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altos/test: Get APRS generation test working again
[fw/altos]
/
src
/
drivers
/
ao_gps_ublox.c
diff --git
a/src/drivers/ao_gps_ublox.c
b/src/drivers/ao_gps_ublox.c
index 1bc2a68fdb6a66616bdecc1d8a6bd041a8f55897..077698a90d514a24672b3d990d867118a1c67a9c 100644
(file)
--- a/
src/drivers/ao_gps_ublox.c
+++ b/
src/drivers/ao_gps_ublox.c
@@
-21,10
+21,11
@@
#include "ao_gps_ublox.h"
#include "ao_gps_ublox.h"
-#define AO_UBLOX_DEBUG
1
+#define AO_UBLOX_DEBUG
0
#include <stdarg.h>
#include <stdarg.h>
+__xdata uint8_t ao_gps_new;
__xdata uint8_t ao_gps_mutex;
__pdata uint16_t ao_gps_tick;
__xdata struct ao_telemetry_location ao_gps_data;
__xdata uint8_t ao_gps_mutex;
__pdata uint16_t ao_gps_tick;
__xdata struct ao_telemetry_location ao_gps_data;
@@
-599,6
+600,14
@@
static const uint8_t ublox_enable_nav[] = {
UBLOX_NAV_TIMEUTC
};
UBLOX_NAV_TIMEUTC
};
+void
+ao_gps_set_rate(uint8_t rate)
+{
+ uint8_t i;
+ for (i = 0; i < sizeof (ublox_enable_nav); i++)
+ ao_ublox_set_message_rate(UBLOX_NAV, ublox_enable_nav[i], rate);
+}
+
void
ao_gps(void) __reentrant
{
void
ao_gps(void) __reentrant
{
@@
-615,8
+624,7
@@
ao_gps(void) __reentrant
ao_ublox_set_message_rate(UBLOX_NAV, ublox_disable_nav[i], 0);
/* Enable all of the messages we want */
ao_ublox_set_message_rate(UBLOX_NAV, ublox_disable_nav[i], 0);
/* Enable all of the messages we want */
- for (i = 0; i < sizeof (ublox_enable_nav); i++)
- ao_ublox_set_message_rate(UBLOX_NAV, ublox_enable_nav[i], 1);
+ ao_gps_set_rate(1);
ao_ublox_set_navigation_settings((1 << UBLOX_CFG_NAV5_MASK_DYN) | (1 << UBLOX_CFG_NAV5_MASK_FIXMODE),
UBLOX_CFG_NAV5_DYNMODEL_AIRBORNE_4G,
ao_ublox_set_navigation_settings((1 << UBLOX_CFG_NAV5_MASK_DYN) | (1 << UBLOX_CFG_NAV5_MASK_FIXMODE),
UBLOX_CFG_NAV5_DYNMODEL_AIRBORNE_4G,
@@
-702,9
+710,9
@@
ao_gps(void) __reentrant
continue;
switch (class) {
continue;
switch (class) {
- case
0x01
:
+ case
UBLOX_NAV
:
switch (id) {
switch (id) {
- case
0x21
:
+ case
UBLOX_NAV_TIMEUTC
:
ao_mutex_get(&ao_gps_mutex);
ao_gps_tick = ao_time();
ao_mutex_get(&ao_gps_mutex);
ao_gps_tick = ao_time();
@@
-712,7
+720,7
@@
ao_gps(void) __reentrant
ao_gps_data.flags |= AO_GPS_RUNNING;
if (nav_sol.gps_fix & (1 << NAV_SOL_FLAGS_GPSFIXOK)) {
uint8_t nsat = nav_sol.nsat;
ao_gps_data.flags |= AO_GPS_RUNNING;
if (nav_sol.gps_fix & (1 << NAV_SOL_FLAGS_GPSFIXOK)) {
uint8_t nsat = nav_sol.nsat;
- ao_gps_data.flags |= AO_GPS_VALID;
+ ao_gps_data.flags |= AO_GPS_VALID
| AO_GPS_COURSE_VALID
;
if (nsat > 15)
nsat = 15;
ao_gps_data.flags |= nsat;
if (nsat > 15)
nsat = 15;
ao_gps_data.flags |= nsat;
@@
-745,23
+753,25
@@
ao_gps(void) __reentrant
ao_gps_tracking_data.channels = 0;
struct ao_telemetry_satellite_info *dst = &ao_gps_tracking_data.sats[0];
ao_gps_tracking_data.channels = 0;
struct ao_telemetry_satellite_info *dst = &ao_gps_tracking_data.sats[0];
+ struct nav_svinfo_sat *src = &nav_svinfo_sat[0];
for (i = 0; i < nav_svinfo_nsat; i++) {
for (i = 0; i < nav_svinfo_nsat; i++) {
- struct nav_svinfo_sat *src = &nav_svinfo_sat[i];
-
if (!(src->flags & (1 << NAV_SVINFO_SAT_FLAGS_UNHEALTHY)) &&
src->quality >= NAV_SVINFO_SAT_QUALITY_ACQUIRED)
{
if (!(src->flags & (1 << NAV_SVINFO_SAT_FLAGS_UNHEALTHY)) &&
src->quality >= NAV_SVINFO_SAT_QUALITY_ACQUIRED)
{
- dst->svid = src->svid;
- dst->c_n_1 = src->cno;
- dst++;
- ao_gps_tracking_data.channels++;
+ if (ao_gps_tracking_data.channels < AO_TELEMETRY_SATELLITE_MAX_SAT) {
+ dst->svid = src->svid;
+ dst->c_n_1 = src->cno;
+ dst++;
+ ao_gps_tracking_data.channels++;
+ }
}
}
+ src++;
}
ao_mutex_put(&ao_gps_mutex);
}
ao_mutex_put(&ao_gps_mutex);
- ao_
wakeup(&ao_gps_data)
;
- ao_wakeup(&ao_gps_
tracking_data
);
+ ao_
gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING
;
+ ao_wakeup(&ao_gps_
new
);
break;
}
break;
break;
}
break;