X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_tracker.c;h=1454c17c31815aadd08c9d060f10a81cacf78711;hb=015d3055a52532070e96469907683c3aa3eda44e;hp=9b007af82109defdc752e56cfcd375a374c5b1e6;hpb=8c212cd5bfa03f71a31d84bd0051314e77d88461;p=fw%2Faltos

diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c
index 9b007af8..1454c17c 100644
--- a/src/kernel/ao_tracker.c
+++ b/src/kernel/ao_tracker.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
@@ -29,7 +30,7 @@ static uint8_t		ao_tracker_force_telem;
 static inline uint8_t
 ao_usb_connected(void)
 {
-	return ao_gpio_get(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, AO_USB_CONNECT) != 0;
+	return ao_gpio_get(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN) != 0;
 }
 #else
 #define ao_usb_connected()	1
@@ -132,7 +133,7 @@ ao_tracker(void)
 					if (height < 0)
 						height = -height;
 
-					if (ao_tracker_force_telem)
+					if (ao_tracker_force_telem > 1)
 						printf("head %d ring %d ground_distance %d height %d\n", gps_head, ring, ground_distance, height);
 					if (ground_distance > ao_config.tracker_motion ||
 					    height > (ao_config.tracker_motion << 1))
@@ -141,7 +142,7 @@ ao_tracker(void)
 						break;
 					}
 				}
-				if (ao_tracker_force_telem) {
+				if (ao_tracker_force_telem > 1) {
 					printf ("moving %d started %d\n", moving, log_started);
 					flush();
 				}
@@ -163,6 +164,25 @@ ao_tracker(void)
 	}
 }
 
+#ifdef AO_LED_GPS_LOCK
+
+static struct ao_task ao_gps_lock_task;
+
+static void
+ao_gps_lock(void)
+{
+	for (;;) {
+		if ((gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
+		    (AO_GPS_VALID|AO_GPS_COURSE_VALID))
+		{
+			ao_led_for(AO_LED_GPS_LOCK, AO_MS_TO_TICKS(20));
+		}
+		ao_delay(AO_SEC_TO_TICKS(3));
+	}
+}
+#endif
+
+
 static uint8_t erasing_current;
 
 void
@@ -191,11 +211,9 @@ static struct ao_task ao_tracker_task;
 static void
 ao_tracker_set_telem(void)
 {
-	uint8_t	telem;
-	ao_cmd_hex();
-	telem = ao_cmd_lex_i;
+	uint16_t r = ao_cmd_hex();
 	if (ao_cmd_status == ao_cmd_success)
-		ao_tracker_force_telem = telem;
+		ao_tracker_force_telem = r;
 	ao_cmd_status = ao_cmd_success;
 	printf ("flight: %d\n", ao_flight_number);
 	printf ("force_telem: %d\n", ao_tracker_force_telem);
@@ -211,7 +229,7 @@ ao_tracker_set_telem(void)
 }
 
 static const struct ao_cmds ao_tracker_cmds[] = {
-	{ ao_tracker_set_telem,	"t <d>\0Set telem on USB" },
+	{ ao_tracker_set_telem,	"t <d>\0Set telem on USB (0 off, 1 on, 2 dbg)" },
 	{ 0, NULL },
 };
 
@@ -223,4 +241,7 @@ ao_tracker_init(void)
 #endif
 	ao_cmd_register(&ao_tracker_cmds[0]);
 	ao_add_task(&ao_tracker_task, ao_tracker, "tracker");
+#ifdef AO_LED_GPS_LOCK
+	ao_add_task(&ao_gps_lock_task, ao_gps_lock, "gps lock");
+#endif
 }