#include "ao.h"
#endif
-#define AO_GPS_LEADER 2
+#define AO_GPS_LEADER 2
-static const char ao_gps_header[] = "GP";
+static __code char ao_gps_header[] = "GP";
__xdata uint8_t ao_gps_mutex;
-static __xdata char ao_gps_char;
-static __xdata uint8_t ao_gps_cksum;
-static __xdata uint8_t ao_gps_error;
-
-__xdata uint16_t ao_gps_tick;
-__xdata struct ao_gps_data ao_gps_data;
-__xdata struct ao_gps_tracking_data ao_gps_tracking_data;
-
-static __xdata uint16_t ao_gps_next_tick;
-static __xdata struct ao_gps_data ao_gps_next;
-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,
+static __pdata char ao_gps_char;
+static __pdata uint8_t ao_gps_cksum;
+static __pdata uint8_t ao_gps_error;
+
+__pdata uint16_t ao_gps_tick;
+__xdata struct ao_telemetry_location ao_gps_data;
+__xdata struct ao_telemetry_satellite ao_gps_tracking_data;
+
+static __pdata uint16_t ao_gps_next_tick;
+static __xdata struct ao_telemetry_location ao_gps_next;
+static __pdata uint8_t ao_gps_date_flags;
+static __xdata struct ao_telemetry_satellite ao_gps_tracking_next;
+
+#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 __code 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)
{
ao_gps_lexchar();
}
-__xdata static uint8_t ao_gps_num_width;
+__pdata static uint8_t ao_gps_num_width;
static int16_t
ao_gps_decimal(uint8_t max_width)
{
int16_t v;
- __xdata uint8_t neg = 0;
+ __pdata uint8_t neg = 0;
ao_gps_skip_sep();
if (ao_gps_char == '-') {
if (!ao_gps_error) {
ao_mutex_get(&ao_gps_mutex);
ao_gps_tick = ao_gps_next_tick;
- memcpy(&ao_gps_data, &ao_gps_next, sizeof (struct ao_gps_data));
+ memcpy(&ao_gps_data, &ao_gps_next, sizeof (ao_gps_data));
ao_mutex_put(&ao_gps_mutex);
ao_wakeup(&ao_gps_data);
}
ao_gps_skip_field(); /* azimuth */
c = ao_gps_decimal(2); /* C/N0 */
if (i < AO_MAX_GPS_TRACKING) {
- if (!(ao_gps_tracking_next.sats[i].c_n_1 = c))
- ao_gps_tracking_next.sats[i].svid = 0;
- ao_gps_tracking_next.channels = i + 1;
+ if ((ao_gps_tracking_next.sats[i].c_n_1 = c) != 0)
+ ao_gps_tracking_next.channels = i + 1;
}
}
if (ao_gps_char == '*') {
}
}
+#define ao_skytraq_sendstruct(s) ao_skytraq_sendbytes((s), sizeof(s))
+
+static void
+ao_skytraq_sendbytes(__code uint8_t *b, uint8_t l)
+{
+ while (l--) {
+ uint8_t c = *b++;
+ if (c == 0xa0)
+ ao_delay(AO_MS_TO_TICKS(500));
+ ao_serial_putchar(c);
+ }
+}
+
+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();
}
+
}
}
static void
gps_dump(void) __reentrant
{
+ uint8_t i;
ao_mutex_get(&ao_gps_mutex);
printf ("Date: %02d/%02d/%02d\n", ao_gps_data.year, ao_gps_data.month, ao_gps_data.day);
printf ("Time: %02d:%02d:%02d\n", ao_gps_data.hour, ao_gps_data.minute, ao_gps_data.second);
printf ("Lat/Lon: %ld %ld\n", ao_gps_data.latitude, ao_gps_data.longitude);
printf ("Alt: %d\n", ao_gps_data.altitude);
printf ("Flags: 0x%x\n", ao_gps_data.flags);
+ printf ("Sats: %d", ao_gps_tracking_data.channels);
+ for (i = 0; i < ao_gps_tracking_data.channels; i++)
+ printf (" %d %d",
+ ao_gps_tracking_data.sats[i].svid,
+ ao_gps_tracking_data.sats[i].c_n_1);
+ printf ("\ndone\n");
ao_mutex_put(&ao_gps_mutex);
}
__code struct ao_cmds ao_gps_cmds[] = {
- { 'g', gps_dump, "g Display current GPS values" },
- { 0, gps_dump, NULL },
+ { gps_dump, "g\0Display GPS" },
+ { 0, NULL },
};
void
projects / fw / altos / blobdiff