diff --git a/openrtx/src/gps.c b/openrtx/src/gps.c index e64b6e2f..f38a2a85 100644 --- a/openrtx/src/gps.c +++ b/openrtx/src/gps.c @@ -25,23 +25,26 @@ /** * This function parses a GPS NMEA sentence and updates radio state */ -void gps_taskFunc(char *line, int len, gps_t *state) +void gps_taskFunc(char *line, int len, state_t *state) { switch (minmea_sentence_id(line, false)) { case MINMEA_SENTENCE_RMC: { struct minmea_sentence_rmc frame; if (minmea_parse_rmc(&frame, line)) { - state->latitude = minmea_tocoord(&frame.latitude); - state->longitude = minmea_tocoord(&frame.longitude); - state->timestamp.hour = frame.time.hours; - state->timestamp.minute = frame.time.minutes; - state->timestamp.second = frame.time.seconds - 1; - state->timestamp.day = 0; - state->timestamp.date = frame.date.day; - state->timestamp.month = frame.date.month; - state->timestamp.year = frame.date.year; + state->gps_data.latitude = minmea_tocoord(&frame.latitude); + state->gps_data.longitude = minmea_tocoord(&frame.longitude); + state->gps_data.timestamp.hour = frame.time.hours; + state->gps_data.timestamp.minute = frame.time.minutes; + state->gps_data.timestamp.second = frame.time.seconds + 1; + state->gps_data.timestamp.day = 0; + state->gps_data.timestamp.date = frame.date.day; + state->gps_data.timestamp.month = frame.date.month; + state->gps_data.timestamp.year = frame.date.year; } + // Synchronize RTC with GPS UTC clock + if(state->settings.gps_set_time) + rtc_setTime(state->gps_data.timestamp); } break; case MINMEA_SENTENCE_GGA: @@ -49,24 +52,24 @@ void gps_taskFunc(char *line, int len, gps_t *state) struct minmea_sentence_gga frame; if (minmea_parse_gga(&frame, line)) { - state->fix_quality = frame.fix_quality; - state->satellites_tracked = frame.satellites_tracked; - state->altitude = minmea_tofloat(&frame.altitude); + state->gps_data.fix_quality = frame.fix_quality; + state->gps_data.satellites_tracked = frame.satellites_tracked; + state->gps_data.altitude = minmea_tofloat(&frame.altitude); } } break; case MINMEA_SENTENCE_GSA: { - state->active_sats = 0; + state->gps_data.active_sats = 0; struct minmea_sentence_gsa frame; if (minmea_parse_gsa(&frame, line)) { - state->fix_type = frame.fix_type; + state->gps_data.fix_type = frame.fix_type; for (int i = 0; i < 12; i++) { if (frame.sats[i] != 0) { - state->active_sats |= 1 << (frame.sats[i] - 1); + state->gps_data.active_sats |= 1 << (frame.sats[i] - 1); } } } @@ -77,18 +80,18 @@ void gps_taskFunc(char *line, int len, gps_t *state) struct minmea_sentence_gsv frame; if (minmea_parse_gsv(&frame, line)) { - state->satellites_in_view = frame.total_sats; + state->gps_data.satellites_in_view = frame.total_sats; for (int i = 0; i < 4; i++) { int index = 4 * (frame.msg_nr - 1) + i; - state->satellites[index].id = frame.sats[i].nr; - state->satellites[index].elevation = frame.sats[i].elevation; - state->satellites[index].azimuth = frame.sats[i].azimuth; - state->satellites[index].snr = frame.sats[i].snr; + state->gps_data.satellites[index].id = frame.sats[i].nr; + state->gps_data.satellites[index].elevation = frame.sats[i].elevation; + state->gps_data.satellites[index].azimuth = frame.sats[i].azimuth; + state->gps_data.satellites[index].snr = frame.sats[i].snr; } // Zero out unused satellite slots if (frame.msg_nr == frame.total_msgs && frame.total_msgs < 3) - bzero(&state->satellites[4 * frame.msg_nr], + bzero(&state->gps_data.satellites[4 * frame.msg_nr], sizeof(sat_t) * 12 - frame.total_msgs * 4); } } break; @@ -97,9 +100,9 @@ void gps_taskFunc(char *line, int len, gps_t *state) { struct minmea_sentence_vtg frame; if (minmea_parse_vtg(&frame, line)) { - state->speed = minmea_tofloat(&frame.speed_kph); - state->tmg_mag = minmea_tofloat(&frame.magnetic_track_degrees); - state->tmg_true = minmea_tofloat(&frame.true_track_degrees); + state->gps_data.speed = minmea_tofloat(&frame.speed_kph); + state->gps_data.tmg_mag = minmea_tofloat(&frame.magnetic_track_degrees); + state->gps_data.tmg_true = minmea_tofloat(&frame.true_track_degrees); } } break; diff --git a/openrtx/src/threads.c b/openrtx/src/threads.c index 5db343b7..8d2ae90d 100644 --- a/openrtx/src/threads.c +++ b/openrtx/src/threads.c @@ -319,11 +319,7 @@ static void gps_task(void *arg) OSMutexPend(&state_mutex, 0u, OS_OPT_PEND_BLOCKING, 0u, &os_err); // GPS readout is blocking, no need to delay here - gps_taskFunc(line, len, &state.gps_data); - - // Synchronize RTC with GPS UTC clock - if(state.settings.gps_set_time) - rtc_setTime(state.gps_data.timestamp); + gps_taskFunc(line, len, &state); // Unlock state mutex OSMutexPost(&state_mutex, OS_OPT_POST_NONE, &os_err);