altos: Massive product config cleanup

[fw/altos] / src / drivers / ao_gps_skytraq.c

diff --git a/src/drivers/ao_gps_skytraq.c b/src/drivers/ao_gps_skytraq.c
index 6290960677651febc0b309f3b8ea252dc92628a5..84616a05d0a8729de7e7379387e7cf898424dd5f 100644 (file)
--- a/src/drivers/ao_gps_skytraq.c
+++ b/src/drivers/ao_gps_skytraq.c
@@ -19,9 +19,17 @@
 #include "ao.h"
 #endif
 
-#define AO_GPS_LEADER          2
+#ifndef ao_gps_getchar
+#define ao_gps_getchar ao_serial1_getchar
+#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;
@@ -50,7 +58,7 @@ static __pdata struct ao_telemetry_satellite  ao_gps_tracking_next;
     (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 */
@@ -72,7 +80,7 @@ ao_gps_lexchar(void)
        if (ao_gps_error)
                c = '\n';
        else
-               c = ao_serial_getchar();
+               c = ao_gps_getchar();
        ao_gps_cksum ^= c;
        ao_gps_char = c;
 }
@@ -406,7 +414,7 @@ ao_skytraq_sendbytes(__code uint8_t *b, uint8_t l)
                uint8_t c = *b++;
                if (c == 0xa0)
                        ao_delay(AO_MS_TO_TICKS(500));
-               ao_serial_putchar(c);
+               ao_gps_putchar(c);
        }
 }
 
@@ -418,11 +426,12 @@ ao_gps_nmea_parse(void)
        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;
@@ -447,7 +456,7 @@ ao_gps_nmea_parse(void)
 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));
@@ -456,10 +465,9 @@ ao_gps(void) __reentrant
 
        for (;;) {
                /* Locate the begining of the next record */
-               if (ao_serial_getchar() == '$') {
+               if (ao_gps_getchar() == '$') {
                        ao_gps_nmea_parse();
                }
-
        }
 }