altos/chaoskey-v1.0: Add endpoint for reading flash contents

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

diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c
index 4fb907462c43691807e355a21549b63a6dd1658b..c720f802acd2e9a73476d6a95dce6dca0bf0dde9 100644 (file)
--- a/src/drivers/ao_gps_ublox.c
+++ b/src/drivers/ao_gps_ublox.c
@@ -3,7 +3,8 @@
  *
  * 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
@@ -155,7 +156,7 @@ static char __xdata *ublox_target;
 
 static void ublox_u16(uint8_t offset)
 {
-       uint16_t __xdata *ptr = (uint16_t __xdata *) (ublox_target + offset);
+       uint16_t __xdata *ptr = (uint16_t __xdata *) (void __xdata *) (ublox_target + offset);
        uint16_t val;
 
        val = data_byte();
@@ -174,7 +175,7 @@ static void ublox_u8(uint8_t offset)
 
 static void ublox_u32(uint8_t offset) __reentrant
 {
-       uint32_t __xdata *ptr = (uint32_t __xdata *) (ublox_target + offset);
+       uint32_t __xdata *ptr = (uint32_t __xdata *) (void __xdata *) (ublox_target + offset);
        uint32_t val;
 
        val = ((uint32_t) data_byte ());
@@ -600,6 +601,14 @@ static const uint8_t ublox_enable_nav[] = {
        UBLOX_NAV_TIMEUTC
 };
 
+void
+ao_gps_set_rate(uint8_t rate)
+{
+       uint8_t i;
+       for (i = 0; i < sizeof (ublox_enable_nav); i++)
+               ao_ublox_set_message_rate(UBLOX_NAV, ublox_enable_nav[i], rate);
+}
+
 void
 ao_gps(void) __reentrant
 {
@@ -616,8 +625,7 @@ ao_gps(void) __reentrant
                ao_ublox_set_message_rate(UBLOX_NAV, ublox_disable_nav[i], 0);
 
        /* Enable all of the messages we want */
-       for (i = 0; i < sizeof (ublox_enable_nav); i++)
-               ao_ublox_set_message_rate(UBLOX_NAV, ublox_enable_nav[i], 1);
+       ao_gps_set_rate(1);
 
        ao_ublox_set_navigation_settings((1 << UBLOX_CFG_NAV5_MASK_DYN) | (1 << UBLOX_CFG_NAV5_MASK_FIXMODE),
                                         UBLOX_CFG_NAV5_DYNMODEL_AIRBORNE_4G,
@@ -713,7 +721,7 @@ ao_gps(void) __reentrant
                                ao_gps_data.flags |= AO_GPS_RUNNING;
                                if (nav_sol.gps_fix & (1 << NAV_SOL_FLAGS_GPSFIXOK)) {
                                        uint8_t nsat = nav_sol.nsat;
-                                       ao_gps_data.flags |= AO_GPS_VALID;
+                                       ao_gps_data.flags |= AO_GPS_VALID | AO_GPS_COURSE_VALID;
                                        if (nsat > 15)
                                                nsat = 15;
                                        ao_gps_data.flags |= nsat;
@@ -721,7 +729,7 @@ ao_gps(void) __reentrant
                                if (nav_timeutc.valid & (1 << NAV_TIMEUTC_VALID_UTC))
                                        ao_gps_data.flags |= AO_GPS_DATE_VALID;
 
-                               ao_gps_data.altitude = nav_posllh.alt_msl / 1000;
+                               AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_data, nav_posllh.alt_msl / 1000);
                                ao_gps_data.latitude = nav_posllh.lat;
                                ao_gps_data.longitude = nav_posllh.lon;
 
@@ -733,11 +741,11 @@ ao_gps(void) __reentrant
                                ao_gps_data.minute = nav_timeutc.min;
                                ao_gps_data.second = nav_timeutc.sec;
 
-                               ao_gps_data.pdop = nav_dop.pdop;
-                               ao_gps_data.hdop = nav_dop.hdop;
-                               ao_gps_data.vdop = nav_dop.vdop;
-
-                               /* mode is not set */
+                               /* we report dop scaled by 10, but ublox provides dop scaled by 100
+                                */
+                               ao_gps_data.pdop = nav_dop.pdop / 10;
+                               ao_gps_data.hdop = nav_dop.hdop / 10;
+                               ao_gps_data.vdop = nav_dop.vdop / 10;
 
                                ao_gps_data.ground_speed = nav_velned.g_speed;
                                ao_gps_data.climb_rate = -nav_velned.vel_d;
@@ -746,18 +754,20 @@ ao_gps(void) __reentrant
                                ao_gps_tracking_data.channels = 0;
 
                                struct ao_telemetry_satellite_info *dst = &ao_gps_tracking_data.sats[0];
+                               struct nav_svinfo_sat *src = &nav_svinfo_sat[0];
 
                                for (i = 0; i < nav_svinfo_nsat; i++) {
-                                       struct nav_svinfo_sat *src = &nav_svinfo_sat[i];
-
                                        if (!(src->flags & (1 << NAV_SVINFO_SAT_FLAGS_UNHEALTHY)) &&
                                            src->quality >= NAV_SVINFO_SAT_QUALITY_ACQUIRED)
                                        {
-                                               dst->svid = src->svid;
-                                               dst->c_n_1 = src->cno;
-                                               dst++;
-                                               ao_gps_tracking_data.channels++;
+                                               if (ao_gps_tracking_data.channels < AO_TELEMETRY_SATELLITE_MAX_SAT) {
+                                                       dst->svid = src->svid;
+                                                       dst->c_n_1 = src->cno;
+                                                       dst++;
+                                                       ao_gps_tracking_data.channels++;
+                                               }
                                        }
+                                       src++;
                                }
 
                                ao_mutex_put(&ao_gps_mutex);