X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_gps.c;h=562899cd030c2a24405ea9b0ac00e34bad82747b;hp=147b665c363de0cdc63a929254ea96f9f07f1c9f;hb=bfe1e76c82738baaf65abbc58c3244a07ea8fefe;hpb=ee4919dd771b00e2a2dd1083c9528efa7baab50f

diff --git a/src/ao_gps.c b/src/ao_gps.c
index 147b665c..562899cd 100644
--- a/src/ao_gps.c
+++ b/src/ao_gps.c
@@ -15,17 +15,34 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
+#ifndef AO_GPS_TEST
 #include "ao.h"
+#endif
 
 __xdata uint8_t ao_gps_mutex;
 __xdata struct ao_gps_data	ao_gps_data;
 
-const char ao_gps_config[] = {
-	/* Serial param - binary, 4800 baud, 8 bits, 1 stop, no parity */
+const char ao_gps_set_binary[] = {
 	'$', 'P', 'S', 'R', 'F', '1', '0', '0', ',', '0', ',',
-	'4', '8', '0', '0', ',', '8', ',', '1', ',', '0', '*',
-	'0', 'F', '\r','\n',
+	'9', '6', '0', '0', ',', '8', ',', '1', ',', '0', '*',
+	'0', 'C', '\r','\n',
+
+	0x00, 0x00, 0x00, 0x00,	0x00, 0x00, 0x00, 0x00,
+	0x00, 0x00, 0x00, 0x00,	0x00, 0x00, 0x00, 0x00,
+	0x00, 0x00, 0x00, 0x00,	0x00, 0x00, 0x00, 0x00,
+	0x00, 0x00, 0x00, 0x00,	0x00, 0x00, 0x00, 0x00,
+
+	0xa0, 0xa2, 0x00, 0x09,	/* length 9 bytes */
+	134,			/* Set binary serial port */
+	0, 0, 0x25, 0x80,	/* 9600 baud */
+	8,			/* data bits */
+	1,			/* stop bits */
+	0,			/* parity */
+	0,			/* pad */
+	0x01, 0x34, 0xb0, 0xb3,
+};
 
+const char ao_gps_config[] = {
 	0xa0, 0xa2, 0x00, 0x0e,	/* length: 14 bytes */
 	136,			/* mode control */
 	0, 0,			/* reserved */
@@ -44,22 +61,6 @@ const char ao_gps_config[] = {
 	143,			/* static navigation */
 	0,			/* disable */
 	0x00, 0x8f, 0xb0, 0xb3,
-
-	0xa0, 0xa2, 0x00, 0x08,	/* length: 8 bytes */
-	166,			/* Set message rate */
-	2,			/* enable/disable all messages */
-	0,			/* message id (ignored) */
-	0,			/* update rate (0 = disable) */
-	0, 0, 0, 0,		/* reserved */
-	0x00, 0xa8, 0xb0, 0xb3,
-
-	0xa0, 0xa2, 0x00, 0x08,	/* length: 8 bytes */
-	166,			/* Set message rate */
-	0,			/* enable/disable one message */
-	41,			/* message 41 */
-	1,			/* once per second */
-	0, 0, 0, 0,		/* reserved */
-	0x00, 0xd0, 0xb0, 0xb3,
 };
 
 #define NAV_TYPE_GPS_FIX_TYPE_MASK			(7 << 0)
@@ -233,15 +234,72 @@ ao_sirf_parse_41(void)
 	}
 }
 
+void
+ao_gps_setup(void) __reentrant
+{
+	uint8_t	i, j;
+	for (j = 0; j < 2; j++) {
+#ifdef AO_GPS_TEST
+		ao_serial_set_speed(j);
+#endif
+		for (i = 255; i != 0; i--)
+			ao_serial_putchar(0);
+
+		for (i = 0; i < sizeof (ao_gps_set_binary); i++)
+			ao_serial_putchar(ao_gps_set_binary[i]);
+	}
+}
+
+static const char ao_gps_set_message_rate[] = {
+	0xa0, 0xa2, 0x00, 0x08,
+	166,
+	0,
+#define SET_MESSAGE_RATE_ID	6
+#define SET_MESSAGE_RATE	7
+
+};
+
+void
+ao_sirf_set_message_rate(uint8_t msg, uint8_t rate)
+{
+	uint16_t	cksum = 0x00a6;
+	uint8_t		i;
+
+	for (i = 0; i < sizeof (ao_gps_set_message_rate); i++)
+		ao_serial_putchar(ao_gps_set_message_rate[i]);
+	ao_serial_putchar(msg);
+	ao_serial_putchar(rate);
+	cksum = 0xa6 + msg + rate;
+	for (i = 0; i < 4; i++)
+		ao_serial_putchar(0);
+	ao_serial_putchar((cksum >> 8) & 0x7f);
+	ao_serial_putchar(cksum & 0xff);
+	ao_serial_putchar(0xb0);
+	ao_serial_putchar(0xb3);
+}
+
+static const uint8_t sirf_disable[] = {
+	2,
+	4,
+	9,
+	10,
+	27,
+	50,
+	52,
+	4,
+};
+
 void
 ao_gps(void) __reentrant
 {
-	char	c;
 	uint8_t	i;
 	uint16_t cksum;
 
-	for (i = 0; (c = ao_gps_config[i]); i++)
-		ao_serial_putchar(c);
+	for (i = 0; i < sizeof (ao_gps_config); i++)
+		ao_serial_putchar(ao_gps_config[i]);
+	for (i = 0; i < sizeof (sirf_disable); i++)
+		ao_sirf_set_message_rate(sirf_disable[i], 0);
+	ao_sirf_set_message_rate(41, 1);
 	for (;;) {
 		/* Locate the begining of the next record */
 		while (ao_sirf_byte() != 0xa0)
@@ -259,10 +317,11 @@ ao_gps(void) __reentrant
 
 		/* message ID */
 		i = data_byte ();							/* 0 */
+		printf ("message %d len %d\n", i, ao_sirf_len);
 
 		switch (i) {
 		case 41:
-			if (ao_sirf_len < 91)
+			if (ao_sirf_len < 90)
 				break;
 			ao_sirf_parse_41();
 			break;
@@ -290,6 +349,21 @@ ao_gps(void) __reentrant
 			ao_gps_data.flags = (ao_sirf_data.num_sv << AO_GPS_NUM_SAT_SHIFT) & AO_GPS_NUM_SAT_MASK;
 			if ((ao_sirf_data.nav_type & NAV_TYPE_GPS_FIX_TYPE_MASK) >= NAV_TYPE_4_SV_KF)
 				ao_gps_data.flags |= AO_GPS_VALID;
+			ao_gps_data.latitude = ao_sirf_data.lat;
+			ao_gps_data.longitude = ao_sirf_data.lon;
+			ao_gps_data.altitude = ao_sirf_data.alt_msl / 100;
+			ao_gps_data.ground_speed = ao_sirf_data.ground_speed;
+			ao_gps_data.course = ao_sirf_data.course / 200;
+			ao_gps_data.hdop = ao_sirf_data.hdop;
+			ao_gps_data.climb_rate = ao_sirf_data.climb_rate;
+			if (ao_sirf_data.h_error > 6553500)
+				ao_gps_data.h_error = 65535;
+			else
+				ao_gps_data.h_error = ao_sirf_data.h_error / 100;
+			if (ao_sirf_data.v_error > 6553500)
+				ao_gps_data.v_error = 65535;
+			else
+				ao_gps_data.v_error = ao_sirf_data.v_error / 100;
 			ao_mutex_put(&ao_gps_mutex);
 			ao_wakeup(&ao_gps_data);
 			break;