void gpsTask(void *unused)
{
gpsData.serial = serialOpen(USART1, 9600);
gpsData.mode = MODE_NMEA; // NMEA
while (1) {
CoTickDelay(25);
while (uartAvailable(gpsData.serial)) {
switch (gpsData.mode) {
case MODE_NMEA: // NMEA
gpsData.validFrames += gpsNewFrameNMEA(uartRead(gpsData.serial));
break;
case MODE_UBX: // UBX
gpsData.validFrames += gpsNewFrameUBLOX(uartRead(gpsData.serial));
break;
case MODE_MTK: // MTK
break;
case MODE_PASSTHROUGH: // GPS -> UART bridge
// TODO
// usbSerialWrite(uartRead(gpsData.serial));
break;
}
}
}
}
bool gpsNewFrame(uint8_t c)
{
switch (gpsConfig()->provider) {
case GPS_NMEA: // NMEA
return gpsNewFrameNMEA(c);
case GPS_UBLOX: // UBX binary
return gpsNewFrameUBLOX(c);
}
return false;
}
static bool gpsNewFrame(uint8_t c)
{
switch (mcfg.gps_type) {
case GPS_NMEA: // NMEA
case GPS_MTK_NMEA: // MTK in NMEA mode
return gpsNewFrameNMEA(c);
case GPS_UBLOX: // UBX binary
return gpsNewFrameUBLOX(c);
case GPS_MTK_BINARY: // MTK in BINARY mode (TODO)
return false;
}
return false;
}
static bool gpsReceiveData(void)
{
bool hasNewData = false;
if (gpsState.gpsPort) {
while (serialRxBytesWaiting(gpsState.gpsPort)) {
uint8_t newChar = serialRead(gpsState.gpsPort);
if (gpsNewFrameNMEA(newChar)) {
gpsSol.flags.gpsHeartbeat = !gpsSol.flags.gpsHeartbeat;
gpsSol.flags.validVelNE = 0;
gpsSol.flags.validVelD = 0;
hasNewData = true;
}
}
}
return hasNewData;
}