X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_log_gps.c;h=a55d93f115791b0d391e249a03e6e20cd4e9de7e;hb=40236913922e0395780cd7d90354546ecaf279f9;hp=e9e573a52fc5a0c1f6c21483feaa14d48a280b61;hpb=302842ccda46a0a3d58b60d5c7fc82e05f614b0b;p=fw%2Faltos

diff --git a/src/kernel/ao_log_gps.c b/src/kernel/ao_log_gps.c
index e9e573a5..a55d93f1 100644
--- a/src/kernel/ao_log_gps.c
+++ b/src/kernel/ao_log_gps.c
@@ -3,7 +3,8 @@
  *
  * 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.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -23,94 +24,24 @@
 #include <ao_distance.h>
 #include <ao_tracker.h>
 
-static __xdata uint8_t	ao_log_mutex;
-static __xdata struct ao_log_gps log;
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEGPS;
-
-static uint8_t
-ao_log_csum(__xdata uint8_t *b) __reentrant
-{
-	uint8_t	sum = 0x5a;
-	uint8_t	i;
-
-	for (i = 0; i < sizeof (struct ao_log_gps); i++)
-		sum += *b++;
-	return -sum;
-}
-
-uint8_t
-ao_log_gps(__xdata struct ao_log_gps *log) __reentrant
-{
-	uint8_t wrote = 0;
-	/* set checksum */
-	log->csum = 0;
-	log->csum = ao_log_csum((__xdata uint8_t *) log);
-	ao_mutex_get(&ao_log_mutex); {
-		if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
-			ao_log_stop();
-		if (ao_log_running) {
-			wrote = 1;
-			ao_storage_write(ao_log_current_pos,
-					 log,
-					 sizeof (struct ao_log_gps));
-			ao_log_current_pos += sizeof (struct ao_log_gps);
-		}
-	} ao_mutex_put(&ao_log_mutex);
-	return wrote;
-}
-
-
-static int32_t	prev_lat, prev_lon;
-static int16_t  prev_alt;
-static uint8_t	has_prev, unmoving;
-
-#define GPS_SPARSE_UNMOVING_REPORTS	10
-#define GPS_SPARSE_UNMOVING_GROUND	10
-#define GPS_SPARSE_UNMOVING_AIR		10
-
-uint8_t
-ao_log_gps_should_log(int32_t lat, int32_t lon, int16_t alt)
-{
-	if (has_prev && ao_log_running) {
-		uint32_t	h = ao_distance(prev_lat, prev_lon, lat, lon);
-		uint16_t	v = alt > prev_alt ? (alt - prev_alt) : (prev_alt - alt);
-
-		if (h < GPS_SPARSE_UNMOVING_GROUND && v < GPS_SPARSE_UNMOVING_AIR) {
-			if (unmoving < GPS_SPARSE_UNMOVING_REPORTS)
-				++unmoving;
-		} else
-			unmoving = 0;
-	} else
-		unmoving = 0;
-
-	prev_lat = lat;
-	prev_lon = lon;
-	prev_alt = alt;
-	has_prev = 1;
-	return unmoving >= GPS_SPARSE_UNMOVING_REPORTS;
-}
-
 void
 ao_log_gps_flight(void)
 {
 	log.type = AO_LOG_FLIGHT;
 	log.tick = ao_time();
 	log.u.flight.flight = ao_flight_number;
-	log.u.flight.start_altitude = ao_tracker_start_altitude;
-	log.u.flight.start_latitude = ao_tracker_start_latitude;
-	log.u.flight.start_longitude = ao_tracker_start_longitude;
-	ao_log_gps(&log);
+	ao_log_write(&log);
 }
 
 void
-ao_log_gps_data(uint16_t tick, uint8_t state, struct ao_telemetry_location *gps_data)
+ao_log_gps_data(uint16_t tick, struct ao_telemetry_location *gps_data)
 {
 	log.tick = tick;
 	log.type = AO_LOG_GPS_TIME;
 	log.u.gps.latitude = gps_data->latitude;
 	log.u.gps.longitude = gps_data->longitude;
-	log.u.gps.altitude = gps_data->altitude;
+	log.u.gps.altitude_low = gps_data->altitude_low;
+	log.u.gps.altitude_high = gps_data->altitude_high;
 
 	log.u.gps.hour = gps_data->hour;
 	log.u.gps.minute = gps_data->minute;
@@ -126,8 +57,7 @@ ao_log_gps_data(uint16_t tick, uint8_t state, struct ao_telemetry_location *gps_
 	log.u.gps.hdop = gps_data->hdop;
 	log.u.gps.vdop = gps_data->vdop;
 	log.u.gps.mode = gps_data->mode;
-	log.u.gps.state = state;
-	ao_log_gps(&log);
+	ao_log_write(&log);
 }
 
 void
@@ -148,26 +78,21 @@ ao_log_gps_tracking(uint16_t tick, struct ao_telemetry_satellite *gps_tracking_d
 				break;
 		}
 	log.u.gps_sat.channels = i;
-	ao_log_gps(&log);
+	ao_log_write(&log);
 }
 
-static uint8_t
-ao_log_dump_check_data(void)
+int8_t
+ao_log_check(uint32_t pos)
 {
-	if (ao_log_csum((uint8_t *) &log) != 0)
-		return 0;
-	return 1;
-}
-
-uint16_t
-ao_log_flight(uint8_t slot)
-{
-	if (!ao_storage_read(ao_log_pos(slot),
+	if (!ao_storage_read(pos,
 			     &log,
 			     sizeof (struct ao_log_gps)))
-		return 0;
+		return AO_LOG_INVALID;
+
+	if (ao_log_check_clear())
+		return AO_LOG_EMPTY;
 
-	if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
-		return log.u.flight.flight;
-	return 0;
+	if (!ao_log_check_data())
+		return AO_LOG_INVALID;
+	return AO_LOG_VALID;
 }