Use 57600 baud for GPS. Clean up gps init.

[fw/altos] / src / ao_serial.c

diff --git a/src/ao_serial.c b/src/ao_serial.c
index ce11694002162ea5b70ab650c25f2c6dc14cae5f..e926b4e4fb24d656a04fbea8434e2b169440669d 100644 (file)
--- a/src/ao_serial.c
+++ b/src/ao_serial.c
@@ -84,6 +84,27 @@ __code struct ao_cmds ao_serial_cmds[] = {
        { 0, send_serial, NULL },
 };
 
+static const struct {
+       uint8_t baud;
+       uint8_t gcr;
+} ao_serial_speeds[] = {
+       /* [AO_SERIAL_SPEED_4800] = */ {
+               /* .baud = */ 163,
+               /* .gcr  = */ (7 << UxGCR_BAUD_E_SHIFT) | UxGCR_ORDER_LSB
+       },
+       /* [AO_SERIAL_SPEED_57600] = */ {
+               /* .baud = */ 59,
+               /* .gcr =  */ (11 << UxGCR_BAUD_E_SHIFT) | UxGCR_ORDER_LSB
+       },
+};
+
+void
+ao_serial_set_speed(uint8_t speed)
+{
+       U1BAUD = ao_serial_speeds[speed].baud;
+       U1GCR = ao_serial_speeds[speed].gcr;
+}
+
 void
 ao_serial_init(void)
 {
@@ -99,8 +120,7 @@ ao_serial_init(void)
        U1CSR = (UxCSR_MODE_UART | UxCSR_RE);
 
        /* Pick a 4800 baud rate */
-       U1BAUD = 163;                           /* 4800 */
-       U1GCR = 7 << UxGCR_BAUD_E_SHIFT;        /* 4800 */
+       ao_serial_set_speed(AO_SERIAL_SPEED_4800);
 
        /* Reasonable serial parameters */
        U1UCR = (UxUCR_FLUSH |