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   1 /*
   2  * Copyright © 2014 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 #include <ao_log_gps.h>
  21 #include <ao_data.h>
  22 #include <ao_flight.h>
  23 #include <ao_distance.h>
  24 #include <ao_tracker.h>
  25
  26 static __xdata uint8_t  ao_log_mutex;
  27 static __xdata struct ao_log_gps log;
  28
  29 __code uint8_t ao_log_format = AO_LOG_FORMAT_TELEGPS;
  30
  31 static uint8_t
  32 ao_log_csum(__xdata uint8_t *b) __reentrant
  33 {
  34         uint8_t sum = 0x5a;
  35         uint8_t i;
  36
  37         for (i = 0; i < sizeof (struct ao_log_gps); i++)
  38                 sum += *b++;
  39         return -sum;
  40 }
  41
  42 uint8_t
  43 ao_log_gps(__xdata struct ao_log_gps *log) __reentrant
  44 {
  45         uint8_t wrote = 0;
  46         /* set checksum */
  47         log->csum = 0;
  48         log->csum = ao_log_csum((__xdata uint8_t *) log);
  49         ao_mutex_get(&ao_log_mutex); {
  50                 if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
  51                         ao_log_stop();
  52                 if (ao_log_running) {
  53                         wrote = 1;
  54                         ao_storage_write(ao_log_current_pos,
  55                                          log,
  56                                          sizeof (struct ao_log_gps));
  57                         ao_log_current_pos += sizeof (struct ao_log_gps);
  58                 }
  59         } ao_mutex_put(&ao_log_mutex);
  60         return wrote;
  61 }
  62
  63
  64 static int32_t  prev_lat, prev_lon;
  65 static int16_t  prev_alt;
  66 static uint8_t  has_prev, unmoving;
  67
  68 #define GPS_SPARSE_UNMOVING_REPORTS     10
  69 #define GPS_SPARSE_UNMOVING_GROUND      10
  70 #define GPS_SPARSE_UNMOVING_AIR         10
  71
  72 uint8_t
  73 ao_log_gps_should_log(int32_t lat, int32_t lon, int16_t alt)
  74 {
  75         if (has_prev && ao_log_running) {
  76                 uint32_t        h = ao_distance(prev_lat, prev_lon, lat, lon);
  77                 uint16_t        v = alt > prev_alt ? (alt - prev_alt) : (prev_alt - alt);
  78
  79                 if (h < GPS_SPARSE_UNMOVING_GROUND && v < GPS_SPARSE_UNMOVING_AIR) {
  80                         if (unmoving < GPS_SPARSE_UNMOVING_REPORTS)
  81                                 ++unmoving;
  82                 } else
  83                         unmoving = 0;
  84         } else
  85                 unmoving = 0;
  86
  87         prev_lat = lat;
  88         prev_lon = lon;
  89         prev_alt = alt;
  90         has_prev = 1;
  91         return unmoving >= GPS_SPARSE_UNMOVING_REPORTS;
  92 }
  93
  94 void
  95 ao_log_gps_flight(void)
  96 {
  97         log.type = AO_LOG_FLIGHT;
  98         log.tick = ao_time();
  99         log.u.flight.flight = ao_flight_number;
 100         log.u.flight.start_altitude = ao_tracker_start_altitude;
 101         log.u.flight.start_latitude = ao_tracker_start_latitude;
 102         log.u.flight.start_longitude = ao_tracker_start_longitude;
 103         ao_log_gps(&log);
 104 }
 105
 106 void
 107 ao_log_gps_data(uint16_t tick, uint8_t state, struct ao_telemetry_location *gps_data)
 108 {
 109         log.tick = tick;
 110         log.type = AO_LOG_GPS_TIME;
 111         log.u.gps.latitude = gps_data->latitude;
 112         log.u.gps.longitude = gps_data->longitude;
 113         log.u.gps.altitude = gps_data->altitude;
 114
 115         log.u.gps.hour = gps_data->hour;
 116         log.u.gps.minute = gps_data->minute;
 117         log.u.gps.second = gps_data->second;
 118         log.u.gps.flags = gps_data->flags;
 119         log.u.gps.year = gps_data->year;
 120         log.u.gps.month = gps_data->month;
 121         log.u.gps.day = gps_data->day;
 122         log.u.gps.course = gps_data->course;
 123         log.u.gps.ground_speed = gps_data->ground_speed;
 124         log.u.gps.climb_rate = gps_data->climb_rate;
 125         log.u.gps.pdop = gps_data->pdop;
 126         log.u.gps.hdop = gps_data->hdop;
 127         log.u.gps.vdop = gps_data->vdop;
 128         log.u.gps.mode = gps_data->mode;
 129         log.u.gps.state = state;
 130         ao_log_gps(&log);
 131 }
 132
 133 void
 134 ao_log_gps_tracking(uint16_t tick, struct ao_telemetry_satellite *gps_tracking_data)
 135 {
 136         uint8_t c, n, i;
 137
 138         log.tick = tick;
 139         log.type = AO_LOG_GPS_SAT;
 140         i = 0;
 141         n = gps_tracking_data->channels;
 142         for (c = 0; c < n; c++)
 143                 if ((log.u.gps_sat.sats[i].svid = gps_tracking_data->sats[c].svid))
 144                 {
 145                         log.u.gps_sat.sats[i].c_n = gps_tracking_data->sats[c].c_n_1;
 146                         i++;
 147                         if (i >= 12)
 148                                 break;
 149                 }
 150         log.u.gps_sat.channels = i;
 151         ao_log_gps(&log);
 152 }
 153
 154 static uint8_t
 155 ao_log_dump_check_data(void)
 156 {
 157         if (ao_log_csum((uint8_t *) &log) != 0)
 158                 return 0;
 159         return 1;
 160 }
 161
 162 uint16_t
 163 ao_log_flight(uint8_t slot)
 164 {
 165         if (!ao_storage_read(ao_log_pos(slot),
 166                              &log,
 167                              sizeof (struct ao_log_gps)))
 168                 return 0;
 169
 170         if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
 171                 return log.u.flight.flight;
 172         return 0;
 173 }