ER GPSRec_Open(UART_BAUDRATE BaudRate)
{
if (bGPSRecOpened)
return E_SYS;
#if (RECEIVE_FROM_UART2)
if (uart2_open() == E_OK)
#else
if (uart_open() == E_OK)
#endif
{
debug_msg("\r\nUART2: Open success\r\n");
#if (RECEIVE_FROM_UART2)
uart2_init(BaudRate, UART_LEN_L8_S1, UART_PARITY_NONE);
#else
uart_init(BaudRate, UART_LEN_L8_S1, UART_PARITY_NONE);
#endif
}
else
{
debug_err(("UART2: open fail!\r\n"));
return E_SYS;
}
debug_msg("Start GPS receive task\r\n");
sta_tsk(GPSRECEIVE_ID,0);
loc_cpu();
bGPSRecOpened = TRUE;
unl_cpu();
return E_OK;
}
/**************************************************
* Function name : void main(void)
*
* Created by : Luca Lucci
* Date created : 07/10/12
* Description : Main program entry point
* Notes : -
**************************************************/
void main(void)
{
initialize_system();
// initialize usart
uart_init();
uart2_open();
// initialize interrupt
INTCON2bits.INTEDG0 = 0; // falling edge int0 interrupt
INTCONbits.INT0IE = 1; // enable int0 interrupt
INTCONbits.INT0IF = 0;
INTCONbits.PEIE = 1; // enable peripheral interrupts
INTCONbits.GIE = 1; // enable global interrupt
while(1)
{
ClrWdt();
// if the buffer isn't empty will send back the data
if(uart2_buffer_read(temp))
uart2_buffer_tx_load(temp);
// ProcessIO
}
}//main()
void gps_init(struct GpsConfig *gpsconfig)
{
gps_open_port(gpsconfig);
// Wait for GPS output. On some old EB85 devices, this can take over 2sec
if (rmc_sentence_number == -1 && nmea_buffer_RMC_counter == 0)
microcontroller_delay_ms(10);
if (rmc_sentence_number == -1 && nmea_buffer_RMC_counter == 0)
microcontroller_delay_ms(50);
if (rmc_sentence_number == -1 && nmea_buffer_RMC_counter == 0)
microcontroller_delay_ms(100);
if (rmc_sentence_number == -1 && nmea_buffer_RMC_counter == 0)
microcontroller_delay_ms(200);
if (rmc_sentence_number == -1 && nmea_buffer_RMC_counter == 0)
microcontroller_delay_ms(400); // 760ms
if (rmc_sentence_number == -1 && nmea_buffer_RMC_counter == 0)
microcontroller_delay_ms(800); // 1560ms
if (rmc_sentence_number == -1 && nmea_buffer_RMC_counter == 0)
microcontroller_delay_ms(1000); // 2560ms
if (rmc_sentence_number == -1 && nmea_buffer_RMC_counter == 0)
{
uart1_puts("timeout...");
uart2_open(115200l);
return; // Don't return? If module was rebooted, but GPS not, then we need to change the speed for the GPS module to become accessible
}
// First we configure which sentences we want. If the unit outputs all sentences at 5Hz by default, then 38400 will be too slow
// and the unit won't allow us to change the baudrate.
gps_config_output(gpsconfig);
}
// Configs the GPS using MTK sentences to use RMC & GGA sentences at 5Hz, and switch to 115200 baud
void gps_config_output(struct GpsConfig *gpsconfig)
{
// Change to 115200 baud
uart2_puts("$PMTK251,115200*1F\r\n"); // this can take a while if no GPS is connected
microcontroller_delay_ms(10);
uart2_open(115200l);
// only RMC and GGA
// RMC & GGA
uart2_puts("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n"); // this can take a while if no GPS is connected
microcontroller_delay_ms(10);
// 5Hz mode
microcontroller_delay_ms(10);
uart2_puts("$PMTK220,200*2C\r\n");
if (gpsconfig->enable_waas)
{
microcontroller_delay_ms(10);
// DGPS data source mode
// ?0?: No DGPS source
// ?1?: RTCM
// ?2?: WAAS
microcontroller_delay_ms(10);
uart2_puts("$PMTK301,2*2E\r\n");
// Enable to search a SBAS satellite or not
// ?0? = Disable
// ?1? = Enable
microcontroller_delay_ms(10);
uart2_puts("$PMTK313,1*2E\r\n");
}
}
// Open the GPS uart port and start receiving messages
void gps_open_port(struct GpsConfig *gpsconfig)
{
//uart2_open(4800l); // For Locosys module
//uart2_open(38400l); // For Old EB-85
//uart2_open(38400l); // For San Jose EB-85
uart2_open(gpsconfig->initial_baudrate);
IFS1bits.U2RXIF = 0; // Clear the Recieve Interrupt Flag
IEC1bits.U2RXIE = 1;
}
ER GPSRec_Open(UART_BAUDRATE BaudRate)
{
if (bGPSRecOpened)
return E_SYS;
#if (RECEIVE_FROM_UART2)
if (uart2_open() == E_OK)
#else
if (uart_open() == E_OK)
#endif
{
debug_msg("\r\nUART2: Open success\r\n");
#if (RECEIVE_FROM_UART2)
uart2_init(BaudRate, UART_LEN_L8_S1, UART_PARITY_NONE);
#else
uart_init(BaudRate, UART_LEN_L8_S1, UART_PARITY_NONE);
#endif
}
else
{
debug_err(("UART2: open fail!\r\n"));
return E_SYS;
}
debug_msg("Start GPS receive task\r\n");
//#NT#2011/1/14#philex Lin-begin
// init/toggle GPS Data buffer index,
// GPS log buffer is double buffering mechanism.
GPSRec_DataBufInit();
//#NT#2011/1/14#philex Lin-end
sta_tsk(GPSRECEIVE_ID);
loc_cpu();
bGPSRecOpened = TRUE;
unl_cpu();
return E_OK;
}
