src/kernel: Add GPS lock blink LED to tracker code

[fw/altos] / src / kernel / ao_tracker.c

diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c
index 4abd309a99b1fa931c0f083f1e2e45606a0067c5..46278530843cf36d527297acc0b93e1be1004bdd 100644 (file)
--- a/src/kernel/ao_tracker.c
+++ b/src/kernel/ao_tracker.c
@@ -164,6 +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
@@ -222,4 +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
 }