altos: Merge GPS logging into a single function

[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 88bed3054ff9d985dba2a8acce1ad71c992d112b..bf2ab5b83274fbf645a47305282a63c0bd78e3b8 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)
 
@@ -74,6 +75,11 @@ 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 +93,7 @@ ao_mutex_put(uint8_t *mutex)
 static int
 ao_gps_fd;
 
+#if 0
 static void
 ao_dbg_char(char c)
 {
@@ -102,6 +109,7 @@ ao_dbg_char(char c)
        }
        write(1, line, strlen(line));
 }
+#endif
 
 #define QUEUE_LEN      4096
 
@@ -222,6 +230,8 @@ 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 +269,7 @@ 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);
@@ -371,10 +382,11 @@ ao_serial1_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);
                        }
@@ -390,6 +402,7 @@ ao_serial1_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_serial1_set_speed(uint8_t speed)
@@ -404,11 +417,14 @@ ao_serial1_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 +432,19 @@ ao_serial1_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 +502,5 @@ main (int argc, char **argv)
                exit (1);
        }
        ao_gps();
+       return 0;
 }