X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_gps.c;h=c4c434fdba41885384d2ffa8fbf638b42018f3d8;hp=147b665c363de0cdc63a929254ea96f9f07f1c9f;hb=28be20cf914fb34dc3c776519708d0f02091764e;hpb=ee4919dd771b00e2a2dd1083c9528efa7baab50f

diff --git a/src/ao_gps.c b/src/ao_gps.c
index 147b665c..c4c434fd 100644
--- a/src/ao_gps.c
+++ b/src/ao_gps.c
@@ -15,16 +15,16 @@
  * 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;
 
+static const char ao_gps_set_nmea[] = "\r\n$PSRF100,0,57600,8,1,0*37\r\n";
+
 const char ao_gps_config[] = {
-	/* Serial param - binary, 4800 baud, 8 bits, 1 stop, no parity */
-	'$', 'P', 'S', 'R', 'F', '1', '0', '0', ',', '0', ',',
-	'4', '8', '0', '0', ',', '8', ',', '1', ',', '0', '*',
-	'0', 'F', '\r','\n',
 
 	0xa0, 0xa2, 0x00, 0x0e,	/* length: 14 bytes */
 	136,			/* mode control */
@@ -40,11 +40,6 @@ const char ao_gps_config[] = {
 	0,			/* Track smoothing (disabled) */
 	0x00, 0x8e, 0xb0, 0xb3,
 
-	0xa0, 0xa2, 0x00, 0x02,	/* length: 2 bytes */
-	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 */
@@ -53,13 +48,10 @@ const char ao_gps_config[] = {
 	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,
+	0xa0, 0xa2, 0x00, 0x02,	/* length: 2 bytes */
+	143,			/* static navigation */
+	0,			/* disable */
+	0x00, 0x8f, 0xb0, 0xb3,
 };
 
 #define NAV_TYPE_GPS_FIX_TYPE_MASK			(7 << 0)
@@ -233,20 +225,76 @@ ao_sirf_parse_41(void)
 	}
 }
 
+static void
+ao_gps_setup(void) __reentrant
+{
+	uint8_t	i, k;
+	ao_serial_set_speed(AO_SERIAL_SPEED_4800);
+	for (i = 0; i < 64; i++)
+		ao_serial_putchar(0x00);
+	for (k = 0; k < 3; k++)
+		for (i = 0; i < sizeof (ao_gps_set_nmea); i++)
+			ao_serial_putchar(ao_gps_set_nmea[i]);
+	ao_serial_set_speed(AO_SERIAL_SPEED_57600);
+	for (i = 0; i < 64; i++)
+		ao_serial_putchar(0x00);
+}
+
+static const char ao_gps_set_message_rate[] = {
+	0xa0, 0xa2, 0x00, 0x08,
+	166,
+	0,
+};
+
+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,
+};
+
 void
 ao_gps(void) __reentrant
 {
-	char	c;
-	uint8_t	i;
+	uint8_t	i, k;
 	uint16_t cksum;
 
-	for (i = 0; (c = ao_gps_config[i]); i++)
-		ao_serial_putchar(c);
+	ao_gps_setup();
+	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 */
@@ -262,7 +310,7 @@ ao_gps(void) __reentrant
 
 		switch (i) {
 		case 41:
-			if (ao_sirf_len < 91)
+			if (ao_sirf_len < 90)
 				break;
 			ao_sirf_parse_41();
 			break;
@@ -276,9 +324,9 @@ 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) {
@@ -287,9 +335,24 @@ 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;
+			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;