X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_gps_ublox.c;h=3d615e9c933f14b260f3cd0fb75faeec68073a3c;hb=cd5b0ac6f2b0c709fe3d419c4c090aa5638d09e1;hp=57cbf22a77b50245975955925096ba85ac9723f5;hpb=c49bd3cb0c31a51fae79ddc92237cc309be9a242;p=fw%2Faltos

diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c
index 57cbf22a..3d615e9c 100644
--- a/src/drivers/ao_gps_ublox.c
+++ b/src/drivers/ao_gps_ublox.c
@@ -29,6 +29,7 @@
 uint8_t ao_gps_new;
 uint8_t ao_gps_mutex;
 AO_TICK_TYPE ao_gps_tick;
+AO_TICK_TYPE ao_gps_utc_tick;
 struct ao_telemetry_location	ao_gps_data;
 struct ao_telemetry_satellite	ao_gps_tracking_data;
 
@@ -63,12 +64,13 @@ static uint16_t ao_ublox_len;
 
 #if AO_UBLOX_DEBUG
 
-static uint8_t ao_gps_dbg_enable;
 
 #define DBG_PROTO	1
 #define DBG_CHAR	2
 #define DBG_INIT	4
 
+static uint8_t ao_gps_dbg_enable = DBG_PROTO|DBG_CHAR|DBG_INIT;
+
 static void ao_gps_dbg(int level, char *format, ...) {
 	va_list a;
 
@@ -397,6 +399,7 @@ ao_ublox_parse_nav_svinfo(void)
  * NAV-TIMEUTC message parsing
  */
 static struct nav_timeutc {
+	int32_t		nano;
 	uint16_t	year;
 	uint8_t		month;
 	uint8_t		day;
@@ -411,7 +414,8 @@ static struct nav_timeutc {
 #define NAV_TIMEUTC_VALID_UTC	2
 
 static const struct ublox_packet_parse nav_timeutc_packet[] = {
-	{ UBLOX_DISCARD, 12 },						/* 0 iTOW, tAcc, nano */
+	{ UBLOX_DISCARD, 8 },						/* 0 iTOW, tAcc */
+	{ UBLOX_U32, offsetof(struct nav_timeutc, nano) },		/* 8 nano */
 	{ UBLOX_U16, offsetof(struct nav_timeutc, year) },		/* 12 year */
 	{ UBLOX_U8, offsetof(struct nav_timeutc, month) },		/* 14 month */
 	{ UBLOX_U8, offsetof(struct nav_timeutc, day) },		/* 15 day */
@@ -721,7 +725,7 @@ ao_gps(void)
 			case UBLOX_NAV_TIMEUTC:
 				ao_mutex_get(&ao_gps_mutex);
 				ao_gps_tick = solution_tick;
-
+				ao_gps_utc_tick = packet_start_tick + (AO_TICK_TYPE) AO_NS_TO_TICKS(nav_timeutc.nano);
 				ao_gps_data.flags = 0;
 				ao_gps_data.flags |= AO_GPS_RUNNING;
 				if (nav_sol.gps_fix & (1 << NAV_SOL_FLAGS_GPSFIXOK)) {
@@ -788,7 +792,7 @@ ao_gps(void)
 #if AO_UBLOX_DEBUG
 static void ao_gps_option(void)
 {
-	uint16_t r = ao_cmd_hex();
+	uint8_t r = (uint8_t) ao_cmd_hex();
 	if (ao_cmd_status != ao_cmd_success) {
 		ao_cmd_status = ao_cmd_success;
 		ao_gps_show();