*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
#include "ao.h"
#endif
-#define AO_GPS_LEADER 2
+#ifndef ao_gps_getchar
+#define ao_gps_getchar ao_serial1_getchar
+#define ao_gps_fifo ao_serial1_rx_fifo
+#endif
+
+#ifndef ao_gps_putchar
+#define ao_gps_putchar ao_serial1_putchar
+#endif
-static __code char ao_gps_header[] = "GP";
+#ifndef ao_gps_set_speed
+#define ao_gps_set_speed ao_serial1_set_speed
+#endif
-__xdata uint8_t ao_gps_mutex;
-static __data char ao_gps_char;
-static __data uint8_t ao_gps_cksum;
-static __data uint8_t ao_gps_error;
+uint8_t ao_gps_new;
+uint8_t ao_gps_mutex;
+static char ao_gps_char;
+static uint8_t ao_gps_cksum;
+static 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;
+AO_TICK_TYPE ao_gps_tick;
+AO_TICK_TYPE ao_gps_utc_tick;
+struct ao_telemetry_location ao_gps_data;
+struct ao_telemetry_satellite ao_gps_tracking_data;
-static __pdata uint16_t ao_gps_next_tick;
-static __pdata struct ao_telemetry_location ao_gps_next;
-static __pdata uint8_t ao_gps_date_flags;
-static __pdata struct ao_telemetry_satellite ao_gps_tracking_next;
+static AO_TICK_TYPE ao_gps_next_tick;
+static struct ao_telemetry_location ao_gps_next;
+static uint8_t ao_gps_date_flags;
+static struct ao_telemetry_satellite ao_gps_tracking_next;
#define STQ_S 0xa0, 0xa1
#define STQ_E 0x0d, 0x0a
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 */
+static const uint8_t ao_gps_config[] = {
+ SKYTRAQ_MSG_8(0x08, 1, 0, 1, 0, 1, 0, 0, 0), /* configure nmea */
/* gga interval */
/* gsa interval */
/* gsv interval */
if (ao_gps_error)
c = '\n';
else
- c = ao_serial_getchar();
+ c = ao_gps_getchar();
ao_gps_cksum ^= c;
ao_gps_char = c;
}
-void
+static void
ao_gps_skip_field(void)
{
for (;;) {
}
}
-void
+static void
ao_gps_skip_sep(void)
{
char c = ao_gps_char;
ao_gps_lexchar();
}
-__data static uint8_t ao_gps_num_width;
+static uint8_t ao_gps_num_width;
static int16_t
ao_gps_decimal(uint8_t max_width)
uint8_t c = ao_gps_char;
if (c < (uint8_t) '0' || (uint8_t) '9' < c)
break;
- v = v * 10 + (uint8_t) (c - (uint8_t) '0');
+ v = (int16_t) (v * 10 + (uint8_t) (c - (uint8_t) '0'));
ao_gps_num_width++;
ao_gps_lexchar();
}
ao_gps_num_width = 0;
while (ao_gps_num_width < 2) {
uint8_t c = ao_gps_char;
- uint8_t d;
if ((uint8_t) '0' <= c && c <= (uint8_t) '9')
- d = - '0';
+ c -= '0';
else if ((uint8_t) 'A' <= c && c <= (uint8_t) 'F')
- d = - 'A' + 10;
+ c -= 'A' - 10;
else if ((uint8_t) 'a' <= c && c <= (uint8_t) 'f')
- d = - 'a' + 10;
+ c -= 'a' - 10;
else
break;
- v = (v << 4) | (c + d);
+ v = (uint8_t) ((v << 4) | c);
ao_gps_num_width++;
ao_gps_lexchar();
}
}
static int32_t
-ao_gps_parse_pos(uint8_t deg_width) __reentrant
+ao_gps_parse_pos(uint8_t deg_width)
{
- static __pdata uint16_t d;
- static __pdata uint8_t m;
- static __pdata uint16_t f;
+ int16_t d;
+ int16_t m;
+ int16_t f;
char c;
d = ao_gps_decimal(deg_width);
ao_gps_next_tick = ao_time();
ao_gps_next.flags = AO_GPS_RUNNING | ao_gps_date_flags;
- ao_gps_next.hour = ao_gps_decimal(2);
- ao_gps_next.minute = ao_gps_decimal(2);
- ao_gps_next.second = ao_gps_decimal(2);
+ ao_gps_next.hour = (uint8_t) ao_gps_decimal(2);
+ ao_gps_next.minute = (uint8_t) ao_gps_decimal(2);
+ ao_gps_next.second = (uint8_t) ao_gps_decimal(2);
ao_gps_skip_field(); /* skip seconds fraction */
ao_gps_next.latitude = ao_gps_parse_pos(2);
if (ao_gps_parse_flag('E', 'W'))
ao_gps_next.longitude = -ao_gps_next.longitude;
- i = ao_gps_decimal(0xff);
+ i = (uint8_t) ao_gps_decimal(0xff);
if (i == 1)
ao_gps_next.flags |= AO_GPS_VALID;
- i = ao_gps_decimal(0xff) << AO_GPS_NUM_SAT_SHIFT;
+ i = (uint8_t) (ao_gps_decimal(0xff) << AO_GPS_NUM_SAT_SHIFT);
if (i > AO_GPS_NUM_SAT_MASK)
i = AO_GPS_NUM_SAT_MASK;
ao_gps_next.flags |= i;
ao_gps_lexchar();
- i = ao_gps_decimal(0xff);
- if (i <= 50) {
- i = (uint8_t) 5 * i;
+ i = (uint8_t) ao_gps_decimal(0xff);
+ if (i <= 25) {
+ i = (uint8_t) 10 * i;
if (ao_gps_char == '.')
- i = (i + ((uint8_t) ao_gps_decimal(1) >> 1));
+ i = (i + ((uint8_t) ao_gps_decimal(1)));
} else
i = 255;
ao_gps_next.hdop = i;
ao_gps_skip_field();
- ao_gps_next.altitude = ao_gps_decimal(0xff);
+ AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_next, ao_gps_decimal(0xff));
+
ao_gps_skip_field(); /* skip any fractional portion */
ao_nmea_finish();
if (!ao_gps_error) {
ao_mutex_get(&ao_gps_mutex);
- ao_gps_tick = ao_gps_next_tick;
- ao_xmemcpy(&ao_gps_data, &ao_gps_next, sizeof (ao_gps_data));
+ ao_gps_new |= AO_GPS_NEW_DATA;
+ ao_gps_tick = ao_gps_utc_tick = ao_gps_next_tick;
+ memcpy(&ao_gps_data, &ao_gps_next, sizeof (ao_gps_data));
ao_mutex_put(&ao_gps_mutex);
- ao_wakeup(&ao_gps_data);
+ ao_wakeup(&ao_gps_new);
}
}
static void
ao_nmea_gsv(void)
{
- char c;
+ uint8_t c;
uint8_t i;
uint8_t done;
/* Now read the data into the GPS tracking data record
* ... other SVIDs
* 72 checksum
*/
- c = ao_gps_decimal(1); /* total messages */
- i = ao_gps_decimal(1); /* message sequence */
+ c = (uint8_t) ao_gps_decimal(1); /* total messages */
+ i = (uint8_t) ao_gps_decimal(1); /* message sequence */
if (i == 1) {
ao_gps_tracking_next.channels = 0;
}
ao_gps_skip_field(); /* sats in view */
while (ao_gps_char != '*' && ao_gps_char != '\n' && ao_gps_char != '\r') {
i = ao_gps_tracking_next.channels;
- c = ao_gps_decimal(2); /* SVID */
+ c = (uint8_t) ao_gps_decimal(2); /* SVID */
if (i < AO_MAX_GPS_TRACKING)
ao_gps_tracking_next.sats[i].svid = c;
ao_gps_lexchar();
ao_gps_skip_field(); /* elevation */
ao_gps_lexchar();
ao_gps_skip_field(); /* azimuth */
- c = ao_gps_decimal(2); /* C/N0 */
+ c = (uint8_t) ao_gps_decimal(2); /* C/N0 */
if (i < AO_MAX_GPS_TRACKING) {
if ((ao_gps_tracking_next.sats[i].c_n_1 = c) != 0)
ao_gps_tracking_next.channels = i + 1;
ao_gps_tracking_next.channels = 0;
else if (done) {
ao_mutex_get(&ao_gps_mutex);
- ao_xmemcpy(&ao_gps_tracking_data, &ao_gps_tracking_next,
- sizeof(ao_gps_tracking_data));
+ ao_gps_new |= AO_GPS_NEW_TRACKING;
+ memcpy(&ao_gps_tracking_data, &ao_gps_tracking_next, sizeof(ao_gps_tracking_data));
ao_mutex_put(&ao_gps_mutex);
- ao_wakeup(&ao_gps_tracking_data);
+ ao_wakeup(&ao_gps_new);
}
}
static void
ao_nmea_rmc(void)
{
- char a, c;
+ uint8_t a, c;
uint8_t i;
/* Parse the RMC record to read out the current date */
ao_gps_lexchar();
ao_gps_skip_field();
}
- a = ao_gps_decimal(2);
- c = ao_gps_decimal(2);
- i = ao_gps_decimal(2);
+ a = (uint8_t) ao_gps_decimal(2);
+ c = (uint8_t) ao_gps_decimal(2);
+ i = (uint8_t) ao_gps_decimal(2);
ao_nmea_finish();
#define ao_skytraq_sendstruct(s) ao_skytraq_sendbytes((s), sizeof(s))
static void
-ao_skytraq_sendbytes(__code uint8_t *b, uint8_t l)
+ao_skytraq_sendbytes(const 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);
+ ao_gps_putchar(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();
+ if (ao_gps_char != 'G')
+ return;
+ ao_gps_lexchar();
+ if (ao_gps_char != 'P')
+ return;
ao_gps_lexchar();
a = ao_gps_char;
}
}
+static uint8_t ao_gps_updating;
+
void
-ao_gps(void) __reentrant
+ao_gps(void)
{
- ao_serial_set_speed(AO_SERIAL_SPEED_9600);
+ ao_gps_set_speed(AO_SERIAL_SPEED_9600);
/* give skytraq time to boot in case of cold start */
ao_delay(AO_MS_TO_TICKS(2000));
for (;;) {
/* Locate the begining of the next record */
- if (ao_serial_getchar() == '$') {
+ if (ao_gps_getchar() == '$') {
ao_gps_nmea_parse();
}
-
+#ifndef AO_GPS_TEST
+ while (ao_gps_updating) {
+ ao_usb_putchar(ao_gps_getchar());
+ if (ao_fifo_empty(ao_gps_fifo))
+ flush();
+ }
+#endif
}
}
-__xdata struct ao_task ao_gps_task;
+struct ao_task ao_gps_task;
+
+static const uint8_t ao_gps_115200[] = {
+ SKYTRAQ_MSG_3(5,0,5,0) /* Set to 115200 baud */
+};
+
+static void
+ao_gps_set_speed_delay(uint8_t speed) {
+ ao_delay(AO_MS_TO_TICKS(500));
+ ao_gps_set_speed(speed);
+ ao_delay(AO_MS_TO_TICKS(500));
+}
static void
-gps_dump(void) __reentrant
+gps_update(void)
{
- 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);
+ ao_gps_updating = 1;
+ ao_task_minimize_latency = 1;
+#if HAS_ADC
+ ao_timer_set_adc_interval(0);
+#endif
+ ao_skytraq_sendstruct(ao_gps_115200);
+ ao_gps_set_speed_delay(AO_SERIAL_SPEED_4800);
+ ao_skytraq_sendstruct(ao_gps_115200);
+ ao_gps_set_speed_delay(AO_SERIAL_SPEED_115200);
+
+ /* It's a binary protocol; abandon attempts to escape */
+ for (;;)
+ ao_gps_putchar(ao_usb_getchar());
}
-__code struct ao_cmds ao_gps_cmds[] = {
- { gps_dump, "g\0Display GPS" },
+const struct ao_cmds ao_gps_cmds[] = {
+ { ao_gps_show, "g\0Display GPS" },
+ { gps_update, "U\0Update GPS firmware" },
{ 0, NULL },
};
projects / fw / altos / blobdiff