X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Ftest%2Fao_gps_test_skytraq.c;h=1b590d5e972a5fff6bce45cf37f069c7f9a492ad;hb=bc3610d8cecbfed40c62d4dcb93fc9a4d2a7c9e3;hp=a78fae0fefcda4f49ecf6a3b04107976fc57baf0;hpb=f6f54d70b768dca1715ddddea64a4df00d82b09e;p=fw%2Faltos

diff --git a/src/test/ao_gps_test_skytraq.c b/src/test/ao_gps_test_skytraq.c
index a78fae0f..1b590d5e 100644
--- a/src/test/ao_gps_test_skytraq.c
+++ b/src/test/ao_gps_test_skytraq.c
@@ -22,9 +22,13 @@
 #include <sys/types.h>
 #include <sys/stat.h>
 #include <fcntl.h>
+#include <unistd.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)
@@ -74,6 +78,11 @@ 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;
+
+uint8_t ao_gps_mutex;
+
 void
 ao_mutex_get(uint8_t *mutex)
 {
@@ -87,6 +96,7 @@ ao_mutex_put(uint8_t *mutex)
 static int
 ao_gps_fd;
 
+#if 0
 static void
 ao_dbg_char(char c)
 {
@@ -102,6 +112,7 @@ ao_dbg_char(char c)
 	}
 	write(1, line, strlen(line));
 }
+#endif
 
 #define QUEUE_LEN	4096
 
@@ -222,6 +233,8 @@ check_skytraq_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);
@@ -259,6 +272,7 @@ check_skytraq_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);
@@ -319,7 +333,7 @@ static uint8_t	skytraq_in_message[4096];
 static int	skytraq_in_len;
 
 char
-ao_serial_getchar(void)
+ao_serial1_getchar(void)
 {
 	char	c;
 	uint8_t	uc;
@@ -354,7 +368,7 @@ ao_serial_getchar(void)
 
 
 void
-ao_serial_putchar(char c)
+ao_serial1_putchar(char c)
 {
 	int	i;
 	uint8_t	uc = (uint8_t) c;
@@ -371,10 +385,11 @@ 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);
 			}
@@ -390,9 +405,10 @@ ao_serial_putchar(char c)
 #define AO_SERIAL_SPEED_4800	0
 #define AO_SERIAL_SPEED_9600	1
 #define AO_SERIAL_SPEED_57600	2
+#define AO_SERIAL_SPEED_115200	3
 
 static void
-ao_serial_set_speed(uint8_t speed)
+ao_serial1_set_speed(uint8_t speed)
 {
 	int	fd = ao_gps_fd;
 	struct termios	termios;
@@ -404,11 +420,14 @@ ao_serial_set_speed(uint8_t speed)
 		cfsetspeed(&termios, B4800);
 		break;
 	case AO_SERIAL_SPEED_9600:
-		cfsetspeed(&termios, B38400);
+		cfsetspeed(&termios, B9600);
 		break;
 	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);
@@ -416,20 +435,19 @@ ao_serial_set_speed(uint8_t speed)
 
 #define ao_time() 0
 
+uint8_t	ao_task_minimize_latency;
+
+#define ao_usb_getchar()	0
+
 #include "ao_gps_print.c"
+#include "ao_gps_show.c"
 #include "ao_gps_skytraq.c"
 
 void
 ao_dump_state(void *wchan)
 {
-	double	lat, lon;
-	int	i;
-	if (wchan == &ao_gps_data)
-		ao_gps_print(&ao_gps_data);
-	else
-		ao_gps_tracking_print(&ao_gps_tracking_data);
-	putchar('\n');
-	return;
+	if (wchan == &ao_gps_new)
+		ao_gps_show();
 }
 
 int
@@ -487,4 +505,5 @@ main (int argc, char **argv)
 		exit (1);
 	}
 	ao_gps();
+	return 0;
 }