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https://github.com/paparazzi/paparazzi.git
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[gps] Add Furuno NMEA based GPS
This commit is contained in:
Freek van Tienen
@@ -0,0 +1,32 @@
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# Hey Emacs, this is a -*- makefile -*-
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# Furuno NMEA GPS unit
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GPS_LED ?= none
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ap.CFLAGS += -DUSE_GPS -DGPS_USE_LATLONG
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ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
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ap.CFLAGS += -DUSE_$(GPS_PORT)
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ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
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ap.CFLAGS += -DNMEA_PARSE_PROP
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ifneq ($(GPS_LED),none)
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ap.CFLAGS += -DGPS_LED=$(GPS_LED)
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endif
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ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
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ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_nmea.c $(SRC_SUBSYSTEMS)/gps/gps_furuno.c
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$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
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sim.CFLAGS += -DUSE_GPS -DGPS_USE_LATLONG
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sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
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sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
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jsbsim.CFLAGS += -DUSE_GPS -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
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jsbsim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
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nps.CFLAGS += -DUSE_GPS -DGPS_USE_LATLONG
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nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
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nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
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nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
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@@ -0,0 +1,24 @@
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# Hey Emacs, this is a -*- makefile -*-
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# Furuno NMEA GPS unit
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ap.CFLAGS += -DUSE_GPS
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ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
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ap.CFLAGS += -DUSE_$(GPS_PORT)
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ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
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ap.CFLAGS += -DNMEA_PARSE_PROP
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ifneq ($(GPS_LED),none)
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ap.CFLAGS += -DGPS_LED=$(GPS_LED)
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endif
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ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
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ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_nmea.c $(SRC_SUBSYSTEMS)/gps/gps_furuno.c
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$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
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nps.CFLAGS += -DUSE_GPS
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nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
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nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
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@@ -0,0 +1,109 @@
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/*
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*
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* Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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/**
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* @file subsystems/gps/gps_furuno.c
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* GPS furuno based NMEA parser
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*/
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#include "gps_nmea.h"
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#include "subsystems/gps.h"
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#include <stdio.h>
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#include <string.h>
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#define GPS_FURUNO_SETTINGS_NB 10
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static const char *gps_furuno_settings[GPS_FURUNO_SETTINGS_NB] = {
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"PERDAPI,FIXPERSEC,5", // Receive position every 5 Hz
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"PERDAPI,CROUT,ALLOFF", // Disable all propriarty output
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"PERDCFG,NMEAOUT,GGA,1", // Enable GGA every fix
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"PERDCFG,NMEAOUT,RMC,1", // Enable RMC every fix
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"PERDCFG,NMEAOUT,GSA,1", // Enable GSA every fix
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"PERDCFG,NMEAOUT,GNS,0", // Disable GSA
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"PERDCFG,NMEAOUT,ZDA,0", // Disable ZDA
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"PERDCFG,NMEAOUT,GSV,0", // Disable GSV
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"PERDCFG,NMEAOUT,GST,0", // Disable ZDA
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"PERDAPI,CROUT,V" // Enable raw velocity
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};
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static void nmea_parse_perdcrv(void);
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void nmea_parse_prop_init(void)
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{
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static uint8_t i = 0;
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uint8_t j, len, crc;
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char buf[128];
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// Return when doen
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if (i == GPS_FURUNO_SETTINGS_NB) {
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return;
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}
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for (; i < GPS_FURUNO_SETTINGS_NB; i++) {
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len = strlen(gps_furuno_settings[i]);
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crc = nmea_calc_crc(gps_furuno_settings[i], len);
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sprintf(buf, "$%s*%02X\r\n", gps_furuno_settings[i], crc);
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// Check if there is enough space to send the config msg
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if (GpsLink(CheckFreeSpace(len + 6))) {
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for (j = 0; j < len + 6; j++) {
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GpsLink(Transmit(buf[j]));
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}
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} else {
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break;
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}
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}
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}
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void nmea_parse_prop_msg(void)
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{
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if (gps_nmea.msg_len > 5 && !strncmp(gps_nmea.msg_buf , "PERDCRV", 7)) {
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nmea_parse_perdcrv();
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}
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}
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void nmea_parse_perdcrv(void)
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{
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int i = 8;
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// Ignore reserved
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nmea_read_until(&i);
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// Ignore reserved
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nmea_read_until(&i);
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//EAST VEL
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double east_vel = strtod(&gps_nmea.msg_buf[i], NULL);
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gps.ned_vel.y = east_vel * 100; // in cm/s
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// Ignore reserved
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nmea_read_until(&i);
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// NORTH VEL
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double north_vel = strtod(&gps_nmea.msg_buf[i], NULL);
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gps.ned_vel.x = north_vel * 100; // in cm/s
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//Convert velocity to ecef
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struct LtpDef_i ltp;
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ltp_def_from_ecef_i(<p, &gps.ecef_pos);
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ecef_of_ned_vect_i(&gps.ecef_vel, <p, &gps.ned_vel);
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}
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File diff suppressed because it is too large
Load Diff
@@ -1,5 +1,6 @@
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/*
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* Copyright (C) 2004-2011 The Paparazzi Team
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* 2014 Freek van Tienen <freek.v.tienen@gmail.com>
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*
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* This file is part of paparazzi.
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*
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@@ -31,11 +32,7 @@
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#include "mcu_periph/uart.h"
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#define GPS_NB_CHANNELS 16
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#ifdef DEBUG_NMEA
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#define NMEA_PRINT(...) { UsbSPrintString( __VA_ARGS__);};
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#else
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#ifndef DEBUG_NMEA
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#define NMEA_PRINT(...) {};
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#endif
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@@ -62,6 +59,7 @@ extern struct GpsNmea gps_nmea;
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#define GpsBuffer() GpsLink(ChAvailable())
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#define GpsEvent(_sol_available_callback) { \
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nmea_parse_prop_init(); \
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if (GpsBuffer()) { \
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ReadGpsBuffer(); \
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} \
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@@ -80,19 +78,27 @@ extern struct GpsNmea gps_nmea;
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} \
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}
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#define ReadGpsBuffer() { \
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while (GpsLink(ChAvailable())&&!gps_nmea.msg_available) \
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nmea_parse_char(GpsLink(Getch())); \
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#define ReadGpsBuffer() { \
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while (GpsLink(ChAvailable())&&!gps_nmea.msg_available) \
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nmea_parse_char(GpsLink(Getch())); \
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}
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/** The function to be called when a characted friom the device is available */
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extern void nmea_parse_char(uint8_t c);
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extern void nmea_parse_msg(void);
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extern uint8_t nmea_calc_crc(const char *buff, int buff_sz);
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void nmea_parse_prop_init(void);
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void nmea_parse_prop_msg(void);
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#define gps_nmea_Reset(_val) { }
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/** Read until a certain character, placed here for proprietary includes */
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static inline void nmea_read_until(int *i)
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{
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while (gps_nmea.msg_buf[*i++] != ',') {
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if (*i >= gps_nmea.msg_len) {
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return;
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}
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}
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}
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#endif /* GPS_NMEA_H */
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