diff options
| -rw-r--r-- | src/ao_gps.c | 36 |
1 files changed, 23 insertions, 13 deletions
diff --git a/src/ao_gps.c b/src/ao_gps.c index 562899cd..4d278832 100644 --- 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 |