Diff: GPSUBX_UART.cpp

Revision:

2:6218fe8e54f4

Parent:

1:71f5168e48c8

Child:

10:a90d07e4c34d

diff -r 71f5168e48c8 -r 6218fe8e54f4 GPSUBX_UART.cpp
--- a/GPSUBX_UART.cpp	Fri Sep 17 15:06:47 2021 +0000
+++ b/GPSUBX_UART.cpp	Fri Sep 17 15:45:25 2021 +0000
@@ -23,76 +23,11 @@
 
 void GPSUBX_UART::Receive()
 {
-//    volatile static int receive_start = 0;
-//    volatile static int receive_index = 0;
-//    volatile static int sentence_start = 0;
-//    volatile static int sentence_length = 0;
-//    volatile static int sentence_counter = 0;
-//    
-//    volatile static char m_class = 0x00;
-//    volatile static char m_id = 0x00;
-    
     while (serial.readable())
     {
         char c;
         c = serial.getc();
         receive_buffer[receive_index] = c;
-////        pc.printf("%d\r\n", c);
-//        if (sentence_counter >= 2)
-//        {
-//            sentence_counter++;
-//            if (sentence_counter == 3)
-//            {
-//                m_class = c;
-////                pc.printf("@%x\r\n", m_class);
-//            }
-//            else if (sentence_counter == 4)
-//            {
-//                m_id = c;
-////                pc.printf("@@%x\r\n", m_id);
-//            }
-//            else if (sentence_counter == 5)
-//            {
-//            }
-//            else if (sentence_counter == 6)
-//            {
-//                int sss = (receive_index+RECEIVE_SIZE-1)%RECEIVE_SIZE;
-//                sentence_length = (int)(c << 8 | receive_buffer[sss]);
-////                printf("%d\r\n", sentence_length);
-//            }
-//            else if (sentence_counter >= sentence_length+8)
-//            {
-//                for (int i = 0; i < sentence_length+8; i++)
-//                {
-//                    sentence_buffer[i] = receive_buffer[(sentence_start+i)%RECEIVE_SIZE];
-//                }
-////                for (int i = 0; i < sentence_length+8; i++)
-////                {
-////                    pc.printf("%x ", sentence_buffer[i]);
-////                }
-////                pc.printf("\r\n");
-//                char ca, cb;
-//                Checksum(sentence_buffer, sentence_length, &ca, &cb);
-////                pc.printf("^%x %x\r\n", m_class, m_id);
-//                if (ca == sentence_buffer[sentence_length+6] && cb == sentence_buffer[sentence_length+7])
-//                {
-////                    pc.printf("=%x %x\r\n", m_class, m_id); 
-//                    Decode(sentence_buffer, m_class, m_id);
-//                }
-//                sentence_start = 0;
-//                sentence_length = 0;
-//                sentence_counter = 0;
-//                m_class = 0x00;
-//                m_id = 0x00;
-//            }
-//        }
-//        
-//        int ss = (receive_index+RECEIVE_SIZE-1)%RECEIVE_SIZE;
-//        if (c == 0x62 && receive_buffer[ss] == 0xb5)
-//        {
-//            sentence_start = ss;
-//            sentence_counter = 2;
-//        }
         receive_index = (receive_index + 1) % RECEIVE_SIZE;
     }
 }
@@ -100,8 +35,6 @@
 
 void GPSUBX_UART::Update()
 {
-//    volatile static int receive_start = 0;
-//    volatile static int receive_index = 0;
     volatile static int sentence_start = 0;
     volatile static int sentence_length = 0;
     volatile static int sentence_counter = 0;
@@ -120,12 +53,10 @@
             if (sentence_counter == 3)
             {
                 m_class = c;
-//                pc.printf("@%x\r\n", m_class);
             }
             else if (sentence_counter == 4)
             {
                 m_id = c;
-//                pc.printf("@@%x\r\n", m_id);
             }
             else if (sentence_counter == 5)
             {
@@ -134,7 +65,6 @@
             {
                 int sss = (read_index+RECEIVE_SIZE-1)%RECEIVE_SIZE;
                 sentence_length = (int)(c << 8 | receive_buffer[sss]);
-//                printf("%d\r\n", sentence_length);
             }
             else if (sentence_counter >= sentence_length+8)
             {
@@ -142,17 +72,10 @@
                 {
                     sentence_buffer[i] = receive_buffer[(sentence_start+i)%RECEIVE_SIZE];
                 }
-//                for (int i = 0; i < sentence_length+8; i++)
-//                {
-//                    pc.printf("%x ", sentence_buffer[i]);
-//                }
-//                pc.printf("\r\n");
                 char ca, cb;
                 Checksum(sentence_buffer, sentence_length, &ca, &cb);
-//                pc.printf("^%x %x\r\n", m_class, m_id);
                 if (ca == sentence_buffer[sentence_length+6] && cb == sentence_buffer[sentence_length+7])
                 {
-//                    pc.printf("=%x %x\r\n", m_class, m_id); 
                     Decode(sentence_buffer, m_class, m_id);
                 }
                 sentence_start = 0;
@@ -192,7 +115,7 @@
         Longitude = (float)posllh.data.lon * 1e-7f;
         Latitude = (float)posllh.data.lat * 1e-7f;
         Height = (float)posllh.data.height / 1000.0f;
-        pc.printf("!%d, %f, %f, %f\r\n", iTOW_POSLLH, Longitude, Latitude, Height);
+//        pc.printf("!%d, %f, %f, %f\r\n", iTOW_POSLLH, Longitude, Latitude, Height);
     }
     // TIMEUTC
     else if (mc == 0x01 && mi == 0x21)
@@ -218,7 +141,7 @@
         }
         Minutes = timeutc.data.min;
         Seconds = timeutc.data.sec;
-        pc.printf("&%4d/%2d/%2d %2d:%2d %2d\r\n", Year, Month, Day, Hours, Minutes, Seconds);
+//        pc.printf("&%4d/%2d/%2d %2d:%2d %2d\r\n", Year, Month, Day, Hours, Minutes, Seconds);
     }
     // VELNED
     if (mc == 0x01 && mi == 0x12)
@@ -235,7 +158,7 @@
         Speed = (float)velned.data.speed / 100.0f;
         GroundSpeed = (float)velned.data.gSpeed / 100.0f;
         Heading = (float)velned.data.heading * 1e-5f;
-        pc.printf("#%d, %f, %f, %f\r\n", iTOW_VELNED, VelocityNED.x, VelocityNED.y, VelocityNED.z);
+//        pc.printf("#%d, %f, %f, %f\r\n", iTOW_VELNED, VelocityNED.x, VelocityNED.y, VelocityNED.z);
     }
 }