#ifndef ao_gps_getchar
#define ao_gps_getchar ao_serial1_getchar
+#define ao_gps_fifo ao_serial1_rx_fifo
#endif
#ifndef ao_gps_putchar
}
}
+static uint8_t ao_gps_updating;
+
void
ao_gps(void) __reentrant
{
if (ao_gps_getchar() == '$') {
ao_gps_nmea_parse();
}
+#ifndef AO_GPS_TEST
+ while (ao_gps_updating) {
+ ao_usb_putchar(ao_gps_getchar());
+ if (ao_fifo_empty(ao_gps_fifo))
+ flush();
+ }
+#endif
}
}
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_gps_updating = 1;
+ ao_task_minimize_latency = 1;
+#if HAS_ADC
+ ao_timer_set_adc_interval(0);
+#endif
+ ao_skytraq_sendstruct(ao_gps_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 (;;)
+ ao_gps_putchar(ao_usb_getchar());
+}
+
__code struct ao_cmds ao_gps_cmds[] = {
{ gps_dump, "g\0Display GPS" },
+ { gps_update, "U\0Update GPS firmware" },
{ 0, NULL },
};