X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_gps_ublox.c;h=fa6ff0e0724b8290a483ee651bc6583c623851fc;hb=f222e8504bfd01027e3c380c239a2cde2c367d74;hp=22300df3100f636753aa90d4de39519bb0474f21;hpb=116d8570766fbd3ef529111171935637a2e466af;p=fw%2Faltos

diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c
index 22300df3..fa6ff0e0 100644
--- a/src/drivers/ao_gps_ublox.c
+++ b/src/drivers/ao_gps_ublox.c
@@ -26,11 +26,21 @@ __pdata uint16_t ao_gps_tick;
 __xdata struct ao_telemetry_location	ao_gps_data;
 __xdata struct ao_telemetry_satellite	ao_gps_tracking_data;
 
-static const char ao_gps_set_nmea[] = "\r\n$PUBX,41,1,3,1,57600,0*2d\r\n";
+#ifndef AO_SERIAL_SPEED_UBLOX
+#define AO_SERIAL_SPEED_UBLOX AO_SERIAL_SPEED_57600
+#endif
 
-const char ao_gps_config[] = {
+#if AO_SERIAL_SPEED_UBLOX == AO_SERIAL_SPEED_57600
+#define SERIAL_SPEED_STRING	"57600"
+#endif
+#if AO_SERIAL_SPEED_UBLOX == AO_SERIAL_SPEED_19200
+#define SERIAL_SPEED_STRING	"19200"
+#endif
+#if AO_SERIAL_SPEED_UBLOX == AO_SERIAL_SPEED_9600
+#define SERIAL_SPEED_STRING	"9600"
+#endif
 
-};
+static const char ao_gps_set_nmea[] = "\r\n$PUBX,41,1,3,1," SERIAL_SPEED_STRING ",0*2d\r\n";
 
 struct ao_ublox_cksum {
 	uint8_t	a, b;
@@ -39,13 +49,7 @@ struct ao_ublox_cksum {
 static __pdata struct ao_ublox_cksum ao_ublox_cksum;
 static __pdata uint16_t ao_ublox_len;
 
-#ifndef ao_ublox_getchar
-#define ao_ublox_getchar	ao_serial1_getchar
-#define ao_ublox_putchar	ao_serial1_putchar
-#define ao_ublox_set_speed	ao_serial1_set_speed
-#endif
-
-#define ao_ublox_byte()	((uint8_t) ao_ublox_getchar())
+#define ao_ublox_byte()	((uint8_t) ao_gps_getchar())
 
 static inline void add_cksum(struct ao_ublox_cksum *cksum, uint8_t c)
 {
@@ -61,7 +65,7 @@ static void ao_ublox_init_cksum(void)
 static void ao_ublox_put_u8(uint8_t c)
 {
 	add_cksum(&ao_ublox_cksum, c);
-	ao_ublox_putchar(c);
+	ao_gps_putchar(c);
 }
 
 static void ao_ublox_put_i8(int8_t c)
@@ -405,14 +409,17 @@ static void
 ao_gps_setup(void)
 {
 	uint8_t	i, k;
-	ao_ublox_set_speed(AO_SERIAL_SPEED_9600);
+
+	ao_delay(AO_SEC_TO_TICKS(3));
+
+	ao_gps_set_speed(AO_SERIAL_SPEED_9600);
 
 	/*
 	 * A bunch of nulls so the start bit
 	 * is clear
 	 */
 	for (i = 0; i < 64; i++)
-		ao_ublox_putchar(0x00);
+		ao_gps_putchar(0x00);
 
 	/*
 	 * Send the baud-rate setting and protocol-setting
@@ -420,27 +427,29 @@ ao_gps_setup(void)
 	 */
 	for (k = 0; k < 3; k++)
 		for (i = 0; i < sizeof (ao_gps_set_nmea); i++)
-			ao_ublox_putchar(ao_gps_set_nmea[i]);
+			ao_gps_putchar(ao_gps_set_nmea[i]);
 
+#if AO_SERIAL_SPEED_UBLOX != AO_SERIAL_SPEED_9600
 	/*
 	 * Increase the baud rate
 	 */
-	ao_ublox_set_speed(AO_SERIAL_SPEED_57600);
+	ao_gps_set_speed(AO_SERIAL_SPEED_UBLOX);
+#endif
 
 	/*
 	 * Pad with nulls to give the chip
 	 * time to see the baud rate switch
 	 */
 	for (i = 0; i < 64; i++)
-		ao_ublox_putchar(0x00);
+		ao_gps_putchar(0x00);
 }
 
 static void
 ao_ublox_putstart(uint8_t class, uint8_t id, uint16_t len)
 {
 	ao_ublox_init_cksum();
-	ao_ublox_putchar(0xb5);
-	ao_ublox_putchar(0x62);
+	ao_gps_putchar(0xb5);
+	ao_gps_putchar(0x62);
 	ao_ublox_put_u8(class);
 	ao_ublox_put_u8(id);
 	ao_ublox_put_u8(len);
@@ -450,8 +459,8 @@ ao_ublox_putstart(uint8_t class, uint8_t id, uint16_t len)
 static void
 ao_ublox_putend(void)
 {
-	ao_ublox_putchar(ao_ublox_cksum.a);
-	ao_ublox_putchar(ao_ublox_cksum.b);
+	ao_gps_putchar(ao_ublox_cksum.a);
+	ao_gps_putchar(ao_ublox_cksum.b);
 }
 
 static void
@@ -695,10 +704,16 @@ ao_gps(void) __reentrant
 	}
 }
 
+__code struct ao_cmds ao_gps_cmds[] = {
+	{ ao_gps_show, 	"g\0Display GPS" },
+	{ 0, NULL },
+};
+
 __xdata struct ao_task ao_gps_task;
 
 void
 ao_gps_init(void)
 {
+	ao_cmd_register(&ao_gps_cmds[0]);
 	ao_add_task(&ao_gps_task, ao_gps, "gps");
 }