__xdata uint8_t ao_gps_mutex;
__xdata struct ao_gps_data ao_gps_data;
-const char ao_gps_set_binary[] = {
- '$', 'P', 'S', 'R', 'F', '1', '0', '0', ',', '0', ',',
- '9', '6', '0', '0', ',', '8', ',', '1', ',', '0', '*',
- '0', 'C', '\r','\n',
-
- 0xa0, 0xa2, 0x00, 0x09, /* length 9 bytes */
- 134, /* Set binary serial port */
- 0, 0, 0x25, 0x80, /* 9600 baud */
- 8, /* data bits */
- 1, /* stop bits */
- 0, /* parity */
- 0, /* pad */
- 0x01, 0x34, 0xb0, 0xb3,
-};
+#undef AO_GPS_4800
+
+#ifdef AO_GPS_4800
+static const char ao_gps_set_nmea[] = "$PSRF100,0,57600,8,1,0*37\r\n";
+#else
+static const char ao_gps_set_nmea[] = "$PSRF100,0,4800,8,1,0*0F\r\n";
+#endif
const char ao_gps_config[] = {
+ 0xa0, 0xa2, 0x00, 0x19, /* length: 25 bytes */
+ 128, /* Initialize Data Source */
+ 0, 0, 0, 0, /* ECEF X */
+ 0, 0, 0, 0, /* ECEF Y */
+ 0, 0, 0, 0, /* ECEF Z */
+ 0, 0, 0, 0, /* Clock Drift */
+ 0, 0, 0, 0, /* Time of Week */
+ 0, 0, /* Week Number */
+ 0, /* Channels */
+ 0xc6, /* Clear user data, RTC not accurate, Clear history, clear ephemeris */
+ 0x01, 0x46, 0xb0, 0xb3,
+
0xa0, 0xa2, 0x00, 0x0e, /* length: 14 bytes */
136, /* mode control */
0, 0, /* reserved */
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 */
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)
{
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;
}
}
}
-void
+static 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);
+ uint8_t i, k;
+#ifdef AO_GPS_4800
+ ao_serial_set_speed(AO_SERIAL_SPEED_4800);
#endif
- for (i = 0; i < sizeof (ao_gps_set_binary); i++)
- ao_serial_putchar(ao_gps_set_binary[i]);
- }
+ for (i = 0; i < 64; i++)
+ ao_serial_putchar(0x00);
+ for (k = 0; k < 3; k++)
+ for (i = 0; i < sizeof (ao_gps_set_nmea); i++)
+ ao_serial_putchar(ao_gps_set_nmea[i]);
+#ifdef AO_GPS_4800
+ ao_serial_set_speed(AO_SERIAL_SPEED_57600);
+#endif
+ for (i = 0; i < 64; i++)
+ ao_serial_putchar(0x00);
+}
+
+static const char ao_gps_set_message_rate[] = {
+ 0xa0, 0xa2, 0x00, 0x08,
+ 166,
+ 0,
+};
+
+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
{
- 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]);
+ ao_gps_setup();
+ 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 */
/* message ID */
i = data_byte (); /* 0 */
- printf ("message %d len %d\n", i, ao_sirf_len);
switch (i) {
case 41:
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) {
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;
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;
projects / fw / altos / blobdiff