Revision 33:319cbac3b6eb, committed 2015-09-03

Comitter:

ftagius

Date:

Thu Sep 03 14:33:55 2015 +0000

Parent:

32:a2472bbe7c92

Commit message:

sx1276 demo program requiring only the freedom board and a semtech shield

Changed in this revision

--- a/AdaFruit_RGBLCDShield.lib	Wed Jul 29 12:14:42 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://developer.mbed.org/teams/CaryCoders/code/AdaFruit_RGBLCDShield/#bc884631d057

--- a/AdafruitGPS.lib	Wed Jul 29 12:14:42 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://developer.mbed.org/teams/CaryCoders/code/AdafruitGPS/#59bfc720698f

--- a/LCDadafruit/lcd.cpp	Wed Jul 29 12:14:42 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,8 +0,0 @@
-#include "mbed.h"
-#include "lcd.h"
-
-LCD::LCD(I2C & in_cI2C)
-    : Serial(USBTX,USBRX)
-    , m_cI2C(in_cI2C)
-{
-}

--- a/LCDadafruit/lcd.h	Wed Jul 29 12:14:42 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,25 +0,0 @@
-#ifndef __LCD_H__
-#define __LCD_H__
-
-class LCD
-    : public Serial // for printf
-{
-public:
-                        LCD(I2C & in_cI2C);
-    virtual int         _putc(int c) = 0;
-            
-    virtual void        clear() = 0;
-    virtual uint8_t     columns() = 0;
-    virtual void        createChar(uint8_t location, uint8_t charmap[]) = 0;
-    virtual void        home() = 0;
-    virtual uint8_t     rows() = 0;    
-    virtual void        setCursor(uint8_t in_nX, uint8_t in_nY) = 0;
-    virtual void        showBlink(bool in_bShow) = 0;
-    virtual void        showCursor(bool in_bShow) = 0;
-    virtual void        showDisplay(bool in_bShow) = 0;
-    
-protected:
-            I2C &       m_cI2C;
-};
-
-#endif // __LCD_H__

--- a/LCDadafruit/lcdadafruit.cpp	Wed Jul 29 12:14:42 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,61 +0,0 @@
-#include "mbed.h"
-#include "lcdadafruit.h"
-
-LCDadafruit::LCDadafruit(I2C & in_cI2C)
-    : LCD(in_cI2C)
-    , m_cMCP(in_cI2C, 0x20 << 1)
-    , m_cLCD(m_cMCP)
-{
-    m_cLCD.begin(16,2);
-}
-
-int LCDadafruit::_putc(int in_nValue)
-{
-    return m_cLCD._putc(in_nValue);
-}
-
-void LCDadafruit::clear()
-{
-    m_cLCD.clear();
-}
-
-uint8_t LCDadafruit::columns()
-{
-    return 16;
-}
-
-void LCDadafruit::createChar(uint8_t location, uint8_t charmap[])
-{
-    m_cLCD.createChar(location,charmap);
-}
-
-void LCDadafruit::home()
-{
-    m_cLCD.home();
-}
-
-uint8_t LCDadafruit::rows()
-{
-    return 2;
-}
-
-void LCDadafruit::setCursor(uint8_t in_nX, uint8_t in_nY)
-{ 
-    m_cLCD.setCursor(in_nX,in_nY);
-}
-
-void LCDadafruit::showBlink(bool in_bShow)
-{
-    
-    if (in_bShow) m_cLCD.blink(); else m_cLCD.noBlink();    
-}
-
-void LCDadafruit::showCursor(bool in_bShow)
-{
-    if (in_bShow) m_cLCD.cursor(); else m_cLCD.noCursor();
-}
-
-void LCDadafruit::showDisplay(bool in_bShow)
-{
-    if (in_bShow) m_cLCD.display(); else m_cLCD.noDisplay();
-}

--- a/LCDadafruit/lcdadafruit.h	Wed Jul 29 12:14:42 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,30 +0,0 @@
-#ifndef __LCDADAFRUIT_H__
-#define __LCDADAFRUIT_H__
-
-#include "lcd.h"
-#include "Adafruit_RGBLCDShield.h"
-#include "MCP23017.h"
-
-class LCDadafruit
-    : public LCD
-{
-public:
-                        LCDadafruit(I2C & in_cI2C);
-    virtual int         _putc(int c);
-    
-    virtual uint8_t     columns();
-    virtual void        clear();
-    virtual void        createChar(uint8_t location, uint8_t charmap[]);
-    virtual void        home();
-    virtual uint8_t     rows();
-    virtual void        setCursor(uint8_t in_nX, uint8_t in_nY);
-    virtual void        showBlink(bool in_bBlink);
-    virtual void        showCursor(bool in_bShow);
-    virtual void        showDisplay(bool in_bBlink);
-    
-protected:
-            MCP23017    m_cMCP;
-            Adafruit_RGBLCDShield m_cLCD;
-};
-
-#endif // __LCDADAFRUIT_H__

--- a/SX1276Lib.lib	Wed Jul 29 12:14:42 2015 +0000
+++ b/SX1276Lib.lib	Thu Sep 03 14:33:55 2015 +0000
@@ -1,1 +1,1 @@
-http://developer.mbed.org/teams/CaryCoders/code/SX1276Lib/#29f09ac61412
+http://developer.mbed.org/teams/CaryCoders/code/SX1276Lib/#20ce6dab2237

--- a/hello.cpp	Wed Jul 29 12:14:42 2015 +0000
+++ b/hello.cpp	Thu Sep 03 14:33:55 2015 +0000
@@ -3,14 +3,16 @@
 #include "main.h"
 #include "debug.h"
 #include "serial_api.h"
+#ifndef STANDALONE
 #include "GPS.h"
+#endif
 #include <math.h>
 
 
 void start_hello(void)
 {
     int len = get_kbd_str(pcbuf, PCBUF_SIZE);
-    //printf("in start gps/hello\r\n");
+    //printf("in start gps/hello len=%d\r\n",len);
     if (len < 0) {
         fflush(stdout);
         Radio.Rx( RX_TIMEOUT_VALUE );
@@ -28,6 +30,7 @@
     }
     else
     {   
+       Radio.Rx( RX_TIMEOUT_VALUE / 3  );
        hello();
     }
 }
@@ -37,8 +40,8 @@
  
     // srand ( randomSeed() );
     // generate a random wait time
-    // int mywait = ((rand()%2 +1));
-    int mywait = 3;
+    int mywait = ((rand()%2 +1));
+   // int mywait = 3;
     int i=0;
     int rcvd=0;
     int lost=0;
@@ -78,25 +81,33 @@
             r_latitude = 0;
             r_longitude = 0;
             // printf("rcv - rssi = %d snr = %d msg=%s\r\n", RssiValue, SnrValue, BufferRx);
+            #ifndef STANDALONE
             cLCD.setCursor(0,0);
             cLCD.printf("RI:NA SR:NA      ");
+            #endif
         case RX:
              
             if( BufferSize > 0 )
             {
+                RXin = !RXin;
                 if( strncmp( ( const char* )BufferRx, ( const char* )HelloMsg, 5 ) == 0 )
                 {
                     // radfta led = !led;     
                     printf("rcv - rssi = %d snr = %d msg=%s ", RssiValue, SnrValue, BufferRx );
                     printf("per=%d\r\n", per);
+                    #ifndef STANDALONE
                     cLCD.setCursor(0,0);
                     cLCD.printf("RI:%d SR:%d   ", RssiValue, SnrValue);
+                    #endif
                 }
+                #ifndef STANDALONE
                 else
                 {
 
                   if(sscanf((char *)BufferRx, "GP,%f,%f", &r_latitude, &r_longitude ) >= 1) 
-                  {                    
+                  {    
+                    r_latitude_last = r_latitude;     
+                    r_longitude_last = r_longitude;           
                     // radfta led = !led;     
                     printf("rssi=%d snr=%d rlat=%0.5f rlon=%0.5f llat=%0.5f llon=%0.5f dst=%0.0fm ", RssiValue, SnrValue, r_latitude, r_longitude, gpsd.lat_deg, gpsd.lon_deg, distance);
                     printf("per=%d\r\n", per);
@@ -107,27 +118,31 @@
                   else
                     printf("strange received message: %s\r\n", BufferRx);
            
-              }                  
+                }
+                #else
+                    printf("rssi=%d \tsnr=%d \tper=%d  \tmsg=%s\r\n", RssiValue, SnrValue, per, BufferRx);
+                #endif
             }
        case RX_ERROR:
-         
+#ifndef STANDALONE         
             if (gpsEnabled)
                 sprintf((char *)BufferTx, "GP,%4.5f,%4.5f", gpsd.lat_deg, gpsd.lon_deg);
             else
+#endif            
                 strcpy( ( char* )BufferTx, ( char* )HelloMsg );
-#if 0
-radfta     
+#if 1
             BufferSize=strlen((char *)BufferTx);
             //printf("Sending new buffer\r\n");
             Radio.Send( BufferTx, BufferSize );
+            State = LOWPOWER;
+#else            
+            State = CAD;
 #endif            
-            State = LOWPOWER;
 
             break;
         case TX:    
-            //printf("tx state\r\n");
-            //wait_ms (30);
- 
+            // printf("tx state\r\n");
+            // wait_ms (10);
             Radio.Rx( RX_TIMEOUT_VALUE / mywait  );
             State = LOWPOWER;
             break;
@@ -138,10 +153,18 @@
             break;
         case LOWPOWER:
             //printf("in wait\r\n");
-           // wait_ms (1);
+            //wait_ms (1);
+            //wait_us(200);
+#ifndef STANDALONE
+            check_gps();
+#endif      
+            break;
+        case CAD:
+             printf("in cad\r\n");
+            //State = LOWPOWER;
             break;
         default:
-            debug("state is set to low power\r\n");
+             //debug("state is set to CAD\r\n");
             State = LOWPOWER;
             break;
     }    

--- a/main.cpp	Wed Jul 29 12:14:42 2015 +0000
+++ b/main.cpp	Thu Sep 03 14:33:55 2015 +0000
@@ -1,8 +1,10 @@
 #include "mbed.h"
+#include "main.h"
+#ifndef STANDALONE
 #include "lcdadafruit.h"
+#include "GPS.h"
+#endif
 #include "sx1276-hal.h"
-#include "GPS.h"
-#include "main.h"
 #include "debug.h"
 #include "serial_api.h"
 #include "datetime.h"
@@ -11,9 +13,9 @@
 
 
 #define USE_MODEM_LORA  1
-//#define RF_FREQUENCY                                    868000000 // Hz
+#define RF_FREQUENCY                                    868000000 // Hz
 //#define RF_FREQUENCY                                    880030000 
-#define RF_FREQUENCY                                    915000000.0 // Hz
+//#define RF_FREQUENCY                                      914000000.0 // Hz
 //#define RF_FREQUENCY                                    413000000.0 // Hz
 
 
@@ -30,7 +32,9 @@
 float Frequency = RF_FREQUENCY;
 float distance = -1;
 float r_latitude = 0;
+float r_latitude_last = 0;
 float r_longitude = 0;
+float r_longitude_last = 0;
 int TxPower = TX_OUTPUT_POWER;
 int Bandwidth = LORA_BANDWIDTH;
 int SpreadingFactor = LORA_SPREADING_FACTOR;
@@ -43,13 +47,16 @@
 typedef RadioState States_t;
 volatile States_t State = LOWPOWER;
 
+//SX1276MB1xAS Radio( OnTxDone, OnTxTimeout, OnRxDone, OnRxTimeout, OnRxError, NULL, OnCadDone );
 SX1276MB1xAS Radio( OnTxDone, OnTxTimeout, OnRxDone, OnRxTimeout, OnRxError, NULL, NULL );
 // for hand wired I2C cI2C(PTC9, PTC8); 
 I2C cI2C(PTC9, PTC8); 
 // for stacked shield I2C cI2C(PTC2, PTC1); 
 //I2C cI2C(PTC2, PTC1);
+#ifndef STANDALONE
 LCDadafruit cLCD(cI2C);
 GPS gpsd(PTE0,PTE1);
+#endif
   
 // for other board GPS gpsd(PTE20, PTE21);
 
@@ -67,7 +74,7 @@
 int max_pkts = 20;
 int pkt_data[20];
 int per = 0;
-int tx_rate_us = 100000;  // 1 second
+int tx_rate_us = 1000000;  // 1 second
 app_e app = APP_NONE;
 bool isMaster = true;
 bool AlwaysMaster = false;
@@ -75,15 +82,24 @@
 bool ackRcvd = true;
 bool rxTimeout = false;
 bool gpsEnabled = true;
-InterruptIn PPS(PTA1); //pps IRQ
+InterruptIn PPS(PTD7); //pps IRQ
+DigitalOut RXin(PTD6);
 Ticker usec_tick;
  
 void tx_pkt() {
     led = !led;
+
      BufferSize=strlen((char *)BufferTx);
+     #if 1    
   //   printf("Buffersize = %d\r\n",BufferSize);
-     Radio.Send( BufferTx, BufferSize );
-     //Radio.Rx( RX_TIMEOUT_VALUE / 1  );
+   //  Radio.Send( BufferTx, BufferSize );
+     Radio.Rx( RX_TIMEOUT_VALUE / 1  );
+#else
+       // printf("calling start cat\r\n");
+    //    Radio.Send( BufferTx, BufferSize );
+   //     Radio.Rx( RX_TIMEOUT_VALUE / 1  );
+      //  Radio.StartCad();
+#endif
 }
   
 void ppsSync()
@@ -95,15 +111,16 @@
     {
         // detach the timer
         usec_tick.detach();
-        printf("call attach\r\n");
-        //wait_ms(500);
+       
+        wait_ms(500);
         usec_tick.attach_us(&tx_pkt, tx_rate_us);
+     //   printf("call attach\r\n");
     }
     else
     {
         if (pps_count > 10)
         {
-            pps_count = 1;
+            pps_count = 0;
         }
     }
     
@@ -115,18 +132,22 @@
 {
   
     int i;
+    RXin=0;
     Timer refresh_Timer; //sets up a timer for use in loop; how often do we print GPS info?
     const int refresh_Time = 1000; //refresh time in ms
     bool gpsFix=false;
-    gps_setup();
+  
     pc.baud(9600);
     cI2C.frequency(400000);    // I2C can handle two different frequencies - switch to high speed if asked
+    #ifndef STANDALONE
+    gps_setup();
     cLCD.clear();
     cLCD.home();
     cLCD.setCursor(0,0);
     cLCD.printf("   HOMER   ");
     cLCD.setCursor(0,1);
     cLCD.printf("   DOH!    ");   
+    #endif
  
     rxTimeout = false;
     // PTD1 (the SCK pin for the one SPI interface onboard the KL25z) is actually an output to the Blue LED. 
@@ -154,6 +175,8 @@
         debug_if( ( DEBUG_MESSAGE & ( Radio.DetectBoardType( ) == SX1276MB1LAS ) ) , "> Board Type: SX1276MB1LAS < \r\n" );
         debug_if( ( DEBUG_MESSAGE & ( Radio.DetectBoardType( ) == SX1276MB1MAS ) ) , "> Board Type: SX1276MB1MAS < \r\n" );
         Radio.SetChannel( Frequency ); 
+    //    Radio.StartCad();
+    //    printf("start cad\r\n");
         debug_if( !LORA_FHSS_ENABLED, "> LORA Mode < \r\n");
         configRxTx();
     
@@ -171,6 +194,7 @@
         Radio.Tx( TX_TIMEOUT_VALUE );
          
         app = APP_HELLO;
+        //app = APP_CHAT;
     }
     else
     {
@@ -178,17 +202,22 @@
         pc.printf("Starting GPS App\r\n");
     }
     
-    refresh_Timer.start();  //starts the clock on the timer
-    usec_tick.attach_us(&tx_pkt, tx_rate_us);  // attach a timer to periodically call tx.  this timer will be restarted in ppsSync to synronize timer accross systems
-    PPS.rise(&ppsSync);  // call ppsSync when the PPS irq is detected
-            
+    refresh_Timer.start();  //starts the clock on the timer used for gps refreshes
+  //  usec_tick.attach_us(&tx_pkt, tx_rate_us);  // attach a timer to periodically call tx.  this timer will be restarted in ppsSync to synronize timer accross systems
+  //  PPS.rise(&ppsSync);  // call ppsSync when the PPS irq is detected
+  //  printf("start cad 2\r\n");
+ //   Radio.StartCad();
+    
     while( 1 )
     {
+#ifndef STANDALONE        
+        //printf("call check \r\n");
         check_gps();
         if (refresh_Timer.read_ms() >= refresh_Time) 
         {
-            // printf("reset timer popped\r\n");
-            if (gpsd.fix) {
+            //printf("reset timer popped\r\n");
+            if (gpsd.fix) 
+            {
                 // got a gps fix
                 if (gpsFix == false)
                 {
@@ -227,6 +256,7 @@
             refresh_Timer.reset();    
         }
       
+#endif      
         switch (app) {
             case APP_PING:
                 start_ping_pong();
@@ -235,9 +265,12 @@
                 console_chat();
                 break;
             case APP_GPS:
+#ifndef STANDALONE
                 check_gps();
+#endif          
                 break;    
             case APP_HELLO:
+                wait(1);
                 start_hello();
                 break;
             case APP_CONSOLE:

--- a/main.h	Wed Jul 29 12:14:42 2015 +0000
+++ b/main.h	Thu Sep 03 14:33:55 2015 +0000
@@ -14,8 +14,11 @@
 */
 #ifndef __MAIN_H__
 #define __MAIN_H__
+#define STANDALONE 1
+#ifndef STANDALONE
 #include "lcdadafruit.h"
 #include "GPS.h"
+#endif
 #include "enums.h"
 #include "typedefs.h"
 
@@ -55,7 +58,7 @@
 /*!
  * @brief Function executed on CAD Done event
  */
-void OnCadDone( void );
+void OnCadDone( bool activity );
 
 char* itoa(int val, int base);
 unsigned int randomSeed(void);
@@ -89,7 +92,7 @@
 /* Set this flag to '1' to display debug messages on the console */
 #define DEBUG_MESSAGE   1
 #define TX_OUTPUT_POWER                                 20        // 14 dBm
-#define LORA_BANDWIDTH                                  2         // [0: 125 kHz,
+#define LORA_BANDWIDTH                                  0         // [0: 125 kHz,
                                                                   //  1: 250 kHz,
                                                                   //  2: 500 kHz,
                                                                   //  3: Reserved]
@@ -115,10 +118,12 @@
 #endif
  
 typedef RadioState States_t;
+#ifndef STANDALONE
 extern LCDadafruit cLCD;
+extern GPS gpsd;
+#endif
 extern volatile States_t State;
 extern SX1276MB1xAS Radio;
-extern GPS gpsd;
 extern uint8_t PingMsg[];
 extern uint8_t PongMsg[];
 extern uint8_t HelloMsg[];
@@ -129,6 +134,8 @@
 extern float Frequency;
 extern float distance;
 extern float r_latitude;
+extern float r_latitude_last;
+extern float r_longitude_last;
 extern float r_longitude;
 extern int TxPower;
 extern int Bandwidth;
@@ -148,6 +155,7 @@
 extern int txLen;
 extern int16_t RssiValue;
 extern int8_t SnrValue;
+extern DigitalOut RXin;
 #define PCBUF_SIZE 64
 #define PI 3.14159265
 

--- a/utilities.cpp	Wed Jul 29 12:14:42 2015 +0000
+++ b/utilities.cpp	Thu Sep 03 14:33:55 2015 +0000
@@ -4,6 +4,7 @@
 #include "debug.h"
 #include "serial_api.h"
 
+#ifndef STANDALONE
 void gps_setup(void)
 {
     printf("setting up gps\r\n");
@@ -18,8 +19,8 @@
     gpsd.minute=1;
     gpsd.seconds=1;
 }    
-
-int get_kbd_str(char* buf, int size)
+#endif
+int get_kbd_str2(char* buf, int size)
 {
     char c;
     int i;
@@ -51,25 +52,82 @@
                 buf[i++] = c;
                 pc.putc(c);
             }
+        }  else {
+            if (app == APP_PING)
+                ping_pong();
+            if (app == APP_HELLO)
+                hello();
+#ifndef STANDALONE
+            if (app == APP_GPS)
+                check_gps();    
+#endif          
+            #if 1    
+            if (app == APP_CHAT)
+            {
+                // printf("utility call to console chat\r\n");
+                check_rx_chat();    
+            }
+            #endif
+        }
+    } // ...for()
+}
+
+int get_kbd_str(char* buf, int size)
+{
+    char c;
+    int i;
+    static int prev_len;
+    
+    for (i = 0;;) {
+        if (pc.readable()) {
+            c = pc.getc();
+            if (c == 8 && i > 0) {
+                pc.putc(8);
+                pc.putc(' ');
+                pc.putc(8);
+                i--;
+            } else if (c == '\r') {
+                if (i == 0) {
+                    if (app == APP_CHAT)
+                        return 0;
+                    else
+                        return prev_len; // repeat previous
+                } else {
+                    buf[i] = 0; // null terminate
+                    prev_len = i;
+                    return i;
+                }
+            } else if (c == 3) {
+                {
+                // ctrl-C abort
+                //printf("ctrl c\r\n");
+                app = APP_CONSOLE;
+                return -1;
+                }
+            } else if (i < size) {
+                buf[i++] = c;
+                pc.putc(c);
+            }
         }  
         
         else {
 #if 0            
-            return 0;
+            return 1;
 #else            
             if (app == APP_PING)
                 ping_pong();
             if (app == APP_HELLO)
             {
-             //   if (check_gps() == 0)
-             //   {
-                    return 0;
-                    //hello();
-             //   }
+#ifndef STANDALONE   
+                    check_gps();
+#endif              
+                    hello();
+     
             }                
-            
+#ifndef STANDALONE
             if (app == APP_GPS)
                 check_gps();    
+#endif
             #if 1    
             if (app == APP_CHAT)
             {
@@ -311,6 +369,24 @@
   
 }
 
+void OnCadDone( bool activity )
+{
+    //Radio.Sleep();
+    State = CAD;
+    if (activity)
+    {
+    debug_if( DEBUG_MESSAGE, "> OnCadDone\n\r" );
+    printf("on cad done\r\n");
+    Radio.StartCad();
+    }
+    else
+    {
+        // printf("false\r\n");
+        Radio.StartCad();
+    }
+}
+
+#ifndef STANDALONE
 void find_distance()
 {
     //float dist = 0;
@@ -325,6 +401,7 @@
     float d = 0;
       
     distance = 0;
+ 
     if (gpsd.lat_deg == 0.0)
     {
         distance = -1;
@@ -336,8 +413,8 @@
         return;
     }
     
-    lat1 = r_latitude;
-    lon1 = r_longitude;
+    lat1 = r_latitude_last;
+    lon1 = r_longitude_last;
         
     lat2 = gpsd.lat_deg;
     lon2 = gpsd.lon_deg;
@@ -354,7 +431,13 @@
        d = 0;
     }
     distance = distance + d;
-   // printf("distance: %f\r\n", gpsd.distance);
+#if 0    
+    if (distance > 10000)
+    {
+       printf("distance: %f\r\n", distance);
+       printf("lat1=%f lon1=%f lat2=%f lon2=%f\r\n",lat1,lon1,lat2,lon2);
+    }
+#endif    
    
 }
  
@@ -375,7 +458,8 @@
         
         //check if we recieved a new message from GPS, if so, attempt to parse it,
         if ( gpsd.newNMEAreceived() ) {
-              if (r_latitude != 0)
+              //printf("nmea received \r\n");
+              if (r_latitude_last != 0)
               {
                     find_distance();
                     //printf("distance is %f\r\n",distance);
@@ -386,10 +470,22 @@
                             cLCD.setCursor(0,1);
                             cLCD.printf("d:%0.1fm per:%d      ", distance,per);
                         }
+
                     }
+                    //printf("distance = %f, %f\r\n",distance, r_latitude_last);
                }
+               else
+               {
+                    cLCD.setCursor(0,1);
+                    if (gpsd.lat_deg != 0)
+                        cLCD.printf("%0.4f %0.4f", gpsd.lat_deg, gpsd.lon_deg);
+                    else
+                        cLCD.printf("No GPS. per:%d      ",per);
+                }
+               
+ 
    
-            if ( !gpsd.parse(gpsd.lastNMEA()) ) 
+            if ( !gpsd.parse(gpsd.lastNMEA()) )  
             {
                // radfta led = !led;   
                #if 0
@@ -419,4 +515,4 @@
         }
    
 }
-
+#endif