altos: Allow ublox to run at other baud rates

[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 56a4da16b3aacb6a646e4e03b7201aa19820ee2a..fa6ff0e0724b8290a483ee651bc6583c623851fc 100644 (file)
--- a/src/drivers/ao_gps_ublox.c
+++ b/src/drivers/ao_gps_ublox.c
@@ -26,11 +26,21 @@ __pdata uint16_t ao_gps_tick;
 __xdata struct ao_telemetry_location   ao_gps_data;
 __xdata struct ao_telemetry_satellite  ao_gps_tracking_data;
 
-static const char ao_gps_set_nmea[] = "\r\n$PUBX,41,1,3,1,57600,0*2d\r\n";
+#ifndef AO_SERIAL_SPEED_UBLOX
+#define AO_SERIAL_SPEED_UBLOX AO_SERIAL_SPEED_57600
+#endif
 
-const char ao_gps_config[] = {
+#if AO_SERIAL_SPEED_UBLOX == AO_SERIAL_SPEED_57600
+#define SERIAL_SPEED_STRING    "57600"
+#endif
+#if AO_SERIAL_SPEED_UBLOX == AO_SERIAL_SPEED_19200
+#define SERIAL_SPEED_STRING    "19200"
+#endif
+#if AO_SERIAL_SPEED_UBLOX == AO_SERIAL_SPEED_9600
+#define SERIAL_SPEED_STRING    "9600"
+#endif
 
-};
+static const char ao_gps_set_nmea[] = "\r\n$PUBX,41,1,3,1," SERIAL_SPEED_STRING ",0*2d\r\n";
 
 struct ao_ublox_cksum {
        uint8_t a, b;
@@ -39,13 +49,7 @@ struct ao_ublox_cksum {
 static __pdata struct ao_ublox_cksum ao_ublox_cksum;
 static __pdata uint16_t ao_ublox_len;
 
-#ifndef ao_ublox_getchar
-#define ao_ublox_getchar       ao_serial1_getchar
-#define ao_ublox_putchar       ao_serial1_putchar
-#define ao_ublox_set_speed     ao_serial1_set_speed
-#endif
-
-#define ao_ublox_byte()        ((uint8_t) ao_ublox_getchar())
+#define ao_ublox_byte()        ((uint8_t) ao_gps_getchar())
 
 static inline void add_cksum(struct ao_ublox_cksum *cksum, uint8_t c)
 {
@@ -61,7 +65,7 @@ static void ao_ublox_init_cksum(void)
 static void ao_ublox_put_u8(uint8_t c)
 {
        add_cksum(&ao_ublox_cksum, c);
-       ao_ublox_putchar(c);
+       ao_gps_putchar(c);
 }
 
 static void ao_ublox_put_i8(int8_t c)
@@ -408,14 +412,14 @@ ao_gps_setup(void)
 
        ao_delay(AO_SEC_TO_TICKS(3));
 
-       ao_ublox_set_speed(AO_SERIAL_SPEED_9600);
+       ao_gps_set_speed(AO_SERIAL_SPEED_9600);
 
        /*
         * A bunch of nulls so the start bit
         * is clear
         */
        for (i = 0; i < 64; i++)
-               ao_ublox_putchar(0x00);
+               ao_gps_putchar(0x00);
 
        /*
         * Send the baud-rate setting and protocol-setting
@@ -423,27 +427,29 @@ ao_gps_setup(void)
         */
        for (k = 0; k < 3; k++)
                for (i = 0; i < sizeof (ao_gps_set_nmea); i++)
-                       ao_ublox_putchar(ao_gps_set_nmea[i]);
+                       ao_gps_putchar(ao_gps_set_nmea[i]);
 
+#if AO_SERIAL_SPEED_UBLOX != AO_SERIAL_SPEED_9600
        /*
         * Increase the baud rate
         */
-       ao_ublox_set_speed(AO_SERIAL_SPEED_57600);
+       ao_gps_set_speed(AO_SERIAL_SPEED_UBLOX);
+#endif
 
        /*
         * Pad with nulls to give the chip
         * time to see the baud rate switch
         */
        for (i = 0; i < 64; i++)
-               ao_ublox_putchar(0x00);
+               ao_gps_putchar(0x00);
 }
 
 static void
 ao_ublox_putstart(uint8_t class, uint8_t id, uint16_t len)
 {
        ao_ublox_init_cksum();
-       ao_ublox_putchar(0xb5);
-       ao_ublox_putchar(0x62);
+       ao_gps_putchar(0xb5);
+       ao_gps_putchar(0x62);
        ao_ublox_put_u8(class);
        ao_ublox_put_u8(id);
        ao_ublox_put_u8(len);
@@ -453,8 +459,8 @@ ao_ublox_putstart(uint8_t class, uint8_t id, uint16_t len)
 static void
 ao_ublox_putend(void)
 {
-       ao_ublox_putchar(ao_ublox_cksum.a);
-       ao_ublox_putchar(ao_ublox_cksum.b);
+       ao_gps_putchar(ao_ublox_cksum.a);
+       ao_gps_putchar(ao_ublox_cksum.b);
 }
 
 static void