beep when GPS ready

[protos/xbee-avr.git] / commands.c

diff --git a/commands.c b/commands.c
index c6a6cc9..d67b651 100644 (file)
--- a/commands.c
+++ b/commands.c
@@ -48,6 +48,8 @@
 #include "main.h"
 #include "cmdline.h"
 #include "beep.h"
 #include "main.h"
 #include "cmdline.h"
 #include "beep.h"

+#include "../fpv-common/i2c_commands.h"
+#include "i2c_protocol.h"

 #include "eeprom_config.h"
 
 /* commands_gen.c */
 #include "eeprom_config.h"
 
 /* commands_gen.c */


@@ -2244,6 +2246,54 @@ const parse_inst_t PROGMEM cmd_eeprom_list = {
 };
 
 
 };
 
 

+/* ************* */
+
+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,
+       },
+};
+
+

 /* ************* */
 
 /* in progmem */
 /* ************* */
 
 /* in progmem */


@@ -2301,5 +2351,6 @@ const parse_ctx_t PROGMEM main_ctx[] = {
        &cmd_eeprom_add,
        &cmd_eeprom_add2,
        &cmd_eeprom_list,
        &cmd_eeprom_add,
        &cmd_eeprom_add2,
        &cmd_eeprom_list,

+       &cmd_dump_i2c,

        NULL,
 };
        NULL,
 };