altos: Rename 'core' to 'kernel'

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

diff --git a/src/kernel/ao_gps_report_mega.c b/src/kernel/ao_gps_report_mega.c
new file mode 100644 (file)
index 0000000..5e3c71b
--- /dev/null
+++ b/src/kernel/ao_gps_report_mega.c
@@ -0,0 +1,90 @@
+/*
+ * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ *
+ * 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.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+#include "ao_log.h"
+
+void
+ao_gps_report_mega(void)
+{
+       static __xdata struct ao_log_mega               gps_log;
+       static __xdata struct ao_telemetry_location     gps_data;
+       static __xdata struct ao_telemetry_satellite    gps_tracking_data;
+       uint8_t new;
+       uint8_t c, n, i;
+
+       for (;;) {
+               while (!(new = ao_gps_new))
+                       ao_sleep(&ao_gps_new);
+               ao_mutex_get(&ao_gps_mutex);
+               if (new & AO_GPS_NEW_DATA)
+                       ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
+               if (new & AO_GPS_NEW_TRACKING)
+                       ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
+               ao_gps_new = 0;
+               ao_mutex_put(&ao_gps_mutex);
+
+               if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) {
+                       gps_log.tick = ao_gps_tick;
+                       gps_log.type = AO_LOG_GPS_TIME;
+                       gps_log.u.gps.latitude = gps_data.latitude;
+                       gps_log.u.gps.longitude = gps_data.longitude;
+                       gps_log.u.gps.altitude = gps_data.altitude;
+
+                       gps_log.u.gps.hour = gps_data.hour;
+                       gps_log.u.gps.minute = gps_data.minute;
+                       gps_log.u.gps.second = gps_data.second;
+                       gps_log.u.gps.flags = gps_data.flags;
+                       gps_log.u.gps.year = gps_data.year;
+                       gps_log.u.gps.month = gps_data.month;
+                       gps_log.u.gps.day = gps_data.day;
+                       gps_log.u.gps.course = gps_data.course;
+                       gps_log.u.gps.ground_speed = gps_data.ground_speed;
+                       gps_log.u.gps.climb_rate = gps_data.climb_rate;
+                       gps_log.u.gps.pdop = gps_data.pdop;
+                       gps_log.u.gps.hdop = gps_data.hdop;
+                       gps_log.u.gps.vdop = gps_data.vdop;
+                       gps_log.u.gps.mode = gps_data.mode;
+                       ao_log_mega(&gps_log);
+               }
+               if ((new & AO_GPS_NEW_TRACKING) && (n = gps_tracking_data.channels) != 0) {
+                       gps_log.tick = ao_gps_tick;
+                       gps_log.type = AO_LOG_GPS_SAT;
+                       i = 0;
+                       for (c = 0; c < n; c++)
+                               if ((gps_log.u.gps_sat.sats[i].svid = gps_tracking_data.sats[c].svid))
+                               {
+                                       gps_log.u.gps_sat.sats[i].c_n = gps_tracking_data.sats[c].c_n_1;
+                                       i++;
+                                       if (i >= 12)
+                                               break;
+                               }
+                       gps_log.u.gps_sat.channels = i;
+                       ao_log_mega(&gps_log);
+               }
+       }
+}
+
+__xdata struct ao_task ao_gps_report_mega_task;
+
+void
+ao_gps_report_mega_init(void)
+{
+       ao_add_task(&ao_gps_report_mega_task,
+                   ao_gps_report_mega,
+                   "gps_report");
+}