X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=commands.c;h=d67b6515ba1bc60b88620f9c798c9f030f399f3c;hp=c6a6cc9c9efbdb6cfb7bf0d0f118ad335b06b494;hb=HEAD;hpb=704c313fd4d921d356e6fe846554591b03e20de7

diff --git a/commands.c b/commands.c
index c6a6cc9..d67b651 100644
--- a/commands.c
+++ b/commands.c
@@ -48,6 +48,8 @@
 #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 */
@@ -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 */
@@ -2301,5 +2351,6 @@ const parse_ctx_t PROGMEM main_ctx[] = {
 	&cmd_eeprom_add,
 	&cmd_eeprom_add2,
 	&cmd_eeprom_list,
+	&cmd_dump_i2c,
 	NULL,
 };