//-----------------------------------------------------------------------------
int
kuroBoxVectorNavStop(VectorNavDriver * nvp)
{
spiStop(nvp->spip);
gptStop(nvp->gpdp);
return KB_OK;
}
void
vMBPortTimerClose( void )
{
gptStop (&GPTDRIVER);
}
//-----------------------------------------------------------------------------
static void
cmd_tcxo_test(BaseSequentialStream * chp, int argc, char * argv[])
{
uint32_t passes = 0;
if ( argc == 0 )
{
passes = PASSES;
}
else
{
passes = atoi(argv[0]);
if ( passes > PASSES )
{
chprintf(chp, "WARNING: you asked for too many passes (%d), doing just (%d)\n",
passes, PASSES);
passes = PASSES;
}
}
//--------------------------------------------------------------------------
gptStart(&GPTD2, &one_sec_cfg);
gptStartContinuous(&GPTD2, 84000000-(factory_config.tcxo_compensation/2));
// wait X seconds to make sure the GPS has started up...
pps = 0;
while (pps < 5)
{
st7565_clear(&ST7565D1);
st7565_drawstring(&ST7565D1, 0, 0, "TCXO vs GPS TEST");
INIT_CBUF();
chprintf(bss, "Waiting on GPS: %d", 5-pps);
st7565_drawstring(&ST7565D1, 0, 1, charbuf);
st7565_display(&ST7565D1);
chThdSleepMilliseconds(50);
}
kbg_setLED2(0);
st7565_clear(&ST7565D1);
chprintf(chp, "pass,PASSES,pps_diff\n");
for ( uint32_t pass = 0 ; pass < passes ; )
{
chThdSleepMilliseconds(50);
if ( one_sec_pps_changed )
{
kbg_setLED3(1);
times[pass] = one_sec_pps_diff;
int32_t diff_from_parity = 168000000 - pps_diff;
chprintf(chp, "%6d,%6d,%14d,%6d,%14d\n", pass+1, passes,
one_sec_pps_diff, one_sec_pps_diff_diff, diff_from_parity);
one_sec_pps_changed = FALSE;
pass++;
st7565_drawstring(&ST7565D1, 0, 0, "TCXO vs GPS CONF");
INIT_CBUF();
chprintf(bss,"Doing %d passes", passes);
st7565_drawstring(&ST7565D1, 0, 1, charbuf);
INIT_CBUF();
chprintf(bss,"Pass: %d", pass);
st7565_drawstring(&ST7565D1, 0, 2, charbuf);
INIT_CBUF();
chprintf(bss,"Time diff: %d", one_sec_pps_diff);
st7565_drawstring(&ST7565D1, 0, 3, charbuf);
st7565_display(&ST7565D1);
st7565_clear(&ST7565D1);
chThdSleepMilliseconds(10);
kbg_setLED3(0);
}
}
gptStopTimer(&GPTD2);
gptStop(&GPTD2);
}