X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fao_gps_skytraq.c;h=84743ff53f92da48742c1e5571ed7e483638bca2;hb=edf6252450e06fd42fa6dde3acd127baa8fa6d36;hp=88509a3d6c0da48a7873104520869760e3de6aa7;hpb=b080e933a65d268aaaec8cfd5f617a13d5babc43;p=fw%2Faltos

diff --git a/src/ao_gps_skytraq.c b/src/ao_gps_skytraq.c
index 88509a3d..84743ff5 100644
--- a/src/ao_gps_skytraq.c
+++ b/src/ao_gps_skytraq.c
@@ -29,13 +29,13 @@ static __xdata uint8_t ao_gps_cksum;
 static __xdata uint8_t ao_gps_error;
 
 __xdata uint16_t ao_gps_tick;
-__xdata struct ao_gps_data	ao_gps_data;
-__xdata struct ao_gps_tracking_data	ao_gps_tracking_data;
+__xdata struct ao_telemetry_location	ao_gps_data;
+__xdata struct ao_telemetry_satellite	ao_gps_tracking_data;
 
 static __xdata uint16_t				ao_gps_next_tick;
-static __xdata struct ao_gps_data		ao_gps_next;
+static __xdata struct ao_telemetry_location	ao_gps_next;
 static __xdata uint8_t				ao_gps_date_flags;
-static __xdata struct ao_gps_tracking_data	ao_gps_tracking_next;
+static __xdata struct ao_telemetry_satellite	ao_gps_tracking_next;
 
 #define STQ_S 0xa0, 0xa1
 #define STQ_E 0x0d, 0x0a
@@ -49,13 +49,6 @@ static __xdata struct ao_gps_tracking_data	ao_gps_tracking_next;
     STQ_S, 0,15, id, a,b,c,d,e,f,g,h,i,j,k,l,m,n, \
     (id^a^b^c^d^e^f^g^h^i^j^k^l^m^n), STQ_E
 
-static const uint8_t ao_gps_config_serial[] = {
-	SKYTRAQ_MSG_3(0x05, 0, 4, 0), /* set serial port */
-	/* 0 = com1 */
-	/* 0 = 4800, 1 = 9600, 2 = 19200, 3 = 38400,
-	 * 4 = 57600, 5 = 115200 */
-};
-
 static const uint8_t ao_gps_config[] = {
 	SKYTRAQ_MSG_8(0x08, 1, 1, 1, 1, 1, 1, 1, 0), /* configure nmea */
 	/* gga interval */
@@ -70,10 +63,6 @@ static const uint8_t ao_gps_config[] = {
 	SKYTRAQ_MSG_2(0x3c, 0x00, 0x00), /* configure navigation mode */
 	/* 0 = car, 1 = pedestrian */
 	/* 0 = update to sram, 1 = update sram + flash */
-
-	SKYTRAQ_MSG_2(0x0e, 10, 0), /* config nav interval */
-	/* interval */
-	/* 0 = update to sram, 1 = update sram */
 };
 
 static void
@@ -276,7 +265,7 @@ ao_nmea_gga()
 	if (!ao_gps_error) {
 		ao_mutex_get(&ao_gps_mutex);
 		ao_gps_tick = ao_gps_next_tick;
-		memcpy(&ao_gps_data, &ao_gps_next, sizeof (struct ao_gps_data));
+		memcpy(&ao_gps_data, &ao_gps_next, sizeof (ao_gps_data));
 		ao_mutex_put(&ao_gps_mutex);
 		ao_wakeup(&ao_gps_data);
 	}
@@ -323,9 +312,8 @@ ao_nmea_gsv(void)
 		ao_gps_skip_field();	/* azimuth */
 		c = ao_gps_decimal(2);	/* C/N0 */
 		if (i < AO_MAX_GPS_TRACKING) {
-			if (!(ao_gps_tracking_next.sats[i].c_n_1 = c))
-				ao_gps_tracking_next.sats[i].svid = 0;
-			ao_gps_tracking_next.channels = i + 1;
+			if ((ao_gps_tracking_next.sats[i].c_n_1 = c) != 0)
+				ao_gps_tracking_next.channels = i + 1;
 		}
 	}
 	if (ao_gps_char == '*') {
@@ -455,9 +443,6 @@ ao_gps(void) __reentrant
 
 	/* give skytraq time to boot in case of cold start */
 	ao_delay(AO_MS_TO_TICKS(2000));
-	ao_skytraq_sendstruct(ao_gps_config_serial);
-	ao_delay(AO_MS_TO_TICKS(1000));
-	ao_serial_set_speed(AO_SERIAL_SPEED_57600);
 
 	ao_skytraq_sendstruct(ao_gps_config);
 
@@ -475,18 +460,25 @@ __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", ao_gps_data.latitude, 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);
 }
 
 __code struct ao_cmds ao_gps_cmds[] = {
-	{ 'g', gps_dump, 	"g                                  Display current GPS values" },
-	{ 0,   gps_dump, NULL },
+	{ gps_dump, 	"g\0Display GPS" },
+	{ 0, NULL },
 };
 
 void