Fix up SiRF parsing and test code so that it actually works

[fw/altos] / src / ao_gps.c

diff --git a/src/ao_gps.c b/src/ao_gps.c
index f83361eb5d9cdcbedaa571059787e1365d7030be..b6d7182d8558a69f7b58a8559d914ed4f6937359 100644 (file)
--- a/src/ao_gps.c
+++ b/src/ao_gps.c
@@ -56,22 +56,6 @@ 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)
@@ -224,27 +208,21 @@ 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;
                }
@@ -259,11 +237,53 @@ ao_gps_setup(void) __reentrant
 #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
 {
@@ -272,6 +292,9 @@ 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 +359,6 @@ 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;