X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Ftest%2Fao_gps_test.c;h=7c1ecc15f50607a20ee3cbcd1d0a7c688aea8ba6;hb=9dfbf0103a649816e98d5511b1d6bbbfc93f6632;hp=93d7a9abc6ee5e3371cf72f33fda50d19dd9ad50;hpb=1c344b760776cd5d8c0297d8db9bf02687381b4e;p=fw%2Faltos

diff --git a/src/test/ao_gps_test.c b/src/test/ao_gps_test.c
index 93d7a9ab..7c1ecc15 100644
--- a/src/test/ao_gps_test.c
+++ b/src/test/ao_gps_test.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
@@ -21,10 +22,14 @@
 #include <errno.h>
 #include <sys/types.h>
 #include <sys/stat.h>
+#include <unistd.h>
 #include <fcntl.h>
 #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)
@@ -49,6 +54,9 @@ struct ao_gps_orig {
 	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)
@@ -87,6 +95,7 @@ ao_mutex_put(uint8_t *mutex)
 static int
 ao_gps_fd;
 
+#if 0
 static void
 ao_dbg_char(char c)
 {
@@ -102,6 +111,7 @@ ao_dbg_char(char c)
 	}
 	write(1, line, strlen(line));
 }
+#endif
 
 #define QUEUE_LEN	4096
 
@@ -220,6 +230,8 @@ check_sirf_message(char *from, uint8_t *msg, int len)
 		get_u16(h_v_error);
 
 
+		(void) mag_var;
+		(void) id;
 		printf ("Geodetic Navigation Data (41):\n");
 		printf ("\tNav valid %04x\n", nav_valid);
 		printf ("\tNav type %04x\n", nav_type);
@@ -257,6 +269,7 @@ check_sirf_message(char *from, uint8_t *msg, int len)
 		get_u32(gps_tow);
 		get_u8(channels);
 
+		(void) id;
 		printf ("Measured Tracker Data (4):\n");
 		printf ("GPS week: %d\n", gps_week);
 		printf ("GPS time of week: %d\n", gps_tow);
@@ -317,7 +330,7 @@ static uint8_t	sirf_in_message[4096];
 static int	sirf_in_len;
 
 char
-ao_serial_getchar(void)
+ao_serial1_getchar(void)
 {
 	char	c;
 	uint8_t	uc;
@@ -351,7 +364,7 @@ ao_serial_getchar(void)
 
 
 void
-ao_serial_putchar(char c)
+ao_serial1_putchar(char c)
 {
 	int	i;
 	uint8_t	uc = (uint8_t) c;
@@ -368,10 +381,11 @@ ao_serial_putchar(char c)
 		i = write(ao_gps_fd, &c, 1);
 		if (i == 1) {
 			if ((uint8_t) c == 0xb3 || c == '\r') {
-				static const struct timespec delay = {
+/*				static const struct timespec delay = {
 					.tv_sec = 0,
 					.tv_nsec = 100 * 1000 * 1000
 				};
+*/
 				tcdrain(ao_gps_fd);
 //				nanosleep(&delay, NULL);
 			}
@@ -386,9 +400,10 @@ ao_serial_putchar(char c)
 
 #define AO_SERIAL_SPEED_4800	0
 #define AO_SERIAL_SPEED_57600	1
+#define AO_SERIAL_SPEED_115200	2
 
 static void
-ao_serial_set_speed(uint8_t speed)
+ao_serial1_set_speed(uint8_t speed)
 {
 	int	fd = ao_gps_fd;
 	struct termios	termios;
@@ -402,6 +417,9 @@ ao_serial_set_speed(uint8_t speed)
 	case AO_SERIAL_SPEED_57600:
 		cfsetspeed(&termios, B57600);
 		break;
+	case AO_SERIAL_SPEED_115200:
+		cfsetspeed(&termios, B115200);
+		break;
 	}
 	tcsetattr(fd, TCSAFLUSH, &termios);
 	tcflush(fd, TCIFLUSH);
@@ -415,13 +433,19 @@ ao_serial_set_speed(uint8_t speed)
 void
 ao_dump_state(void *wchan)
 {
-	double	lat, lon;
 	int	i;
-	if (wchan == &ao_gps_data)
+
+	if (wchan != &ao_gps_new)
+		return;
+
+	if (ao_gps_new & AO_GPS_NEW_DATA) {
 		ao_gps_print(&ao_gps_data);
-	else
+		putchar('\n');
+	}
+	if (ao_gps_new & AO_GPS_NEW_TRACKING) {
 		ao_gps_tracking_print(&ao_gps_tracking_data);
-	putchar('\n');
+		putchar('\n');
+	}
 	return;
 	printf ("%02d:%02d:%02d",
 		ao_gps_data.hour, ao_gps_data.minute,
@@ -505,4 +529,5 @@ main (int argc, char **argv)
 	}
 	ao_gps_setup();
 	ao_gps();
+	return 0;
 }