Use 57600 baud for GPS. Clean up gps init.

[fw/altos] / src / ao.h

diff --git a/src/ao.h b/src/ao.h
index c4cb5bf7176d526b2ea4a4bbe887684778070a59..2e5825777acc69272e85694e4f7476a3b5f883fc 100644 (file)
--- a/src/ao.h
+++ b/src/ao.h
@@ -21,6 +21,7 @@
 #include <stdint.h>
 #include <stdio.h>
 #include <string.h>
+#include <stddef.h>
 #include "cc1111.h"
 
 #define TRUE 1
@@ -121,6 +122,10 @@ ao_timer_isr(void) interrupt 9;
 void
 ao_timer_init(void);
 
+/* Initialize the hardware clock. Must be called first */
+void
+ao_clock_init(void);
+
 /*
  * ao_adc.c
  */
@@ -419,14 +424,6 @@ ao_ee_init(void);
  * ao_log.c
  */
 
-/* Structure containing GPS position, either lat or lon */
-
-struct ao_gps_pos {
-       uint8_t degrees;
-       uint8_t minutes;
-       uint16_t minutes_fraction;      /* in units of 1/10000 minutes */
-};
-
 /*
  * The data log is recorded in the eeprom as a sequence
  * of data packets.
@@ -495,8 +492,8 @@ struct ao_log_record {
                        uint8_t         second;
                        uint8_t         flags;
                } gps_time;
-               struct ao_gps_pos gps_latitude;
-               struct ao_gps_pos gps_longitude;
+               int32_t         gps_latitude;
+               int32_t         gps_longitude;
                struct {
                        int16_t         altitude;
                        uint16_t        unused;
@@ -553,10 +550,10 @@ ao_log_init(void);
 enum ao_flight_state {
        ao_flight_startup = 0,
        ao_flight_idle = 1,
-       ao_flight_launchpad = 2,
+       ao_flight_pad = 2,
        ao_flight_boost = 3,
-       ao_flight_coast = 4,
-       ao_flight_apogee = 5,
+       ao_flight_fast = 4,
+       ao_flight_coast = 5,
        ao_flight_drogue = 6,
        ao_flight_main = 7,
        ao_flight_landed = 8,
@@ -664,6 +661,12 @@ ao_serial_getchar(void) __critical;
 void
 ao_serial_putchar(char c) __critical;
 
+#define AO_SERIAL_SPEED_4800   0
+#define AO_SERIAL_SPEED_57600  1
+
+void
+ao_serial_set_speed(uint8_t speed);
+
 void
 ao_serial_init(void);
 
@@ -675,22 +678,21 @@ ao_serial_init(void);
 #define AO_GPS_NUM_SAT_SHIFT   (0)
 
 #define AO_GPS_VALID           (1 << 4)
-#define AO_GPS_LONGITUDE_MASK  (1 << 5)
-#define AO_GPS_LONGITUDE_EAST  (0 << 5)
-#define AO_GPS_LONGITUDE_WEST  (1 << 5)
-
-#define AO_GPS_LATITUDE_MASK   (1 << 6)
-#define AO_GPS_LATITUDE_NORTH  (0 << 6)
-#define AO_GPS_LATITUDE_SOUTH  (1 << 6)
 
 struct ao_gps_data {
        uint8_t                 hour;
        uint8_t                 minute;
        uint8_t                 second;
        uint8_t                 flags;
-       struct ao_gps_pos       latitude;
-       struct ao_gps_pos       longitude;
-       int16_t                 altitude;
+       int32_t                 latitude;       /* degrees * 10⁷ */
+       int32_t                 longitude;      /* degrees * 10⁷ */
+       int16_t                 altitude;       /* m */
+       uint16_t                ground_speed;   /* cm/s */
+       uint8_t                 course;         /* degrees / 2 */
+       uint8_t                 hdop;           /* * 5 */
+       int16_t                 climb_rate;     /* cm/s */
+       uint16_t                h_error;        /* m */
+       uint16_t                v_error;        /* m */
 };
 
 extern __xdata uint8_t ao_gps_mutex;