git.gag.com Git - fw/altos/blob - src/core/ao_gps_report_mega.c

   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 #include "ao.h"
  19 #include "ao_log.h"
  20
  21 void
  22 ao_gps_report_mega(void)
  23 {
  24         static __xdata struct ao_log_mega               gps_log;
  25         static __xdata struct ao_telemetry_location     gps_data;
  26         static __xdata struct ao_telemetry_satellite    gps_tracking_data;
  27         uint8_t date_reported = 0;
  28         uint8_t new;
  29         uint8_t c, n, i;
  30
  31         for (;;) {
  32                 while (!(new = ao_gps_new))
  33                         ao_sleep(&ao_gps_new);
  34                 ao_mutex_get(&ao_gps_mutex);
  35                 if (new & AO_GPS_NEW_DATA)
  36                         ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
  37                 if (new & AO_GPS_NEW_TRACKING)
  38                         ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
  39                 ao_gps_new = 0;
  40                 ao_mutex_put(&ao_gps_mutex);
  41
  42                 if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) {
  43                         gps_log.tick = ao_gps_tick;
  44                         gps_log.type = AO_LOG_GPS_TIME;
  45                         gps_log.u.gps.latitude = gps_data.latitude;
  46                         gps_log.u.gps.longitude = gps_data.longitude;
  47                         gps_log.u.gps.altitude = gps_data.altitude;
  48
  49                         gps_log.u.gps.hour = gps_data.hour;
  50                         gps_log.u.gps.minute = gps_data.minute;
  51                         gps_log.u.gps.second = gps_data.second;
  52                         gps_log.u.gps.flags = gps_data.flags;
  53                         gps_log.u.gps.year = gps_data.year;
  54                         gps_log.u.gps.month = gps_data.month;
  55                         gps_log.u.gps.day = gps_data.day;
  56                         ao_log_mega(&gps_log);
  57                 }
  58                 if ((new & AO_GPS_NEW_TRACKING) && (n = gps_tracking_data.channels) != 0) {
  59                         gps_log.tick = ao_gps_tick;
  60                         gps_log.type = AO_LOG_GPS_SAT;
  61                         i = 0;
  62                         for (c = 0; c < n; c++)
  63                                 if ((gps_log.u.gps_sat.sats[i].svid = gps_tracking_data.sats[c].svid))
  64                                 {
  65                                         gps_log.u.gps_sat.sats[i].c_n = gps_tracking_data.sats[c].c_n_1;
  66                                         i++;
  67                                 }
  68                         gps_log.u.gps_sat.channels = i;
  69                         ao_log_mega(&gps_log);
  70                 }
  71         }
  72 }
  73
  74 __xdata struct ao_task ao_gps_report_mega_task;
  75
  76 void
  77 ao_gps_report_mega_init(void)
  78 {
  79         ao_add_task(&ao_gps_report_mega_task,
  80                     ao_gps_report_mega,
  81                     "gps_report");
  82 }