From 3881c652c1cab0d206e753fe0089c79ed11ad62d Mon Sep 17 00:00:00 2001
From: pip <pip>
Date: Tue, 22 Feb 2011 12:15:25 +0000
Subject: [PATCH] Simplified the binary code a little, added a 300ms delay
 after sending a FULL COLD RESTART to the GPS (IF we do that is), fixed some
 spelling mistakes.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2843 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 flight/Modules/GPS/GPS.c          | 12 +++++++++---
 flight/Modules/GPS/GTOP_BIN.c     | 21 +++++++--------------
 flight/Modules/GPS/inc/gps_mode.h |  2 +-
 3 files changed, 17 insertions(+), 18 deletions(-)

diff --git a/flight/Modules/GPS/GPS.c b/flight/Modules/GPS/GPS.c
index 39ee1e532..353debebe 100644
--- a/flight/Modules/GPS/GPS.c
+++ b/flight/Modules/GPS/GPS.c
@@ -139,6 +139,12 @@ static void gpsTask(void *parameters)
 #ifdef FULL_COLD_RESTART
 	// tell the GPS to do a FULL COLD restart
 	PIOS_COM_SendStringNonBlocking(gpsPort, "$PMTK104*37\r\n");
+	timeOfLastCommandMs = timeNowMs;
+	while (timeNowMs - timeOfLastCommandMs < 300)	// delay for 300ms to let the GPS sort itself out
+	{
+		vTaskDelay(xDelay);	// Block task until next update
+		timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;;
+	}
 #endif
 
 #ifdef DISABLE_GPS_TRESHOLD
@@ -151,7 +157,7 @@ static void gpsTask(void *parameters)
 #endif
 	
 #ifdef ENABLE_GPS_ONESENTENCE_GTOP
-	// switch to single sentance mode
+	// switch to single sentence mode
 	PIOS_COM_SendStringNonBlocking(gpsPort, "$PGCMD,21,2*6C\r\n");
 #endif
 
@@ -187,7 +193,7 @@ static void gpsTask(void *parameters)
 			}
 
 		#else
-			// NMEA or SINGLE-SENTANCE GPS mode
+			// NMEA or SINGLE-SENTENCE GPS mode
 
 			// This blocks the task until there is something on the buffer
 			while (PIOS_COM_ReceiveBufferUsed(gpsPort) > 0)
@@ -281,7 +287,7 @@ static void gpsTask(void *parameters)
 				#endif
 
 				#ifdef ENABLE_GPS_ONESENTENCE_GTOP
-					// switch to single sentance mode
+					// switch to single sentence mode
 					PIOS_COM_SendStringNonBlocking(gpsPort,"$PGCMD,21,2*6C\r\n");
 				#endif
 
diff --git a/flight/Modules/GPS/GTOP_BIN.c b/flight/Modules/GPS/GTOP_BIN.c
index ba48fcceb..cd24b98a0 100644
--- a/flight/Modules/GPS/GTOP_BIN.c
+++ b/flight/Modules/GPS/GTOP_BIN.c
@@ -152,8 +152,12 @@ int GTOP_BIN_update_position(uint8_t b, volatile uint32_t *chksum_errors, volati
 
 		if (rx_packet->header != 0x2404 ||
 			rx_packet->end_word != 0x0A0D ||
-			rx_packet->asterisk != 0x2A)
-		{	// no valid packet found - yet
+			rx_packet->asterisk != 0x2A ||
+			(rx_packet->data.ns_indicator != 1 && rx_packet->data.ns_indicator != 2) ||
+			(rx_packet->data.ew_indicator != 1 && rx_packet->data.ew_indicator != 2) ||
+			(rx_packet->data.fix_quality > 2) ||
+			(rx_packet->data.fix_type < 1 || rx_packet->data.fix_type > 3) )
+		{	// invalid packet
 			if (parsing_errors) *parsing_errors++;
 			memmove(gps_rx_buffer, gps_rx_buffer + 1, gps_rx_buffer_wr - 1);
 			gps_rx_buffer_wr--;
@@ -176,18 +180,7 @@ int GTOP_BIN_update_position(uint8_t b, volatile uint32_t *chksum_errors, volati
 		}
 
 		// checksum appears correct
-
-		if (	(rx_packet->data.ns_indicator != 1 && rx_packet->data.ns_indicator != 2) ||
-				(rx_packet->data.ew_indicator != 1 && rx_packet->data.ew_indicator != 2) ||
-				(rx_packet->data.fix_quality > 2) ||
-				(rx_packet->data.fix_type < 1 || rx_packet->data.fix_type > 3) )
-		{	// found some invalid params - discard the packet
-			if (parsing_errors) *parsing_errors++;
-			memmove(gps_rx_buffer, gps_rx_buffer + 1, gps_rx_buffer_wr - 1);
-			gps_rx_buffer_wr--;
-			continue;
-		}
-
+		//
 		// we now have a valid complete binary packet, update the GpsData and GpsTime objects
 
 		// correct the endian order of the parameters
diff --git a/flight/Modules/GPS/inc/gps_mode.h b/flight/Modules/GPS/inc/gps_mode.h
index 445bbc276..43e5b0398 100644
--- a/flight/Modules/GPS/inc/gps_mode.h
+++ b/flight/Modules/GPS/inc/gps_mode.h
@@ -38,7 +38,7 @@
 // you MUST have one of these uncommented - and ONLY one
 
 //#define ENABLE_GPS_BINARY_GTOP      // uncomment this if we are using GTOP BINARY mode
-//#define ENABLE_GPS_ONESENTENCE_GTOP // uncomment this if we are using GTOP SINLGE SENTENCE mode
+//#define ENABLE_GPS_ONESENTENCE_GTOP // uncomment this if we are using GTOP SINGLE SENTENCE mode
 #define ENABLE_GPS_NMEA               // uncomment this if we are using NMEA mode
 
 // ****************