X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=ao_cmd.c;h=6e91a72d5b452c31e75a01140afd9a4af20fd4a4;hp=74cbb7b12f7727a91487688a595cca93fa11e775;hb=5be13b76a2e29b84cd6d1eec065e3354b0dafce5;hpb=5e2393eb6b1a6d7b180bd63d5165ee7b7ff5f9e0

diff --git a/ao_cmd.c b/ao_cmd.c
index 74cbb7b1..6e91a72d 100644
--- a/ao_cmd.c
+++ b/ao_cmd.c
@@ -3,8 +3,7 @@
  *
  * 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; either version 2 of the License, or
- * (at your option) any later version.
+ * the Free Software Foundation; version 2 of the License.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -253,6 +252,34 @@ adc_dump(void)
 	put_string("\n");
 }
 
+static void
+gps_dump(void) __reentrant
+{
+	ao_mutex_get(&ao_gps_mutex);
+	if (ao_gps_data.flags & AO_GPS_VALID) {
+		printf("GPS %2d:%02d:%02d %2d°%2d.%04d'%c %2d°%2d.%04d'%c %5dm %2d sat\n",
+		       ao_gps_data.hour,
+		       ao_gps_data.minute,
+		       ao_gps_data.second,
+		       ao_gps_data.latitude.degrees,
+		       ao_gps_data.latitude.minutes,
+		       ao_gps_data.latitude.minutes_fraction,
+		       (ao_gps_data.flags & AO_GPS_LATITUDE_MASK) == AO_GPS_LATITUDE_NORTH ?
+		       'N' : 'S',
+		       ao_gps_data.longitude.degrees,
+		       ao_gps_data.longitude.minutes,
+		       ao_gps_data.longitude.minutes_fraction,
+		       (ao_gps_data.flags & AO_GPS_LONGITUDE_MASK) == AO_GPS_LONGITUDE_WEST ?
+		       'W' : 'E',
+		       ao_gps_data.altitude,
+		       (ao_gps_data.flags & AO_GPS_NUM_SAT_MASK) >> AO_GPS_NUM_SAT_SHIFT);
+	} else {
+		printf("GPS %2d sat\n",
+		       (ao_gps_data.flags & AO_GPS_NUM_SAT_MASK) >> AO_GPS_NUM_SAT_SHIFT);;
+	}
+	ao_mutex_put(&ao_gps_mutex);
+}
+
 static void
 dump(void)
 {
@@ -342,17 +369,16 @@ echo(void)
 	lex_echo = lex_i != 0;
 }
 
-#if INCLUDE_REMOTE_DEBUG
 static void
 debug_enable(void)
 {
-	dbg_debug_mode();
+	ao_dbg_debug_mode();
 }
 
 static void
 debug_reset(void)
 {
-	dbg_reset();
+	ao_dbg_reset();
 }
 
 static void
@@ -365,7 +391,7 @@ debug_put(void)
 		hex();
 		if (lex_status != SUCCESS)
 			break;
-		dbg_send_byte(lex_i);
+		ao_dbg_send_byte(lex_i);
 	}
 }
 
@@ -386,7 +412,7 @@ debug_get(void)
 	for (i = 0; i < count; i++) {
 		if (i && (i & 7) == 0)
 			put_string("\n");
-		byte = dbg_recv_byte();
+		byte = ao_dbg_recv_byte();
 		put8(byte);
 		putchar(' ');
 	}
@@ -423,15 +449,15 @@ debug_input(void)
 	addr = lex_i;
 	if (lex_status != SUCCESS)
 		return;
-	dbg_start_transfer(addr);
+	ao_dbg_start_transfer(addr);
 	i = 0;
 	while (count--) {
 		if (!(i++ & 7))
 			put_string("\n");
-		b = dbg_read_byte();
+		b = ao_dbg_read_byte();
 		put8(b);
 	}
-	dbg_end_transfer();
+	ao_dbg_end_transfer();
 	put_string("\n");
 }
 
@@ -448,17 +474,16 @@ debug_output(void)
 	addr = lex_i;
 	if (lex_status != SUCCESS)
 		return;
-	dbg_start_transfer(addr);
+	ao_dbg_start_transfer(addr);
 	while (count--) {
 		b = getnibble() << 4;
 		b |= getnibble();
 		if (lex_status != SUCCESS)
 			return;
-		dbg_write_byte(b);
+		ao_dbg_write_byte(b);
 	}
-	dbg_end_transfer();
+	ao_dbg_end_transfer();
 }
-#endif
 
 static void
 dump_log(void)
@@ -477,16 +502,28 @@ dump_log(void)
 	}
 }
 
+static void
+send_serial(void)
+{
+	white();
+	while (lex_c != '\n') {
+		ao_serial_putchar(lex_c);
+		lex();
+	}
+}
+
 static const uint8_t help_txt[] = 
 	"All numbers are in hex\n"
 	"?                                  Print this message\n"
 	"a                                  Display current ADC values\n"
+	"g                                  Display current GPS values\n"
 	"d <start> <end>                    Dump memory\n"
 	"e <block>                          Dump a block of EEPROM data\n"
 	"w <block> <start> <len> <data> ... Write data to EEPROM\n"
 	"l                                  Dump last flight log\n"
 	"E <0 off, 1 on>                    Set command echo mode\n"
-#if INCLUDE_REMOTE_DEBUG
+	"S<data>                            Send data to serial line\n"
+	"T                                  Show task states\n"
         "\n"
         "Target debug commands:\n"
 	"D                                  Enable debug mode\n"
@@ -495,7 +532,6 @@ static const uint8_t help_txt[] =
 	"G <count>                          Get data from debug port\n"
 	"O <count> <addr>                   Output <count> bytes to target at <addr>\n"
 	"I <count> <addr>                   Input <count> bytes to target at <addr>\n"
-#endif
 ;
 
 static void
@@ -539,6 +575,9 @@ ao_cmd(void *parameters)
 		case 'a':
 			adc_dump();
 			break;
+		case 'g':
+			gps_dump();
+			break;
 		case 'e':
 			ee_dump();
 			break;
@@ -548,10 +587,15 @@ ao_cmd(void *parameters)
 		case 'l':
 			dump_log();
 			break;
+		case 'T':
+			ao_task_info();
+			break;
+		case 'S':
+			send_serial();
+			break;
 		case 'E':
 			echo();
 			break;
-#if INCLUDE_REMOTE_DEBUG
 		case 'D':
 			debug_enable();
 			break;
@@ -570,7 +614,6 @@ ao_cmd(void *parameters)
 		case 'O':
 			debug_output();
 			break;
-#endif
 		case '\r':
 		case '\n':
 			break;
@@ -588,5 +631,5 @@ __xdata struct ao_task ao_cmd_task;
 void
 ao_cmd_init(void)
 {
-	ao_add_task(&ao_cmd_task, ao_cmd);
+	ao_add_task(&ao_cmd_task, ao_cmd, "cmd");
 }