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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 #include "ao.h"
  19
  20 void
  21 ao_gps_report(void)
  22 {
  23         static __xdata struct ao_log_record             gps_log;
  24         static __xdata struct ao_telemetry_location     gps_data;
  25         static __xdata struct ao_telemetry_satellite    gps_tracking_data;
  26         uint8_t date_reported = 0;
  27         uint8_t new;
  28
  29         for (;;) {
  30                 while ((new = ao_gps_new) == 0)
  31                         ao_sleep(&ao_gps_new);
  32                 ao_mutex_get(&ao_gps_mutex);
  33                 if (new & AO_GPS_NEW_DATA)
  34                         ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
  35                 if (new & AO_GPS_NEW_TRACKING)
  36                         ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
  37                 ao_gps_new = 0;
  38                 ao_mutex_put(&ao_gps_mutex);
  39
  40                 if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) {
  41                         gps_log.tick = ao_gps_tick;
  42                         gps_log.type = AO_LOG_GPS_TIME;
  43                         gps_log.u.gps_time.hour = gps_data.hour;
  44                         gps_log.u.gps_time.minute = gps_data.minute;
  45                         gps_log.u.gps_time.second = gps_data.second;
  46                         gps_log.u.gps_time.flags = gps_data.flags;
  47                         ao_log_data(&gps_log);
  48                         gps_log.type = AO_LOG_GPS_LAT;
  49                         gps_log.u.gps_latitude = gps_data.latitude;
  50                         ao_log_data(&gps_log);
  51                         gps_log.type = AO_LOG_GPS_LON;
  52                         gps_log.u.gps_longitude = gps_data.longitude;
  53                         ao_log_data(&gps_log);
  54                         gps_log.type = AO_LOG_GPS_ALT;
  55                         gps_log.u.gps_altitude.altitude_low = gps_data.altitude_low;
  56 #if HAS_WIDE_GPS
  57                         gps_log.u.gps_altitude.altitude_high = gps_data.altitude_high;
  58 #else
  59                         gps_log.u.gps_altitude.altitude_high = 0xffff;
  60 #endif
  61                         ao_log_data(&gps_log);
  62                         if (!date_reported && (gps_data.flags & AO_GPS_DATE_VALID)) {
  63                                 gps_log.type = AO_LOG_GPS_DATE;
  64                                 gps_log.u.gps_date.year = gps_data.year;
  65                                 gps_log.u.gps_date.month = gps_data.month;
  66                                 gps_log.u.gps_date.day = gps_data.day;
  67                                 gps_log.u.gps_date.extra = 0;
  68                                 date_reported = ao_log_data(&gps_log);
  69                         }
  70                 }
  71                 if (new & AO_GPS_NEW_TRACKING) {
  72                         uint8_t c, n;
  73
  74                         if ((n = gps_tracking_data.channels) != 0) {
  75                                 gps_log.type = AO_LOG_GPS_SAT;
  76                                 for (c = 0; c < n; c++)
  77                                         if ((gps_log.u.gps_sat.svid = gps_tracking_data.sats[c].svid))
  78                                         {
  79                                                 gps_log.u.gps_sat.c_n = gps_tracking_data.sats[c].c_n_1;
  80                                                 ao_log_data(&gps_log);
  81                                         }
  82                         }
  83                 }
  84         }
  85 }
  86
  87 __xdata struct ao_task ao_gps_report_task;
  88
  89 void
  90 ao_gps_report_init(void)
  91 {
  92         ao_add_task(&ao_gps_report_task, ao_gps_report, "gps_report");
  93 }