working, with hybrid FLL/PLL, new refclk input and support for max7219 displays, neo 5 and neo 7 and a bazillion other fixes

1 files changed, 0 insertions, 1204 deletions

diff --git a/app/gps_neo8.c b/app/gps_neo8.c
deleted file mode 100644
index 9da5438..0000000
--- a/app/gps_neo8.c
+++ /dev/null
@@ -1,1204 +0,0 @@
-#include "project.h"
-
-#define PPS (GPIO9)
-#define PPS_PORT GPIOC
-
-#define UBX_BUF_LEN 256
-
-#define TIMEOUT 4000
-
-static int ubx_ack = 0;
-static int ubx_ack_xfer = 0;
-
-static int current_ref_hz = 1;
-
-static int gps_locked;
-static int gps_happy;
-
-uint64_t gps_last_happy;
-
-static  char fix, fix2;
-static int32_t freq = 0;
-
-static const int fish[] = { 1, 2, 3, 4, 5, 6, 7 };
-
-static Event_ring gps_ring;
-
-static char gps_info[60];
-
-
-void exti9_5_isr (void)
-{
-  uint32_t now = HW_CLOCK_REG;
-  int v;
-
-  v = !!gpio_get (PPS_PORT, PPS);
-
-  nvic_disable_irq (NVIC_EXTI9_5_IRQ);
-  exti_reset_request (EXTI9);
-
-  gps_ring.events[gps_ring.tx_ptr].when = now;
-  gps_ring.events[gps_ring.tx_ptr].value = v;
-  gps_ring.tx_ptr = (gps_ring.tx_ptr + 1) & ERING_MASK;
-
-  nvic_enable_irq (NVIC_EXTI9_5_IRQ);
-
-}
-
-
-
-static inline int
-ubx_recv_byte (uint8_t *v)
-{
-  return !ring_read_byte (&rx1_ring, v);
-}
-
-static inline void
-ubx_send_byte (uint8_t v)
-{
-  usart1_queue (v);
-}
-
-#define ALMANAC_SIZE
-
-static int ubx_recv_almanac(uint8_t *ptr,unsigned len)
-{
-uint32_t sv,week;
-uint32_t almanac[8];
-
-ptr+=ubx_get_u32(ptr,&sv);
-len-=4;
-ptr+=ubx_get_u32(ptr,&week);
-len-=4;
-
-if (len>sizeof(almanac))
-	len=sizeof(almanac);
-
-bzero(almanac,sizeof(almanac));
-memcpy(almanac,ptr,len);
-
-printf("    Almanac: %2d %d %06x %06x %06x %06x  %06x %06x %06x %06x\r\n",
-	(int) sv,(int) week, 
-	(unsigned) almanac[0],
-	(unsigned) almanac[1],
-	(unsigned) almanac[2],
-	(unsigned) almanac[3],
-	(unsigned) almanac[4],
-	(unsigned) almanac[5],
-	(unsigned) almanac[6],
-	(unsigned) almanac[7]);
-
-return 0;
-}
-
-static int
-ubx_recv_nav_status (uint8_t *ptr, unsigned len)
-{
-  uint8_t gps_fix, flags,fix_stat,flags2;
-  uint32_t d;
-
-  if ((!ptr) || (len != 16))
-    return -1;
-
-  ptr += ubx_get_u32 (ptr, &d); //TOW
-  ptr += ubx_get_u8 (ptr, &gps_fix); //fix type
-  ptr += ubx_get_u8 (ptr, &flags); //fix type
-  ptr += ubx_get_u8 (ptr, &fix_stat);
-  ptr += ubx_get_u8 (ptr, &flags2); 
-
-
-  switch (gps_fix) {
-  case 0:
-  case 1:
-    fix = '-';
-    gps_locked = 0;
-    break;
-
-  case 2:
-    fix = '2';
-    gps_locked = 0;
-    break;
-
-  case 3:
-    fix = 'L';
-    gps_locked = 1;
-    break;
-
-  case 4:
-    fix = 'R';
-    gps_locked = 0;
-    break;
-
-  case 5:
-    fix = 'T';
-    gps_locked = 0;
-    break;
-
-  default:
-    fix = '?';
-    gps_locked = 0;
-  }
-
-  switch (flags & 3) {
-  case 0:
-  case 2:
-    fix2 = '!';
-    break;
-
-  case 1:
-    fix2 = '-';
-    break;
-
-  case 3:
-    fix2 = 'D';
-
-    if (gps_locked == 1)
-      gps_locked = 2;
-
-    break;
-
-  default:
-    fix2 = '?';
-  }
-
-
-  //  printf ("fix: %c%c\r\n",fix,fix2);
-
-
-  if ((gps_locked) && (gps_happy < 10000))
-    gps_happy++;
-  else
-    gps_happy = 0;
-
-  return 0;
-}
-
-
-static int
-ubx_recv_clock_stats (uint8_t *ptr, unsigned len)
-{
-  //char buf[40];
-  int32_t drift;
-  uint32_t d;
-
-  if ((!ptr) || (len != 20))
-    return -1;
-
-  ptr += ubx_get_u32 (ptr, &d); //TOW
-  ptr += ubx_get_u32 (ptr, &d); //bias
-  ptr += ubx_get_i32 (ptr, &drift); //drift
-  ptr += ubx_get_u32 (ptr, &d); //time acc estimate
-  ptr += ubx_get_i32 (ptr, &freq); //freq acc estimate
-
-  //  printf ("TCXO %+8dE-12\r\n", (int) freq);
-#if 0
-  sprintf (buf, "TCXO %+8dE-12", (int) freq);
-  lcd_erase_line (18, 0);
-  lcd_write (buf, 0, 0);
-#endif
-  return 0;
-
-}
-
-static int
-ubx_recv_utc (uint8_t *ptr, unsigned len)
-{
-  int32_t nano;
-  uint32_t acc;
-  uint16_t year;
-  uint8_t hour, min, sec, day, month,valid;
-  uint32_t d;
-  //  char buf[40];
-
-  if ((!ptr) || (len != 20))
-    return -1;
-
-  ptr += ubx_get_u32 (ptr, &d); //TOW
-  ptr += ubx_get_u32 (ptr, &acc); //bias
-  ptr += ubx_get_i32 (ptr, &nano);
-  ptr += ubx_get_u16 (ptr, &year);
-  ptr += ubx_get_u8 (ptr, &month);
-  ptr += ubx_get_u8 (ptr, &day);
-  ptr += ubx_get_u8 (ptr, &hour);
-  ptr += ubx_get_u8 (ptr, &min);
-  ptr += ubx_get_u8 (ptr, &sec);
-  ptr += ubx_get_u8 (ptr, &valid);
-
-#if 0
-  printf ("GPS META-DATA %04d-%02d-%02d %02d:%02d:%02d V:%02x Fix:%c%c TXCO  %+8dE-12\r\n",
-          (int) year,
-          (int) month,
-          (int) day,
-          (int) hour,
-          (int) min,
-          (int) sec,
-	  (unsigde) valid,
-          fix, fix2, (int) freq);
-#endif
-
-   sprintf(gps_info, " %04d-%02d-%02d %02d:%02d:%02d V:%02x Fix:%c%c TXCO  %+8dE-12",          
-
-	  (int )year,
-          (int )month,
-          (int )day,
-          (int )hour,
-          (int )min,
-          (int )sec,
-(unsigned) valid, fix, fix2, (int) freq);
-
-
-
-  if (gps_happy > 3) {
-    UTC u;
-    EPOCH gps_time;
-    uint32_t now;
-    uint64_t abs;
-
-    u.jday = 0;
-    u.year = year;
-    u.month = month;
-    u.mday = day;
-    u.hour = hour;
-    u.minute = min;
-    u.second = sec;
-    u.nanosecond = 0;
-
-    gps_time = time_utc_to_epoch (u);
-
-
-    now = HW_CLOCK_REG;
-    abs = abs_extend (now);
-
-    gps_last_happy = make_happy (abs, 180);
-
-    pll_set_offset (gps_time, abs);
-
-  }
-
-
-#if 0
-  sprintf (buf, "%+6dE-12 %02d%02d%02d", (int) freq,
-           (int) hour, (int)min, (int) sec);
-  lcd_erase_line (18, 0);
-  lcd_write (buf, 0, 0);
-#endif
-
-  return 0;
-}
-
-
-
-static int ubx_recv_nav_sbas(uint8_t *ptr,unsigned len)
-{
-uint8_t prn,mode,service;
-int8_t sys;
-uint8_t  n;
-
-  ptr+=4;
-
-  ptr += ubx_get_u8 (ptr, &prn); 
-  ptr += ubx_get_u8 (ptr, &mode); 
-  ptr += ubx_get_i8 (ptr, &sys);
-  ptr += ubx_get_u8 (ptr, &service); 
-
-  ptr += ubx_get_u8 (ptr, &n); 
-  ptr+=3;
-
-  printf("GPS SBAS PRN:%d M:%d S:%d SVC:%02x\r\n",prn,mode,sys,service);
-
-  while (n--) {
-  ptr += ubx_get_u8 (ptr, &prn); 
-  ptr+=11;
-  printf("GPS SBAS     SV:%d\r\n",prn);
-  }
-
-return 0;
-}
-
-static int ubx_recv_nav_sat(uint8_t *ptr,unsigned len)
-{
-uint8_t gnssid,prn,cno,ver;
-uint8_t  n;
-
-  ptr+=4;
-
-  ptr += ubx_get_u8 (ptr, &ver); 
-  ptr += ubx_get_u8 (ptr, &n); 
-  ptr+=2;
-
-  while (n--) {
-  ptr += ubx_get_u8 (ptr, &gnssid); 
-  ptr += ubx_get_u8 (ptr, &prn); 
-  ptr += ubx_get_u8 (ptr, &cno); 
-  ptr+=9;
-
-  printf("GPS    GNSS:%2d PRN:%3d CNO:%3d\r\n",gnssid,prn,cno);
-  }
-
-
-return 0;
-}
-
-
-static int ubx_recv_rinex (uint8_t *payload, unsigned len)
-{
-
-  printf ("Rinex\r\n");
-  return 0;
-}
-
-
-
-static void
-ubx_recv (uint8_t class, uint8_t id, uint8_t *payload, unsigned len)
-{
-  //  printf ("RX> %02x.%02x (%d bytes)\r\n", class, id, len);
-
-  switch (class) {
-  case 1:
-    switch (id) {
-    case 0x3:
-      ubx_recv_nav_status (payload, len);
-      break;
-
-    case 0x21:
-      ubx_recv_utc (payload, len);
-      break;
-
-    case 0x22:
-      ubx_recv_clock_stats (payload, len);
-      break;
-
-    case 0x32:
-      ubx_recv_nav_sbas(payload,len);
-	break;
-
-    case 0x35:
-      ubx_recv_nav_sat(payload,len);
-	break;
-
-    default:
-      printf ("RX> %02x.%02x (%d bytes)\r\n", class, id, len);
-      hexdump (payload, len);
-    }
-
-    break;
-
-  case 2:
-    switch (id) {
-    case 0x10:
-      ubx_recv_rinex (payload, len);
-
-      break;
-    }
-
-    break;
-
-  case 4:
-    switch (id) {
-    case 0x4:
-      break;
-	default:
-    printf ("RX> %02x.%02x (%d bytes)\r\n", class, id, len);
-      hexdump (payload, len);
-    }
-
-    break;
-
-	
-
-  case 5:
-    ubx_ack++;
-    printf (" %s for %02x.%02x\r\n", id ? "ACK" : "NAK", payload[0],
-            payload[1]);
-
-    break;
-
-  case 0x0b:
-    switch (id) {
-    case 0x30:
-      ubx_recv_almanac(payload,len);
-      break;
-    case 0x50:
-      printf ("xfer ack\r\n");
-      ubx_ack_xfer++;
-      break;
-
-    default:
-      printf ("RX> %02x.%02x (%d bytes)\r\n", class, id, len);
-      hexdump (payload, len);
-    }
-
-    break;
-
-  default:
-    printf ("RX> %02x.%02x (%d bytes)\r\n", class, id, len);
-
-    if (class != 0x03)
-      hexdump (payload, len);
-  }
-
-
-}
-
-
-typedef enum {
-  UBX_SM_LOST = 0,
-  UBX_SM_S2,
-  UBX_SM_C,
-  UBX_SM_I,
-  UBX_SM_L1,
-  UBX_SM_L2,
-  UBX_SM_DATA,
-  UBX_SM_CKA,
-  UBX_SM_CKB
-} ubx_sm_t;
-
-
-
-
-static uint8_t *
-ubx_dispatch_search (int s_class, int s_id, unsigned *len_ptr)
-{
-  static uint8_t buf[UBX_BUF_LEN];
-  static ubx_sm_t sm = UBX_SM_LOST;
-  static uint8_t class, id;
-  static unsigned ptr;
-  static unsigned len;
-  static uint8_t ck_a, ck_b;
-
-
-  void ubx_ck (uint8_t v) {
-    ck_a += v;
-    ck_b = ck_b + ck_a;
-  }
-
-
-  uint8_t c;
-
-  while (ubx_recv_byte (&c)) {
-
-    switch (sm) {
-    case UBX_SM_LOST:
-      if (c == 0xb5)
-        sm = UBX_SM_S2;
-
-      break;
-
-    case UBX_SM_S2:
-      if (c == 0x62)
-        sm = UBX_SM_C;
-      else
-        sm = UBX_SM_LOST;
-
-      break;
-
-    case UBX_SM_C:
-      ck_a = ck_b = class = c;
-      sm = UBX_SM_I;
-      break;
-
-    case UBX_SM_I:
-      ubx_ck (c);
-      id = c;
-      sm = UBX_SM_L1;
-      break;
-
-    case UBX_SM_L1:
-      ubx_ck (c);
-      len = c;
-      sm = UBX_SM_L2;
-      break;
-
-    case UBX_SM_L2:
-      ubx_ck (c);
-      len |= c << 8;
-
-      ptr = 0;
-
-      if (len)
-        sm = UBX_SM_DATA;
-      else
-        sm = UBX_SM_CKA;
-
-      break;
-
-    case UBX_SM_DATA:
-      ubx_ck (c);
-
-      if (ptr < UBX_BUF_LEN)
-        buf[ptr] = c;
-
-      ptr++;
-
-      if (ptr == len)
-        sm = UBX_SM_CKA;
-
-      break;
-
-    case UBX_SM_CKA:
-      if (c == ck_a)
-        sm = UBX_SM_CKB;
-      else
-        sm = UBX_SM_LOST;
-
-      break;
-
-    case UBX_SM_CKB:
-      sm = UBX_SM_LOST;
-
-      if (c != ck_b)
-        break;
-
-      ubx_recv (class, id, buf, len);
-
-      if ((class == s_class) && (id == s_id)) {
-        if (len_ptr)
-          *len_ptr = len;
-
-        return buf;
-      }
-
-      break;
-    }
-
-  }
-
-  return NULL;
-}
-static void gps_pps_dispatch (void)
-{
-  //char buf[80];
-  uint32_t now;
-  uint64_t abs;
-  int v;
-  EPOCH e;
-  //UTC u;
-
-  if (gps_ring.rx_ptr == gps_ring.tx_ptr) return;
-
-  v = gps_ring.events[gps_ring.rx_ptr].value;
-  now = gps_ring.events[gps_ring.rx_ptr].when;
-
-  led3_set(v);
-
-  gps_ring.rx_ptr = (gps_ring.rx_ptr + 1) & ERING_MASK;
-
-
-  if (!v) return;
-
-  abs = abs_extend (now);
-
-  if (gps_happy)
-    pll_dispatch (gps_last_happy, abs, "GPS");
-
-  e = pll_decompose (abs);
-
-
-  //u = time_epoch_to_utc (e);
-  time_print_epoch ("GPS  : ", e, gps_info);
-
-}
-
-
-void
-gps_dispatch (void)
-{
-  ubx_dispatch_search (-1, -1, NULL);
-  gps_pps_dispatch();
-
-}
-
-static void
-ubx_send (uint8_t class, uint8_t id, const void *_payload, unsigned len)
-{
-  uint8_t ck_a = 0, ck_b = 0;
-  uint8_t *payload = (uint8_t *) _payload;
-
-  void ubx_send_byte_ck (uint8_t v) {
-    ubx_send_byte (v);
-    ck_a += v;
-    ck_b = ck_b + ck_a;
-  }
-
-
-  ubx_send_byte (0xb5);
-  ubx_send_byte (0x62);
-
-  ubx_send_byte_ck (class);
-  ubx_send_byte_ck (id);
-  ubx_send_byte_ck (len & 0xff);
-  ubx_send_byte_ck (len >> 8);
-
-  while (len--)
-    ubx_send_byte_ck (* (payload++));
-
-  ubx_send_byte (ck_a);
-  ubx_send_byte (ck_b);
-
-  //  printf ("TX> %02x.%02x\r\n", class, id);
-
-}
-
-static int
-ubx_handshake (uint8_t class, uint8_t id, const void *payload, unsigned len)
-{
-  uint32_t timeout;
-
-  ubx_ack = 0;
-  ubx_send (class, id, payload, len);
-
-
-
-  timeout = ticks + TIMEOUT;
-
-  while (!ubx_ack) {
-
-    if (ticks > timeout) {
-      printf ("GPS timeout resending packet\r\n");
-      usart1_drain();
-      ubx_send (class, id, payload, len);
-      timeout = ticks + TIMEOUT;
-    }
-
-
-
-
-    gps_dispatch();
-  }
-
-  return 0;
-}
-
-static int
-ubx_handshake_xfer (uint8_t class, uint8_t id, const void *payload,
-                    unsigned len)
-{
-  uint32_t timeout;
-
-  ubx_ack_xfer = 0;
-  //  usart1_drain();
-  ubx_send (class, id, payload, len);
-
-
-
-  timeout = ticks + TIMEOUT;
-
-  while (!ubx_ack_xfer) {
-
-    if (ticks > timeout) {
-      printf ("GPS timeout resending packet\r\n");
-      //      usart1_drain();
-      ubx_send (class, id, payload, len);
-      timeout = ticks + TIMEOUT;
-    }
-
-
-
-
-    gps_dispatch();
-  }
-
-  return 0;
-}
-
-
-
-
-static uint8_t *
-ubx_fetch (uint8_t class, uint8_t id, void *payload, unsigned len,
-           unsigned *len_ptr)
-{
-  uint8_t *ret;
-
-  while (!ring_empty (&tx1_ring) || !ring_empty (&rx1_ring))
-    gps_dispatch();
-
-  ubx_send (class, id, payload, len);
-
-  while (! (ret = ubx_dispatch_search (class, id, len_ptr)));
-
-
-  return ret;
-}
-
-static int ubx_set_nav_rate (uint16_t ms)
-{
-  uint8_t buf[6], *ptr;
-
-  ptr = buf;
-
-  ptr += ubx_put_u16 (ptr, ms);
-  ptr += ubx_put_u16 (ptr, 1); /*1:1*/
-  ptr += ubx_put_u16 (ptr, 0); /*UTC*/
-
-  return ubx_handshake (0x06, 0x08, buf, (unsigned) (ptr - buf));
-}
-
-static int
-ubx_set_message_rate_port1 (uint8_t class, uint8_t id, uint8_t rate)
-{
-  uint8_t buf[8], *ptr;
-
-  ptr = buf;
-
-  ptr += ubx_put_u8 (ptr, class);
-  ptr += ubx_put_u8 (ptr, id);  //reserved
-  ptr += ubx_put_u8 (ptr, 0);   //nothing on port i2c
-  ptr += ubx_put_u8 (ptr, rate); //rate on uart
-  ptr += ubx_put_u8 (ptr, 0);   //nothing on port 2
-  ptr += ubx_put_u8 (ptr, 0);   //nothing on usb
-  ptr += ubx_put_u8 (ptr, 0);   //nothing on spi
-  ptr += ubx_put_u8 (ptr, 0);   //nothing on port 5
-
-  return ubx_handshake (0x06, 0x01, buf, (unsigned) (ptr - buf));
-}
-
-
-static int
-ubx_cfg_rst (uint16_t flags)
-{
-  uint8_t buf[8], *ptr;
-
-  ptr = buf;
-
-  ptr += ubx_put_u16 (ptr, flags); //Flags
-  ptr += ubx_put_u8 (ptr, 0x4); //Hardware reset after shutdown
-  ptr += ubx_put_u8 (ptr, 0);   //reserved
-
-  ubx_send (0x06, 0x04, buf, (unsigned) (ptr - buf));
-  return 0;
-}
-
-
-static int
-gps_set_ref (int ref_hz)
-{
-  uint8_t buf[80], *ptr;
-  int ret;
-
-  printf ("setting gps ref to %d hz\r\n", ref_hz);
-
-  current_ref_hz = ref_hz;
-
-  ptr = buf;
-
-  ptr += ubx_put_u8 (ptr, 0);   //timepluse 1
-  ptr += ubx_put_u8 (ptr, 0);   //version 0
-  ptr += ubx_put_u16 (ptr, 0);  //reserved
-
-  //  ptr += ubx_put_u16 (ptr, 32); //ant cable delay ns
-  ptr += ubx_put_u16 (ptr, 0); //ant cable delay ns
-  ptr += ubx_put_u16 (ptr, 0);  //rf group delay ns
-  ptr += ubx_put_u32 (ptr, 1000000 / ref_hz); //period unlocked/us
-  ptr += ubx_put_u32 (ptr, 1000000 / ref_hz); //period locked/us
-
-  //  ptr += ubx_put_u32 (ptr, 0);  //pulse width unlocked/us
-  ptr += ubx_put_u32 (ptr, 100000 / ref_hz); //pulse width unlocked/us
-  ptr += ubx_put_u32 (ptr, 100000 / ref_hz); //pulse width locked/us
-
-  ptr += ubx_put_i32 (ptr, 0);  // ? delay
-
-#if 0
-  /*Separate numbers for locked/unlocked*/
-  ptr += ubx_put_u32 (ptr, 0xf7);
-#else
-  /*Same numbers for locked/unlocked*/
-  ptr += ubx_put_u32 (ptr, 0xf7);
-#endif
-
-
-  ret = ubx_handshake (0x06, 0x31, buf, (unsigned) (ptr - buf));
-
-  return ret;
-}
-
-
-static inline int
-ubx_put_gnss_cfg (uint8_t *buf, uint8_t gnss_id,uint8_t r_chan,uint8_t m_chan,
-uint16_t enable, uint16_t sig_mask)
-{
-  uint8_t *ptr=buf;
-
-  ptr += ubx_put_u8(ptr,gnss_id);
-  ptr += ubx_put_u8(ptr,r_chan);
-  ptr += ubx_put_u8(ptr,m_chan);
-  ptr += ubx_put_u8(ptr,0);
-  ptr += ubx_put_u16(ptr,enable);
-  ptr += ubx_put_u16(ptr,sig_mask);
-
-  return (unsigned) (ptr - buf);
-}
-
-void gps_set_gnss(void)
-{
-  uint8_t buf[80], *ptr;
-
-  ptr = buf;
-  ptr += ubx_put_u8 (ptr, 0x0); /* Ver 0 */
-  ptr += ubx_put_u8 (ptr, 0x20); 
-  ptr += ubx_put_u8 (ptr, 0x20); 
-  ptr += ubx_put_u8 (ptr, 0x7); 
-
-  ptr += ubx_put_gnss_cfg(ptr,0,8,16,1,0x101);
-  ptr += ubx_put_gnss_cfg(ptr,1,1,3,1,0x101);
-  ptr += ubx_put_gnss_cfg(ptr,2,4,8,0,0x101);
-  ptr += ubx_put_gnss_cfg(ptr,3,8,16,0,0x101);
-  ptr += ubx_put_gnss_cfg(ptr,4,0,7,0,0x301);
-  ptr += ubx_put_gnss_cfg(ptr,5,0,3,1,0x501);
-  ptr += ubx_put_gnss_cfg(ptr,6,8,14,1,0x101);
-
-  ubx_handshake (0x06, 0x3e, buf, (unsigned) (ptr - buf));
-
-  printf ("configured SBAS\r\n");
-
-  ubx_handshake (0x06, 0x3e, buf, 0);
-}
-
-
-int
-gps_init (void)
-{
-  uint8_t buf[80], *ptr;
-  unsigned len;
-  //  uint16_t u2;
-
-  usart1_drain();
-
-  while (!ring_empty (&tx1_ring) || !ring_empty (&rx1_ring))
-    gps_dispatch();
-
-
-  printf ("Testing GNSS...\r\n");
-  ubx_handshake (0x06, 0x00, NULL, 0);
-  printf ("GNSS there\r\n");
-
-  //reset GNSS
-  
-#if 0
-  ptr=buf;
-  ptr += ubx_put_u32 (ptr, 0xe1f );   //uart1
-  ptr += ubx_put_u32 (ptr, 0 );   //uart1
-  ptr += ubx_put_u32 (ptr, 0 );   //uart1
-  ubx_handshake (0x06, 0x09, buf, (unsigned) (ptr - buf));
-
-  printf ("reset\r\n");
-#endif
-
- 
-  // Set up port
-  ptr = buf;
-  ptr += ubx_put_u8 (ptr, 1);   //uart1
-  ptr += ubx_put_u8 (ptr, 0);   //reserved
-  ptr += ubx_put_u16 (ptr, 0x0); //flow control off
-  ptr += ubx_put_u32 (ptr, 0x8c0); //no parity, 8 bits
-  ptr += ubx_put_u32 (ptr, 9600); // baudrate
-  ptr += ubx_put_u16 (ptr, 0x7); // receive RTCM, NMEA, UBX
-  ptr += ubx_put_u16 (ptr, 0x1); // transmit UBX
-  ptr += ubx_put_u16 (ptr, 0x0); // no txtimeout
-  ptr += ubx_put_u16 (ptr, 0x0); // reserved
-  ubx_handshake (0x06, 0x00, buf, (unsigned) (ptr - buf));
-
-  printf ("configured GNSS protocol\r\n");
-
-
-#if 0
-  ptr = buf;
-  ptr += ubx_put_u16 (ptr, 0x1b);
-  ptr += ubx_put_u16 (ptr, 0x00);
-  ubx_handshake (0x06, 0x13, buf, (unsigned) (ptr - buf));
-
-  printf ("configured antenna pins\r\n");
-#endif
-
-
-
-#if 0
-  // Check we're in WGS84
-  ptr = ubx_fetch (0x06, 0x06, NULL, 0, &len);
-  ptr += ubx_get_u16 (ptr, &u2);
-
-  if (u2)
-    return -1;
-
-  printf ("configured GNSS datum\r\n");
-#endif
-
-  ptr = buf;
-
-  ptr += ubx_put_u8 (ptr, 0);   //UBX
-  ptr += ubx_put_u8 (ptr, 0);   //reserved
-  ptr += ubx_put_u16 (ptr, 0);  //reserved
-  ptr += ubx_put_u8 (ptr, 0);   //nothing on port i2c
-  ptr += ubx_put_u8 (ptr, 0x18); //everything on uart
-  ptr += ubx_put_u8 (ptr, 0);   //nothing on port 2
-  ptr += ubx_put_u8 (ptr, 0);   //nothing on usb
-  ptr += ubx_put_u8 (ptr, 0);   //nothing on spi
-  ptr += ubx_put_u8 (ptr, 0);   //nothing on port 5
-
-  ptr += ubx_put_u8 (ptr, 1);   //NMEA
-  ptr += ubx_put_u8 (ptr, 0);   //reserved
-  ptr += ubx_put_u16 (ptr, 0);  //reserved
-  ptr += ubx_put_u8 (ptr, 0);   //nothing on port i2c
-  ptr += ubx_put_u8 (ptr, 0);   //nothing on uart
-  ptr += ubx_put_u8 (ptr, 0);   //nothing on port 2
-  ptr += ubx_put_u8 (ptr, 0);   //nothing on usb
-  ptr += ubx_put_u8 (ptr, 0);   //nothing on spi
-  ptr += ubx_put_u8 (ptr, 0);   //nothing on port 5
-
-  ubx_handshake (0x06, 0x02, buf, (unsigned) (ptr - buf));
-
-  printf ("configured GNSS data\r\n");
-
-  gps_set_ref (1);
-
-  ubx_fetch (0x06, 0x31, NULL, 0, &len);
-
-  printf ("configured GNSS 6.31\r\n");
-
-
-  ubx_set_nav_rate(1000);
-
-#if 1
-  ubx_set_message_rate_port1 (0x01, 0x03, 1);
-  ubx_set_message_rate_port1 (0x01, 0x21, 1);
-  ubx_set_message_rate_port1 (0x01, 0x22, 1);
-  ubx_set_message_rate_port1 (0x01, 0x32, 0);
-
-  ubx_set_message_rate_port1 (0x01, 0x32, 0); /*SBAS*/
-  ubx_set_message_rate_port1 (0x01, 0x35, 0); /*SV in view*/
-
-  ubx_set_message_rate_port1 (0x03, 0x0a, 0);
-  ubx_set_message_rate_port1 (0x03, 0x10, 0);
-  ubx_set_message_rate_port1 (0x03, 0x21, 0);
-  ubx_set_message_rate_port1 (0x04, 0x04, 0);
-
-  printf ("GNSS ready\r\n");
-#else
-  ubx_set_message_rate_port1 (0x01, 0x03, 0);
-  ubx_set_message_rate_port1 (0x01, 0x21, 0);
-  ubx_set_message_rate_port1 (0x01, 0x22, 0);
-  ubx_set_message_rate_port1 (0x01, 0x32, 0);
-  ubx_set_message_rate_port1 (0x03, 0x0a, 0);
-  //ubx_set_message_rate_port1 (0x03, 0x10, 0);
-  printf ("GNSS ready\r\n");
-#endif
-
-
-
-  //  printf ("GPS ready\r\n");
-  //  ubx_get_clock_stats();
-
-  MAP_INPUT (PPS);
-
-  exti_select_source (EXTI9, PPS_PORT);
-  exti_set_trigger (EXTI9, EXTI_TRIGGER_BOTH);
-  exti_enable_request (EXTI9);
-  nvic_enable_irq (NVIC_EXTI9_5_IRQ);
-
-  return 0;
-}
-
-
-#define ALMANAC_LUMP 64
-
-int
-gps_almanac (void)
-{
-  uint32_t len = almanac_alp_len;
-  const uint8_t *ptr = almanac_alp;
-  uint32_t lumpsz;
-  uint8_t dummy;
-
-  printf ("Downloading GPS almanac %x %x %x\r\n", (int) ptr[0], (int) ptr[1],
-          (int) ptr[2]);
-
-
-  while (len) {
-    printf ("%d bytes to go\r\n", (int) len);
-
-    lumpsz = len > ALMANAC_LUMP ? ALMANAC_LUMP : len;
-
-    ubx_handshake_xfer (0x0b, 0x50, ptr, lumpsz);
-
-    ptr += lumpsz;
-    len -= lumpsz;
-
-  }
-
-  ubx_handshake_xfer (0x0b, 0x50, &dummy, 1);
-
-  return 0;
-}
-
-void gps_dump_almanac(void)
-{
-  ubx_send (0xb, 0x30, NULL,0);
-}
-
-
-#if 0
-int gps_bs(void)
-{
-  uint32_t now = HW_CLOCK_REG;
-  uint64_t abs = abs_extend (now);
-  EPOCH e = pll_decompose (abs);
-  UTC u = time_epoch_to_utc (e);
-
-  uint8_t buf[80], *ptr;
-  int ret;
-
-  ptr = buf;
-
-  ptr += ubx_put_u32 (ptr, 391706007); /*19 sleaford st*/
-  ptr += ubx_put_u32 (ptr, 955140);
-  ptr += ubx_put_u32 (ptr, 501672842);
-  ptr += ubx_put_u32 (ptr, 100000); /*1km std dev*/
-
-  ptr += ubx_put_u16 (ptr, 0); /*no time mark*/
-
-  ptr += ubx_put_u16 (ptr, (u.year-2000)*100 + u.month); 
-  ptr += ubx_put_u32 (ptr, (u.mday*1000000) + (u.hour*10000) + (u.minute *100) +u.second);
-  ptr += ubx_put_u32 (ptr, u.nanosecond);
-
-  ptr += ubx_put_u32 (ptr, 2000); /* time good to 2s */
-  ptr += ubx_put_u32 (ptr, 0); 
-
-  ptr += ubx_put_u32 (ptr, 0); 
-  ptr += ubx_put_u32 (ptr, 0); 
-
-  ptr += ubx_put_u32 (ptr, 0x403); 
-
-  printf("Bootstrapping GPS\r\n");
-
-  hexdump (buf, (unsigned) (ptr-buf));
-
- ubx_send (0x0b, 0x01, buf, (unsigned) (ptr - buf));
-
-
-  ret = 0;
-
-
-/*
- 00000: 97 f5 58 17 
-        04 93 0e 00  
-        8a eb e6 1d 
-        a0 86 01 00 
- 00010: 00 00 
-        6f 07  		19/03
-        03 cb 06 01  	/17 22:24:03
-        65 ca af 02 	45075045ns
-
-	d0 07 00 00 	2000ms
- 00020: 00 00 00 00     0ns
-        00 00 00 00  
-        00 00 00 00 
-        03 04 00 00 
-*/
-
-  return ret;
-}
-
-#endif
-
-int gps_bs(void)
-{
-  uint32_t now = HW_CLOCK_REG;
-  uint64_t abs = abs_extend (now);
-  EPOCH e = pll_decompose (abs);
-  UTC u = time_epoch_to_utc (e);
-
-  uint8_t buf[80], *ptr;
-  int ret;
-
-  ptr = buf;
-
-  ptr += ubx_put_u8 (ptr, 0x0);
-  ptr += ubx_put_u8 (ptr, 0x0);
-  ptr += ubx_put_u8 (ptr, 0x0);
-  ptr += ubx_put_u8 (ptr, 0x0);
-
-  ptr += ubx_put_u32 (ptr, 391706007); /*19 sleaford st*/
-  ptr += ubx_put_u32 (ptr, 955140);
-  ptr += ubx_put_u32 (ptr, 501672842);
-  ptr += ubx_put_u32 (ptr, 100000); /*1km std dev*/
-
-  hexdump (buf, (unsigned) (ptr-buf));
-  ubx_send (0x13, 0x40, buf, (unsigned) (ptr-buf));
-
-
-  ptr = buf;
-
-  ptr += ubx_put_u8 (ptr, 0x10);
-  ptr += ubx_put_u8 (ptr, 0x0);
-  ptr += ubx_put_u8 (ptr, 0x0);
-  ptr += ubx_put_u8 (ptr, 0x80);
-
-  ptr += ubx_put_u16 (ptr,u.year-2000);
-  ptr += ubx_put_u8 (ptr,u.month);
-  ptr += ubx_put_u8 (ptr,u.mday);
-
-  ptr += ubx_put_u8 (ptr,u.hour);
-  ptr += ubx_put_u8 (ptr,u.minute);
-  ptr += ubx_put_u8 (ptr,u.second);
-  ptr += ubx_put_u8 (ptr,0);
-
-  ptr += ubx_put_u32 (ptr,u.nanosecond);
-
-  ptr += ubx_put_u16 (ptr, 2); /* time good to 2s */
-  ptr += ubx_put_u8 (ptr,0);
-  ptr += ubx_put_u8 (ptr,0);
-
-  ptr += ubx_put_u32 (ptr, 0); 
-
-  hexdump (buf, (unsigned) (ptr-buf));
-  ubx_send (0x13, 0x40, buf, (unsigned) (ptr-buf));
-
-
-  ret = 0;
-
-  return ret;
-}
-
-
-void
-gps_reset (void)
-{
-  printf ("Restting gps..\r\n");
-
-#define REPHEMERIDIES (1UL << 0)
-#define RALMANAC  (1UL << 1)
-#define RPOS    (1UL << 4)
-#define RRTC    (1UL << 8)
-
-  ubx_cfg_rst (REPHEMERIDIES | RALMANAC | RPOS | RRTC);
-
-  delay_ms (1000);
-  usart1_drain();
-
-
-  printf ("Testing GNSS...\r\n");
-  ubx_handshake (0x06, 0x00, NULL, 0);
-  printf ("GNSS there\r\n");
-
-  gps_init();
-
-  gps_set_ref (current_ref_hz);
-
-  gps_set_gnss();
-}
-
-#if 0
-static int
-ubx_get_clock_stats (void)
-{
-  uint8_t *ptr;
-
-  unsigned len;
-
-  ptr = ubx_fetch (0x01, 0x22, NULL, 0, &len);
-
-  //return ubx_recv_clock_stats(ptr,len);
-  return ptr ? 0 : -1;
-}
-#endif