__xdata struct ao_task ao_gps_task;
-static void
-gps_dump(void) __reentrant
-{
- uint8_t i;
- ao_mutex_get(&ao_gps_mutex);
- printf ("Date: %02d/%02d/%02d\n", ao_gps_data.year, ao_gps_data.month, ao_gps_data.day);
- printf ("Time: %02d:%02d:%02d\n", ao_gps_data.hour, ao_gps_data.minute, ao_gps_data.second);
- printf ("Lat/Lon: %ld %ld\n", (long) ao_gps_data.latitude, (long) ao_gps_data.longitude);
- printf ("Alt: %d\n", ao_gps_data.altitude);
- printf ("Flags: 0x%x\n", ao_gps_data.flags);
- printf ("Sats: %d", ao_gps_tracking_data.channels);
- for (i = 0; i < ao_gps_tracking_data.channels; i++)
- printf (" %d %d",
- ao_gps_tracking_data.sats[i].svid,
- ao_gps_tracking_data.sats[i].c_n_1);
- printf ("\ndone\n");
- ao_mutex_put(&ao_gps_mutex);
-}
-
static __code uint8_t ao_gps_115200[] = {
SKYTRAQ_MSG_3(5,0,5,0) /* Set to 115200 baud */
};
+static void
+ao_gps_set_speed_delay(uint8_t speed) {
+ ao_delay(AO_MS_TO_TICKS(500));
+ ao_gps_set_speed(speed);
+ ao_delay(AO_MS_TO_TICKS(500));
+}
+
static void
gps_update(void) __reentrant
{
ao_timer_set_adc_interval(0);
#endif
ao_skytraq_sendstruct(ao_gps_115200);
- ao_gps_set_speed(AO_SERIAL_SPEED_115200);
+ ao_gps_set_speed_delay(AO_SERIAL_SPEED_4800);
+ ao_skytraq_sendstruct(ao_gps_115200);
+ ao_gps_set_speed_delay(AO_SERIAL_SPEED_115200);
/* It's a binary protocol; abandon attempts to escape */
for (;;)
}
__code struct ao_cmds ao_gps_cmds[] = {
- { gps_dump, "g\0Display GPS" },
+ { ao_gps_show, "g\0Display GPS" },
{ gps_update, "U\0Update GPS firmware" },
{ 0, NULL },
};