diff options
| author | Anthony Towns <aj@erisian.com.au> | 2011-02-19 05:49:15 +1000 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2011-02-18 16:04:14 -0800 |
| commit | b080e933a65d268aaaec8cfd5f617a13d5babc43 (patch) | |
| tree | dd8c0478be993ad4d7c987ee95e2e89bcf7d17eb /src | |
| parent | aad7103dcf44e69a5a30e008836cce5542ea33e2 (diff) | |
src/ao_gps_skytraq.c: Update logging rate to 10Hz
Send commands to skytraq to update baud rate to 57,600 bps, and
set NMEA output rate to 10Hz.
Diffstat (limited to 'src')
| -rw-r--r-- | src/ao_gps_skytraq.c | 14 |
1 files changed, 14 insertions, 0 deletions
diff --git a/src/ao_gps_skytraq.c b/src/ao_gps_skytraq.c index 4d4ca592..88509a3d 100644 --- a/src/ao_gps_skytraq.c +++ b/src/ao_gps_skytraq.c @@ -49,6 +49,13 @@ static __xdata struct ao_gps_tracking_data ao_gps_tracking_next; STQ_S, 0,15, id, a,b,c,d,e,f,g,h,i,j,k,l,m,n, \ (id^a^b^c^d^e^f^g^h^i^j^k^l^m^n), STQ_E +static const uint8_t ao_gps_config_serial[] = { + SKYTRAQ_MSG_3(0x05, 0, 4, 0), /* set serial port */ + /* 0 = com1 */ + /* 0 = 4800, 1 = 9600, 2 = 19200, 3 = 38400, + * 4 = 57600, 5 = 115200 */ +}; + static const uint8_t ao_gps_config[] = { SKYTRAQ_MSG_8(0x08, 1, 1, 1, 1, 1, 1, 1, 0), /* configure nmea */ /* gga interval */ @@ -63,6 +70,10 @@ static const uint8_t ao_gps_config[] = { SKYTRAQ_MSG_2(0x3c, 0x00, 0x00), /* configure navigation mode */ /* 0 = car, 1 = pedestrian */ /* 0 = update to sram, 1 = update sram + flash */ + + SKYTRAQ_MSG_2(0x0e, 10, 0), /* config nav interval */ + /* interval */ + /* 0 = update to sram, 1 = update sram */ }; static void @@ -444,6 +455,9 @@ ao_gps(void) __reentrant /* give skytraq time to boot in case of cold start */ ao_delay(AO_MS_TO_TICKS(2000)); + ao_skytraq_sendstruct(ao_gps_config_serial); + ao_delay(AO_MS_TO_TICKS(1000)); + ao_serial_set_speed(AO_SERIAL_SPEED_57600); ao_skytraq_sendstruct(ao_gps_config); |