X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=ao_gps.c;h=e5a5a8842d9c38f76504afef3d5a65ba1508e385;hp=80b96aa7ca9af1f1dafc44d307ba34cb79d0c61f;hb=be3f4fed7b863c8cdaabe32b61b65a8b3cd11355;hpb=43c8f7012102cdb591ace899420c10e4a78385ad

diff --git a/ao_gps.c b/ao_gps.c
index 80b96aa7..e5a5a884 100644
--- a/ao_gps.c
+++ b/ao_gps.c
@@ -19,16 +19,16 @@
 
 #define AO_GPS_LEADER		6
 
-static const uint8_t ao_gps_header[] = "GPGGA,";
+static const char ao_gps_header[] = "GPGGA,";
 __xdata uint8_t ao_gps_mutex;
-static __xdata uint8_t ao_gps_char;
+static __xdata char ao_gps_char;
 static __xdata uint8_t ao_gps_cksum;
 static __xdata uint8_t ao_gps_error;
 
 __xdata struct ao_gps_data	ao_gps_data;
 static __xdata struct ao_gps_data	ao_gps_next;
 
-const uint8_t ao_gps_config[] =
+const char ao_gps_config[] =
 	"$PSRF103,00,00,01,01*25\r\n"	/* GGA 1 per sec */
 	"$PSRF103,01,00,00,01*25\r\n"	/* GLL disable */
 	"$PSRF103,02,00,00,01*26\r\n"	/* GSA disable */
@@ -137,7 +137,7 @@ ao_gps_parse_pos(__xdata struct ao_gps_pos * pos, uint8_t deg_width) __reentrant
 }
 
 static void
-ao_gps_parse_flag(uint8_t yes_c, uint8_t yes, uint8_t no_c, uint8_t no) __reentrant
+ao_gps_parse_flag(char yes_c, uint8_t yes, char no_c, uint8_t no) __reentrant
 {
 	ao_gps_skip_sep();
 	if (ao_gps_char == yes_c)
@@ -153,7 +153,7 @@ ao_gps_parse_flag(uint8_t yes_c, uint8_t yes, uint8_t no_c, uint8_t no) __reentr
 void
 ao_gps(void) __reentrant
 {
-	uint8_t	c;
+	char	c;
 	uint8_t	i;
 
 	for (i = 0; (c = ao_gps_config[i]); i++)
@@ -238,9 +238,8 @@ ao_gps(void) __reentrant
 			ao_gps_skip_field();
 		}
 		if (ao_gps_char == '*') {
-			c = ao_gps_cksum ^ '*';
-			i = ao_gps_hex(2);
-			if (c != i)
+			uint8_t cksum = ao_gps_cksum ^ '*';
+			if (cksum != ao_gps_hex(2))
 				ao_gps_error = 1;
 		} else 
 			ao_gps_error = 1;
@@ -253,49 +252,7 @@ ao_gps(void) __reentrant
 	}
 }
 
-void
-ao_gps_report(void)
-{
-	static __xdata struct ao_log_record	gps_log;
-	static __xdata struct ao_telemetry	gps_telemetry;
-	static __xdata struct ao_gps_data	gps_data;
-
-	for (;;) {
-		ao_sleep(&ao_gps_data);
-		ao_mutex_get(&ao_gps_mutex);
-		memcpy(&gps_data, &ao_gps_data, sizeof (struct ao_gps_data));
-		ao_mutex_put(&ao_gps_mutex);
-
-		gps_log.tick = ao_time();
-		gps_log.type = AO_LOG_GPS_TIME;
-		gps_log.u.gps_time.hour = gps_data.hour;
-		gps_log.u.gps_time.minute = gps_data.minute;
-		gps_log.u.gps_time.second = gps_data.second;
-		gps_log.u.gps_time.flags = gps_data.flags;
-		ao_log_data(&gps_log);
-		gps_log.type = AO_LOG_GPS_LAT;
-		gps_log.u.gps_latitude.degrees = gps_data.latitude.degrees;
-		gps_log.u.gps_latitude.minutes = gps_data.latitude.minutes;
-		gps_log.u.gps_latitude.minutes_fraction = gps_data.latitude.minutes_fraction;
-		ao_log_data(&gps_log);
-		gps_log.type = AO_LOG_GPS_LON;
-		gps_log.u.gps_longitude.degrees = gps_data.longitude.degrees;
-		gps_log.u.gps_longitude.minutes = gps_data.longitude.minutes;
-		gps_log.u.gps_longitude.minutes_fraction = gps_data.longitude.minutes_fraction;
-		ao_log_data(&gps_log);
-		gps_log.type = AO_LOG_GPS_ALT;
-		gps_log.u.gps_altitude.altitude = gps_data.altitude;
-		gps_log.u.gps_altitude.unused = 0xffff;
-		ao_log_data(&gps_log);
-		gps_telemetry.type = AO_TELEMETRY_GPS;
-		memcpy(&gps_telemetry.u.gps, &gps_data, sizeof (struct ao_gps_data));
-		ao_telemetry_send(&gps_telemetry);
-	}
-		
-}
-
 __xdata struct ao_task ao_gps_task;
-__xdata struct ao_task ao_gps_report_task;
 
 static void
 gps_dump(void) __reentrant
@@ -306,7 +263,7 @@ gps_dump(void) __reentrant
 }
 
 __code struct ao_cmds ao_gps_cmds[] = {
-	{ 'g', gps_dump,	"g                                  Display current GPS values\n" },
+	{ 'g', gps_dump,	"g                                  Display current GPS values" },
 	{ 0, gps_dump, NULL },
 };
 
@@ -314,6 +271,5 @@ void
 ao_gps_init(void)
 {
 	ao_add_task(&ao_gps_task, ao_gps, "gps");
-	ao_add_task(&ao_gps_report_task, ao_gps_report, "gps_report");
 	ao_cmd_register(&ao_gps_cmds[0]);
 }