first cut at turnon scripts for EasyTimer v2

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

diff --git a/src/test/ao_gps_test_ublox.c b/src/test/ao_gps_test_ublox.c
index a0e04cb6a8659b802c81b6e149731020ca9df868..0833e4f60a3c158b5dabb61768991b60893bed80 100644 (file)
--- a/src/test/ao_gps_test_ublox.c
+++ b/src/test/ao_gps_test_ublox.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
@@ -16,6 +17,7 @@
  */
 
 #define AO_GPS_TEST
+#define HAS_GPS        1
 #include "ao_host.h"
 #include <termios.h>
 #include <errno.h>
@@ -26,6 +28,9 @@
 #define AO_GPS_NUM_SAT_MASK    (0xf << 0)
 #define AO_GPS_NUM_SAT_SHIFT   (0)
 
+#define AO_GPS_NEW_DATA                1
+#define AO_GPS_NEW_TRACKING    2
+
 #define AO_GPS_VALID           (1 << 4)
 #define AO_GPS_RUNNING         (1 << 5)
 #define AO_GPS_DATE_VALID      (1 << 6)
@@ -41,7 +46,7 @@ struct ao_telemetry_location {
        uint8_t                 flags;
        int32_t                 latitude;       /* degrees * 10⁷ */
        int32_t                 longitude;      /* degrees * 10⁷ */
-       int16_t                 altitude;       /* m */
+       int16_t                 altitude_low;   /* m */
        uint16_t                ground_speed;   /* cm/s */
        uint8_t                 course;         /* degrees / 2 */
        uint8_t                 pdop;           /* * 5 */
@@ -50,8 +55,15 @@ struct ao_telemetry_location {
        int16_t                 climb_rate;     /* cm/s */
        uint16_t                h_error;        /* m */
        uint16_t                v_error;        /* m */
+       int16_t                 altitude_high;  /* m */
 };
 
+typedef int32_t                gps_alt_t;
+#define AO_TELEMETRY_LOCATION_ALTITUDE(l)      (((gps_alt_t) (l)->altitude_high << 16) | ((l)->altitude_low))
+#define AO_GPS_ORIG_ALTITUDE(l)                        AO_TELEMETRY_LOCATION_ALTITUDE(l)
+#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) (((l)->altitude_high = (a) >> 16), \
+                                                ((l)->altitude_low = (a)))
+
 #define UBLOX_SAT_STATE_ACQUIRED               (1 << 0)
 #define UBLOX_SAT_STATE_CARRIER_PHASE_VALID    (1 << 1)
 #define UBLOX_SAT_BIT_SYNC_COMPLETE            (1 << 2)
@@ -77,8 +89,8 @@ struct ao_telemetry_satellite {
 #define ao_gps_tracking_orig ao_telemetry_satellite
 #define ao_gps_sat_orig ao_telemetry_satellite_info
 
-extern __xdata struct ao_telemetry_location    ao_gps_data;
-extern __xdata struct ao_telemetry_satellite   ao_gps_tracking_data;
+extern struct ao_telemetry_location    ao_gps_data;
+extern struct ao_telemetry_satellite   ao_gps_tracking_data;
 
 uint8_t ao_gps_mutex;
 
@@ -347,7 +359,7 @@ check_ublox_message(char *which, uint8_t *msg)
 void
 ao_dump_state(void *wchan)
 {
-       if (wchan == &ao_gps_data)
+       if (wchan == &ao_gps_new)
                ao_gps_show();
        return;
 }