* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
+#ifndef AO_GPS_TEST
#include "ao.h"
+#endif
+
+struct ao_gps_split {
+ uint8_t positive;
+ uint8_t degrees;
+ uint8_t minutes;
+ uint16_t minutes_fraction;
+};
+
+static void
+ao_gps_split(int32_t v, __xdata struct ao_gps_split *split) __reentrant
+{
+ uint32_t minutes_e7;
+
+ split->positive = 1;
+ if (v < 0) {
+ v = -v;
+ split->positive = 0;
+ }
+ split->degrees = v / 10000000;
+ minutes_e7 = (v % 10000000) * 60;
+ split->minutes = minutes_e7 / 10000000;
+ split->minutes_fraction = (minutes_e7 % 10000000) / 1000;
+}
void
ao_gps_print(__xdata struct ao_gps_data *gps_data) __reentrant
{
printf("GPS %2d sat",
- (gps_data->flags & AO_GPS_NUM_SAT_MASK) >> AO_GPS_NUM_SAT_SHIFT);;
+ (gps_data->flags & AO_GPS_NUM_SAT_MASK) >> AO_GPS_NUM_SAT_SHIFT);
if (gps_data->flags & AO_GPS_VALID) {
- printf(" %2d:%02d:%02d %2d°%02d.%04d'%c %2d°%02d.%04d'%c %5dm\n",
+ static __xdata struct ao_gps_split lat, lon;
+ int16_t climb, climb_int, climb_frac;
+
+ ao_gps_split(gps_data->latitude, &lat);
+ ao_gps_split(gps_data->longitude, &lon);
+ if (gps_data->flags & AO_GPS_DATE_VALID)
+ printf(" 20%02d-%02d-%02d",
+ gps_data->year,
+ gps_data->month,
+ gps_data->day);
+ else
+ printf (" 0000-00-00");
+ printf(" %2d:%02d:%02d",
gps_data->hour,
gps_data->minute,
- gps_data->second,
- gps_data->latitude.degrees,
- gps_data->latitude.minutes,
- gps_data->latitude.minutes_fraction,
- (gps_data->flags & AO_GPS_LATITUDE_MASK) == AO_GPS_LATITUDE_NORTH ?
- 'N' : 'S',
- gps_data->longitude.degrees,
- gps_data->longitude.minutes,
- gps_data->longitude.minutes_fraction,
- (gps_data->flags & AO_GPS_LONGITUDE_MASK) == AO_GPS_LONGITUDE_WEST ?
- 'W' : 'E',
- gps_data->altitude,
- (gps_data->flags & AO_GPS_NUM_SAT_MASK) >> AO_GPS_NUM_SAT_SHIFT);
+ gps_data->second);
+ printf(" %2d°%02d.%04d'%c %2d°%02d.%04d'%c %5dm",
+ lat.degrees,
+ lat.minutes,
+ lat.minutes_fraction,
+ lat.positive ? 'N' : 'S',
+ lon.degrees,
+ lon.minutes,
+ lon.minutes_fraction,
+ lon.positive ? 'E' : 'W',
+ gps_data->altitude);
+ climb = gps_data->climb_rate;
+ if (climb >= 0) {
+ climb_int = climb / 100;
+ climb_frac = climb % 100;
+ } else {
+ climb = -climb;
+ climb_int = -(climb / 100);
+ climb_frac = climb % 100;
+ }
+ printf(" %5u.%02dm/s(H) %d° %5d.%02dm/s(V)",
+ gps_data->ground_speed / 100,
+ gps_data->ground_speed % 100,
+ gps_data->course * 2,
+ climb / 100,
+ climb % 100);
+ printf(" %d.%d(hdop) %5u(herr) %5u(verr)",
+ gps_data->hdop / 5,
+ (gps_data->hdop * 2) % 10,
+ gps_data->h_error,
+ gps_data->v_error);
+ } else if (gps_data->flags & AO_GPS_RUNNING) {
+ printf(" unlocked");
} else {
- printf(" unlocked\n");
+ printf (" not-connected");
+ }
+}
+
+void
+ao_gps_tracking_print(__xdata struct ao_gps_tracking_data *gps_tracking_data) __reentrant
+{
+ uint8_t c, n, v;
+ __xdata struct ao_gps_sat_data *sat;
+ printf("SAT ");
+ n = gps_tracking_data->channels;
+ if (n == 0) {
+ printf("not-connected");
+ return;
+ }
+ sat = gps_tracking_data->sats;
+ v = 0;
+ for (c = 0; c < n; c++) {
+ if (sat->svid)
+ v++;
+ sat++;
+ }
+ printf("%d ", v);
+ sat = gps_tracking_data->sats;
+ for (c = 0; c < n; c++) {
+ if (sat->svid)
+ printf (" %3d %3d",
+ sat->svid,
+ sat->c_n_1);
+ sat++;
}
}