Allow the GPS port to run at 4800 baud if desired

[fw/altos] / src / ao_gps.c

diff --git a/src/ao_gps.c b/src/ao_gps.c
index 32a44fb1b24ca8f52c56e132b403633ec5fb3923..e793de519ebf553eae49e107c189a046d03aaafd 100644 (file)
--- a/src/ao_gps.c
+++ b/src/ao_gps.c
@@ -22,7 +22,13 @@
 __xdata uint8_t ao_gps_mutex;
 __xdata struct ao_gps_data     ao_gps_data;
 
-static const char ao_gps_set_nmea[] = "$PSRF100,0,57600,8,1,0*37\r\n";
+#undef AO_GPS_4800
+
+#ifdef AO_GPS_4800
+static const char ao_gps_set_nmea[] = "\r\n$PSRF100,0,57600,8,1,0*37\r\n\r\n";
+#else
+static const char ao_gps_set_nmea[] = "\r\n$PSRF100,0,4800,8,1,0*0F\r\n\r\n";
+#endif
 
 const char ao_gps_config[] = {
        0xa0, 0xa2, 0x00, 0x0e, /* length: 14 bytes */
@@ -224,17 +230,22 @@ ao_sirf_parse_41(void)
        }
 }
 
-void
+static void
 ao_gps_setup(void) __reentrant
 {
-       uint8_t i;
+       uint8_t i, k;
+#ifdef AO_GPS_4800
        ao_serial_set_speed(AO_SERIAL_SPEED_4800);
-       for (i = 0; i < 16; i++)
+#endif
+       for (i = 0; i < 64; i++)
                ao_serial_putchar(0x00);
-       for (i = 0; i < sizeof (ao_gps_set_nmea) - 1; i++)
-               ao_serial_putchar(ao_gps_set_nmea[i]);
+       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);
-       for (i = 0; i < 16; i++)
+#endif
+       for (i = 0; i < 64; i++)
                ao_serial_putchar(0x00);
 }
 
@@ -279,6 +290,7 @@ ao_gps(void) __reentrant
        uint8_t i, k;
        uint16_t cksum;
 
+       ao_gps_setup();
        for (k = 0; k < 5; k++)
        {
                for (i = 0; i < sizeof (ao_gps_config); i++)
@@ -289,9 +301,9 @@ ao_gps(void) __reentrant
        }
        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 */
@@ -321,9 +333,9 @@ 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) {