Switch to 57600 baud for GPS data

[fw/altos] / src / ao_gps.c

diff --git a/src/ao_gps.c b/src/ao_gps.c
index e7f0693c3320d994915010475bcf3a1dbd771a3f..c4c434fdba41885384d2ffa8fbf638b42018f3d8 100644 (file)
--- a/src/ao_gps.c
+++ b/src/ao_gps.c
@@ -15,16 +15,16 @@
  * 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;
 
+static const char ao_gps_set_nmea[] = "\r\n$PSRF100,0,57600,8,1,0*37\r\n";
+
 const char ao_gps_config[] = {
-       /* Serial param - binary, 4800 baud, 8 bits, 1 stop, no parity */
-       '$', 'P', 'S', 'R', 'F', '1', '0', '0', ',', '0', ',',
-       '4', '8', '0', '0', ',', '8', ',', '1', ',', '0', '*',
-       '0', 'F', '\r','\n',
 
        0xa0, 0xa2, 0x00, 0x0e, /* length: 14 bytes */
        136,                    /* mode control */
@@ -40,11 +40,6 @@ 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 */
@@ -53,13 +48,10 @@ 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)
@@ -233,20 +225,76 @@ ao_sirf_parse_41(void)
        }
 }
 
+static void
+ao_gps_setup(void) __reentrant
+{
+       uint8_t i, k;
+       ao_serial_set_speed(AO_SERIAL_SPEED_4800);
+       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]);
+       ao_serial_set_speed(AO_SERIAL_SPEED_57600);
+       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
 {
-       char    c;
-       uint8_t i;
+       uint8_t i, k;
        uint16_t cksum;
 
-       for (i = 0; (c = ao_gps_config[i]); i++)
-               ao_serial_putchar(c);
+       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 */
@@ -262,7 +310,7 @@ ao_gps(void) __reentrant
 
                switch (i) {
                case 41:
-                       if (ao_sirf_len < 91)
+                       if (ao_sirf_len < 90)
                                break;
                        ao_sirf_parse_41();
                        break;
@@ -276,9 +324,9 @@ 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) {
@@ -287,7 +335,7 @@ 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;
@@ -305,7 +353,6 @@ 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;