Try harder to get the GPS receiver serial link sync'd up.

We cannot assume that the GPS receiver is in any particular state when it
boots, so we try to send the serial configuration at several rates and hope
that it eventually sees something that it likes.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/src/ao_gps.c b/src/ao_gps.c
index 562899cd030c2a24405ea9b0ac00e34bad82747b..4d278832162a444441473bf3559b4b42aa482bc1 100644 (file)
--- a/src/ao_gps.c
+++ b/src/ao_gps.c
@@ -22,16 +22,14 @@
 __xdata uint8_t ao_gps_mutex;
 __xdata struct ao_gps_data     ao_gps_data;
 
-const char ao_gps_set_binary[] = {
+static const char ao_gps_set_nmea[] = {
+
        '$', 'P', 'S', 'R', 'F', '1', '0', '0', ',', '0', ',',
        '9', '6', '0', '0', ',', '8', ',', '1', ',', '0', '*',
        '0', 'C', '\r','\n',
+};
 
-       0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-       0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-       0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-       0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-
+static const char ao_gps_set_sirf[] = {
        0xa0, 0xa2, 0x00, 0x09, /* length 9 bytes */
        134,                    /* Set binary serial port */
        0, 0, 0x25, 0x80,       /* 9600 baud */
@@ -57,6 +55,14 @@ const char ao_gps_config[] = {
        0,                      /* Track smoothing (disabled) */
        0x00, 0x8e, 0xb0, 0xb3,
 
+       0xa0, 0xa2, 0x00, 0x08, /* length: 8 bytes */
+       166,                    /* Set message rate */
+       2,                      /* enable/disable all messages */
+       0,                      /* message id (ignored) */
+       0,                      /* update rate (0 = disable) */
+       0, 0, 0, 0,             /* reserved */
+       0x00, 0xa8, 0xb0, 0xb3,
+
        0xa0, 0xa2, 0x00, 0x02, /* length: 2 bytes */
        143,                    /* static navigation */
        0,                      /* disable */
@@ -237,16 +243,21 @@ ao_sirf_parse_41(void)
 void
 ao_gps_setup(void) __reentrant
 {
-       uint8_t i, j;
+       uint8_t i, j, k;
        for (j = 0; j < 2; j++) {
 #ifdef AO_GPS_TEST
                ao_serial_set_speed(j);
 #endif
-               for (i = 255; i != 0; i--)
-                       ao_serial_putchar(0);
-
-               for (i = 0; i < sizeof (ao_gps_set_binary); i++)
-                       ao_serial_putchar(ao_gps_set_binary[i]);
+               for (i = 0; i < 128; i++)
+                       ao_serial_putchar(0x55);
+               for (k = 0; k < 4; k++)
+                       for (i = 0; i < sizeof (ao_gps_set_nmea); i++)
+                               ao_serial_putchar(ao_gps_set_nmea[i]);
+               for (i = 0; i < 128; i++)
+                       ao_serial_putchar(0x55);
+               for (k = 0; k < 4; k++)
+                       for (i = 0; i < sizeof (ao_gps_set_sirf); i++)
+                               ao_serial_putchar(ao_gps_set_sirf[i]);
        }
 }
 
@@ -286,7 +297,6 @@ static const uint8_t sirf_disable[] = {
        27,
        50,
        52,
-       4,
 };
 
 void