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get ram usage under control, etc
[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 a6d930835baed49a70d619073b84349242b0a806..57cbf22a77b50245975955925096ba85ac9723f5 100644
(file)
--- a/
src/drivers/ao_gps_ublox.c
+++ b/
src/drivers/ao_gps_ublox.c
@@
-28,7
+28,7
@@
uint8_t ao_gps_new;
uint8_t ao_gps_mutex;
uint8_t ao_gps_new;
uint8_t ao_gps_mutex;
-
uint16_t
ao_gps_tick;
+
AO_TICK_TYPE
ao_gps_tick;
struct ao_telemetry_location ao_gps_data;
struct ao_telemetry_satellite ao_gps_tracking_data;
struct ao_telemetry_location ao_gps_data;
struct ao_telemetry_satellite ao_gps_tracking_data;
@@
-115,8
+115,8
@@
static void ao_ublox_put_i8(int8_t c)
static void ao_ublox_put_u16(uint16_t c)
{
static void ao_ublox_put_u16(uint16_t c)
{
- ao_ublox_put_u8(c);
- ao_ublox_put_u8(
c>>8
);
+ ao_ublox_put_u8(
(uint8_t)
c);
+ ao_ublox_put_u8(
(uint8_t) (c>>8)
);
}
#if 0
}
#if 0
@@
-128,10
+128,10
@@
static void ao_ublox_put_i16(int16_t c)
static void ao_ublox_put_u32(uint32_t c)
{
static void ao_ublox_put_u32(uint32_t c)
{
- ao_ublox_put_u8(c);
- ao_ublox_put_u8(
c>>8
);
- ao_ublox_put_u8(
c>>16
);
- ao_ublox_put_u8(
c>>24
);
+ ao_ublox_put_u8(
(uint8_t)
c);
+ ao_ublox_put_u8(
(uint8_t) (c>>8)
);
+ ao_ublox_put_u8(
(uint8_t) (c>>16)
);
+ ao_ublox_put_u8(
(uint8_t) (c>>24)
);
}
static void ao_ublox_put_i32(int32_t c)
}
static void ao_ublox_put_i32(int32_t c)
@@
-160,7
+160,7
@@
static void ublox_u16(uint8_t offset)
uint16_t val;
val = data_byte();
uint16_t val;
val = data_byte();
- val |=
data_byte () << 8
;
+ val |=
(uint16_t) ((uint16_t) data_byte () << 8)
;
*ptr = val;
}
*ptr = val;
}
@@
-515,8
+515,8
@@
ao_ublox_putstart(uint8_t class, uint8_t id, uint16_t len)
ao_gps_putchar(0x62);
ao_ublox_put_u8(class);
ao_ublox_put_u8(id);
ao_gps_putchar(0x62);
ao_ublox_put_u8(class);
ao_ublox_put_u8(id);
- ao_ublox_put_u8(len);
- ao_ublox_put_u8(
len >> 8
);
+ ao_ublox_put_u8(
(uint8_t)
len);
+ ao_ublox_put_u8(
(uint8_t) (len >> 8)
);
}
static void
}
static void
@@
-615,6
+615,8
@@
ao_gps(void)
uint8_t class, id;
struct ao_ublox_cksum cksum;
uint8_t i;
uint8_t class, id;
struct ao_ublox_cksum cksum;
uint8_t i;
+ AO_TICK_TYPE packet_start_tick;
+ AO_TICK_TYPE solution_tick = 0;
ao_gps_setup();
ao_gps_setup();
@@
-645,6
+647,8
@@
ao_gps(void)
/* Locate the begining of the next record */
while (ao_ublox_byte() != (uint8_t) 0xb5)
;
/* Locate the begining of the next record */
while (ao_ublox_byte() != (uint8_t) 0xb5)
;
+ packet_start_tick = ao_tick_count;
+
if (ao_ublox_byte() != (uint8_t) 0x62)
continue;
if (ao_ublox_byte() != (uint8_t) 0x62)
continue;
@@
-655,9
+659,9
@@
ao_gps(void)
/* Length */
ao_ublox_len = header_byte();
/* Length */
ao_ublox_len = header_byte();
- ao_ublox_len |=
header_byte() << 8
;
+ ao_ublox_len |=
(uint16_t) ((uint16_t) header_byte() << 8)
;
- ao_gps_dbg(DBG_PROTO, "
class %02x id %02x len %d\n"
, class, id, ao_ublox_len);
+ ao_gps_dbg(DBG_PROTO, "
%6u class %02x id %02x len %d\n", packet_start_tick
, class, id, ao_ublox_len);
if (ao_ublox_len > 1023)
continue;
if (ao_ublox_len > 1023)
continue;
@@
-679,6
+683,7
@@
ao_gps(void)
if (ao_ublox_len != 52)
break;
ao_ublox_parse_nav_sol();
if (ao_ublox_len != 52)
break;
ao_ublox_parse_nav_sol();
+ solution_tick = packet_start_tick;
break;
case UBLOX_NAV_SVINFO:
if (ao_ublox_len < 8)
break;
case UBLOX_NAV_SVINFO:
if (ao_ublox_len < 8)
@@
-715,7
+720,7
@@
ao_gps(void)
switch (id) {
case UBLOX_NAV_TIMEUTC:
ao_mutex_get(&ao_gps_mutex);
switch (id) {
case UBLOX_NAV_TIMEUTC:
ao_mutex_get(&ao_gps_mutex);
- ao_gps_tick =
ao_time()
;
+ ao_gps_tick =
solution_tick
;
ao_gps_data.flags = 0;
ao_gps_data.flags |= AO_GPS_RUNNING;
ao_gps_data.flags = 0;
ao_gps_data.flags |= AO_GPS_RUNNING;
@@
-733,7
+738,7
@@
ao_gps(void)
ao_gps_data.latitude = nav_posllh.lat;
ao_gps_data.longitude = nav_posllh.lon;
ao_gps_data.latitude = nav_posllh.lat;
ao_gps_data.longitude = nav_posllh.lon;
- ao_gps_data.year =
nav_timeutc.year - 2000
;
+ ao_gps_data.year =
(uint8_t) (nav_timeutc.year - 2000)
;
ao_gps_data.month = nav_timeutc.month;
ao_gps_data.day = nav_timeutc.day;
ao_gps_data.month = nav_timeutc.month;
ao_gps_data.day = nav_timeutc.day;
@@
-743,13
+748,13
@@
ao_gps(void)
/* we report dop scaled by 10, but ublox provides dop scaled by 100
*/
/* we report dop scaled by 10, but ublox provides dop scaled by 100
*/
- ao_gps_data.pdop =
nav_dop.pdop / 10
;
- ao_gps_data.hdop =
nav_dop.hdop / 10
;
- ao_gps_data.vdop =
nav_dop.vdop / 10
;
+ ao_gps_data.pdop =
(uint8_t) (nav_dop.pdop / 10)
;
+ ao_gps_data.hdop =
(uint8_t) (nav_dop.hdop / 10)
;
+ ao_gps_data.vdop =
(uint8_t) (nav_dop.vdop / 10)
;
- ao_gps_data.ground_speed = nav_velned.g_speed;
- ao_gps_data.climb_rate = -nav_velned.vel_d;
- ao_gps_data.course =
nav_velned.heading / 200000
;
+ ao_gps_data.ground_speed =
(uint16_t)
nav_velned.g_speed;
+ ao_gps_data.climb_rate = -
(int16_t)
nav_velned.vel_d;
+ ao_gps_data.course =
(uint8_t) (nav_velned.heading / 200000)
;
ao_gps_tracking_data.channels = 0;
ao_gps_tracking_data.channels = 0;