X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=commands.c;h=9f7eaf6b3205a7194b85ba1fe7848a78f7b51467;hp=befd1c90aa020d2d332510ed931af66b06877b75;hb=66e8a69f26ffb8039688651235f223428383dac9;hpb=0704ac13884035e9124507092664910f9936bb5d

diff --git a/commands.c b/commands.c
index befd1c9..9f7eaf6 100644
--- a/commands.c
+++ b/commands.c
@@ -48,6 +48,7 @@
 #include "main.h"
 #include "cmdline.h"
 #include "beep.h"
+#include "../fpv-common/i2c_commands.h"
 #include "i2c_protocol.h"
 #include "eeprom_config.h"
 
@@ -2247,31 +2248,47 @@ const parse_inst_t PROGMEM cmd_eeprom_list = {
 
 /* ************* */
 
-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"));
+		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,
 	},
 };
@@ -2334,6 +2351,6 @@ const parse_ctx_t PROGMEM main_ctx[] = {
 	&cmd_eeprom_add,
 	&cmd_eeprom_add2,
 	&cmd_eeprom_list,
-	&cmd_test,
+	&cmd_dump_i2c,
 	NULL,
 };