altos/test: Display MPU6000 values in ao_flight_test_mm output

[fw/altos] / src / test / ao_gps_test_skytraq.c

diff --git a/src/test/ao_gps_test_skytraq.c b/src/test/ao_gps_test_skytraq.c
index a78fae0fefcda4f49ecf6a3b04107976fc57baf0..846daa9443825b02fc322b9ca1d6f9fe5b806d36 100644 (file)
--- a/src/test/ao_gps_test_skytraq.c
+++ b/src/test/ao_gps_test_skytraq.c
@@ -22,6 +22,7 @@
 #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)
 
@@ -87,6 +88,7 @@ ao_mutex_put(uint8_t *mutex)
 static int
 ao_gps_fd;
 
+#if 0
 static void
 ao_dbg_char(char c)
 {
@@ -102,6 +104,7 @@ ao_dbg_char(char c)
        }
        write(1, line, strlen(line));
 }
+#endif
 
 #define QUEUE_LEN      4096
 
@@ -222,6 +225,8 @@ 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 +264,7 @@ 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 +325,7 @@ 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 +360,7 @@ 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 +377,11 @@ 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);
                        }
@@ -392,7 +399,7 @@ ao_serial_putchar(char c)
 #define AO_SERIAL_SPEED_57600  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;
@@ -422,8 +429,6 @@ ao_serial_set_speed(uint8_t speed)
 void
 ao_dump_state(void *wchan)
 {
-       double  lat, lon;
-       int     i;
        if (wchan == &ao_gps_data)
                ao_gps_print(&ao_gps_data);
        else
@@ -487,4 +492,5 @@ main (int argc, char **argv)
                exit (1);
        }
        ao_gps();
+       return 0;
 }