#include "main.h"
#include "cmdline.h"
#include "beep.h"
+#include "../fpv-common/i2c_commands.h"
#include "i2c_protocol.h"
#include "eeprom_config.h"
/* ************* */
-struct cmd_test_result {
+struct cmd_dump_i2c_result {
fixed_string_t cmd;
};
-extern uint8_t imuboard; /* XXX test */
-static void cmd_test_parsed(void *parsed_result, void *data)
+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;
- printf("%d\n", imuboard);
- i2c_protocol_debug();
+
+ 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_test[] = "test";
-const parse_token_string_t PROGMEM cmd_test_cmd =
- TOKEN_STRING_INITIALIZER(struct cmd_test_result, cmd,
- str_test);
+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_test[] = "test";
-const parse_inst_t PROGMEM cmd_test = {
- .f = cmd_test_parsed, /* function to call */
+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_test,
+ .help_str = help_dump_i2c,
.tokens = { /* token list, NULL terminated */
- (PGM_P)&cmd_test_cmd,
+ (PGM_P)&cmd_dump_i2c_cmd,
NULL,
},
};
&cmd_eeprom_add,
&cmd_eeprom_add2,
&cmd_eeprom_list,
- &cmd_test,
+ &cmd_dump_i2c,
NULL,
};