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   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   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.
   7  *
   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.
  12  *
  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.
  16  */
  17
  18 #ifndef AO_GPS_TEST
  19 #include "ao.h"
  20 #endif
  21
  22 struct ao_gps_split {
  23         uint8_t positive;
  24         uint8_t degrees;
  25         uint8_t minutes;
  26         uint16_t minutes_fraction;
  27 };
  28
  29 static void
  30 ao_gps_split(int32_t v, __xdata struct ao_gps_split *split) __reentrant
  31 {
  32         uint32_t minutes_e7;
  33
  34         split->positive = 1;
  35         if (v < 0) {
  36                 v = -v;
  37                 split->positive = 0;
  38         }
  39         split->degrees = v / 10000000;
  40         minutes_e7 = (v % 10000000) * 60;
  41         split->minutes = minutes_e7 / 10000000;
  42         split->minutes_fraction = (minutes_e7 % 10000000) / 1000;
  43 }
  44
  45 void
  46 ao_gps_print(__xdata struct ao_gps_data *gps_data) __reentrant
  47 {
  48         printf("GPS %2d sat",
  49                (gps_data->flags & AO_GPS_NUM_SAT_MASK) >> AO_GPS_NUM_SAT_SHIFT);
  50         if (gps_data->flags & AO_GPS_VALID) {
  51                 static __xdata struct ao_gps_split      lat, lon;
  52                 int16_t climb, climb_int, climb_frac;
  53
  54                 ao_gps_split(gps_data->latitude, &lat);
  55                 ao_gps_split(gps_data->longitude, &lon);
  56                 printf(" 20%02d-%02d-%02d",
  57                        gps_data->year,
  58                        gps_data->month,
  59                        gps_data->day);
  60                 printf(" %2d:%02d:%02d",
  61                        gps_data->hour,
  62                        gps_data->minute,
  63                        gps_data->second);
  64                 printf(" %2d°%02d.%04d'%c %2d°%02d.%04d'%c %5dm",
  65                        lat.degrees,
  66                        lat.minutes,
  67                        lat.minutes_fraction,
  68                        lat.positive ? 'N' : 'S',
  69                        lon.degrees,
  70                        lon.minutes,
  71                        lon.minutes_fraction,
  72                        lon.positive ? 'E' : 'W',
  73                        gps_data->altitude);
  74                 climb = gps_data->climb_rate;
  75                 if (climb >= 0) {
  76                         climb_int = climb / 100;
  77                         climb_frac = climb % 100;
  78                 } else {
  79                         climb = -climb;
  80                         climb_int = -(climb / 100);
  81                         climb_frac = climb % 100;
  82                 }
  83                 printf(" %5u.%02dm/s(H) %d° %5d.%02dm/s(V)",
  84                        gps_data->ground_speed / 100,
  85                        gps_data->ground_speed % 100,
  86                        gps_data->course * 2,
  87                        climb / 100,
  88                        climb % 100);
  89                 printf(" %d.%d(hdop) %5u(herr) %5u(verr)",
  90                        gps_data->hdop / 5,
  91                        (gps_data->hdop * 2) % 10,
  92                        gps_data->h_error,
  93                        gps_data->v_error);
  94         } else if (gps_data->flags & AO_GPS_RUNNING) {
  95                 printf(" unlocked");
  96         } else {
  97                 printf (" not-connected");
  98         }
  99 }
 100
 101 void
 102 ao_gps_tracking_print(__xdata struct ao_gps_tracking_data *gps_tracking_data) __reentrant
 103 {
 104         uint8_t c, n, v;
 105         __xdata struct ao_gps_sat_data  *sat;
 106         printf("SAT ");
 107         n = gps_tracking_data->channels;
 108         if (n == 0) {
 109                 printf("not-connected");
 110                 return;
 111         }
 112         sat = gps_tracking_data->sats;
 113         v = 0;
 114         for (c = 0; c < n; c++) {
 115                 if (sat->svid)
 116                         v++;
 117                 sat++;
 118         }
 119         printf("%d ", v);
 120         sat = gps_tracking_data->sats;
 121         for (c = 0; c < n; c++) {
 122                 if (sat->svid)
 123                         printf (" %3d %3d",
 124                                 sat->svid,
 125                                 sat->c_n_1);
 126                 sat++;
 127         }
 128 }