diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/drivers/ao_gps_ublox.c | 113 |
1 files changed, 94 insertions, 19 deletions
diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c index fa6ff0e0..a11ca3f7 100644 --- a/src/drivers/ao_gps_ublox.c +++ b/src/drivers/ao_gps_ublox.c @@ -21,6 +21,10 @@ #include "ao_gps_ublox.h" +#define AO_UBLOX_DEBUG 1 + +#include <stdarg.h> + __xdata uint8_t ao_gps_mutex; __pdata uint16_t ao_gps_tick; __xdata struct ao_telemetry_location ao_gps_data; @@ -49,7 +53,34 @@ struct ao_ublox_cksum { static __pdata struct ao_ublox_cksum ao_ublox_cksum; static __pdata uint16_t ao_ublox_len; -#define ao_ublox_byte() ((uint8_t) ao_gps_getchar()) +#if AO_UBLOX_DEBUG + +static uint8_t ao_gps_dbg_enable; + +#define DBG_PROTO 1 +#define DBG_CHAR 2 +#define DBG_INIT 4 + +static void ao_gps_dbg(int level, char *format, ...) { + va_list a; + + if (level & ao_gps_dbg_enable) { + va_start(a, format); + vprintf(format, a); + va_end(a); + flush(); + } +} + +#else +#define ao_gps_dbg(fmt, ...) +#endif + +static inline uint8_t ao_ublox_byte(void) { + uint8_t c = (uint8_t) ao_gps_getchar(); + ao_gps_dbg(DBG_CHAR, " %02x", c); + return c; +} static inline void add_cksum(struct ao_ublox_cksum *cksum, uint8_t c) { @@ -65,6 +96,7 @@ static void ao_ublox_init_cksum(void) static void ao_ublox_put_u8(uint8_t c) { add_cksum(&ao_ublox_cksum, c); + ao_gps_dbg(DBG_CHAR, " (%02x)", c); ao_gps_putchar(c); } @@ -187,6 +219,7 @@ ao_ublox_parse(void __xdata *target, const struct ublox_packet_parse *parse) __r break; } } + ao_gps_dbg(DBG_PROTO, "\n"); } /* @@ -330,6 +363,7 @@ ao_ublox_parse_nav_svinfo(void) { uint8_t nsat; nav_svinfo_nsat = 0; + ao_ublox_parse(&nav_svinfo, nav_svinfo_packet); for (nsat = 0; nsat < nav_svinfo.num_ch && ao_ublox_len >= 12; nsat++) { if (nsat < NAV_SVINFO_MAX_SAT) { @@ -338,6 +372,17 @@ ao_ublox_parse_nav_svinfo(void) ublox_discard(12); } } +#if AO_UBLOX_DEBUG + ao_gps_dbg(DBG_PROTO, "svinfo num_ch %d flags %02x\n", nav_svinfo.num_ch, nav_svinfo.flags); + for (nsat = 0; nsat < nav_svinfo.num_ch; nsat++) + ao_gps_dbg(DBG_PROTO, "\t%d: chn %d svid %d flags %02x quality %d cno %d\n", + nsat, + nav_svinfo_sat[nsat].chn, + nav_svinfo_sat[nsat].svid, + nav_svinfo_sat[nsat].flags, + nav_svinfo_sat[nsat].quality, + nav_svinfo_sat[nsat].cno); +#endif } /* @@ -406,42 +451,52 @@ ao_ublox_parse_nav_velned(void) */ static void -ao_gps_setup(void) +ao_gps_delay(void) { - uint8_t i, k; - - ao_delay(AO_SEC_TO_TICKS(3)); - - ao_gps_set_speed(AO_SERIAL_SPEED_9600); + uint8_t i; /* * A bunch of nulls so the start bit * is clear */ + for (i = 0; i < 64; i++) ao_gps_putchar(0x00); +} + +static void +ao_gps_setup(void) +{ + uint8_t i, k; + + ao_delay(AO_SEC_TO_TICKS(3)); + + ao_gps_dbg(DBG_INIT, "Set speed 9600\n"); + ao_gps_set_speed(AO_SERIAL_SPEED_9600); /* * Send the baud-rate setting and protocol-setting * command three times */ - for (k = 0; k < 3; k++) + for (k = 0; k < 3; k++) { + ao_gps_delay(); + + ao_gps_dbg(DBG_INIT, "Send initial setting\n"); for (i = 0; i < sizeof (ao_gps_set_nmea); i++) ao_gps_putchar(ao_gps_set_nmea[i]); + } + + ao_gps_delay(); #if AO_SERIAL_SPEED_UBLOX != AO_SERIAL_SPEED_9600 + ao_gps_dbg(DBG_INIT, "Set speed high\n"); /* * Increase the baud rate */ ao_gps_set_speed(AO_SERIAL_SPEED_UBLOX); #endif - /* - * Pad with nulls to give the chip - * time to see the baud rate switch - */ - for (i = 0; i < 64; i++) - ao_gps_putchar(0x00); + ao_gps_delay(); } static void @@ -556,7 +611,7 @@ ao_gps(void) __reentrant /* Enable all of the messages we want */ for (i = 0; i < sizeof (ublox_enable_nav); i++) ao_ublox_set_message_rate(UBLOX_NAV, ublox_enable_nav[i], 1); - + ao_ublox_set_navigation_settings((1 << UBLOX_CFG_NAV5_MASK_DYN) | (1 << UBLOX_CFG_NAV5_MASK_FIXMODE), UBLOX_CFG_NAV5_DYNMODEL_AIRBORNE_4G, UBLOX_CFG_NAV5_FIXMODE_3D, @@ -587,6 +642,8 @@ ao_gps(void) __reentrant ao_ublox_len = header_byte(); ao_ublox_len |= header_byte() << 8; + ao_gps_dbg(DBG_PROTO, "class %02x id %02x len %d\n", class, id, ao_ublox_len); + if (ao_ublox_len > 1023) continue; @@ -627,8 +684,10 @@ ao_gps(void) __reentrant break; } - if (ao_ublox_len != 0) + if (ao_ublox_len != 0) { + ao_gps_dbg(DBG_PROTO, "len left %d\n", ao_ublox_len); continue; + } /* verify checksum and end sequence */ cksum.a = ao_ublox_byte(); @@ -654,7 +713,7 @@ ao_gps(void) __reentrant } if (nav_timeutc.valid & (1 << NAV_TIMEUTC_VALID_UTC)) ao_gps_data.flags |= AO_GPS_DATE_VALID; - + ao_gps_data.altitude = nav_posllh.alt_msl / 1000; ao_gps_data.latitude = nav_posllh.lat; ao_gps_data.longitude = nav_posllh.lon; @@ -676,7 +735,7 @@ ao_gps(void) __reentrant ao_gps_data.ground_speed = nav_velned.g_speed; ao_gps_data.climb_rate = -nav_velned.vel_d; ao_gps_data.course = nav_velned.heading / 200000; - + ao_gps_tracking_data.channels = 0; struct ao_telemetry_satellite_info *dst = &ao_gps_tracking_data.sats[0]; @@ -704,8 +763,24 @@ ao_gps(void) __reentrant } } +#if AO_UBLOX_DEBUG +static void ao_gps_option(void) +{ + ao_cmd_hex(); + if (ao_cmd_status != ao_cmd_success) { + ao_cmd_status = ao_cmd_success; + ao_gps_show(); + } else { + ao_gps_dbg_enable = ao_cmd_lex_i; + printf ("gps debug set to %d\n", ao_gps_dbg_enable); + } +} +#else +#define ao_gps_option ao_gps_show +#endif + __code struct ao_cmds ao_gps_cmds[] = { - { ao_gps_show, "g\0Display GPS" }, + { ao_gps_option, "g\0Display GPS" }, { 0, NULL }, }; |