+/* ************* */
+
+struct cmd_dump_i2c_result {
+ fixed_string_t cmd;
+};
+
+static void cmd_dump_i2c_parsed(void *parsed_result, void *data)
+{
+ struct i2c_ans_imuboard_status imu;
+ uint8_t irq_flags;
+
+ (void)parsed_result;
+ (void)data;
+
+ while (!cmdline_keypressed()) {
+ IRQ_LOCK(irq_flags);
+ memcpy(&imu, &imuboard_status, sizeof(imu));
+ IRQ_UNLOCK(irq_flags);
+
+ if (imu.flags & IMUBOARD_STATUS_GPS_OK) {
+ printf_P(PSTR("GPS lat=%"PRIi32" long=%"PRIi32
+ " alt=%"PRIi32"\n"),
+ imu.latitude, imu.longitude, imu.altitude);
+ }
+ else
+ printf_P(PSTR("GPS unavailable\n"));
+ i2c_protocol_debug();
+ wait_ms(100);
+ }
+}
+
+const char PROGMEM str_dump_i2c[] = "dump_i2c";
+const parse_token_string_t PROGMEM cmd_dump_i2c_cmd =
+ TOKEN_STRING_INITIALIZER(struct cmd_dump_i2c_result, cmd,
+ str_dump_i2c);
+
+const char PROGMEM help_dump_i2c[] = "dump_i2c";
+const parse_inst_t PROGMEM cmd_dump_i2c = {
+ .f = cmd_dump_i2c_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_dump_i2c,
+ .tokens = { /* token list, NULL terminated */
+ (PGM_P)&cmd_dump_i2c_cmd,
+ NULL,
+ },
+};
+
+