Try harder to get the GPS receiver serial link sync'd up.

[fw/altos] / src / ao_gps.c

diff --git a/src/ao_gps.c b/src/ao_gps.c
index 562899cd030c2a24405ea9b0ac00e34bad82747b..4d278832162a444441473bf3559b4b42aa482bc1 100644 (file)
--- a/src/ao_gps.c
+++ b/src/ao_gps.c
@@ -22,16 +22,14 @@
 __xdata uint8_t ao_gps_mutex;
 __xdata struct ao_gps_data     ao_gps_data;
 
-const char ao_gps_set_binary[] = {
+static const char ao_gps_set_nmea[] = {
+
        '$', 'P', 'S', 'R', 'F', '1', '0', '0', ',', '0', ',',
        '9', '6', '0', '0', ',', '8', ',', '1', ',', '0', '*',
        '0', 'C', '\r','\n',
+};
 
-       0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-       0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-       0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-       0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-
+static const char ao_gps_set_sirf[] = {
        0xa0, 0xa2, 0x00, 0x09, /* length 9 bytes */
        134,                    /* Set binary serial port */
        0, 0, 0x25, 0x80,       /* 9600 baud */
@@ -57,6 +55,14 @@ const char ao_gps_config[] = {
        0,                      /* Track smoothing (disabled) */
        0x00, 0x8e, 0xb0, 0xb3,
 
+       0xa0, 0xa2, 0x00, 0x08, /* length: 8 bytes */
+       166,                    /* Set message rate */
+       2,                      /* enable/disable all messages */
+       0,                      /* message id (ignored) */
+       0,                      /* update rate (0 = disable) */
+       0, 0, 0, 0,             /* reserved */
+       0x00, 0xa8, 0xb0, 0xb3,
+
        0xa0, 0xa2, 0x00, 0x02, /* length: 2 bytes */
        143,                    /* static navigation */
        0,                      /* disable */
@@ -237,16 +243,21 @@ ao_sirf_parse_41(void)
 void
 ao_gps_setup(void) __reentrant
 {
-       uint8_t i, j;
+       uint8_t i, j, k;
        for (j = 0; j < 2; j++) {
 #ifdef AO_GPS_TEST
                ao_serial_set_speed(j);
 #endif
-               for (i = 255; i != 0; i--)
-                       ao_serial_putchar(0);
-
-               for (i = 0; i < sizeof (ao_gps_set_binary); i++)
-                       ao_serial_putchar(ao_gps_set_binary[i]);
+               for (i = 0; i < 128; i++)
+                       ao_serial_putchar(0x55);
+               for (k = 0; k < 4; k++)
+                       for (i = 0; i < sizeof (ao_gps_set_nmea); i++)
+                               ao_serial_putchar(ao_gps_set_nmea[i]);
+               for (i = 0; i < 128; i++)
+                       ao_serial_putchar(0x55);
+               for (k = 0; k < 4; k++)
+                       for (i = 0; i < sizeof (ao_gps_set_sirf); i++)
+                               ao_serial_putchar(ao_gps_set_sirf[i]);
        }
 }
 
@@ -286,7 +297,6 @@ static const uint8_t sirf_disable[] = {
        27,
        50,
        52,
-       4,
 };
 
 void