X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_gps.c;h=c06c635fd9fc3d67bf560671cca0572fbde8e974;hp=811ac2a8aae0aee4f1a3c0643da7c61e3aa34ff7;hb=08f37056deec25d77062bc411a04033401b033a5;hpb=34f148500df427c148188c0ada20bf914a7c74ba

diff --git a/src/ao_gps.c b/src/ao_gps.c
index 811ac2a8..c06c635f 100644
--- a/src/ao_gps.c
+++ b/src/ao_gps.c
@@ -22,9 +22,27 @@
 __xdata uint8_t ao_gps_mutex;
 __xdata struct ao_gps_data	ao_gps_data;
 
+#undef AO_GPS_4800
+
+#ifdef AO_GPS_4800
 static const char ao_gps_set_nmea[] = "$PSRF100,0,57600,8,1,0*37\r\n";
+#else
+static const char ao_gps_set_nmea[] = "$PSRF100,0,4800,8,1,0*0F\r\n";
+#endif
 
 const char ao_gps_config[] = {
+	0xa0, 0xa2, 0x00, 0x19,	/* length: 25 bytes */
+	128,			/* Initialize Data Source */
+	0, 0, 0, 0,		/* ECEF X */
+	0, 0, 0, 0,		/* ECEF Y */
+	0, 0, 0, 0,		/* ECEF Z */
+	0, 0, 0, 0,		/* Clock Drift */
+	0, 0, 0, 0,		/* Time of Week */
+	0, 0,			/* Week Number */
+	0,			/* Channels */
+	0xc6,			/* Clear user data, RTC not accurate, Clear history, clear ephemeris */
+	0x01, 0x46, 0xb0, 0xb3,
+
 	0xa0, 0xa2, 0x00, 0x0e,	/* length: 14 bytes */
 	136,			/* mode control */
 	0, 0,			/* reserved */
@@ -224,17 +242,22 @@ ao_sirf_parse_41(void)
 	}
 }
 
-void
+static void
 ao_gps_setup(void) __reentrant
 {
-	uint8_t	i;
+	uint8_t	i, k;
+#ifdef AO_GPS_4800
 	ao_serial_set_speed(AO_SERIAL_SPEED_4800);
-	for (i = 0; i < 16; i++)
+#endif
+	for (i = 0; i < 64; i++)
 		ao_serial_putchar(0x00);
-	for (i = 0; i < sizeof (ao_gps_set_nmea) - 1; i++)
-		ao_serial_putchar(ao_gps_set_nmea[i]);
+	for (k = 0; k < 3; k++)
+		for (i = 0; i < sizeof (ao_gps_set_nmea); i++)
+			ao_serial_putchar(ao_gps_set_nmea[i]);
+#ifdef AO_GPS_4800
 	ao_serial_set_speed(AO_SERIAL_SPEED_57600);
-	for (i = 0; i < 16; i++)
+#endif
+	for (i = 0; i < 64; i++)
 		ao_serial_putchar(0x00);
 }
 
@@ -279,6 +302,7 @@ ao_gps(void) __reentrant
 	uint8_t	i, k;
 	uint16_t cksum;
 
+	ao_gps_setup();
 	for (k = 0; k < 5; k++)
 	{
 		for (i = 0; i < sizeof (ao_gps_config); i++)
@@ -289,9 +313,9 @@ ao_gps(void) __reentrant
 	}
 	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 */
@@ -321,9 +345,9 @@ 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) {
@@ -332,7 +356,7 @@ 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;