Diff: Ublox6.cpp

Revision:

20:043987d06f8d

Parent:

19:0d1728091519

Child:

23:5e61cf4a8c34

--- a/Ublox6.cpp	Sat Dec 15 21:38:11 2018 +0000
+++ b/Ublox6.cpp	Sun Dec 16 04:18:42 2018 +0000
@@ -46,7 +46,7 @@
     latest = tmp;
 }
 
-int Ublox6::parse(unsigned char cc)
+int Ublox6::parse(int cc)
 {
     //unsigned char cc = buf[out++];
     //out &= (MAX_LENGTH-1);
@@ -61,16 +61,13 @@
             checkOk = false;
             if (cc == SYNC1) {
                 state++;
-                puts("SYNC1");
             }
             break;
         case 1:    // wait for sync 2 (0x62)
             if (cc == SYNC2) {
                 state++;
-                puts("SYNC2");
             } else {
                 state = 0;
-                puts("NO SYNC2");
             }
             break;
         case 2:    // wait for class code
@@ -92,9 +89,7 @@
             state++;
             break;
         case 5:    // wait for length uint8_t 2
-            length |= (unsigned int) cc << 8;
-            printf("len=%d\n", length);
-            ck1 += cc;
+            length |= (unsigned int) cc << 8;            ck1 += cc;
             ck2 += ck1;
             idx = 0;
             state++;
@@ -116,9 +111,7 @@
         case 8: {  // wait for checksum 2
             chk2 = cc;
             checkOk = ck1 == chk1  &&  ck2 == chk2;
-            if (!checkOk) {
-                puts("BAD CHKSUM\n");
-            } else {
+            if (checkOk) {
                 switch (code) {
                 case 0x01:      // NAV-
                     switch (id) {
@@ -128,14 +121,12 @@
                         // vAcc = ULONG(24); // mm
                         // hAcc = ULONG(20); // mm
                         _ready |= POSLLH_BIT;
-                        puts("LAT/LON");
                         break;
                     case DOP_MSG:  // NAV-DOP
                         //gDOP = ((float) UINT(4))/100.0;
                         //tDOP = ((float) UINT(8))/100.0;
                         //vDOP = ((float) UINT(10))/100.0;
                         tmp.hdop = ((float) UINT(12))/100.0;
-                        puts("HDOP");
                         _ready |= DOP_BIT;
                         break;
                     case SOL_MSG:  // NAV-SOL
@@ -144,7 +135,6 @@
                         //pAcc = ULONG(24);
                         tmp.svcount = data[47];
                         _ready |= SOL_BIT;
-                        puts("SVCOUNT");
                         break;
                     case VELNED_MSG:  // NAV-VELNED
                         tmp.speed = ULONG(20)/100.0;
@@ -152,14 +142,10 @@
                         tmp.course = ((float) LONG(24))/100000.0;
                         //cAcc = ((float) LONG(32))/100000.0;
                         _ready |= VELNED_BIT;                                
-                        puts("SPD/COURSE");
                         break;
                     default:
-                        printf("OTHER=0x%04x\n", id);
                         break;
                     }
-                    if (_ready)
-                        printf("_ready = 0x%04x 0x%04x\n", _ready, READY_BITS);
                     break;
                 case 0x05:      // ACK-
                     switch (id) {
@@ -180,15 +166,16 @@
 
     if ((_ready & READY_BITS) == READY_BITS) {
         latest = tmp;
+        _ready = 0;
+        status = 1;
+
+        // clear tmp
         tmp.lat = 0;
         tmp.lon = 0;
         tmp.speed = 0;
         tmp.course = 0;
         tmp.hdop = 0;
         tmp.svcount = 0;
-        _ready = 0;
-        status = 1;
-        _available = true;
     }
 
     return status;