X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_gps_sirf.c;h=bdd9410e41d43d0ba83143e06478efaaebe05b17;hp=f2abbf84033c663e36d14745ad0663c28b773656;hb=0686a7b8aec524d81bda4c572549a3a068ce0eed;hpb=128bbfa150f88c09f7adde2434b7bf0b5a9ed556 diff --git a/src/drivers/ao_gps_sirf.c b/src/drivers/ao_gps_sirf.c index f2abbf84..bdd9410e 100644 --- a/src/drivers/ao_gps_sirf.c +++ b/src/drivers/ao_gps_sirf.c @@ -3,7 +3,8 @@ * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of @@ -19,10 +20,11 @@ #include "ao.h" #endif -__xdata uint8_t ao_gps_mutex; -__pdata uint16_t ao_gps_tick; -__xdata struct ao_telemetry_location ao_gps_data; -__xdata struct ao_telemetry_satellite ao_gps_tracking_data; +uint8_t ao_gps_new; +uint8_t ao_gps_mutex; +uint16_t ao_gps_tick; +struct ao_telemetry_location ao_gps_data; +struct ao_telemetry_satellite ao_gps_tracking_data; static const char ao_gps_set_nmea[] = "\r\n$PSRF100,0,57600,8,1,0*37\r\n"; @@ -105,7 +107,7 @@ struct sirf_geodetic_nav_data { uint8_t hdop; }; -static __xdata struct sirf_geodetic_nav_data ao_sirf_data; +static struct sirf_geodetic_nav_data ao_sirf_data; struct sirf_measured_sat_data { uint8_t svid; @@ -119,12 +121,18 @@ struct sirf_measured_tracker_data { struct sirf_measured_sat_data sats[12]; }; -static __xdata struct sirf_measured_tracker_data ao_sirf_tracker_data; +static struct sirf_measured_tracker_data ao_sirf_tracker_data; -static __pdata uint16_t ao_sirf_cksum; -static __pdata uint16_t ao_sirf_len; +static uint16_t ao_sirf_cksum; +static 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) { @@ -134,11 +142,11 @@ static uint8_t data_byte(void) return c; } -static char __xdata *sirf_target; +static char *sirf_target; static void sirf_u16(uint8_t offset) { - uint16_t __xdata *ptr = (uint16_t __xdata *) (sirf_target + offset); + uint16_t *ptr = (uint16_t *) (sirf_target + offset); uint16_t val; val = data_byte() << 8; @@ -148,16 +156,16 @@ static void sirf_u16(uint8_t offset) static void sirf_u8(uint8_t offset) { - uint8_t __xdata *ptr = (uint8_t __xdata *) (sirf_target + offset); + uint8_t *ptr = (uint8_t *) (sirf_target + offset); uint8_t val; val = data_byte (); *ptr = val; } -static void sirf_u32(uint8_t offset) __reentrant +static void sirf_u32(uint8_t offset) { - uint32_t __xdata *ptr = (uint32_t __xdata *) (sirf_target + offset); + uint32_t *ptr = (uint32_t *) (sirf_target + offset); uint32_t val; val = ((uint32_t) data_byte ()) << 24; @@ -186,7 +194,7 @@ struct sirf_packet_parse { }; static void -ao_sirf_parse(void __xdata *target, const struct sirf_packet_parse *parse) __reentrant +ao_sirf_parse(void *target, const struct sirf_packet_parse *parse) { uint8_t i, offset, j; @@ -250,7 +258,7 @@ static const struct sirf_packet_parse geodetic_nav_data_packet[] = { }; static void -ao_sirf_parse_41(void) __reentrant +ao_sirf_parse_41(void) { ao_sirf_parse(&ao_sirf_data, geodetic_nav_data_packet); } @@ -271,7 +279,7 @@ static const struct sirf_packet_parse measured_sat_data_packet[] = { }; static void -ao_sirf_parse_4(void) __reentrant +ao_sirf_parse_4(void) { uint8_t i; ao_sirf_parse(&ao_sirf_tracker_data, measured_tracker_data_packet); @@ -280,18 +288,18 @@ ao_sirf_parse_4(void) __reentrant } static void -ao_gps_setup(void) __reentrant +ao_gps_setup(void) { 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[] = { @@ -301,22 +309,22 @@ static const char ao_gps_set_message_rate[] = { }; void -ao_sirf_set_message_rate(uint8_t msg, uint8_t rate) __reentrant +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); + 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[] = { @@ -329,7 +337,7 @@ static const uint8_t sirf_disable[] = { }; void -ao_gps(void) __reentrant +ao_gps(void) { uint8_t i, k; uint16_t cksum; @@ -338,7 +346,7 @@ 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); @@ -416,8 +424,9 @@ 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); @@ -426,14 +435,15 @@ 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; } } } -__xdata struct ao_task ao_gps_task; +struct ao_task ao_gps_task; void ao_gps_init(void)