Use uint8_t for comparisons to avoid int conversions

[fw/altos] / src / ao_gps.c

diff --git a/src/ao_gps.c b/src/ao_gps.c
index b6d7182d8558a69f7b58a8559d914ed4f6937359..78957cb386dc6aeff05f2f19af1971128ff1a0d1 100644 (file)
--- a/src/ao_gps.c
+++ b/src/ao_gps.c
@@ -22,20 +22,7 @@
 __xdata uint8_t ao_gps_mutex;
 __xdata struct ao_gps_data     ao_gps_data;
 
-const char ao_gps_set_binary[] = {
-       '$', 'P', 'S', 'R', 'F', '1', '0', '0', ',', '0', ',',
-       '9', '6', '0', '0', ',', '8', ',', '1', ',', '0', '*',
-       '0', 'C', '\r','\n',
-
-       0xa0, 0xa2, 0x00, 0x09, /* length 9 bytes */
-       134,                    /* Set binary serial port */
-       0, 0, 0x25, 0x80,       /* 9600 baud */
-       8,                      /* data bits */
-       1,                      /* stop bits */
-       0,                      /* parity */
-       0,                      /* pad */
-       0x01, 0x34, 0xb0, 0xb3,
-};
+static const char ao_gps_set_nmea[] = "$PSRF100,0,57600,8,1,0*37\r\n";
 
 const char ao_gps_config[] = {
        0xa0, 0xa2, 0x00, 0x0e, /* length: 14 bytes */
@@ -52,6 +39,14 @@ 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 */
@@ -232,26 +227,21 @@ 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]);
-       }
+       uint8_t i;
+       ao_serial_set_speed(AO_SERIAL_SPEED_4800);
+       for (i = 0; i < 16; i++)
+               ao_serial_putchar(0x00);
+       for (i = 0; i < sizeof (ao_gps_set_nmea) - 1; i++)
+               ao_serial_putchar(ao_gps_set_nmea[i]);
+       ao_serial_set_speed(AO_SERIAL_SPEED_57600);
+       for (i = 0; i < 16; i++)
+               ao_serial_putchar(0x00);
 }
 
 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
@@ -281,25 +271,27 @@ static const uint8_t sirf_disable[] = {
        27,
        50,
        52,
-       4,
 };
 
 void
 ao_gps(void) __reentrant
 {
-       uint8_t i;
+       uint8_t i, k;
        uint16_t cksum;
 
-       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 (k = 0; k < 5; k++)
+       {
+               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)
+               while (ao_sirf_byte() != (uint8_t) 0xa0)
                        ;
-               if (ao_sirf_byte() != 0xa2)
+               if (ao_sirf_byte() != (uint8_t) 0xa2)
                        continue;
 
                /* Length */
@@ -312,7 +304,6 @@ ao_gps(void) __reentrant
 
                /* message ID */
                i = data_byte ();                                                       /* 0 */
-               printf ("message %d len %d\n", i, ao_sirf_len);
 
                switch (i) {
                case 41:
@@ -330,9 +321,9 @@ ao_gps(void) __reentrant
                cksum |= ao_sirf_byte();
                if (ao_sirf_cksum != cksum)
                        continue;
-               if (ao_sirf_byte() != 0xb0)
+               if (ao_sirf_byte() != (uint8_t) 0xb0)
                        continue;
-               if (ao_sirf_byte() != 0xb3)
+               if (ao_sirf_byte() != (uint8_t) 0xb3)
                        continue;
 
                switch (i) {
@@ -341,7 +332,7 @@ ao_gps(void) __reentrant
                        ao_gps_data.hour = ao_sirf_data.utc_hour;
                        ao_gps_data.minute = ao_sirf_data.utc_minute;
                        ao_gps_data.second = ao_sirf_data.utc_second / 1000;
-                       ao_gps_data.flags = (ao_sirf_data.num_sv << AO_GPS_NUM_SAT_SHIFT) & AO_GPS_NUM_SAT_MASK;
+                       ao_gps_data.flags = ((ao_sirf_data.num_sv << AO_GPS_NUM_SAT_SHIFT) & AO_GPS_NUM_SAT_MASK) | AO_GPS_RUNNING;
                        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;