#include "ao.h"
#endif
-#define AO_GPS_LEADER 2
+#define AO_GPS_LEADER 2
static const char ao_gps_header[] = "GP";
static __xdata uint8_t ao_gps_date_flags;
static __xdata struct ao_gps_tracking_data ao_gps_tracking_next;
-static const char ao_gps_config[] = {
- 0xa0, 0xa1, 0x00, 0x09, /* length 9 bytes */
- 0x08, /* configure nmea */
- 1, /* gga interval */
- 1, /* gsa interval */
- 1, /* gsv interval */
- 1, /* gll interval */
- 1, /* rmc interval */
- 1, /* vtg interval */
- 1, /* zda interval */
- 0, /* attributes (0 = update to sram, 1 = update flash too) */
- 0x09, 0x0d, 0x0a,
-
- 0xa0, 0xa1, 0x00, 0x03, /* length: 3 bytes */
- 0x3c, /* configure navigation mode */
- 0x00, /* 0 = car, 1 = pedestrian */
- 0x00, /* 0 = update to sram, 1 = update sram + flash */
- 0x3c, 0x0d, 0x0a,
+#define STQ_S 0xa0, 0xa1
+#define STQ_E 0x0d, 0x0a
+#define SKYTRAQ_MSG_2(id,a,b) \
+ STQ_S, 0, 3, id, a,b, (id^a^b), STQ_E
+#define SKYTRAQ_MSG_3(id,a,b,c) \
+ STQ_S, 0, 4, id, a,b,c, (id^a^b^c), STQ_E
+#define SKYTRAQ_MSG_8(id,a,b,c,d,e,f,g,h) \
+ STQ_S, 0, 9, id, a,b,c,d,e,f,g,h, (id^a^b^c^d^e^f^g^h), STQ_E
+#define SKYTRAQ_MSG_14(id,a,b,c,d,e,f,g,h,i,j,k,l,m,n) \
+ 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[] = {
+ SKYTRAQ_MSG_8(0x08, 1, 1, 1, 1, 1, 1, 1, 0), /* configure nmea */
+ /* gga interval */
+ /* gsa interval */
+ /* gsv interval */
+ /* gll interval */
+ /* rmc interval */
+ /* vtg interval */
+ /* zda interval */
+ /* attributes (0 = update to sram, 1 = update flash too) */
+
+ SKYTRAQ_MSG_2(0x3c, 0x00, 0x00), /* configure navigation mode */
+ /* 0 = car, 1 = pedestrian */
+ /* 0 = update to sram, 1 = update sram + flash */
};
static void
ao_gps_cksum ^= ao_gps_char;
}
-void
-ao_gps_skip(void)
-{
- while (ao_gps_char >= '0')
- ao_gps_lexchar();
-}
-
void
ao_gps_skip_field(void)
{
}
}
+#define ao_skytraq_sendstruct(s) ao_skytraq_sendbytes((s), (s)+sizeof(s))
+
+static void
+ao_skytraq_sendbytes(const uint8_t *b, const uint8_t *e)
+{
+ while (b != e) {
+ if (*b == 0xa0)
+ ao_delay(AO_MS_TO_TICKS(500));
+ ao_serial_putchar(*b++);
+ }
+}
+
+static void
+ao_gps_nmea_parse(void)
+{
+ uint8_t a, b, c;
+
+ ao_gps_cksum = 0;
+ ao_gps_error = 0;
+
+ for (a = 0; a < AO_GPS_LEADER; a++) {
+ ao_gps_lexchar();
+ if (ao_gps_char != ao_gps_header[a])
+ return;
+ }
+
+ ao_gps_lexchar();
+ a = ao_gps_char;
+ ao_gps_lexchar();
+ b = ao_gps_char;
+ ao_gps_lexchar();
+ c = ao_gps_char;
+ ao_gps_lexchar();
+
+ if (ao_gps_char != ',')
+ return;
+
+ if (a == (uint8_t) 'G' && b == (uint8_t) 'G' && c == (uint8_t) 'A') {
+ ao_nmea_gga();
+ } else if (a == (uint8_t) 'G' && b == (uint8_t) 'S' && c == (uint8_t) 'V') {
+ ao_nmea_gsv();
+ } else if (a == (uint8_t) 'R' && b == (uint8_t) 'M' && c == (uint8_t) 'C') {
+ ao_nmea_rmc();
+ }
+}
+
void
ao_gps(void) __reentrant
{
- char a, c;
- uint8_t i;
-
ao_serial_set_speed(AO_SERIAL_SPEED_9600);
- for (i = 0; i < sizeof (ao_gps_config); i++)
- ao_serial_putchar(ao_gps_config[i]);
- for (;;) {
- /* Locate the begining of the next record */
- for (;;) {
- c = ao_serial_getchar();
- if (c == '$')
- break;
- }
- ao_gps_cksum = 0;
- ao_gps_error = 0;
+ /* give skytraq time to boot in case of cold start */
+ ao_delay(AO_MS_TO_TICKS(2000));
- /* Skip anything other than GP */
- for (i = 0; i < AO_GPS_LEADER; i++) {
- ao_gps_lexchar();
- if (ao_gps_char != ao_gps_header[i])
- break;
- }
- if (i != AO_GPS_LEADER)
- continue;
+ ao_skytraq_sendstruct(ao_gps_config);
- /* pull the record identifier characters off the link */
- ao_gps_lexchar();
- a = ao_gps_char;
- ao_gps_lexchar();
- c = ao_gps_char;
- ao_gps_lexchar();
- i = ao_gps_char;
- ao_gps_lexchar();
- if (ao_gps_char != ',')
- continue;
-
- if (a == (uint8_t) 'G' && c == (uint8_t) 'G' && i == (uint8_t) 'A') {
- ao_nmea_gga();
- } else if (a == (uint8_t) 'G' && c == (uint8_t) 'S' && i == (uint8_t) 'V') {
- ao_nmea_gsv();
- } else if (a == (uint8_t) 'R' && c == (uint8_t) 'M' && i == (uint8_t) 'C') {
- ao_nmea_rmc();
+ for (;;) {
+ /* Locate the begining of the next record */
+ if (ao_serial_getchar() == '$') {
+ ao_gps_nmea_parse();
}
+
}
}
}
__code struct ao_cmds ao_gps_cmds[] = {
- { 'g', gps_dump, "g Display current GPS values" },
- { 0, gps_dump, NULL },
+ { gps_dump, "g\0Display current GPS values" },
+ { 0, NULL },
};
void
projects / fw / altos / blobdiff