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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 #include "ao_log.h"
  20
  21 #ifndef GPS_SPARSE_LOG
  22 #define GPS_SPARSE_LOG  0
  23 #endif
  24
  25 #if GPS_SPARSE_LOG
  26 static int32_t  prev_lat, prev_lon, int16_t prev_alt;
  27 static uint8_t  has_prev, unmoving;
  28
  29 #define GPS_SPARSE_UNMOVING_REPORTS     10
  30 #define GPS_SPARSE_UNMOVING_GROUND      10
  31 #define GPS_SPARSE_UNMOVING_AIR         10
  32
  33 static uint8_t
  34 ao_gps_sparse_should_log(int32_t lat, int32_t lon, int16_t alt)
  35 {
  36         uint8_t ret = 1;
  37
  38         if (has_prev && ao_log_running) {
  39                 uint32_t        h = ao_distance(prev_lat, prev_lon, lat, lon);
  40                 uint16_t        v = alt > prev_alt ? (alt - prev_alt) : (prev_alt - alt);
  41
  42                 if (h < GPS_SPARSE_UNMOVING_GROUND && v < GPS_SPARSE_UNMOVING_AIR) {
  43                         if (unmoving < GPS_SPARSE_UNMOVING_REPORTS)
  44                                 ++unmoving;
  45                 } else
  46                         unmoving = 0;
  47         } else
  48                 unmoving = 0;
  49
  50         prev_lat = lat;
  51         prev_lon = lon;
  52         prev_alt = alt;
  53         has_prev = 1;
  54         return unmoving >= GPS_SPARSE_UNMOVING_REPORTS;
  55 }
  56 #endif
  57
  58 void
  59 ao_gps_report_mega(void)
  60 {
  61         static __xdata struct ao_log_mega               gps_log;
  62         static __xdata struct ao_telemetry_location     gps_data;
  63         static __xdata struct ao_telemetry_satellite    gps_tracking_data;
  64         uint8_t new;
  65         uint8_t c, n, i;
  66
  67         for (;;) {
  68                 while (!(new = ao_gps_new))
  69                         ao_sleep(&ao_gps_new);
  70                 ao_mutex_get(&ao_gps_mutex);
  71                 if (new & AO_GPS_NEW_DATA)
  72                         ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
  73                 if (new & AO_GPS_NEW_TRACKING)
  74                         ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
  75                 ao_gps_new = 0;
  76                 ao_mutex_put(&ao_gps_mutex);
  77
  78 #if GPS_SPARSE_LOG
  79                 /* Don't log data if GPS has a fix and hasn't moved for a while */
  80                 if ((gps_data.flags & AO_GPS_VALID) &&
  81                     !ao_gps_sparse_should_log(gps_data.latitude, gps_data.longitude,
  82                                               AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data))
  83                         continue;
  84 #endif
  85                 if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) {
  86
  87                         gps_log.tick = ao_gps_tick;
  88                         gps_log.type = AO_LOG_GPS_TIME;
  89                         gps_log.u.gps.latitude = gps_data.latitude;
  90                         gps_log.u.gps.longitude = gps_data.longitude;
  91                         gps_log.u.gps.altitude_low = gps_data.altitude_low;
  92                         gps_log.u.gps.altitude_high = gps_data.altitude_high;
  93                         gps_log.u.gps.hour = gps_data.hour;
  94                         gps_log.u.gps.minute = gps_data.minute;
  95                         gps_log.u.gps.second = gps_data.second;
  96                         gps_log.u.gps.flags = gps_data.flags;
  97                         gps_log.u.gps.year = gps_data.year;
  98                         gps_log.u.gps.month = gps_data.month;
  99                         gps_log.u.gps.day = gps_data.day;
 100                         gps_log.u.gps.course = gps_data.course;
 101                         gps_log.u.gps.ground_speed = gps_data.ground_speed;
 102                         gps_log.u.gps.climb_rate = gps_data.climb_rate;
 103                         gps_log.u.gps.pdop = gps_data.pdop;
 104                         gps_log.u.gps.hdop = gps_data.hdop;
 105                         gps_log.u.gps.vdop = gps_data.vdop;
 106                         gps_log.u.gps.mode = gps_data.mode;
 107                         ao_log_mega(&gps_log);
 108                 }
 109                 if ((new & AO_GPS_NEW_TRACKING) && (n = gps_tracking_data.channels) != 0) {
 110                         gps_log.tick = ao_gps_tick;
 111                         gps_log.type = AO_LOG_GPS_SAT;
 112                         i = 0;
 113                         for (c = 0; c < n; c++)
 114                                 if ((gps_log.u.gps_sat.sats[i].svid = gps_tracking_data.sats[c].svid))
 115                                 {
 116                                         gps_log.u.gps_sat.sats[i].c_n = gps_tracking_data.sats[c].c_n_1;
 117                                         i++;
 118                                         if (i >= 12)
 119                                                 break;
 120                                 }
 121                         gps_log.u.gps_sat.channels = i;
 122                         ao_log_mega(&gps_log);
 123                 }
 124         }
 125 }
 126
 127 __xdata struct ao_task ao_gps_report_mega_task;
 128
 129 void
 130 ao_gps_report_mega_init(void)
 131 {
 132         ao_add_task(&ao_gps_report_mega_task,
 133                     ao_gps_report_mega,
 134                     "gps_report");
 135 }