X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Ftest%2Fao_gps_test_skytraq.c;h=61e7905a864fbbba533ccfcc0d821fca158fb92e;hb=master;hp=89cbd7677beebe4e140dc1d26eddfb60ef71852d;hpb=5e9193f6375be27e5f7a0321fd34b6acfe81247f;p=fw%2Faltos

diff --git a/src/test/ao_gps_test_skytraq.c b/src/test/ao_gps_test_skytraq.c
index 89cbd767..bd8998b7 100644
--- a/src/test/ao_gps_test_skytraq.c
+++ b/src/test/ao_gps_test_skytraq.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -16,6 +17,9 @@
  */
 
 #define AO_GPS_TEST
+#define AO_TICK_TYPE uint32_t
+#define HAS_GPS 1
+#define tick_count 0
 #include "ao_host.h"
 #include <termios.h>
 #include <errno.h>
@@ -26,6 +30,9 @@
 #define AO_GPS_NUM_SAT_MASK	(0xf << 0)
 #define AO_GPS_NUM_SAT_SHIFT	(0)
 
+#define AO_GPS_NEW_DATA		1
+#define AO_GPS_NEW_TRACKING	2
+
 #define AO_GPS_VALID		(1 << 4)
 #define AO_GPS_RUNNING		(1 << 5)
 #define AO_GPS_DATE_VALID	(1 << 6)
@@ -44,12 +51,17 @@ struct ao_gps_orig {
 	int16_t			altitude;	/* m */
 	uint16_t		ground_speed;	/* cm/s */
 	uint8_t			course;		/* degrees / 2 */
+	uint8_t			pdop;		/* unused */
+	uint8_t			vdop;		/* unused */
 	uint8_t			hdop;		/* * 5 */
 	int16_t			climb_rate;	/* cm/s */
 	uint16_t		h_error;	/* m */
 	uint16_t		v_error;	/* m */
 };
 
+#define AO_TELEMETRY_LOCATION_ALTITUDE(l) 	((l)->altitude)
+#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) ((l)->altitude = (a))
+
 #define SIRF_SAT_STATE_ACQUIRED			(1 << 0)
 #define SIRF_SAT_STATE_CARRIER_PHASE_VALID	(1 << 1)
 #define SIRF_SAT_BIT_SYNC_COMPLETE		(1 << 2)
@@ -75,8 +87,8 @@ struct ao_gps_tracking_orig {
 #define ao_telemetry_satellite ao_gps_tracking_orig
 #define ao_telemetry_satellite_info ao_gps_sat_orig
 
-extern __xdata struct ao_telemetry_location	ao_gps_data;
-extern __xdata struct ao_telemetry_satellite	ao_gps_tracking_data;
+extern struct ao_telemetry_location	ao_gps_data;
+extern struct ao_telemetry_satellite	ao_gps_tracking_data;
 
 uint8_t ao_gps_mutex;
 
@@ -443,7 +455,7 @@ uint8_t	ao_task_minimize_latency;
 void
 ao_dump_state(void *wchan)
 {
-	if (wchan == &ao_gps_data)
+	if (wchan == &ao_gps_new)
 		ao_gps_show();
 }