Changed ascent rate calculating in XM1110 module based on SysTick

m20/Core/Inc/config.h

@@ -41,7 +41,7 @@
 /*-----------------------*/
 
 /* GPS configuration */
-#define AscentRateTime 10       // Time of ascent rate mesure
+#define AscentRateTime TIME_PERIOD/2       // Time of ascent rate mesure
 
 // type 1
 #define DATA_SIZE               35 // Max number of NMEA sentences in one parsing
@@ -50,13 +50,13 @@
 #define SENTENCE_ELEMENT_LEN    12 // Max lenght of a sentence element
 
 // type 2
-#define FrameLen 62             // Length of XM1110 frame
+#define GPS_FRAME_LEN 62             // Length of XM1110 frame
 
 #if GPS_TYPE == 1
 #define GpsRxBuffer_SIZE 512
 
 #elif GPS_TYPE == 2
-#define GpsRxBuffer_SIZE FrameLen * 2
+#define GpsRxBuffer_SIZE GPS_FRAME_LEN * 2
 #endif
 /*-------------------*/
 

m20/Core/Inc/main.h

@@ -55,6 +55,8 @@ extern "C" {
 #include "config.h"
 #if GPS_TYPE == 1
 #include "nmea.h"
+#elif GPS_TYPE == 2
+#include "xm_gps.h"
 #endif
 /* USER CODE END Includes */
 

m20/Core/Inc/nmea.h

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

m20/Core/Inc/xm_gps.h

@@ -19,4 +19,6 @@ typedef struct XM_DATA {
 
 void parseXMframe(XMDATA *GpsData, uint8_t *buffer);
 
+void incTimeCountGps();
+
 #endif

m20/Core/Src/main.c

@@ -315,8 +315,6 @@ int main(void)
   LL_GPIO_SetOutputPin(RADIO_EN_GPIO_Port, RADIO_EN_Pin);
   adf_setup();
 
-
-  LL_GPIO_SetOutputPin(LPS_CS_GPIO_Port, LPS_CS_Pin); // to be removed
   for (uint8_t i = 0; i < 5; i++)
   {
     lps_init = LPS22_Init();

m20/Core/Src/stm32l0xx_it.c

@@ -125,9 +125,11 @@ void PendSV_Handler(void)
 void SysTick_Handler(void)
 {
   /* USER CODE BEGIN SysTick_IRQn 0 */
-  if(TickCounter == 999){
+  if(TickCounter >= 999){
     #if GPS_TYPE == 1
-    incTimeCount();
+    incTimeCountNmea();
+    #elif GPS_TYPE == 2
+    incTimeCountGps();
     #endif
     TickCounter = 0;
   }

m20/Core/Src/xm_gps.c

@@ -11,10 +11,13 @@
 
 const uint8_t syncChain[] = {0xAA, 0xAA, 0xAA, 0x03};
 
-uint32_t oldTime = 0;
 float oldAlt = 0;
-float oldLat = 0;
-float oldLon = 0;
+
+uint16_t TimeCounterr = 0;
+
+void incTimeCountGps(){
+    TimeCounterr++;
+}
 
 void ParseXM(XMDATA *GpsData, uint8_t *buffer, uint8_t position){
     GpsData->Fix = *(uint8_t *)(buffer+4+position);
@@ -47,22 +50,17 @@ void ParseXM(XMDATA *GpsData, uint8_t *buffer, uint8_t position){
                 ((GpsData->Time & 0x00FF0000) >> 8) |
                 ((GpsData->Time & 0x0000FF00) << 8);
 
-    if((GpsData->Time - oldTime) >= AscentRateTime){
-        if(oldTime!=0){
-            GpsData->AscentRate = (GpsData->Alt-oldAlt)/(GpsData->Time-oldTime);
-            
-            //float a = pow(sin((fabs(GpsData->Lat - oldLat)*90)/M_PI), 2) + cos(((GpsData->Lat)*180)/M_PI) * cos((oldLat*180)/M_PI) * pow(sin((fabs(GpsData->Lon - oldLon)*90)/M_PI),2);
-            //float d = 2*6371*atan2(sqrt(a), sqrt(1-a));
-            //GpsData->GroundSpeed = d;
-            //GpsData->GroundSpeed = sqrt(pow(d, 2) + pow(GpsData->Alt-oldAlt, 2))/(GpsData->Time-oldTime);
-        }else{
-            GpsData->AscentRate = 0;
-            GpsData->GroundSpeed = 0;
+    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;
         }
-        oldTime = GpsData->Time;
-        oldAlt = GpsData->Alt;
-        oldLat = GpsData->Lat;
-        oldLon = GpsData->Lon;
+    }else{
+        oldAlt = 0;
     }
 
     GpsData->Hours = (GpsData->Time/3600)%24;
@@ -78,7 +76,7 @@ void ParseXM(XMDATA *GpsData, uint8_t *buffer, uint8_t position){
 }
 
 int8_t getPosition(uint8_t *buffer){
-    for(uint8_t pos = 0; pos<=FrameLen+1; pos++){
+    for(uint8_t pos = 0; pos<=GPS_FRAME_LEN+1; pos++){
         bool sync = true;
         for(uint8_t syncCount = 0; syncCount<sizeof(syncChain)/sizeof(syncChain[0]); syncCount++){
             if(buffer[pos+syncCount] != syncChain[syncCount]){