Use 57600 baud for GPS. Clean up gps init.

Assume GPS is either in 4800 NMEA or 57600 SiRF mode, send just the sequence
to get from 4800 NMEA to 5760 SiRF.

Also, eliminate threads from the gps test program.

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

1 files changed, 19 insertions, 43 deletions

diff --git a/src/ao_gps.c b/src/ao_gps.c
index 4d278832..811ac2a8 100644
--- a/src/ao_gps.c
+++ b/src/ao_gps.c
@@ -22,23 +22,7 @@
 __xdata uint8_t ao_gps_mutex;
 __xdata struct ao_gps_data	ao_gps_data;
 
-static const char ao_gps_set_nmea[] = {
-
-	'$', 'P', 'S', 'R', 'F', '1', '0', '0', ',', '0', ',',
-	'9', '6', '0', '0', ',', '8', ',', '1', ',', '0', '*',
-	'0', 'C', '\r','\n',
-};
-
-static const char ao_gps_set_sirf[] = {
-	0xa0, 0xa2, 0x00, 0x09,	/* length 9 bytes */
-	134,			/* Set binary serial port */
-	0, 0, 0x25, 0x80,	/* 9600 baud */
-	8,			/* data bits */
-	1,			/* stop bits */
-	0,			/* parity */
-	0,			/* pad */
-	0x01, 0x34, 0xb0, 0xb3,
-};
+static const char ao_gps_set_nmea[] = "$PSRF100,0,57600,8,1,0*37\r\n";
 
 const char ao_gps_config[] = {
 	0xa0, 0xa2, 0x00, 0x0e,	/* length: 14 bytes */
@@ -243,31 +227,21 @@ ao_sirf_parse_41(void)
 void
 ao_gps_setup(void) __reentrant
 {
-	uint8_t	i, j, k;
-	for (j = 0; j < 2; j++) {
-#ifdef AO_GPS_TEST
-		ao_serial_set_speed(j);
-#endif
-		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]);
-	}
+	uint8_t	i;
+	ao_serial_set_speed(AO_SERIAL_SPEED_4800);
+	for (i = 0; i < 16; i++)
+		ao_serial_putchar(0x00);
+	for (i = 0; i < sizeof (ao_gps_set_nmea) - 1; i++)
+		ao_serial_putchar(ao_gps_set_nmea[i]);
+	ao_serial_set_speed(AO_SERIAL_SPEED_57600);
+	for (i = 0; i < 16; i++)
+		ao_serial_putchar(0x00);
 }
 
 static const char ao_gps_set_message_rate[] = {
 	0xa0, 0xa2, 0x00, 0x08,
 	166,
 	0,
-#define SET_MESSAGE_RATE_ID	6
-#define SET_MESSAGE_RATE	7
-
 };
 
 void
@@ -302,14 +276,17 @@ static const uint8_t sirf_disable[] = {
 void
 ao_gps(void) __reentrant
 {
-	uint8_t	i;
+	uint8_t	i, k;
 	uint16_t cksum;
 
-	for (i = 0; i < sizeof (ao_gps_config); i++)
-		ao_serial_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);
+	for (k = 0; k < 5; k++)
+	{
+		for (i = 0; i < sizeof (ao_gps_config); i++)
+			ao_serial_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);
+	}
 	for (;;) {
 		/* Locate the begining of the next record */
 		while (ao_sirf_byte() != 0xa0)
@@ -327,7 +304,6 @@ ao_gps(void) __reentrant
 
 		/* message ID */
 		i = data_byte ();							/* 0 */
-		printf ("message %d len %d\n", i, ao_sirf_len);
 
 		switch (i) {
 		case 41: