Parse GPS data locally. Add 'g' command to display recent GPS results.

[fw/altos] / ao_cmd.c

diff --git a/ao_cmd.c b/ao_cmd.c
index 49efb05e7cae26e192de529d54c34eb65e5958dc..6e91a72d5b452c31e75a01140afd9a4af20fd4a4 100644 (file)
--- a/ao_cmd.c
+++ b/ao_cmd.c
@@ -252,6 +252,34 @@ adc_dump(void)
        put_string("\n");
 }
 
+static void
+gps_dump(void) __reentrant
+{
+       ao_mutex_get(&ao_gps_mutex);
+       if (ao_gps_data.flags & AO_GPS_VALID) {
+               printf("GPS %2d:%02d:%02d %2d°%2d.%04d'%c %2d°%2d.%04d'%c %5dm %2d sat\n",
+                      ao_gps_data.hour,
+                      ao_gps_data.minute,
+                      ao_gps_data.second,
+                      ao_gps_data.latitude.degrees,
+                      ao_gps_data.latitude.minutes,
+                      ao_gps_data.latitude.minutes_fraction,
+                      (ao_gps_data.flags & AO_GPS_LATITUDE_MASK) == AO_GPS_LATITUDE_NORTH ?
+                      'N' : 'S',
+                      ao_gps_data.longitude.degrees,
+                      ao_gps_data.longitude.minutes,
+                      ao_gps_data.longitude.minutes_fraction,
+                      (ao_gps_data.flags & AO_GPS_LONGITUDE_MASK) == AO_GPS_LONGITUDE_WEST ?
+                      'W' : 'E',
+                      ao_gps_data.altitude,
+                      (ao_gps_data.flags & AO_GPS_NUM_SAT_MASK) >> AO_GPS_NUM_SAT_SHIFT);
+       } else {
+               printf("GPS %2d sat\n",
+                      (ao_gps_data.flags & AO_GPS_NUM_SAT_MASK) >> AO_GPS_NUM_SAT_SHIFT);;
+       }
+       ao_mutex_put(&ao_gps_mutex);
+}
+
 static void
 dump(void)
 {
@@ -488,12 +516,14 @@ static const uint8_t help_txt[] =
        "All numbers are in hex\n"
        "?                                  Print this message\n"
        "a                                  Display current ADC values\n"
+       "g                                  Display current GPS values\n"
        "d <start> <end>                    Dump memory\n"
        "e <block>                          Dump a block of EEPROM data\n"
        "w <block> <start> <len> <data> ... Write data to EEPROM\n"
        "l                                  Dump last flight log\n"
        "E <0 off, 1 on>                    Set command echo mode\n"
        "S<data>                            Send data to serial line\n"
+       "T                                  Show task states\n"
         "\n"
         "Target debug commands:\n"
        "D                                  Enable debug mode\n"
@@ -545,6 +575,9 @@ ao_cmd(void *parameters)
                case 'a':
                        adc_dump();
                        break;
+               case 'g':
+                       gps_dump();
+                       break;
                case 'e':
                        ee_dump();
                        break;
@@ -554,6 +587,9 @@ ao_cmd(void *parameters)
                case 'l':
                        dump_log();
                        break;
+               case 'T':
+                       ao_task_info();
+                       break;
                case 'S':
                        send_serial();
                        break;
@@ -595,5 +631,5 @@ __xdata struct ao_task ao_cmd_task;
 void
 ao_cmd_init(void)
 {
-       ao_add_task(&ao_cmd_task, ao_cmd);
+       ao_add_task(&ao_cmd_task, ao_cmd, "cmd");
 }