bool GPS_UBLOX_newFrame(uint8_t data){
bool parsed = false;
printf("%c",data);
switch(_step) {
case 1:
if (PREAMBLE2 == data) {
_step++;
break;
}
_step = 0;
case 0:
if(PREAMBLE1 == data) _step++;
break;
case 2:
_step++;
//_class = data;
_ck_b = _ck_a = data; // reset the checksum accumulators
break;
case 3:
_step++;
_ck_b += (_ck_a += data); // checksum byte
_msg_id = data;
break;
case 4:
_step++;
_ck_b += (_ck_a += data); // checksum byte
_payload_length = data; // payload length low byte
break;
case 5:
_step++;
_ck_b += (_ck_a += data); // checksum byte
_payload_length += (uint16_t)(data<<8);
if (_payload_length > 512) {
_payload_length = 0;
_step = 0;
}
_payload_counter = 0; // prepare to receive payload
break;
case 6:
_ck_b += (_ck_a += data); // checksum byte
if (_payload_counter < sizeof(_buffer)) {
_buffer.bytes[_payload_counter] = data;
}
if (++_payload_counter == _payload_length)
_step++;
break;
case 7:
_step++;
if (_ck_a != data) _step = 0; // bad checksum
break;
case 8:
_step = 0;
if (_ck_b != data) break; // bad checksum
GPS_Info.GPS_Present = 1;
if (UBLOX_parse_gps()) { parsed = true; }
} //end switch
return parsed;
}
static bool gpsNewFrameUBLOX(uint8_t data)
{
bool parsed = false;
switch (_step) {
case 0: // Sync char 1 (0xB5)
if (PREAMBLE1 == data) {
_skip_packet = false;
_step++;
} else {
GPS_garbageByteCount++;
}
break;
case 1: // Sync char 2 (0x62)
if (PREAMBLE2 != data) {
_step = 0;
break;
}
_step++;
break;
case 2: // Class
_step++;
_class = data;
_ck_b = _ck_a = data; // reset the checksum accumulators
break;
case 3: // Id
_step++;
_ck_b += (_ck_a += data); // checksum byte
_msg_id = data;
break;
case 4: // Payload length (part 1)
_step++;
_ck_b += (_ck_a += data); // checksum byte
_payload_length = data; // payload length low byte
break;
case 5: // Payload length (part 2)
_step++;
_ck_b += (_ck_a += data); // checksum byte
_payload_length |= (uint16_t)(data << 8);
if (_payload_length > MAX_UBLOX_PAYLOAD_SIZE ) {
// we can't receive the whole packet, just log the error and start searching for the next packet.
shiftPacketLog();
*gpsPacketLogChar = LOG_SKIPPED;
gpsData.errors++;
_step = 0;
break;
}
if (_payload_length > UBLOX_BUFFER_SIZE) {
_skip_packet = true;
}
// prepare to receive payload
_payload_counter = 0;
if (_payload_length == 0) {
_step = 7;
}
break;
case 6:
_ck_b += (_ck_a += data); // checksum byte
if (_payload_counter < UBLOX_BUFFER_SIZE) {
_buffer.bytes[_payload_counter] = data;
}
// NOTE: check counter BEFORE increasing so that a payload_size of 65535 is correctly handled. This can happen if garbage data is received.
if (_payload_counter == _payload_length - 1) {
_step++;
}
_payload_counter++;
break;
case 7:
_step++;
if (_ck_a != data) {
_skip_packet = true; // bad checksum
gpsData.errors++;
}
break;
case 8:
_step = 0;
shiftPacketLog();
if (_ck_b != data) {
*gpsPacketLogChar = LOG_ERROR;
gpsData.errors++;
break; // bad checksum
}
GPS_packetCount++;
if (_skip_packet) {
*gpsPacketLogChar = LOG_SKIPPED;
break;
}
if (UBLOX_parse_gps()) {
parsed = true;
}
}
return parsed;
}
static bool gpsNewFrameUBLOX(uint8_t data)
{
bool parsed = false;
switch (_step) {
case 0: // Sync char 1 (0xB5)
if (PREAMBLE1 == data) {
_skip_packet = false;
_step++;
}
break;
case 1: // Sync char 2 (0x62)
if (PREAMBLE2 != data) {
_step = 0;
break;
}
_step++;
break;
case 2: // Class
_step++;
_class = data;
_ck_b = _ck_a = data; // reset the checksum accumulators
break;
case 3: // Id
_step++;
_ck_b += (_ck_a += data); // checksum byte
_msg_id = data;
break;
case 4: // Payload length (part 1)
_step++;
_ck_b += (_ck_a += data); // checksum byte
_payload_length = data; // payload length low byte
break;
case 5: // Payload length (part 2)
_step++;
_ck_b += (_ck_a += data); // checksum byte
_payload_length += (uint16_t)(data << 8);
if (_payload_length > UBLOX_PAYLOAD_SIZE) {
_skip_packet = true;
}
_payload_counter = 0; // prepare to receive payload
if (_payload_length == 0) {
_step = 7;
}
break;
case 6:
_ck_b += (_ck_a += data); // checksum byte
if (_payload_counter < UBLOX_PAYLOAD_SIZE) {
_buffer.bytes[_payload_counter] = data;
}
if (++_payload_counter >= _payload_length) {
_step++;
}
break;
case 7:
_step++;
if (_ck_a != data) {
_skip_packet = true; // bad checksum
gpsData.errors++;
}
break;
case 8:
_step = 0;
shiftPacketLog();
if (_ck_b != data) {
*gpsPacketLogChar = LOG_ERROR;
gpsData.errors++;
break; // bad checksum
}
GPS_packetCount++;
if (_skip_packet) {
*gpsPacketLogChar = LOG_SKIPPED;
break;
}
if (UBLOX_parse_gps()) {
parsed = true;
}
}
return parsed;
}
