year+1900;
self->mon = self->info.utc.mon;
self->day = self->info.utc.day;
self->hour = self->info.utc.hour;
self->min = self->info.utc.min;
self->sec = self->info.utc.sec;
self->speed = self->info.speed;
break;
}
}
}
gps_sentences[0]= 0;
}
nmea_parser_destroy(&self->parser);
UARTOff(self->uart_module);
return 0;
}
