X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=commands.c;h=d67b6515ba1bc60b88620f9c798c9f030f399f3c;hp=dc88a0698435615b07c5b7e1169ab3a229a2f87a;hb=HEAD;hpb=6811941dc02f68dd0305a30f3c1cf72a23566b6b

diff --git a/commands.c b/commands.c
index dc88a06..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 */
@@ -1742,6 +1744,12 @@ static void cmd_rc_proto_mode_parsed(void *parsed_result, void *data)
 		else
 			flags &= ~RC_PROTO_FLAGS_TX_POW_PROBE;
 	}
+	else if (!strcmp_P(res->cmd, PSTR("compute_best_pow"))) {
+		if (on == 1)
+			flags |= RC_PROTO_FLAGS_COMPUTE_BEST_POW;
+		else
+			flags &= ~RC_PROTO_FLAGS_COMPUTE_BEST_POW;
+	}
 	else if (!strcmp_P(res->cmd, PSTR("tx"))) {
 		flags &= ~RC_PROTO_FLAGS_TX_MASK;
 		if (!strcmp_P(res->val, PSTR("bypass")))
@@ -1766,6 +1774,8 @@ static void cmd_rc_proto_mode_parsed(void *parsed_result, void *data)
 		(flags & RC_PROTO_FLAGS_TX_STATS) ? "on" : "off");
 	printf_P(PSTR("rc_proto_mode tx_power_probe %s\n"),
 		(flags & RC_PROTO_FLAGS_TX_POW_PROBE) ? "on" : "off");
+	printf_P(PSTR("rc_proto_mode compute_best_pow %s\n"),
+		(flags & RC_PROTO_FLAGS_COMPUTE_BEST_POW) ? "on" : "off");
 }
 
 const char PROGMEM str_rc_proto_mode_arg0[] = "rc_proto_mode";
@@ -1774,7 +1784,7 @@ const parse_token_string_t PROGMEM cmd_rc_proto_mode_arg0 =
 				 str_rc_proto_mode_arg0);
 
 const char PROGMEM str_rc_proto_mode_cmd[] =
-	"rx_copy_spi#rx_autobypass#tx_stats#tx_power_probe";
+	"rx_copy_spi#rx_autobypass#tx_stats#tx_power_probe#compute_best_pow";
 const parse_token_string_t PROGMEM cmd_rc_proto_mode_cmd =
 	TOKEN_STRING_INITIALIZER(struct cmd_rc_proto_mode_result, cmd,
 		str_rc_proto_mode_cmd);
@@ -2236,6 +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 */
@@ -2293,5 +2351,6 @@ const parse_ctx_t PROGMEM main_ctx[] = {
 	&cmd_eeprom_add,
 	&cmd_eeprom_add2,
 	&cmd_eeprom_list,
+	&cmd_dump_i2c,
 	NULL,
 };