X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_gps_skytraq.c;h=d2f67e6b6947b1f9cd4c8e1c87fc13a018eb23b7;hb=136ca0922e968d650e9e420a47d228611a3cb45e;hp=050573e877282012acf1776668396f980822bfdf;hpb=7f9e76e0d3492dcc8bf4b5b1f07c3c727cfdc0ef;p=fw%2Faltos

diff --git a/src/drivers/ao_gps_skytraq.c b/src/drivers/ao_gps_skytraq.c
index 050573e8..d2f67e6b 100644
--- a/src/drivers/ao_gps_skytraq.c
+++ b/src/drivers/ao_gps_skytraq.c
@@ -19,6 +19,19 @@
 #include "ao.h"
 #endif
 
+#ifndef ao_gps_getchar
+#define ao_gps_getchar	ao_serial1_getchar
+#define ao_gps_fifo	ao_serial1_rx_fifo
+#endif
+
+#ifndef ao_gps_putchar
+#define ao_gps_putchar	ao_serial1_putchar
+#endif
+
+#ifndef ao_gps_set_speed
+#define ao_gps_set_speed	ao_serial1_set_speed
+#endif
+
 __xdata uint8_t ao_gps_mutex;
 static __data char ao_gps_char;
 static __data uint8_t ao_gps_cksum;
@@ -68,7 +81,7 @@ ao_gps_lexchar(void)
 	if (ao_gps_error)
 		c = '\n';
 	else
-		c = ao_serial_getchar();
+		c = ao_gps_getchar();
 	ao_gps_cksum ^= c;
 	ao_gps_char = c;
 }
@@ -402,7 +415,7 @@ ao_skytraq_sendbytes(__code uint8_t *b, uint8_t l)
 		uint8_t	c = *b++;
 		if (c == 0xa0)
 			ao_delay(AO_MS_TO_TICKS(500));
-		ao_serial_putchar(c);
+		ao_gps_putchar(c);
 	}
 }
 
@@ -441,10 +454,12 @@ ao_gps_nmea_parse(void)
 	}
 }
 
+static uint8_t	ao_gps_updating;
+
 void
 ao_gps(void) __reentrant
 {
-	ao_serial_set_speed(AO_SERIAL_SPEED_9600);
+	ao_gps_set_speed(AO_SERIAL_SPEED_9600);
 
 	/* give skytraq time to boot in case of cold start */
 	ao_delay(AO_MS_TO_TICKS(2000));
@@ -453,9 +468,16 @@ ao_gps(void) __reentrant
 
 	for (;;) {
 		/* Locate the begining of the next record */
-		if (ao_serial_getchar() == '$') {
+		if (ao_gps_getchar() == '$') {
 			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
 	}
 }
 
@@ -468,7 +490,7 @@ gps_dump(void) __reentrant
 	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 ("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);
@@ -480,8 +502,38 @@ gps_dump(void) __reentrant
 	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 },
 };