Convert telemetry file GPS satellite information in cc_log_read

[fw/altos] / ao-tools / lib / cc-logfile.c

diff --git a/ao-tools/lib/cc-logfile.c b/ao-tools/lib/cc-logfile.c
index 4abf7eb6341189263898e488cd399e43835f48ac..842e5c7c3cdb1b791dda54de28a9764ae8071a34 100644 (file)
--- a/ao-tools/lib/cc-logfile.c
+++ b/ao-tools/lib/cc-logfile.c
@@ -80,6 +80,45 @@ gpsdata_add(struct cc_gpsdata *data, struct cc_gpselt *elt)
        return 1;
 }
 
+static int
+gpssat_add(struct cc_gpsdata *data, struct cc_gpssat *sat)
+{
+       int     i, j;
+       int     reuse = 0;
+       int     newsizesats;
+       struct cc_gpssats       *newsats;
+
+       for (i = data->numsats; --i >= 0;) {
+               if (data->sats[i].sat[0].time == sat->time) {
+                       reuse = 1;
+                       break;
+               }
+               if (data->sats[i].sat[0].time < sat->time)
+                       break;
+       }
+       if (!reuse) {
+               if (data->numsats == data->sizesats) {
+                       if (data->sizesats == 0)
+                               newsats = malloc((newsizesats = 256) * sizeof (struct cc_gpssats));
+                       else
+                               newsats = realloc (data->sats, (newsizesats = data->sizesats * 2)
+                                                  * sizeof (struct cc_gpssats));
+                       if (!newsats)
+                               return 0;
+                       data->sats = newsats;
+                       data->sizesats = newsizesats;
+               }
+               i = data->numsats++;
+               data->sats[i].nsat = 0;
+       }
+       j = data->sats[i].nsat;
+       if (j < 12) {
+               data->sats[i].sat[j] = *sat;
+               data->sats[i].nsat = j + 1;
+       }
+       return 1;
+}
+
 static void
 gpsdata_free(struct cc_gpsdata *data)
 {
@@ -97,16 +136,24 @@ gpsdata_free(struct cc_gpsdata *data)
 #define AO_LOG_GPS_LON         'W'
 #define AO_LOG_GPS_ALT         'H'
 #define AO_LOG_GPS_SAT         'V'
+#define AO_LOG_GPS_DATE                'Y'
 
 #define AO_LOG_POS_NONE                (~0UL)
 
+#define GPS_TIME       1
+#define GPS_LAT                2
+#define GPS_LON                4
+#define GPS_ALT                8
+
 static int
 read_eeprom(const char *line, struct cc_flightraw *f, double *ground_pres, int *ground_pres_count)
 {
        char    type;
        int     tick;
        int     a, b;
-       struct cc_gpselt        gps;
+       static struct cc_gpselt gps;
+       static int              gps_valid;
+       struct cc_gpssat        sat;
        int     serial;
 
        if (sscanf(line, "serial-number %u", &serial) == 1) {
@@ -145,23 +192,46 @@ read_eeprom(const char *line, struct cc_flightraw *f, double *ground_pres, int *
                timedata_add(&f->state, tick, a);
                break;
        case AO_LOG_GPS_TIME:
+               /* the flight computer writes TIME first, so reset
+                * any stale data before adding this record
+                */
                gps.time = tick;
+               gps.hour = (a & 0xff);
+               gps.minute = (a >> 8) & 0xff;
+               gps.second = (b & 0xff);
+               gps.flags = (b >> 8) & 0xff;
+               gps_valid = GPS_TIME;
                break;
        case AO_LOG_GPS_LAT:
                gps.lat = ((int32_t) (a + (b << 16))) / 10000000.0;
+               gps_valid |= GPS_LAT;
                break;
        case AO_LOG_GPS_LON:
                gps.lon = ((int32_t) (a + (b << 16))) / 10000000.0;
+               gps_valid |= GPS_LON;
                break;
        case AO_LOG_GPS_ALT:
-               gps.alt = ((int32_t) (a + (b << 16)));
-               gpsdata_add(&f->gps, &gps);
+               gps.alt = (int16_t) a;
+               gps_valid |= GPS_ALT;
                break;
        case AO_LOG_GPS_SAT:
+               sat.time = tick;
+               sat.svid = a;
+               sat.c_n = (b >> 8) & 0xff;
+               gpssat_add(&f->gps, &sat);
+               break;
+       case AO_LOG_GPS_DATE:
+               f->year = 2000 + (a & 0xff);
+               f->month = (a >> 8) & 0xff;
+               f->day = (b & 0xff);
                break;
        default:
                return 0;
        }
+       if (gps_valid == 0xf) {
+               gps_valid = 0;
+               gpsdata_add(&f->gps, &gps);
+       }
        return 1;
 }
 
@@ -193,6 +263,9 @@ read_telem(const char *line, struct cc_flightraw *f)
 {
        struct cc_telem         telem;
        struct cc_gpselt        gps;
+       struct cc_gpssat        sat;
+       int                     s;
+
        if (!cc_telem_parse(line, &telem))
                return 0;
        f->ground_accel = telem.ground_accel;
@@ -206,12 +279,24 @@ read_telem(const char *line, struct cc_flightraw *f)
        timedata_add(&f->main, telem.tick, telem.main);
        timedata_add(&f->state, telem.tick, state_name_to_state(telem.state));
        if (telem.gps.gps_locked) {
+               f->year = telem.gps.gps_time.year;
+               f->month = telem.gps.gps_time.month;
+               f->day = telem.gps.gps_time.day;
                gps.time = telem.tick;
                gps.lat = telem.gps.lat;
                gps.lon = telem.gps.lon;
                gps.alt = telem.gps.alt;
+               gps.hour = telem.gps.gps_time.hour;
+               gps.minute = telem.gps.gps_time.minute;
+               gps.second = telem.gps.gps_time.second;
                gpsdata_add(&f->gps, &gps);
        }
+       for (s = 0; s < telem.gps_tracking.channels; s++) {
+               sat.time = telem.tick;
+               sat.svid = telem.gps_tracking.sats[s].svid;
+               sat.c_n = telem.gps_tracking.sats[s].c_n0;
+               gpssat_add(&f->gps, &sat);
+       }
        return 1;
 }