X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_gps_skytraq.c;h=7ac269469d31c2bc90c42c6d92c0c9b5adb4b95e;hp=d286a30a8bea934aca27eb3b76811f8b499c8596;hb=e268798dc260311f5f0167909481b41c9d27fc1c;hpb=8cdf4fb051c22b35c251d90bc288551f7c2898bf

diff --git a/src/ao_gps_skytraq.c b/src/ao_gps_skytraq.c
index d286a30a..7ac26946 100644
--- a/src/ao_gps_skytraq.c
+++ b/src/ao_gps_skytraq.c
@@ -21,21 +21,21 @@
 
 #define AO_GPS_LEADER          2
 
-static const char ao_gps_header[] = "GP";
+static __code char ao_gps_header[] = "GP";
 
 __xdata uint8_t ao_gps_mutex;
-static __xdata char ao_gps_char;
-static __xdata uint8_t ao_gps_cksum;
-static __xdata uint8_t ao_gps_error;
+static __data char ao_gps_char;
+static __pdata uint8_t ao_gps_cksum;
+static __pdata uint8_t ao_gps_error;
 
-__xdata uint16_t ao_gps_tick;
-__xdata struct ao_gps_data	ao_gps_data;
-__xdata struct ao_gps_tracking_data	ao_gps_tracking_data;
+__pdata uint16_t ao_gps_tick;
+__xdata struct ao_telemetry_location	ao_gps_data;
+__xdata struct ao_telemetry_satellite	ao_gps_tracking_data;
 
-static __xdata uint16_t				ao_gps_next_tick;
-static __xdata struct ao_gps_data		ao_gps_next;
-static __xdata uint8_t				ao_gps_date_flags;
-static __xdata struct ao_gps_tracking_data	ao_gps_tracking_next;
+static __pdata uint16_t				ao_gps_next_tick;
+static __xdata struct ao_telemetry_location	ao_gps_next;
+static __pdata uint8_t				ao_gps_date_flags;
+static __xdata struct ao_telemetry_satellite	ao_gps_tracking_next;
 
 #define STQ_S 0xa0, 0xa1
 #define STQ_E 0x0d, 0x0a
@@ -49,7 +49,7 @@ static __xdata struct ao_gps_tracking_data	ao_gps_tracking_next;
     STQ_S, 0,15, id, a,b,c,d,e,f,g,h,i,j,k,l,m,n, \
     (id^a^b^c^d^e^f^g^h^i^j^k^l^m^n), STQ_E
 
-static const uint8_t ao_gps_config[] = {
+static __code uint8_t ao_gps_config[] = {
 	SKYTRAQ_MSG_8(0x08, 1, 1, 1, 1, 1, 1, 1, 0), /* configure nmea */
 	/* gga interval */
 	/* gsa interval */
@@ -89,13 +89,13 @@ ao_gps_skip_sep(void)
 		ao_gps_lexchar();
 }
 
-__xdata static uint8_t ao_gps_num_width;
+__pdata static uint8_t ao_gps_num_width;
 
 static int16_t
 ao_gps_decimal(uint8_t max_width)
 {
 	int16_t	v;
-	__xdata uint8_t	neg = 0;
+	__pdata uint8_t	neg = 0;
 
 	ao_gps_skip_sep();
 	if (ao_gps_char == '-') {
@@ -238,14 +238,14 @@ ao_nmea_gga()
 	ao_gps_next.flags |= i;
 
 	ao_gps_lexchar();
-	ao_gps_next.hdop = ao_gps_decimal(0xff);
-	if (ao_gps_next.hdop <= 50) {
-		ao_gps_next.hdop = (uint8_t) 5 * ao_gps_next.hdop;
+	i = ao_gps_decimal(0xff);
+	if (i <= 50) {
+		i = (uint8_t) 5 * i;
 		if (ao_gps_char == '.')
-			ao_gps_next.hdop = (ao_gps_next.hdop +
-					    ((uint8_t) ao_gps_decimal(1) >> 1));
+			i = (i + ((uint8_t) ao_gps_decimal(1) >> 1));
 	} else
-		ao_gps_next.hdop = 255;
+		i = 255;
+	ao_gps_next.hdop = i;
 	ao_gps_skip_field();
 
 	ao_gps_next.altitude = ao_gps_decimal(0xff);
@@ -265,7 +265,7 @@ ao_nmea_gga()
 	if (!ao_gps_error) {
 		ao_mutex_get(&ao_gps_mutex);
 		ao_gps_tick = ao_gps_next_tick;
-		memcpy(&ao_gps_data, &ao_gps_next, sizeof (struct ao_gps_data));
+		memcpy(&ao_gps_data, &ao_gps_next, sizeof (ao_gps_data));
 		ao_mutex_put(&ao_gps_mutex);
 		ao_wakeup(&ao_gps_data);
 	}
@@ -312,9 +312,8 @@ ao_nmea_gsv(void)
 		ao_gps_skip_field();	/* azimuth */
 		c = ao_gps_decimal(2);	/* C/N0 */
 		if (i < AO_MAX_GPS_TRACKING) {
-			if (!(ao_gps_tracking_next.sats[i].c_n_1 = c))
-				ao_gps_tracking_next.sats[i].svid = 0;
-			ao_gps_tracking_next.channels = i + 1;
+			if ((ao_gps_tracking_next.sats[i].c_n_1 = c) != 0)
+				ao_gps_tracking_next.channels = i + 1;
 		}
 	}
 	if (ao_gps_char == '*') {
@@ -391,15 +390,16 @@ ao_nmea_rmc(void)
 	}
 }
 
-#define ao_skytraq_sendstruct(s) ao_skytraq_sendbytes((s), (s)+sizeof(s))
+#define ao_skytraq_sendstruct(s) ao_skytraq_sendbytes((s), sizeof(s))
 
 static void
-ao_skytraq_sendbytes(const uint8_t *b, const uint8_t *e)
+ao_skytraq_sendbytes(__code uint8_t *b, uint8_t l)
 {
-	while (b != e) {
-		if (*b == 0xa0)
+	while (l--) {
+		uint8_t	c = *b++;
+		if (c == 0xa0)
 			ao_delay(AO_MS_TO_TICKS(500));
-		ao_serial_putchar(*b++);
+		ao_serial_putchar(c);
 	}
 }
 
@@ -461,17 +461,24 @@ __xdata struct ao_task ao_gps_task;
 static void
 gps_dump(void) __reentrant
 {
+	uint8_t	i;
 	ao_mutex_get(&ao_gps_mutex);
 	printf ("Date: %02d/%02d/%02d\n", ao_gps_data.year, ao_gps_data.month, ao_gps_data.day);
 	printf ("Time: %02d:%02d:%02d\n", ao_gps_data.hour, ao_gps_data.minute, ao_gps_data.second);
 	printf ("Lat/Lon: %ld %ld\n", ao_gps_data.latitude, ao_gps_data.longitude);
 	printf ("Alt: %d\n", ao_gps_data.altitude);
 	printf ("Flags: 0x%x\n", ao_gps_data.flags);
+	printf ("Sats: %d", ao_gps_tracking_data.channels);
+	for (i = 0; i < ao_gps_tracking_data.channels; i++)
+		printf (" %d %d",
+			ao_gps_tracking_data.sats[i].svid,
+			ao_gps_tracking_data.sats[i].c_n_1);
+	printf ("\ndone\n");
 	ao_mutex_put(&ao_gps_mutex);
 }
 
 __code struct ao_cmds ao_gps_cmds[] = {
-	{ gps_dump, 	"g\0Display current GPS values" },
+	{ gps_dump, 	"g\0Display GPS" },
 	{ 0, NULL },
 };