Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

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

diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c
index 9b007af82109defdc752e56cfcd375a374c5b1e6..1454c17c31815aadd08c9d060f10a81cacf78711 100644 (file)
--- 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
 }