altos: Add 'g' command to ublox GPS code.

[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 b7dc0a86bbff38c393a81b3a385ead7adb43b591..9a9dff75725f8dc315400fddded7b3aa26c1095b 100644 (file)
--- a/src/drivers/ao_gps_skytraq.c
+++ b/src/drivers/ao_gps_skytraq.c
@@ -483,29 +483,17 @@ ao_gps(void) __reentrant
 
 __xdata struct ao_task ao_gps_task;
 
-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", (long) ao_gps_data.latitude, (long) 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);
-}
-
 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_update(void) __reentrant
 {
@@ -515,7 +503,9 @@ gps_update(void) __reentrant
        ao_timer_set_adc_interval(0);
 #endif
        ao_skytraq_sendstruct(ao_gps_115200);
-       ao_gps_set_speed(AO_SERIAL_SPEED_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 (;;)
@@ -523,7 +513,7 @@ gps_update(void) __reentrant
 }
 
 __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 },
 };