Fox's Git Mirrors
Commit 98d20934855edcb10359e604da7afb0430343837
Parents : 07f4b19
Author : Mark Qvist <mark@adepta.io>
Date : 2019-11-08T16:36:01+01:00
Fixed GPS initialisation
Changes
3 files changed, 27 insertions(+), 14 deletions(-)
Diff
diff --git a/hardware/GPS.c b/hardware/GPS.c
index 62b547c..49f7d51 100644
--- a/hardware/GPS.c
+++ b/hardware/GPS.c
@@ -43,22 +43,28 @@ void gps_init(Serial *ser) {
if (gps_detect()) {
gps_installed = true;
+ GPS_DDR |= _BV(GPS_EN_PIN);
- serial_setbaudrate_9600(1);
- delay_ms(100);
-
- gps_send_command(PMTK_SET_BAUD_57600);
- delay_ms(100);
-
- serial_setbaudrate_57600(1);
- delay_ms(100);
-
- gps_send_command(PMTK_API_SET_FIX_CTL_1HZ);
- gps_send_command(PMTK_SET_NMEA_OUTPUT_RMCGGA);
+ if (config_gps_mode == CONFIG_GPS_AUTODETECT || config_gps_mode == CONFIG_GPS_REQUIRED) {
+ serial_setbaudrate_9600(1);
+ delay_ms(100);
+
+ gps_send_command(PMTK_SET_BAUD_57600);
+ delay_ms(100);
+
+ serial_setbaudrate_57600(1);
+ delay_ms(100);
+
+ gps_send_command(PMTK_API_SET_FIX_CTL_1HZ);
+ gps_send_command(PMTK_SET_NMEA_OUTPUT_RMCGGA);
+
+ gps_power = true;
+ gps_powerup();
+ } else {
+ gps_power = false;
+ gps_powerdown();
+ }
- GPS_DDR |= _BV(GPS_EN_PIN);
- if (gps_enabled()) { gps_powerup(); } else { gps_powerdown(); }
-
} else {
gps_installed = false;
gps_power = false;
diff --git a/hardware/Serial.c b/hardware/Serial.c
index 9d45250..c2240f3 100755
--- a/hardware/Serial.c
+++ b/hardware/Serial.c
@@ -83,6 +83,8 @@ ISR(USART0_RX_vect) {
if (!fifo_isfull(&uart0FIFO)) {
char c = uart0_getchar_nowait();
fifo_push(&uart0FIFO, c);
+ } else {
+ uart1_getchar_nowait();
}
}
}
@@ -92,6 +94,8 @@ ISR(USART1_RX_vect) {
if (!fifo_isfull(&uart1FIFO)) {
char c = uart1_getchar_nowait();
fifo_push(&uart1FIFO, c);
+ } else {
+ uart1_getchar_nowait();
}
}
}
diff --git a/main.c b/main.c
index 69010ce..08147b4 100755
--- a/main.c
+++ b/main.c
@@ -65,6 +65,9 @@ void system_check(void) {
}
}
+ // TODO: Check GPS_REQUIRED and BLUETOOTH_REQUIRED
+ // here before giving green light.
+
// Give the green light if everything checks out
LED_STATUS_ON();
}
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