gps: dump position in i2c message

[protos/imu.git] / gps_venus.c

diff --git a/gps_venus.c b/gps_venus.c
index 01551a6..b3bbae3 100644 (file)
--- a/gps_venus.c
+++ b/gps_venus.c
@@ -97,8 +97,8 @@ typedef struct {
 
 
 
-/* 0x08 - nema interval */
-#define M_NEMAINTERVAL 0x08
+/* 0x08 - nmea interval */
+#define M_NMEAINTERVAL 0x08
 typedef struct {
        uint8_t gga;
        uint8_t gsa;
@@ -112,7 +112,7 @@ typedef struct {
                              1 - flash
                             */
 
-} m_nemainterval_t;
+} m_nmeainterval_t;
 
 
 /* 0x09 - Query Software Version */
@@ -120,7 +120,7 @@ typedef struct {
 typedef struct {
        uint8_t msg_type; /*
                            00 = no output
-                           01 = nema output
+                           01 = nmea output
                            02 = binary output
                           */
 } m_output_t;
@@ -238,13 +238,15 @@ void venus634_rate(void)
 
        memset(&rate,0,sizeof(m_rate_t));
        rate.rate = 20;
-       //rate.rate = 0; /* ram */
+       rate.attributes = 0; /* ram */
 
        venus634_send(M_RATE,&rate,sizeof(m_rate_t));
 
        return;
 }
 
+/* Wide Area Augmentation System: use ground stations to increase the precision
+ * of gps position */
 void venus634_waas(void)
 {
        m_waas_t waas;
@@ -258,7 +260,7 @@ void venus634_waas(void)
        return;
 }
 
-
+/* Tell we are a car instead of a pedestrian */
 void venus634_navmode(void)
 {
        m_navmode_t navmode;
@@ -272,23 +274,26 @@ void venus634_navmode(void)
        return;
 }
 
-
-void venus634_nema_interval(void)
+/* frequency of NMEA messages */
+void venus634_nmea_interval(void)
 {
-       m_nemainterval_t nemainterval;
+       m_nmeainterval_t nmeainterval;
+
+       memset(&nmeainterval,0,sizeof(m_nmeainterval_t));
 
-       memset(&nemainterval,0,sizeof(m_nemainterval_t));
-       nemainterval.gga = 1;
-       nemainterval.gsa = 1;
-       nemainterval.gsv = 1;
-       nemainterval.gll = 1;
-       nemainterval.rmc = 1;
-       nemainterval.vtg = 1;
-       nemainterval.zda = 1;
+       /* set frequency for nmea: 1 = once every one position fix, 2 = once
+        * every two position fix, ... */
+       nmeainterval.gga = 1; /* GPGGA interval - GPS Fix Data*/
+       nmeainterval.gsa = 1; /* GNSS DOPS and Active Satellites */
+       nmeainterval.gsv = 1; /* GNSS Satellites in View */
+       nmeainterval.gll = 1; /* Geographic Position - Latitude longitude */
+       nmeainterval.rmc = 1; /* Recomended Minimum Specific GNSS Sentence */
+       nmeainterval.vtg = 1; /* Course Over Ground and Ground Speed */
+       nmeainterval.zda = 1; /* Time & Date*/
 
-       nemainterval.attributes = 1; /* ram flash */
+       nmeainterval.attributes = 1; /* ram flash */
 
-       venus634_send(M_NEMAINTERVAL,&nemainterval,sizeof(m_nemainterval_t));
+       venus634_send(M_NMEAINTERVAL,&nmeainterval,sizeof(m_nmeainterval_t));
 
        return;
 }
@@ -408,10 +413,14 @@ int wait_ack(int msg_type)
 static int decode_gps_pos(uint8_t *buf, uint16_t len)
 {
        struct gps_pos *pos = (struct gps_pos *)buf;
+       uint8_t irq_flags;
 
        if (len != sizeof(*pos))
                return -1;
 
+       if (pos->msg_id != 0xA8) /* XXX not tested */
+               return -1;
+
        gps_pos.gps_week = ntohs(pos->gps_week);
        gps_pos.tow = ntohl(pos->tow);
 
@@ -431,6 +440,11 @@ static int decode_gps_pos(uint8_t *buf, uint16_t len)
        gps_pos.ecef_vy = ntohl(pos->ecef_vy);
        gps_pos.ecef_vz = ntohl(pos->ecef_vz);
 
+       /* update global structure */
+       IRQ_LOCK(irq_flags);
+       memcpy(&gps_pos, pos, sizeof(gps_pos));
+       IRQ_UNLOCK(irq_flags);
+
        return 0;
 }