X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_gps_sirf.c;h=344b7121446cc410dce3fc5a1e59f04a92fa4fa5;hp=f2abbf84033c663e36d14745ad0663c28b773656;hb=db6003d34595fbd103d5b131912b6a797254f1c5;hpb=128bbfa150f88c09f7adde2434b7bf0b5a9ed556

diff --git a/src/drivers/ao_gps_sirf.c b/src/drivers/ao_gps_sirf.c
index f2abbf84..344b7121 100644
--- a/src/drivers/ao_gps_sirf.c
+++ b/src/drivers/ao_gps_sirf.c
@@ -19,6 +19,7 @@
 #include "ao.h"
 #endif
 
+__xdata uint8_t ao_gps_new;
 __xdata uint8_t ao_gps_mutex;
 __pdata uint16_t ao_gps_tick;
 __xdata struct ao_telemetry_location	ao_gps_data;
@@ -124,7 +125,13 @@ static __xdata struct sirf_measured_tracker_data	ao_sirf_tracker_data;
 static __pdata uint16_t ao_sirf_cksum;
 static __pdata uint16_t ao_sirf_len;
 
-#define ao_sirf_byte()	((uint8_t) ao_serial_getchar())
+#ifndef ao_sirf_getchar
+#define ao_sirf_getchar		ao_serial1_getchar
+#define ao_sirf_putchar		ao_serial1_putchar
+#define ao_sirf_set_speed	ao_serial1_set_speed
+#endif
+
+#define ao_sirf_byte()	((uint8_t) ao_sirf_getchar())
 
 static uint8_t data_byte(void)
 {
@@ -283,15 +290,15 @@ static void
 ao_gps_setup(void) __reentrant
 {
 	uint8_t	i, k;
-	ao_serial_set_speed(AO_SERIAL_SPEED_4800);
+	ao_sirf_set_speed(AO_SERIAL_SPEED_4800);
 	for (i = 0; i < 64; i++)
-		ao_serial_putchar(0x00);
+		ao_sirf_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);
+			ao_sirf_putchar(ao_gps_set_nmea[i]);
+	ao_sirf_set_speed(AO_SERIAL_SPEED_57600);
 	for (i = 0; i < 64; i++)
-		ao_serial_putchar(0x00);
+		ao_sirf_putchar(0x00);
 }
 
 static const char ao_gps_set_message_rate[] = {
@@ -307,16 +314,16 @@ ao_sirf_set_message_rate(uint8_t msg, uint8_t rate) __reentrant
 	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);
+		ao_sirf_putchar(ao_gps_set_message_rate[i]);
+	ao_sirf_putchar(msg);
+	ao_sirf_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);
+		ao_sirf_putchar(0);
+	ao_sirf_putchar((cksum >> 8) & 0x7f);
+	ao_sirf_putchar(cksum & 0xff);
+	ao_sirf_putchar(0xb0);
+	ao_sirf_putchar(0xb3);
 }
 
 static const uint8_t sirf_disable[] = {
@@ -338,7 +345,7 @@ ao_gps(void) __reentrant
 	for (k = 0; k < 5; k++)
 	{
 		for (i = 0; i < sizeof (ao_gps_config); i++)
-			ao_serial_putchar(ao_gps_config[i]);
+			ao_sirf_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);
@@ -406,6 +413,9 @@ ao_gps(void) __reentrant
 			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 HAS_FLIGHT || HAS_TRACKER
+			ao_gps_data.state = ao_flight_state;
+#endif
 #if 0
 			if (ao_sirf_data.h_error > 6553500)
 				ao_gps_data.h_error = 65535;
@@ -416,8 +426,9 @@ ao_gps(void) __reentrant
 			else
 				ao_gps_data.v_error = ao_sirf_data.v_error / 100;
 #endif
+			ao_gps_new |= AO_GPS_NEW_DATA;
 			ao_mutex_put(&ao_gps_mutex);
-			ao_wakeup(&ao_gps_data);
+			ao_wakeup(&ao_gps_new);
 			break;
 		case 4:
 			ao_mutex_get(&ao_gps_mutex);
@@ -426,8 +437,9 @@ ao_gps(void) __reentrant
 				ao_gps_tracking_data.sats[i].svid = ao_sirf_tracker_data.sats[i].svid;
 				ao_gps_tracking_data.sats[i].c_n_1 = ao_sirf_tracker_data.sats[i].c_n_1;
 			}
+			ao_gps_new |= AO_GPS_NEW_TRACKING;
 			ao_mutex_put(&ao_gps_mutex);
-			ao_wakeup(&ao_gps_tracking_data);
+			ao_wakeup(&ao_gps_new);
 			break;
 		}
 	}