[paparazzi-commits] [5909] runtime configuration for ublox gps on i2c (from pascal)

[Gautier Hattenberger]

Revision: 5909
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5909
Author:   gautier
Date:     2010-09-21 14:26:49 +0000 (Tue, 21 Sep 2010)
Log Message:
-----------
runtime configuration for ublox gps on i2c (from pascal)

Added Paths:
-----------
    paparazzi3/trunk/sw/airborne/modules/gps_i2c/runtime_configure.h

Added: paparazzi3/trunk/sw/airborne/modules/gps_i2c/runtime_configure.h
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/gps_i2c/runtime_configure.h            
                (rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/gps_i2c/runtime_configure.h    
2010-09-21 14:26:49 UTC (rev 5909)
@@ -0,0 +1,27 @@
+#define IGNORED 0
+#define RESERVED 0
+
+static bool_t user_gps_configure(bool_t cpt) {
+  switch (cpt) {
+  case 0:
+    /* mask: we set only fixMode and dyn */
+    UbxSend_CFG_NAV5(0x05, NAV5_DYN_AIRBORNE_2G, NAV5_3D_ONLY, IGNORED, 
IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, 
RESERVED, RESERVED, RESERVED, RESERVED);
+    break;
+  case 1:
+    UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_POSLLH_ID, 1, 0, 0, 0);
+    break;
+  case 2:
+    UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_VELNED_ID, 1, 0, 0, 0);
+    break;
+  case 3:
+    UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_SVINFO_ID, 4, 0, 0, 0);
+    break;
+  case 4:
+    UbxSend_CFG_MSG(UBX_NAV_ID, UBX_NAV_SOL_ID, 8, 0, 0, 0);
+    break;
+  case 5:
+    UbxSend_CFG_RATE(250 /*ms*/, 0x0001, 0x0000);   
+    return FALSE;
+  }
+  return TRUE; /* Continue, except for the last case */
+}