X-Git-Url: http://git.droids-corp.org/?p=protos%2Fimu.git;a=blobdiff_plain;f=gps_venus.c;fp=gps_venus.c;h=b3bbae3cbced64977d49f62e83cd17742c865297;hp=01551a68d2a7529e2521a29d85e253854dbba688;hb=99a00646c85d806f34d7a4aa9f52b318607f7530;hpb=f8d665eef7b761e3b769af6b8dd9711754711cdd

diff --git a/gps_venus.c b/gps_venus.c
index 01551a6..b3bbae3 100644
--- 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;
 }