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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; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 #include "ao.h"
  20
  21 void
  22 ao_gps_report(void)
  23 {
  24         static struct ao_log_record             gps_log;
  25         static struct ao_telemetry_location     gps_data;
  26         static struct ao_telemetry_satellite    gps_tracking_data;
  27         uint8_t date_reported = 0;
  28         uint8_t new;
  29
  30         for (;;) {
  31                 while ((new = ao_gps_new) == 0)
  32                         ao_sleep(&ao_gps_new);
  33                 ao_mutex_get(&ao_gps_mutex);
  34                 if (new & AO_GPS_NEW_DATA)
  35                         memcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
  36                 if (new & AO_GPS_NEW_TRACKING)
  37                         memcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
  38                 ao_gps_new = 0;
  39                 ao_mutex_put(&ao_gps_mutex);
  40
  41                 if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) {
  42                         gps_log.tick = ao_gps_tick;
  43                         gps_log.type = AO_LOG_GPS_TIME;
  44                         gps_log.u.gps_time.hour = gps_data.hour;
  45                         gps_log.u.gps_time.minute = gps_data.minute;
  46                         gps_log.u.gps_time.second = gps_data.second;
  47                         gps_log.u.gps_time.flags = gps_data.flags;
  48                         ao_log_write(&gps_log);
  49                         gps_log.type = AO_LOG_GPS_LAT;
  50                         gps_log.u.gps_latitude = gps_data.latitude;
  51                         ao_log_write(&gps_log);
  52                         gps_log.type = AO_LOG_GPS_LON;
  53                         gps_log.u.gps_longitude = gps_data.longitude;
  54                         ao_log_write(&gps_log);
  55                         gps_log.type = AO_LOG_GPS_ALT;
  56                         gps_log.u.gps_altitude.altitude_low = gps_data.altitude_low;
  57 #if HAS_WIDE_GPS
  58                         gps_log.u.gps_altitude.altitude_high = gps_data.altitude_high;
  59 #else
  60                         gps_log.u.gps_altitude.altitude_high = 0xffff;
  61 #endif
  62                         ao_log_write(&gps_log);
  63                         if (!date_reported && (gps_data.flags & AO_GPS_DATE_VALID)) {
  64                                 gps_log.type = AO_LOG_GPS_DATE;
  65                                 gps_log.u.gps_date.year = gps_data.year;
  66                                 gps_log.u.gps_date.month = gps_data.month;
  67                                 gps_log.u.gps_date.day = gps_data.day;
  68                                 gps_log.u.gps_date.extra = 0;
  69                                 date_reported = ao_log_write(&gps_log);
  70                         }
  71                 }
  72                 if (new & AO_GPS_NEW_TRACKING) {
  73                         uint8_t c, n;
  74
  75                         if ((n = gps_tracking_data.channels) != 0) {
  76                                 gps_log.type = AO_LOG_GPS_SAT;
  77                                 for (c = 0; c < n; c++)
  78                                         if ((gps_log.u.gps_sat.svid = gps_tracking_data.sats[c].svid))
  79                                         {
  80                                                 gps_log.u.gps_sat.c_n = gps_tracking_data.sats[c].c_n_1;
  81                                                 ao_log_write(&gps_log);
  82                                         }
  83                         }
  84                 }
  85         }
  86 }
  87
  88 struct ao_task ao_gps_report_task;
  89
  90 void
  91 ao_gps_report_init(void)
  92 {
  93         ao_add_task(&ao_gps_report_task, ao_gps_report, "gps_report");
  94 }