X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_gps.c;h=78957cb386dc6aeff05f2f19af1971128ff1a0d1;hp=b6d7182d8558a69f7b58a8559d914ed4f6937359;hb=ab40d224b39ba6d29c4056e2d2c365e1eb3d3793;hpb=5f0179652e8bb85add9067e5253e981c60f2c51e

diff --git a/src/ao_gps.c b/src/ao_gps.c
index b6d7182d..78957cb3 100644
--- a/src/ao_gps.c
+++ b/src/ao_gps.c
@@ -22,20 +22,7 @@
 __xdata uint8_t ao_gps_mutex;
 __xdata struct ao_gps_data	ao_gps_data;
 
-const char ao_gps_set_binary[] = {
-	'$', 'P', 'S', 'R', 'F', '1', '0', '0', ',', '0', ',',
-	'9', '6', '0', '0', ',', '8', ',', '1', ',', '0', '*',
-	'0', 'C', '\r','\n',
-
-	0xa0, 0xa2, 0x00, 0x09,	/* length 9 bytes */
-	134,			/* Set binary serial port */
-	0, 0, 0x25, 0x80,	/* 9600 baud */
-	8,			/* data bits */
-	1,			/* stop bits */
-	0,			/* parity */
-	0,			/* pad */
-	0x01, 0x34, 0xb0, 0xb3,
-};
+static const char ao_gps_set_nmea[] = "$PSRF100,0,57600,8,1,0*37\r\n";
 
 const char ao_gps_config[] = {
 	0xa0, 0xa2, 0x00, 0x0e,	/* length: 14 bytes */
@@ -52,6 +39,14 @@ const char ao_gps_config[] = {
 	0,			/* Track smoothing (disabled) */
 	0x00, 0x8e, 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, 0x02,	/* length: 2 bytes */
 	143,			/* static navigation */
 	0,			/* disable */
@@ -232,26 +227,21 @@ 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]);
-	}
+	uint8_t	i;
+	ao_serial_set_speed(AO_SERIAL_SPEED_4800);
+	for (i = 0; i < 16; i++)
+		ao_serial_putchar(0x00);
+	for (i = 0; i < sizeof (ao_gps_set_nmea) - 1; i++)
+		ao_serial_putchar(ao_gps_set_nmea[i]);
+	ao_serial_set_speed(AO_SERIAL_SPEED_57600);
+	for (i = 0; i < 16; i++)
+		ao_serial_putchar(0x00);
 }
 
 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
@@ -281,25 +271,27 @@ static const uint8_t sirf_disable[] = {
 	27,
 	50,
 	52,
-	4,
 };
 
 void
 ao_gps(void) __reentrant
 {
-	uint8_t	i;
+	uint8_t	i, k;
 	uint16_t cksum;
 
-	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 (k = 0; k < 5; k++)
+	{
+		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)
+		while (ao_sirf_byte() != (uint8_t) 0xa0)
 			;
-		if (ao_sirf_byte() != 0xa2)
+		if (ao_sirf_byte() != (uint8_t) 0xa2)
 			continue;
 
 		/* Length */
@@ -312,7 +304,6 @@ ao_gps(void) __reentrant
 
 		/* message ID */
 		i = data_byte ();							/* 0 */
-		printf ("message %d len %d\n", i, ao_sirf_len);
 
 		switch (i) {
 		case 41:
@@ -330,9 +321,9 @@ ao_gps(void) __reentrant
 		cksum |= ao_sirf_byte();
 		if (ao_sirf_cksum != cksum)
 			continue;
-		if (ao_sirf_byte() != 0xb0)
+		if (ao_sirf_byte() != (uint8_t) 0xb0)
 			continue;
-		if (ao_sirf_byte() != 0xb3)
+		if (ao_sirf_byte() != (uint8_t) 0xb3)
 			continue;
 
 		switch (i) {
@@ -341,7 +332,7 @@ ao_gps(void) __reentrant
 			ao_gps_data.hour = ao_sirf_data.utc_hour;
 			ao_gps_data.minute = ao_sirf_data.utc_minute;
 			ao_gps_data.second = ao_sirf_data.utc_second / 1000;
-			ao_gps_data.flags = (ao_sirf_data.num_sv << AO_GPS_NUM_SAT_SHIFT) & AO_GPS_NUM_SAT_MASK;
+			ao_gps_data.flags = ((ao_sirf_data.num_sv << AO_GPS_NUM_SAT_SHIFT) & AO_GPS_NUM_SAT_MASK) | AO_GPS_RUNNING;
 			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;