New ascent rate fix

m20/Core/Inc/main.h

@@ -53,11 +53,6 @@ extern "C" {
 #include "stm32l0xx_it.h"
 #include "fsk4.h"
 #include "config.h"
-#if GPS_TYPE == 1
-#include "nmea.h"
-#elif GPS_TYPE == 2
-#include "xm_gps.h"
-#endif
 /* USER CODE END Includes */
 
 /* Exported types ------------------------------------------------------------*/

m20/Core/Inc/nmea.h

@@ -27,6 +27,4 @@ typedef struct NMEA_DATA {
 
 void ParseNMEA(NMEA *nmea_data, uint8_t *buffer);
 
-void incTimeCountNmea();
-
 #endif /* INC_NMEA_H_ */

m20/Core/Src/main.c

@@ -364,8 +364,6 @@ int main(void)
   LL_TIM_EnableCounter(TIM6);
   LL_TIM_EnableIT_UPDATE(TIM6);
 
-  LL_SYSTICK_EnableIT();
-
   /* USER CODE END 2 */
 
   /* Infinite loop */

m20/Core/Src/nmea.c

@@ -12,16 +12,11 @@
 #endif
 #include <string.h>
 
-uint16_t TimeCounter = 0;
-
 char data[DATA_SIZE][SENTENCE_SIZE];
 
 uint8_t correct = 0;
 uint16_t olddAlt = 0;
-
-void incTimeCountNmea(){
-    TimeCounter++;
-}
+uint32_t olddTime = 0;
 
 uint16_t a_strtof(char *buffer){
     uint8_t d_pos = 0;
@@ -156,16 +151,27 @@ int nmea_GGA(NMEA *nmea_data, char *inputString){
 
             if(altitude != 0){
                 nmea_data->Alt = altitude;
-                if(olddAlt == 0){
-                    olddAlt = nmea_data->Alt;
-                    TimeCounter = 0;
-                }else if(TimeCounter>=AscentRateTime){
-                    nmea_data->AscentRate = (float)(nmea_data->Alt-olddAlt)/TimeCounter;
-                    olddAlt = nmea_data->Alt;
-                    TimeCounter = 0;
+                uint32_t currentTime = h*3600+m*60+s;
+
+                if(currentTime != 0){
+                    if(olddTime==0){
+                        olddAlt = nmea_data->Alt;
+                        olddTime = currentTime;
+                    }
+                    if((currentTime-olddTime) < 0){
+                        currentTime+=3600*24;
+                    }
+                    if((currentTime-olddTime)>=AscentRateTime){
+                        nmea_data->AscentRate = (float)(nmea_data->Alt-olddAlt)/(currentTime-olddTime);
+                        if((currentTime-olddTime) < 0){
+                            currentTime-=3600*24;
+                        }
+                        olddAlt = nmea_data->Alt;
+                        olddTime = currentTime;
+                    }
+                }else{
+                    olddTime = 0;
                 }
-            }else{
-                olddAlt = 0;
             }
 
             //nmea_data->Fix = values[6][0]-'0';

m20/Core/Src/stm32l0xx_it.c

@@ -41,7 +41,6 @@
 
 /* Private variables ---------------------------------------------------------*/
 /* USER CODE BEGIN PV */
-uint32_t TickCounter = 0;
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -125,15 +124,6 @@ void PendSV_Handler(void)
 void SysTick_Handler(void)
 {
   /* USER CODE BEGIN SysTick_IRQn 0 */
-  if(TickCounter >= 999){
-    #if GPS_TYPE == 1
-    incTimeCountNmea();
-    #elif GPS_TYPE == 2
-    incTimeCountGps();
-    #endif
-    TickCounter = 0;
-  }
-  TickCounter++;
   /* USER CODE END SysTick_IRQn 0 */
 
   /* USER CODE BEGIN SysTick_IRQn 1 */

m20/Core/Src/xm_gps.c

@@ -13,11 +13,7 @@ const uint8_t syncChain[] = {0xAA, 0xAA, 0xAA, 0x03};
 
 float oldAlt = 0;
 
-uint16_t TimeCounterr = 0;
-
-void incTimeCountGps(){
-    TimeCounterr++;
-}
+uint32_t oldTime = 0;
 
 void ParseXM(XMDATA *GpsData, uint8_t *buffer, uint8_t position){
     GpsData->Fix = *(uint8_t *)(buffer+4+position);
@@ -51,16 +47,25 @@ void ParseXM(XMDATA *GpsData, uint8_t *buffer, uint8_t position){
                 ((GpsData->Time & 0x0000FF00) << 8);
 
     if(GpsData->Fix > 1 && GpsData->Alt != 0){
-        if(oldAlt == 0){
-            oldAlt = GpsData->Alt;
-            TimeCounterr = 0;            
-        }else if(oldAlt != 0 && TimeCounterr>=AscentRateTime){
-            GpsData->AscentRate = (float)(GpsData->Alt-oldAlt)/TimeCounterr;
-            oldAlt = GpsData->Alt;
-            TimeCounterr = 0;
+        if(GpsData->Time != 0){
+            if(oldTime==0){
+                oldAlt = GpsData->Alt;
+                oldTime = GpsData->Time;
+            }
+            if((GpsData->Time-oldTime) < 0){
+                GpsData->Time+=3600*24;
+            }
+            if((GpsData->Time-oldTime)>=AscentRateTime){
+                GpsData->AscentRate = (float)(GpsData->Alt-oldAlt)/(GpsData->Time-oldTime);
+                if((GpsData->Time-oldTime) < 0){
+                    GpsData->Time-=3600*24;
+                }
+                oldAlt = GpsData->Alt;
+                oldTime = GpsData->Time;
+            }
+        }else{
+            oldTime = 0;
         }
-    }else{
-        oldAlt = 0;
     }
 
     GpsData->Hours = (GpsData->Time/3600)%24;