--- /dev/null
+/*
+ * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+#include "ao_log.h"
+
+void
+ao_gps_report_mega(void)
+{
+ static __xdata struct ao_log_mega gps_log;
+ static __xdata struct ao_telemetry_location gps_data;
+ static __xdata struct ao_telemetry_satellite gps_tracking_data;
+ uint8_t new;
+ uint8_t c, n, i;
+
+ for (;;) {
+ while (!(new = ao_gps_new))
+ ao_sleep(&ao_gps_new);
+ ao_mutex_get(&ao_gps_mutex);
+ if (new & AO_GPS_NEW_DATA)
+ ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
+ if (new & AO_GPS_NEW_TRACKING)
+ ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
+ ao_gps_new = 0;
+ ao_mutex_put(&ao_gps_mutex);
+
+ if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) {
+ gps_log.tick = ao_gps_tick;
+ gps_log.type = AO_LOG_GPS_TIME;
+ gps_log.u.gps.latitude = gps_data.latitude;
+ gps_log.u.gps.longitude = gps_data.longitude;
+ gps_log.u.gps.altitude = gps_data.altitude;
+
+ gps_log.u.gps.hour = gps_data.hour;
+ gps_log.u.gps.minute = gps_data.minute;
+ gps_log.u.gps.second = gps_data.second;
+ gps_log.u.gps.flags = gps_data.flags;
+ gps_log.u.gps.year = gps_data.year;
+ gps_log.u.gps.month = gps_data.month;
+ gps_log.u.gps.day = gps_data.day;
+ gps_log.u.gps.course = gps_data.course;
+ gps_log.u.gps.ground_speed = gps_data.ground_speed;
+ gps_log.u.gps.climb_rate = gps_data.climb_rate;
+ gps_log.u.gps.pdop = gps_data.pdop;
+ gps_log.u.gps.hdop = gps_data.hdop;
+ gps_log.u.gps.vdop = gps_data.vdop;
+ gps_log.u.gps.mode = gps_data.mode;
+ ao_log_mega(&gps_log);
+ }
+ if ((new & AO_GPS_NEW_TRACKING) && (n = gps_tracking_data.channels) != 0) {
+ gps_log.tick = ao_gps_tick;
+ gps_log.type = AO_LOG_GPS_SAT;
+ i = 0;
+ for (c = 0; c < n; c++)
+ if ((gps_log.u.gps_sat.sats[i].svid = gps_tracking_data.sats[c].svid))
+ {
+ gps_log.u.gps_sat.sats[i].c_n = gps_tracking_data.sats[c].c_n_1;
+ i++;
+ if (i >= 12)
+ break;
+ }
+ gps_log.u.gps_sat.channels = i;
+ ao_log_mega(&gps_log);
+ }
+ }
+}
+
+__xdata struct ao_task ao_gps_report_mega_task;
+
+void
+ao_gps_report_mega_init(void)
+{
+ ao_add_task(&ao_gps_report_mega_task,
+ ao_gps_report_mega,
+ "gps_report");
+}