X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_gps_ublox.c;h=01169522f2ae49f53852098b8c2e9d797dc25a3f;hp=a11ca3f731657f7351b3759ac85bdd09d7a4f32b;hb=8ddbbdcdc498a19ebf4a440bbf5d73b6538e0a57;hpb=61163980f096d555a843e25cd9fe1aec93bbbbba

diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c
index a11ca3f7..01169522 100644
--- a/src/drivers/ao_gps_ublox.c
+++ b/src/drivers/ao_gps_ublox.c
@@ -21,30 +21,37 @@
 
 #include "ao_gps_ublox.h"
 
-#define AO_UBLOX_DEBUG 1
+#define AO_UBLOX_DEBUG 0
 
 #include <stdarg.h>
 
+__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;
 __xdata struct ao_telemetry_satellite	ao_gps_tracking_data;
 
+#undef AO_SERIAL_SPEED_UBLOX
+
 #ifndef AO_SERIAL_SPEED_UBLOX
-#define AO_SERIAL_SPEED_UBLOX AO_SERIAL_SPEED_57600
+#define AO_SERIAL_SPEED_UBLOX AO_SERIAL_SPEED_9600
 #endif
 
 #if AO_SERIAL_SPEED_UBLOX == AO_SERIAL_SPEED_57600
 #define SERIAL_SPEED_STRING	"57600"
+#define SERIAL_SPEED_CHECKSUM	"2d"
 #endif
 #if AO_SERIAL_SPEED_UBLOX == AO_SERIAL_SPEED_19200
 #define SERIAL_SPEED_STRING	"19200"
+#define SERIAL_SPEED_CHECKSUM	"23"
 #endif
 #if AO_SERIAL_SPEED_UBLOX == AO_SERIAL_SPEED_9600
 #define SERIAL_SPEED_STRING	"9600"
+#define SERIAL_SPEED_CHECKSUM	"16"
 #endif
 
-static const char ao_gps_set_nmea[] = "\r\n$PUBX,41,1,3,1," SERIAL_SPEED_STRING ",0*2d\r\n";
+static const char ao_gps_set_nmea[] =
+	"\r\n$PUBX,41,1,3,1," SERIAL_SPEED_STRING ",0*" SERIAL_SPEED_CHECKSUM "\r\n";
 
 struct ao_ublox_cksum {
 	uint8_t	a, b;
@@ -696,9 +703,9 @@ ao_gps(void) __reentrant
 			continue;
 
 		switch (class) {
-		case 0x01:
+		case UBLOX_NAV:
 			switch (id) {
-			case 0x21:
+			case UBLOX_NAV_TIMEUTC:
 				ao_mutex_get(&ao_gps_mutex);
 				ao_gps_tick = ao_time();
 
@@ -739,23 +746,25 @@ ao_gps(void) __reentrant
 				ao_gps_tracking_data.channels = 0;
 
 				struct ao_telemetry_satellite_info *dst = &ao_gps_tracking_data.sats[0];
+				struct nav_svinfo_sat *src = &nav_svinfo_sat[0];
 
 				for (i = 0; i < nav_svinfo_nsat; i++) {
-					struct nav_svinfo_sat *src = &nav_svinfo_sat[i];
-
 					if (!(src->flags & (1 << NAV_SVINFO_SAT_FLAGS_UNHEALTHY)) &&
 					    src->quality >= NAV_SVINFO_SAT_QUALITY_ACQUIRED)
 					{
-						dst->svid = src->svid;
-						dst->c_n_1 = src->cno;
-						dst++;
-						ao_gps_tracking_data.channels++;
+						if (ao_gps_tracking_data.channels < AO_TELEMETRY_SATELLITE_MAX_SAT) {
+							dst->svid = src->svid;
+							dst->c_n_1 = src->cno;
+							dst++;
+							ao_gps_tracking_data.channels++;
+						}
 					}
+					src++;
 				}
 
 				ao_mutex_put(&ao_gps_mutex);
-				ao_wakeup(&ao_gps_data);
-				ao_wakeup(&ao_gps_tracking_data);
+				ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
+				ao_wakeup(&ao_gps_new);
 				break;
 			}
 			break;