int main(void)
{
Systick_Init();
while (1)
{
gps.update();
if(gps.fix())
{
latitude = gps.latitude();
longitude = gps.longitude();
time = gps.time();
date = gps.date();
}
}
}
// Called the first time that a client tries to kick the GPS to update.
//
// We detect the real GPS, then update the pointer we have been called through
// and return.
//
/// @todo This routine spends a long time trying to detect a GPS. That's not strictly
/// desirable; it might be a good idea to rethink the logic here to make it
/// more asynchronous, so that other parts of the system can get a chance
/// to run while GPS detection is in progress.
///
bool
AP_GPS_Auto::read(void)
{
GPS *gps;
uint8_t i;
uint32_t then;
// Loop through possible baudrates trying to detect a GPS at one of them.
//
// Note that we need to have a FastSerial rather than a Stream here because
// Stream has no idea of line speeds. FastSerial is quite OK with us calling
// ::begin any number of times.
//
for (i = 0; i < (sizeof(baudrates) / sizeof(baudrates[0])); i++) {
_fs->begin(baudrates[i]);
if (NULL != (gps = _detect())) {
// configure the detected GPS and give it a chance to listen to its device
gps->init();
then = millis();
while ((millis() - then) < 1200) {
// if we get a successful update from the GPS, we are done
gps->new_data = false;
gps->update();
if (gps->new_data) {
Serial.println_P(PSTR("OK"));
Serial.print("GPS:");
Serial.println(baudrates[i]);
*_gps = gps;
return true;
}
}
// GPS driver failed to parse any data from GPS,
// delete the driver and continue the process.
Serial.println_P(PSTR("failed, retrying"));
delete gps;
}
}
return false;
}