* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
+#ifndef AO_GPS_TEST
#include "ao.h"
+#endif
+#include "ao_telem.h"
-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
+void
+ao_gps_print(__xdata struct ao_gps_data *gps_data) __reentrant
{
- uint32_t minutes_e7;
+ char state;
+
+ if (gps_data->flags & AO_GPS_VALID)
+ state = AO_TELEM_GPS_STATE_LOCKED;
+ else if (gps_data->flags & AO_GPS_RUNNING)
+ state = AO_TELEM_GPS_STATE_UNLOCKED;
+ else
+ state = AO_TELEM_GPS_STATE_ERROR;
+ printf(AO_TELEM_GPS_STATE " %c "
+ AO_TELEM_GPS_NUM_SAT " %d ",
+ state,
+ (gps_data->flags & AO_GPS_NUM_SAT_MASK) >> AO_GPS_NUM_SAT_SHIFT);
+ if (!(gps_data->flags & AO_GPS_VALID))
+ return;
+ printf(AO_TELEM_GPS_LATITUDE " %ld "
+ AO_TELEM_GPS_LONGITUDE " %ld "
+ AO_TELEM_GPS_ALTITUDE " %d ",
+ gps_data->latitude,
+ gps_data->longitude,
+ gps_data->altitude);
+
+ if (gps_data->flags & AO_GPS_DATE_VALID)
+ printf(AO_TELEM_GPS_YEAR " %d "
+ AO_TELEM_GPS_MONTH " %d "
+ AO_TELEM_GPS_DAY " %d ",
+ gps_data->year,
+ gps_data->month,
+ gps_data->day);
+
+ printf(AO_TELEM_GPS_HOUR " %d "
+ AO_TELEM_GPS_MINUTE " %d "
+ AO_TELEM_GPS_SECOND " %d ",
+ gps_data->hour,
+ gps_data->minute,
+ gps_data->second);
+
+ printf(AO_TELEM_GPS_HDOP " %d ",
+ gps_data->hdop * 2);
- split->positive = 1;
- if (v < 0) {
- v = -v;
- split->positive = 0;
+ if (gps_data->flags & AO_GPS_COURSE_VALID) {
+ printf(AO_TELEM_GPS_HERROR " %d "
+ AO_TELEM_GPS_VERROR " %d "
+ AO_TELEM_GPS_VERTICAL_SPEED " %d "
+ AO_TELEM_GPS_HORIZONTAL_SPEED " %d "
+ AO_TELEM_GPS_COURSE " %d ",
+ gps_data->h_error,
+ gps_data->v_error,
+ gps_data->climb_rate,
+ gps_data->ground_speed,
+ (int) gps_data->course * 2);
}
- 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
+ao_gps_tracking_print(__xdata struct ao_gps_tracking_data *gps_tracking_data) __reentrant
{
- printf("GPS %2d sat",
- (gps_data->flags & AO_GPS_NUM_SAT_MASK) >> AO_GPS_NUM_SAT_SHIFT);;
- if (gps_data->flags & AO_GPS_VALID) {
- static __xdata struct ao_gps_split lat, lon;
- ao_gps_split(gps_data->latitude, &lat);
- ao_gps_split(gps_data->longitude, &lon);
- printf(" %2d:%02d:%02d %2d°%02d.%04d'%c %2d°%02d.%04d'%c %5dm\n",
- gps_data->hour,
- gps_data->minute,
- gps_data->second,
- 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,
- (gps_data->flags & AO_GPS_NUM_SAT_MASK) >> AO_GPS_NUM_SAT_SHIFT);
- } else {
- printf(" unlocked\n");
+ uint8_t c, n, v;
+ __xdata struct ao_gps_sat_data *sat;
+
+ n = gps_tracking_data->channels;
+ if (n == 0)
+ return;
+
+ sat = gps_tracking_data->sats;
+ v = 0;
+ for (c = 0; c < n; c++) {
+ if (sat->svid)
+ v++;
+ sat++;
+ }
+
+ printf (AO_TELEM_SAT_NUM " %d ",
+ v);
+
+ sat = gps_tracking_data->sats;
+ v = 0;
+ for (c = 0; c < n; c++) {
+ if (sat->svid) {
+ printf (AO_TELEM_SAT_SVID "%d %d "
+ AO_TELEM_SAT_C_N_0 "%d %d ",
+ v, sat->svid,
+ v, sat->c_n_1);
+ v++;
+ }
+ sat++;
}
}