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 f83361eb5d9cdcbedaa571059787e1365d7030be..4d278832162a444441473bf3559b4b42aa482bc1 100644 (file)
--- a/src/ao_gps.c
+++ b/src/ao_gps.c
@@ -22,11 +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',
+};
 
+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 */
@@ -52,11 +55,6 @@ const char ao_gps_config[] = {
        0,                      /* Track smoothing (disabled) */
        0x00, 0x8e, 0xb0, 0xb3,
 
-       0xa0, 0xa2, 0x00, 0x02, /* length: 2 bytes */
-       143,                    /* static navigation */
-       0,                      /* disable */
-       0x00, 0x8f, 0xb0, 0xb3,
-
        0xa0, 0xa2, 0x00, 0x08, /* length: 8 bytes */
        166,                    /* Set message rate */
        2,                      /* enable/disable all messages */
@@ -65,13 +63,10 @@ const char ao_gps_config[] = {
        0, 0, 0, 0,             /* reserved */
        0x00, 0xa8, 0xb0, 0xb3,
 
-       0xa0, 0xa2, 0x00, 0x08, /* length: 8 bytes */
-       166,                    /* Set message rate */
-       0,                      /* enable/disable one message */
-       41,                     /* message 41 */
-       1,                      /* once per second */
-       0, 0, 0, 0,             /* reserved */
-       0x00, 0xd0, 0xb0, 0xb3,
+       0xa0, 0xa2, 0x00, 0x02, /* length: 2 bytes */
+       143,                    /* static navigation */
+       0,                      /* disable */
+       0x00, 0x8f, 0xb0, 0xb3,
 };
 
 #define NAV_TYPE_GPS_FIX_TYPE_MASK                     (7 << 0)
@@ -224,27 +219,21 @@ ao_sirf_parse_41(void)
 {
        uint8_t i, offset;
 
-       printf("parse 41\n");
        for (i = 0; ; i++) {
                offset = geodetic_nav_data_packet[i].offset;
                switch (geodetic_nav_data_packet[i].type) {
                case SIRF_END:
-                       printf("parse 41 done\n");
                        return;
                case SIRF_DISCARD:
-                       printf("parse 41 discard %d\n", offset);
                        sirf_discard(offset);
                        break;
                case SIRF_U8:
-                       printf("parse 41 u8 %d\n", offset);
                        sirf_u8(offset);
                        break;
                case SIRF_U16:
-                       printf("parse 41 u16 %d\n", offset);
                        sirf_u16(offset);
                        break;
                case SIRF_U32:
-                       printf("parse 41 u32 %d\n", offset);
                        sirf_u32(offset);
                        break;
                }
@@ -254,16 +243,62 @@ 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 = 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]);
        }
 }
 
+static const char ao_gps_set_message_rate[] = {
+       0xa0, 0xa2, 0x00, 0x08,
+       166,
+       0,
+#define SET_MESSAGE_RATE_ID    6
+#define SET_MESSAGE_RATE       7
+
+};
+
+void
+ao_sirf_set_message_rate(uint8_t msg, uint8_t rate)
+{
+       uint16_t        cksum = 0x00a6;
+       uint8_t         i;
+
+       for (i = 0; i < sizeof (ao_gps_set_message_rate); i++)
+               ao_serial_putchar(ao_gps_set_message_rate[i]);
+       ao_serial_putchar(msg);
+       ao_serial_putchar(rate);
+       cksum = 0xa6 + msg + rate;
+       for (i = 0; i < 4; i++)
+               ao_serial_putchar(0);
+       ao_serial_putchar((cksum >> 8) & 0x7f);
+       ao_serial_putchar(cksum & 0xff);
+       ao_serial_putchar(0xb0);
+       ao_serial_putchar(0xb3);
+}
+
+static const uint8_t sirf_disable[] = {
+       2,
+       4,
+       9,
+       10,
+       27,
+       50,
+       52,
+};
+
 void
 ao_gps(void) __reentrant
 {
@@ -272,6 +307,9 @@ ao_gps(void) __reentrant
 
        for (i = 0; i < sizeof (ao_gps_config); i++)
                ao_serial_putchar(ao_gps_config[i]);
+       for (i = 0; i < sizeof (sirf_disable); i++)
+               ao_sirf_set_message_rate(sirf_disable[i], 0);
+       ao_sirf_set_message_rate(41, 1);
        for (;;) {
                /* Locate the begining of the next record */
                while (ao_sirf_byte() != 0xa0)
@@ -336,7 +374,6 @@ ao_gps(void) __reentrant
                                ao_gps_data.v_error = 65535;
                        else
                                ao_gps_data.v_error = ao_sirf_data.v_error / 100;
-                       ao_gps_data.h_error = ao_sirf_data.h_error;
                        ao_mutex_put(&ao_gps_mutex);
                        ao_wakeup(&ao_gps_data);
                        break;