diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/drivers/ao_gps_skytraq.c | 31 |
1 files changed, 31 insertions, 0 deletions
diff --git a/src/drivers/ao_gps_skytraq.c b/src/drivers/ao_gps_skytraq.c index d80da97c..b7dc0a86 100644 --- a/src/drivers/ao_gps_skytraq.c +++ b/src/drivers/ao_gps_skytraq.c @@ -21,6 +21,7 @@ #ifndef ao_gps_getchar #define ao_gps_getchar ao_serial1_getchar +#define ao_gps_fifo ao_serial1_rx_fifo #endif #ifndef ao_gps_putchar @@ -453,6 +454,8 @@ ao_gps_nmea_parse(void) } } +static uint8_t ao_gps_updating; + void ao_gps(void) __reentrant { @@ -468,6 +471,13 @@ ao_gps(void) __reentrant if (ao_gps_getchar() == '$') { ao_gps_nmea_parse(); } +#ifndef AO_GPS_TEST + while (ao_gps_updating) { + ao_usb_putchar(ao_gps_getchar()); + if (ao_fifo_empty(ao_gps_fifo)) + flush(); + } +#endif } } @@ -492,8 +502,29 @@ gps_dump(void) __reentrant ao_mutex_put(&ao_gps_mutex); } +static __code uint8_t ao_gps_115200[] = { + SKYTRAQ_MSG_3(5,0,5,0) /* Set to 115200 baud */ +}; + +static void +gps_update(void) __reentrant +{ + ao_gps_updating = 1; + ao_task_minimize_latency = 1; +#if HAS_ADC + ao_timer_set_adc_interval(0); +#endif + ao_skytraq_sendstruct(ao_gps_115200); + ao_gps_set_speed(AO_SERIAL_SPEED_115200); + + /* It's a binary protocol; abandon attempts to escape */ + for (;;) + ao_gps_putchar(ao_usb_getchar()); +} + __code struct ao_cmds ao_gps_cmds[] = { { gps_dump, "g\0Display GPS" }, + { gps_update, "U\0Update GPS firmware" }, { 0, NULL }, }; |