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; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
23 static __xdata struct ao_log_record gps_log;
24 static __xdata struct ao_telemetry_location gps_data;
25 static __xdata struct ao_telemetry_satellite gps_tracking_data;
26 uint8_t date_reported = 0;
30 while ((new = ao_gps_new) == 0)
31 ao_sleep(&ao_gps_new);
32 ao_mutex_get(&ao_gps_mutex);
33 if (new & AO_GPS_NEW_DATA)
34 ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
35 if (new & AO_GPS_NEW_TRACKING)
36 ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
38 ao_mutex_put(&ao_gps_mutex);
40 if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) {
41 gps_log.tick = ao_gps_tick;
42 gps_log.type = AO_LOG_GPS_TIME;
43 gps_log.u.gps_time.hour = gps_data.hour;
44 gps_log.u.gps_time.minute = gps_data.minute;
45 gps_log.u.gps_time.second = gps_data.second;
46 gps_log.u.gps_time.flags = gps_data.flags;
47 ao_log_data(&gps_log);
48 gps_log.type = AO_LOG_GPS_LAT;
49 gps_log.u.gps_latitude = gps_data.latitude;
50 ao_log_data(&gps_log);
51 gps_log.type = AO_LOG_GPS_LON;
52 gps_log.u.gps_longitude = gps_data.longitude;
53 ao_log_data(&gps_log);
54 gps_log.type = AO_LOG_GPS_ALT;
55 gps_log.u.gps_altitude.altitude = gps_data.altitude;
56 gps_log.u.gps_altitude.unused = 0xffff;
57 ao_log_data(&gps_log);
58 if (!date_reported && (gps_data.flags & AO_GPS_DATE_VALID)) {
59 gps_log.type = AO_LOG_GPS_DATE;
60 gps_log.u.gps_date.year = gps_data.year;
61 gps_log.u.gps_date.month = gps_data.month;
62 gps_log.u.gps_date.day = gps_data.day;
63 gps_log.u.gps_date.extra = 0;
64 date_reported = ao_log_data(&gps_log);
67 if (new & AO_GPS_NEW_TRACKING) {
70 if ((n = gps_tracking_data.channels) != 0) {
71 gps_log.type = AO_LOG_GPS_SAT;
72 for (c = 0; c < n; c++)
73 if ((gps_log.u.gps_sat.svid = gps_tracking_data.sats[c].svid))
75 gps_log.u.gps_sat.c_n = gps_tracking_data.sats[c].c_n_1;
76 ao_log_data(&gps_log);
83 __xdata struct ao_task ao_gps_report_task;
86 ao_gps_report_init(void)
88 ao_add_task(&ao_gps_report_task, ao_gps_report, "gps_report");