STQ_S, 0,15, id, a,b,c,d,e,f,g,h,i,j,k,l,m,n, \
(id^a^b^c^d^e^f^g^h^i^j^k^l^m^n), STQ_E
+static const uint8_t ao_gps_config_serial[] = {
+ SKYTRAQ_MSG_3(0x05, 0, 4, 0), /* set serial port */
+ /* 0 = com1 */
+ /* 0 = 4800, 1 = 9600, 2 = 19200, 3 = 38400,
+ * 4 = 57600, 5 = 115200 */
+};
+
static const uint8_t ao_gps_config[] = {
SKYTRAQ_MSG_8(0x08, 1, 1, 1, 1, 1, 1, 1, 0), /* configure nmea */
/* gga interval */
SKYTRAQ_MSG_2(0x3c, 0x00, 0x00), /* configure navigation mode */
/* 0 = car, 1 = pedestrian */
/* 0 = update to sram, 1 = update sram + flash */
+
+ SKYTRAQ_MSG_2(0x0e, 10, 0), /* config nav interval */
+ /* interval */
+ /* 0 = update to sram, 1 = update sram */
};
static void
/* give skytraq time to boot in case of cold start */
ao_delay(AO_MS_TO_TICKS(2000));
+ ao_skytraq_sendstruct(ao_gps_config_serial);
+ ao_delay(AO_MS_TO_TICKS(1000));
+ ao_serial_set_speed(AO_SERIAL_SPEED_57600);
ao_skytraq_sendstruct(ao_gps_config);