From c70c0b1800e97bf136df0a3aa5d69fdbb037d261 Mon Sep 17 00:00:00 2001
From: Richard Meadows <richardeoin@gmail.com>
Date: Sat, 19 Dec 2015 21:57:54 +0000
Subject: [PATCH] [ubx] Add ubx-cfg-rst message on startup

Conflicts:
	firmware/inc/ubx_messages.h
	firmware/src/gps_ubx.c
---
 firmware/inc/ubx_messages.h | 12 ++++++++++++
 firmware/src/gps_ubx.c      | 22 ++++++++++++++++++++++
 2 files changed, 34 insertions(+)

diff --git a/firmware/inc/ubx_messages.h b/firmware/inc/ubx_messages.h
index 8f5ea70..2df4d78 100644
--- a/firmware/inc/ubx_messages.h
+++ b/firmware/inc/ubx_messages.h
@@ -170,6 +170,18 @@ __PACKED__ struct ubx_cfg_pwr {
     uint32_t state;
   } payload;
 };
+/**
+ * UBX CFG RST Reset Receiver
+ */
+__PACKED__ struct ubx_cfg_rst {
+  ubx_message_id_t id;
+  enum ubx_packet_state state;
+  struct {
+    uint16_t navBbrMask;
+    uint8_t resetMode;
+    uint8_t reserved1;
+  } payload;
+};
 /**
  * UBX CFG RXM Set powersave mode
  */
diff --git a/firmware/src/gps_ubx.c b/firmware/src/gps_ubx.c
index 467125c..d7b1b72 100644
--- a/firmware/src/gps_ubx.c
+++ b/firmware/src/gps_ubx.c
@@ -78,6 +78,7 @@ volatile struct ubx_cfg_nav5 ubx_cfg_nav5	= { .id = (UBX_CFG | (0x24 << 8)) };
 volatile struct ubx_cfg_tp5 ubx_cfg_tp5		= { .id = (UBX_CFG | (0x31 << 8)) };
 volatile struct ubx_cfg_prt ubx_cfg_prt		= { .id = (UBX_CFG | (0x00 << 8)) };
 volatile struct ubx_cfg_pwr ubx_cfg_pwr		= { .id = (UBX_CFG | (0x57 << 8)) };
+volatile struct ubx_cfg_rst ubx_cfg_rst		= { .id = (UBX_CFG | (0x04 << 8)) };
 volatile struct ubx_cfg_rxm ubx_cfg_rxm		= { .id = (UBX_CFG | (0x11 << 8)) };
 volatile struct ubx_nav_posllh ubx_nav_posllh	= { .id = (UBX_NAV | (0x02 << 8)) };
 volatile struct ubx_nav_timeutc ubx_nav_timeutc	= { .id = (UBX_NAV | (0x21 << 8)) };
@@ -93,6 +94,7 @@ volatile ubx_message_t* const ubx_messages[] = {
   (ubx_message_t*)&ubx_cfg_tp5,
   (ubx_message_t*)&ubx_cfg_prt,
   (ubx_message_t*)&ubx_cfg_pwr,
+  (ubx_message_t*)&ubx_cfg_rst,
   (ubx_message_t*)&ubx_cfg_rxm,
   (ubx_message_t*)&ubx_nav_posllh,
   (ubx_message_t*)&ubx_nav_timeutc,
@@ -294,6 +296,23 @@ void gps_set_io_config(uint32_t baud_rate)
   for (int i = 0; i < 1000*100; i++);
 }
 
+/**
+ * Reset the uBlox
+ */
+void gps_cfg_rst(void)
+{
+  ubx_cfg_rst.payload.navBbrMask = 0xFFFF; /* Cold start */
+  ubx_cfg_rst.payload.resetMode = 0;       /* Immediate hardware reset */
+  ubx_cfg_rst.payload.reserved1 = 0;
+
+  _ubx_send_message((ubx_message_t*)&ubx_cfg_rst,
+		    (uint8_t*)&ubx_cfg_rst.payload,
+		    sizeof(ubx_cfg_rst.payload));
+
+  for (int i = 0; i < 1000*100*2; i++);
+}
+
+
 /**
  * Sends messages to the GPS to update the time
  */
@@ -561,6 +580,9 @@ void gps_init(void)
 
   kick_the_watchdog();
 
+  /* Reset the GPS */
+  gps_cfg_rst();
+
   /* We use ubx protocol */
   gps_set_io_config(GPS_BAUD_RATE);