X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_gps_skytraq.c;h=3ecae435bfe52e7ed2cb4fd1a8e402fe4b7ac27f;hp=b7dc0a86bbff38c393a81b3a385ead7adb43b591;hb=6023ff81f1bbd240169b9548209133d3b02d475f;hpb=860d0526737295c695f8e6a790d72b49eb4a686d

diff --git a/src/drivers/ao_gps_skytraq.c b/src/drivers/ao_gps_skytraq.c
index b7dc0a86..3ecae435 100644
--- a/src/drivers/ao_gps_skytraq.c
+++ b/src/drivers/ao_gps_skytraq.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
@@ -32,6 +33,7 @@
 #define ao_gps_set_speed	ao_serial1_set_speed
 #endif
 
+__xdata uint8_t ao_gps_new;
 __xdata uint8_t ao_gps_mutex;
 static __data char ao_gps_char;
 static __data uint8_t ao_gps_cksum;
@@ -277,26 +279,28 @@ ao_nmea_gga(void)
 
 	ao_gps_lexchar();
 	i = ao_gps_decimal(0xff);
-	if (i <= 50) {
-		i = (uint8_t) 5 * i;
+	if (i <= 25) {
+		i = (uint8_t) 10 * i;
 		if (ao_gps_char == '.')
-			i = (i + ((uint8_t) ao_gps_decimal(1) >> 1));
+			i = (i + ((uint8_t) ao_gps_decimal(1)));
 	} else
 		i = 255;
 	ao_gps_next.hdop = i;
 	ao_gps_skip_field();
 
-	ao_gps_next.altitude = ao_gps_decimal(0xff);
+	AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_next, ao_gps_decimal(0xff));
+
 	ao_gps_skip_field();	/* skip any fractional portion */
 
 	ao_nmea_finish();
 
 	if (!ao_gps_error) {
 		ao_mutex_get(&ao_gps_mutex);
+		ao_gps_new |= AO_GPS_NEW_DATA;
 		ao_gps_tick = ao_gps_next_tick;
-		ao_xmemcpy(&ao_gps_data, PDATA_TO_XDATA(&ao_gps_next), sizeof (ao_gps_data));
+		ao_xmemcpy(&ao_gps_data, &ao_gps_next, sizeof (ao_gps_data));
 		ao_mutex_put(&ao_gps_mutex);
-		ao_wakeup(&ao_gps_data);
+		ao_wakeup(&ao_gps_new);
 	}
 }
 
@@ -352,9 +356,10 @@ ao_nmea_gsv(void)
 		ao_gps_tracking_next.channels = 0;
 	else if (done) {
 		ao_mutex_get(&ao_gps_mutex);
-		ao_xmemcpy(&ao_gps_tracking_data, PDATA_TO_XDATA(&ao_gps_tracking_next), sizeof(ao_gps_tracking_data));
+		ao_gps_new |= AO_GPS_NEW_TRACKING;
+		ao_xmemcpy(&ao_gps_tracking_data, &ao_gps_tracking_next, sizeof(ao_gps_tracking_data));
 		ao_mutex_put(&ao_gps_mutex);
-		ao_wakeup(&ao_gps_tracking_data);
+		ao_wakeup(&ao_gps_new);
 	}
 }
 
@@ -483,29 +488,17 @@ ao_gps(void) __reentrant
 
 __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", (long) ao_gps_data.latitude, (long) 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);
-}
-
 static __code uint8_t ao_gps_115200[] = {
 	SKYTRAQ_MSG_3(5,0,5,0)	/* Set to 115200 baud */
 };
 
+static void
+ao_gps_set_speed_delay(uint8_t speed) {
+	ao_delay(AO_MS_TO_TICKS(500));
+	ao_gps_set_speed(speed);
+	ao_delay(AO_MS_TO_TICKS(500));
+}
+
 static void
 gps_update(void) __reentrant
 {
@@ -515,7 +508,9 @@ gps_update(void) __reentrant
 	ao_timer_set_adc_interval(0);
 #endif
 	ao_skytraq_sendstruct(ao_gps_115200);
-	ao_gps_set_speed(AO_SERIAL_SPEED_115200);
+	ao_gps_set_speed_delay(AO_SERIAL_SPEED_4800);
+	ao_skytraq_sendstruct(ao_gps_115200);
+	ao_gps_set_speed_delay(AO_SERIAL_SPEED_115200);
 
 	/* It's a binary protocol; abandon attempts to escape */
 	for (;;)
@@ -523,7 +518,7 @@ gps_update(void) __reentrant
 }
 
 __code struct ao_cmds ao_gps_cmds[] = {
-	{ gps_dump, 	"g\0Display GPS" },
+	{ ao_gps_show, 	"g\0Display GPS" },
 	{ gps_update,	"U\0Update GPS firmware" },
 	{ 0, NULL },
 };