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   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   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.
   8  *
   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.
  13  *
  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.
  17  */
  18
  19 #include "ao.h"
  20 #include "ao_log.h"
  21
  22 #ifndef GPS_SPARSE_LOG
  23 #define GPS_SPARSE_LOG  0
  24 #endif
  25
  26 #if GPS_SPARSE_LOG
  27 static int32_t  prev_lat, prev_lon, int16_t prev_alt;
  28 static uint8_t  has_prev, unmoving;
  29
  30 #define GPS_SPARSE_UNMOVING_REPORTS     10
  31 #define GPS_SPARSE_UNMOVING_GROUND      10
  32 #define GPS_SPARSE_UNMOVING_AIR         10
  33
  34 static uint8_t
  35 ao_gps_sparse_should_log(int32_t lat, int32_t lon, int16_t alt)
  36 {
  37         uint8_t ret = 1;
  38
  39         if (has_prev && ao_log_running) {
  40                 uint32_t        h = ao_distance(prev_lat, prev_lon, lat, lon);
  41                 uint16_t        v = alt > prev_alt ? (alt - prev_alt) : (prev_alt - alt);
  42
  43                 if (h < GPS_SPARSE_UNMOVING_GROUND && v < GPS_SPARSE_UNMOVING_AIR) {
  44                         if (unmoving < GPS_SPARSE_UNMOVING_REPORTS)
  45                                 ++unmoving;
  46                 } else
  47                         unmoving = 0;
  48         } else
  49                 unmoving = 0;
  50
  51         prev_lat = lat;
  52         prev_lon = lon;
  53         prev_alt = alt;
  54         has_prev = 1;
  55         return unmoving >= GPS_SPARSE_UNMOVING_REPORTS;
  56 }
  57 #endif
  58
  59 void
  60 ao_gps_report_mega(void)
  61 {
  62         static struct ao_log_mega               gps_log;
  63         static struct ao_telemetry_location     gps_data;
  64         static struct ao_telemetry_satellite    gps_tracking_data;
  65         uint8_t new;
  66         uint8_t c, n, i;
  67
  68         for (;;) {
  69                 while (!(new = ao_gps_new))
  70                         ao_sleep(&ao_gps_new);
  71                 ao_mutex_get(&ao_gps_mutex);
  72                 if (new & AO_GPS_NEW_DATA)
  73                         memcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
  74                 if (new & AO_GPS_NEW_TRACKING)
  75                         memcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
  76                 ao_gps_new = 0;
  77                 ao_mutex_put(&ao_gps_mutex);
  78
  79 #if GPS_SPARSE_LOG
  80                 /* Don't log data if GPS has a fix and hasn't moved for a while */
  81                 if ((gps_data.flags & AO_GPS_VALID) &&
  82                     !ao_gps_sparse_should_log(gps_data.latitude, gps_data.longitude,
  83                                               AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data))
  84                         continue;
  85 #endif
  86                 if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) {
  87
  88                         gps_log.tick = (uint16_t) ao_gps_tick;
  89                         gps_log.type = AO_LOG_GPS_TIME;
  90                         gps_log.u.gps.latitude = gps_data.latitude;
  91                         gps_log.u.gps.longitude = gps_data.longitude;
  92                         gps_log.u.gps.altitude_low = gps_data.altitude_low;
  93                         gps_log.u.gps.altitude_high = gps_data.altitude_high;
  94                         gps_log.u.gps.hour = gps_data.hour;
  95                         gps_log.u.gps.minute = gps_data.minute;
  96                         gps_log.u.gps.second = gps_data.second;
  97                         gps_log.u.gps.flags = gps_data.flags;
  98                         gps_log.u.gps.year = gps_data.year;
  99                         gps_log.u.gps.month = gps_data.month;
 100                         gps_log.u.gps.day = gps_data.day;
 101                         gps_log.u.gps.course = gps_data.course;
 102                         gps_log.u.gps.ground_speed = gps_data.ground_speed;
 103                         gps_log.u.gps.climb_rate = gps_data.climb_rate;
 104                         gps_log.u.gps.pdop = gps_data.pdop;
 105                         gps_log.u.gps.hdop = gps_data.hdop;
 106                         gps_log.u.gps.vdop = gps_data.vdop;
 107                         gps_log.u.gps.mode = gps_data.mode;
 108                         ao_log_write(&gps_log);
 109                 }
 110                 if ((new & AO_GPS_NEW_TRACKING) && (n = gps_tracking_data.channels) != 0) {
 111                         gps_log.tick = (uint16_t) ao_gps_tick;
 112                         gps_log.type = AO_LOG_GPS_SAT;
 113                         i = 0;
 114                         for (c = 0; c < n; c++)
 115                                 if ((gps_log.u.gps_sat.sats[i].svid = gps_tracking_data.sats[c].svid))
 116                                 {
 117                                         gps_log.u.gps_sat.sats[i].c_n = gps_tracking_data.sats[c].c_n_1;
 118                                         i++;
 119                                         if (i >= 12)
 120                                                 break;
 121                                 }
 122                         gps_log.u.gps_sat.channels = i;
 123                         ao_log_write(&gps_log);
 124                 }
 125         }
 126 }
 127
 128 struct ao_task ao_gps_report_mega_task;
 129
 130 void
 131 ao_gps_report_mega_init(void)
 132 {
 133         ao_add_task(&ao_gps_report_mega_task,
 134                     ao_gps_report_mega,
 135                     "gps_report");
 136 }