Split GPS data into a separate column

[fw/altos] / src / ao_gps.c

diff --git a/src/ao_gps.c b/src/ao_gps.c
index 147b665c363de0cdc63a929254ea96f9f07f1c9f..562899cd030c2a24405ea9b0ac00e34bad82747b 100644 (file)
--- a/src/ao_gps.c
+++ b/src/ao_gps.c
@@ -15,17 +15,34 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
+#ifndef AO_GPS_TEST
 #include "ao.h"
+#endif
 
 __xdata uint8_t ao_gps_mutex;
 __xdata struct ao_gps_data     ao_gps_data;
 
-const char ao_gps_config[] = {
-       /* Serial param - binary, 4800 baud, 8 bits, 1 stop, no parity */
+const char ao_gps_set_binary[] = {
        '$', 'P', 'S', 'R', 'F', '1', '0', '0', ',', '0', ',',
-       '4', '8', '0', '0', ',', '8', ',', '1', ',', '0', '*',
-       '0', 'F', '\r','\n',
+       '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,
+
+       0xa0, 0xa2, 0x00, 0x09, /* length 9 bytes */
+       134,                    /* Set binary serial port */
+       0, 0, 0x25, 0x80,       /* 9600 baud */
+       8,                      /* data bits */
+       1,                      /* stop bits */
+       0,                      /* parity */
+       0,                      /* pad */
+       0x01, 0x34, 0xb0, 0xb3,
+};
 
+const char ao_gps_config[] = {
        0xa0, 0xa2, 0x00, 0x0e, /* length: 14 bytes */
        136,                    /* mode control */
        0, 0,                   /* reserved */
@@ -44,22 +61,6 @@ const char ao_gps_config[] = {
        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 */
-       0,                      /* message id (ignored) */
-       0,                      /* update rate (0 = disable) */
-       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,
 };
 
 #define NAV_TYPE_GPS_FIX_TYPE_MASK                     (7 << 0)
@@ -233,15 +234,72 @@ ao_sirf_parse_41(void)
        }
 }
 
+void
+ao_gps_setup(void) __reentrant
+{
+       uint8_t i, j;
+       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]);
+       }
+}
+
+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,
+       4,
+};
+
 void
 ao_gps(void) __reentrant
 {
-       char    c;
        uint8_t i;
        uint16_t cksum;
 
-       for (i = 0; (c = ao_gps_config[i]); i++)
-               ao_serial_putchar(c);
+       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)
@@ -259,10 +317,11 @@ ao_gps(void) __reentrant
 
                /* message ID */
                i = data_byte ();                                                       /* 0 */
+               printf ("message %d len %d\n", i, ao_sirf_len);
 
                switch (i) {
                case 41:
-                       if (ao_sirf_len < 91)
+                       if (ao_sirf_len < 90)
                                break;
                        ao_sirf_parse_41();
                        break;
@@ -290,6 +349,21 @@ ao_gps(void) __reentrant
                        ao_gps_data.flags = (ao_sirf_data.num_sv << AO_GPS_NUM_SAT_SHIFT) & AO_GPS_NUM_SAT_MASK;
                        if ((ao_sirf_data.nav_type & NAV_TYPE_GPS_FIX_TYPE_MASK) >= NAV_TYPE_4_SV_KF)
                                ao_gps_data.flags |= AO_GPS_VALID;
+                       ao_gps_data.latitude = ao_sirf_data.lat;
+                       ao_gps_data.longitude = ao_sirf_data.lon;
+                       ao_gps_data.altitude = ao_sirf_data.alt_msl / 100;
+                       ao_gps_data.ground_speed = ao_sirf_data.ground_speed;
+                       ao_gps_data.course = ao_sirf_data.course / 200;
+                       ao_gps_data.hdop = ao_sirf_data.hdop;
+                       ao_gps_data.climb_rate = ao_sirf_data.climb_rate;
+                       if (ao_sirf_data.h_error > 6553500)
+                               ao_gps_data.h_error = 65535;
+                       else
+                               ao_gps_data.h_error = ao_sirf_data.h_error / 100;
+                       if (ao_sirf_data.v_error > 6553500)
+                               ao_gps_data.v_error = 65535;
+                       else
+                               ao_gps_data.v_error = ao_sirf_data.v_error / 100;
                        ao_mutex_put(&ao_gps_mutex);
                        ao_wakeup(&ao_gps_data);
                        break;