X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_gps_sirf.c;h=87b1d69ce2f5ae91c9db2fa217c83239c1ab4883;hp=5843876051d3d3ecf86f50ea091afdf78e745c06;hb=9e5e4c1ad82d621ceb7286f72c87eeaf5976f9bf;hpb=d709a0688eff84e25e24d755850ef045d6b0c3de

diff --git a/src/ao_gps_sirf.c b/src/ao_gps_sirf.c
index 58438760..87b1d69c 100644
--- a/src/ao_gps_sirf.c
+++ b/src/ao_gps_sirf.c
@@ -20,6 +20,7 @@
 #endif
 
 __xdata uint8_t ao_gps_mutex;
+__xdata uint16_t ao_gps_tick;
 __xdata struct ao_gps_data	ao_gps_data;
 __xdata struct ao_gps_tracking_data	ao_gps_tracking_data;
 
@@ -108,7 +109,6 @@ static __xdata struct sirf_geodetic_nav_data	ao_sirf_data;
 
 struct sirf_measured_sat_data {
 	uint8_t		svid;
-	uint16_t	state;
 	uint8_t		c_n_1;
 };
 
@@ -264,8 +264,7 @@ static const struct sirf_packet_parse measured_tracker_data_packet[] = {
 
 static const struct sirf_packet_parse measured_sat_data_packet[] = {
 	{ SIRF_U8, offsetof (struct sirf_measured_sat_data, svid) },		/* 0 SV id */
-	{ SIRF_DISCARD, 2 },							/* 1 azimuth, 2 elevation */
-	{ SIRF_U16, offsetof (struct sirf_measured_sat_data, state) },		/* 2 state */
+	{ SIRF_DISCARD, 4 },							/* 1 azimuth, 2 elevation, 3 state */
 	{ SIRF_U8, offsetof (struct sirf_measured_sat_data, c_n_1) },		/* C/N0 1 */
 	{ SIRF_DISCARD, 9 },							/* C/N0 2-10 */
 	{ SIRF_END, 0 },
@@ -392,6 +391,7 @@ ao_gps(void) __reentrant
 		switch (i) {
 		case 41:
 			ao_mutex_get(&ao_gps_mutex);
+			ao_gps_tick = ao_time();
 			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;
@@ -405,6 +405,7 @@ ao_gps(void) __reentrant
 			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;
+			ao_gps_data.flags |= AO_GPS_COURSE_VALID;
 			if (ao_sirf_data.h_error > 6553500)
 				ao_gps_data.h_error = 65535;
 			else
@@ -421,7 +422,6 @@ ao_gps(void) __reentrant
 			ao_gps_tracking_data.channels = ao_sirf_tracker_data.channels;
 			for (i = 0; i < 12; i++) {
 				ao_gps_tracking_data.sats[i].svid = ao_sirf_tracker_data.sats[i].svid;
-				ao_gps_tracking_data.sats[i].state = (uint8_t) ao_sirf_tracker_data.sats[i].state;
 				ao_gps_tracking_data.sats[i].c_n_1 = ao_sirf_tracker_data.sats[i].c_n_1;
 			}
 			ao_mutex_put(&ao_gps_mutex);
@@ -433,25 +433,8 @@ ao_gps(void) __reentrant
 
 __xdata struct ao_task ao_gps_task;
 
-static void
-gps_dump(void) __reentrant
-{
-	ao_mutex_get(&ao_gps_mutex);
-	ao_gps_print(&ao_gps_data);
-	putchar('\n');
-	ao_gps_tracking_print(&ao_gps_tracking_data);
-	putchar('\n');
-	ao_mutex_put(&ao_gps_mutex);
-}
-
-__code struct ao_cmds ao_gps_cmds[] = {
-	{ 'g', gps_dump,	"g                                  Display current GPS values" },
-	{ 0, gps_dump, NULL },
-};
-
 void
 ao_gps_init(void)
 {
 	ao_add_task(&ao_gps_task, ao_gps, "gps");
-	ao_cmd_register(&ao_gps_cmds[0]);
 }