*
* 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
-static __code char ao_gps_header[] = "GP";
+#ifndef ao_gps_putchar
+#define ao_gps_putchar ao_serial1_putchar
+#endif
+#ifndef ao_gps_set_speed
+#define ao_gps_set_speed ao_serial1_set_speed
+#endif
+
+__xdata uint8_t ao_gps_new;
__xdata uint8_t ao_gps_mutex;
static __data char ao_gps_char;
static __data uint8_t ao_gps_cksum;
(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 */
+ 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;
}
}
static void
-ao_nmea_gga()
+ao_nmea_finish(void)
+{
+ char c;
+ /* Skip remaining fields */
+ for (;;) {
+ c = ao_gps_char;
+ if (c == '*' || c == '\n' || c == '\r')
+ break;
+ ao_gps_lexchar();
+ ao_gps_skip_field();
+ }
+ if (c == '*') {
+ uint8_t cksum = ao_gps_cksum ^ '*';
+ if (cksum != ao_gps_hex())
+ ao_gps_error = 1;
+ } else
+ ao_gps_error = 1;
+}
+
+static void
+ao_nmea_gga(void)
{
uint8_t i;
ao_gps_lexchar();
i = ao_gps_decimal(0xff);
- if (i <= 50) {
- i = (uint8_t) 5 * i;
+ 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 */
- /* Skip remaining fields */
- while (ao_gps_char != '*' && ao_gps_char != '\n' && ao_gps_char != '\r') {
- ao_gps_lexchar();
- ao_gps_skip_field();
- }
- if (ao_gps_char == '*') {
- uint8_t cksum = ao_gps_cksum ^ '*';
- if (cksum != ao_gps_hex())
- ao_gps_error = 1;
- } else
- ao_gps_error = 1;
+ ao_nmea_finish();
+
if (!ao_gps_error) {
ao_mutex_get(&ao_gps_mutex);
+ ao_gps_new |= AO_GPS_NEW_DATA;
ao_gps_tick = ao_gps_next_tick;
ao_xmemcpy(&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);
}
}
ao_gps_tracking_next.channels = i + 1;
}
}
- if (ao_gps_char == '*') {
- uint8_t cksum = ao_gps_cksum ^ '*';
- if (cksum != ao_gps_hex())
- ao_gps_error = 1;
- }
- else
- ao_gps_error = 1;
+
+ ao_nmea_finish();
+
if (ao_gps_error)
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;
+ ao_xmemcpy(&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);
}
}
a = ao_gps_decimal(2);
c = ao_gps_decimal(2);
i = ao_gps_decimal(2);
- /* Skip remaining fields */
- while (ao_gps_char != '*' && ao_gps_char != '\n' && ao_gps_char != '\r') {
- ao_gps_lexchar();
- ao_gps_skip_field();
- }
- if (ao_gps_char == '*') {
- uint8_t cksum = ao_gps_cksum ^ '*';
- if (cksum != ao_gps_hex())
- ao_gps_error = 1;
- } else
- ao_gps_error = 1;
+
+ ao_nmea_finish();
+
if (!ao_gps_error) {
ao_gps_next.year = i;
ao_gps_next.month = c;
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_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;
+static __code 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) __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);
+ 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" },
+ { ao_gps_show, "g\0Display GPS" },
+ { gps_update, "U\0Update GPS firmware" },
{ 0, NULL },
};
projects / fw / altos / blobdiff