2 * Copyright © 2009 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
24 static struct ao_log_record gps_log;
25 static struct ao_telemetry_location gps_data;
26 static struct ao_telemetry_satellite gps_tracking_data;
27 uint8_t date_reported = 0;
31 while ((new = ao_gps_new) == 0)
32 ao_sleep(&ao_gps_new);
33 ao_mutex_get(&ao_gps_mutex);
34 if (new & AO_GPS_NEW_DATA)
35 memcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
36 if (new & AO_GPS_NEW_TRACKING)
37 memcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
39 ao_mutex_put(&ao_gps_mutex);
41 if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) {
42 gps_log.tick = ao_gps_tick;
43 gps_log.type = AO_LOG_GPS_TIME;
44 gps_log.u.gps_time.hour = gps_data.hour;
45 gps_log.u.gps_time.minute = gps_data.minute;
46 gps_log.u.gps_time.second = gps_data.second;
47 gps_log.u.gps_time.flags = gps_data.flags;
48 ao_log_write(&gps_log);
49 gps_log.type = AO_LOG_GPS_LAT;
50 gps_log.u.gps_latitude = gps_data.latitude;
51 ao_log_write(&gps_log);
52 gps_log.type = AO_LOG_GPS_LON;
53 gps_log.u.gps_longitude = gps_data.longitude;
54 ao_log_write(&gps_log);
55 gps_log.type = AO_LOG_GPS_ALT;
56 gps_log.u.gps_altitude.altitude_low = gps_data.altitude_low;
58 gps_log.u.gps_altitude.altitude_high = gps_data.altitude_high;
60 gps_log.u.gps_altitude.altitude_high = 0xffff;
62 ao_log_write(&gps_log);
63 if (!date_reported && (gps_data.flags & AO_GPS_DATE_VALID)) {
64 gps_log.type = AO_LOG_GPS_DATE;
65 gps_log.u.gps_date.year = gps_data.year;
66 gps_log.u.gps_date.month = gps_data.month;
67 gps_log.u.gps_date.day = gps_data.day;
68 gps_log.u.gps_date.extra = 0;
69 date_reported = ao_log_write(&gps_log);
72 if (new & AO_GPS_NEW_TRACKING) {
75 if ((n = gps_tracking_data.channels) != 0) {
76 gps_log.type = AO_LOG_GPS_SAT;
77 for (c = 0; c < n; c++)
78 if ((gps_log.u.gps_sat.svid = gps_tracking_data.sats[c].svid))
80 gps_log.u.gps_sat.c_n = gps_tracking_data.sats[c].c_n_1;
81 ao_log_write(&gps_log);
88 struct ao_task ao_gps_report_task;
91 ao_gps_report_init(void)
93 ao_add_task(&ao_gps_report_task, ao_gps_report, "gps_report");