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.
21 #ifndef GPS_SPARSE_LOG
22 #define GPS_SPARSE_LOG 0
26 static int32_t prev_lat, prev_lon, int16_t prev_alt;
27 static uint8_t has_prev, unmoving;
29 #define GPS_SPARSE_UNMOVING_REPORTS 10
30 #define GPS_SPARSE_UNMOVING_GROUND 10
31 #define GPS_SPARSE_UNMOVING_AIR 10
34 ao_gps_sparse_should_log(int32_t lat, int32_t lon, int16_t alt)
38 if (has_prev && ao_log_running) {
39 uint32_t h = ao_distance(prev_lat, prev_lon, lat, lon);
40 uint16_t v = alt > prev_alt ? (alt - prev_alt) : (prev_alt - alt);
42 if (h < GPS_SPARSE_UNMOVING_GROUND && v < GPS_SPARSE_UNMOVING_AIR) {
43 if (unmoving < GPS_SPARSE_UNMOVING_REPORTS)
54 return unmoving >= GPS_SPARSE_UNMOVING_REPORTS;
59 ao_gps_report_mega(void)
61 static __xdata struct ao_log_mega gps_log;
62 static __xdata struct ao_telemetry_location gps_data;
63 static __xdata struct ao_telemetry_satellite gps_tracking_data;
68 while (!(new = ao_gps_new))
69 ao_sleep(&ao_gps_new);
70 ao_mutex_get(&ao_gps_mutex);
71 if (new & AO_GPS_NEW_DATA)
72 ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
73 if (new & AO_GPS_NEW_TRACKING)
74 ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
76 ao_mutex_put(&ao_gps_mutex);
79 /* Don't log data if GPS has a fix and hasn't moved for a while */
80 if ((gps_data.flags & AO_GPS_VALID) &&
81 !ao_gps_sparse_should_log(gps_data.latitude, gps_data.longitude, gps_data.altitude))
84 if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) {
86 gps_log.tick = ao_gps_tick;
87 gps_log.type = AO_LOG_GPS_TIME;
88 gps_log.u.gps.latitude = gps_data.latitude;
89 gps_log.u.gps.longitude = gps_data.longitude;
90 gps_log.u.gps.altitude = gps_data.altitude;
92 gps_log.u.gps.hour = gps_data.hour;
93 gps_log.u.gps.minute = gps_data.minute;
94 gps_log.u.gps.second = gps_data.second;
95 gps_log.u.gps.flags = gps_data.flags;
96 gps_log.u.gps.year = gps_data.year;
97 gps_log.u.gps.month = gps_data.month;
98 gps_log.u.gps.day = gps_data.day;
99 gps_log.u.gps.course = gps_data.course;
100 gps_log.u.gps.ground_speed = gps_data.ground_speed;
101 gps_log.u.gps.climb_rate = gps_data.climb_rate;
102 gps_log.u.gps.pdop = gps_data.pdop;
103 gps_log.u.gps.hdop = gps_data.hdop;
104 gps_log.u.gps.vdop = gps_data.vdop;
105 gps_log.u.gps.mode = gps_data.mode;
106 ao_log_mega(&gps_log);
108 if ((new & AO_GPS_NEW_TRACKING) && (n = gps_tracking_data.channels) != 0) {
109 gps_log.tick = ao_gps_tick;
110 gps_log.type = AO_LOG_GPS_SAT;
112 for (c = 0; c < n; c++)
113 if ((gps_log.u.gps_sat.sats[i].svid = gps_tracking_data.sats[c].svid))
115 gps_log.u.gps_sat.sats[i].c_n = gps_tracking_data.sats[c].c_n_1;
120 gps_log.u.gps_sat.channels = i;
121 ao_log_mega(&gps_log);
126 __xdata struct ao_task ao_gps_report_mega_task;
129 ao_gps_report_mega_init(void)
131 ao_add_task(&ao_gps_report_mega_task,