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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;
__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[] = {
+
'$', 'P', 'S', 'R', 'F', '1', '0', '0', ',', '0', ',',
'9', '6', '0', '0', ',', '8', ',', '1', ',', '0', '*',
'0', 'C', '\r','\n',
'$', '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 */
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,
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 */
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
{
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 (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,
27,
50,
52,
- 4,
};
void
};
void