altos: add telebt-v0.0 Makefile

[fw/altos] / src / ao_gps_print.c

diff --git a/src/ao_gps_print.c b/src/ao_gps_print.c
index 95439ec709c6eb9542ed70e1c274a93a08a4c20c..ca071b42be360f7b21157854eac6c35af8fd76d5 100644 (file)
--- a/src/ao_gps_print.c
+++ b/src/ao_gps_print.c
@@ -18,83 +18,61 @@
 #ifndef AO_GPS_TEST
 #include "ao.h"
 #endif
-
-struct ao_gps_split {
-       uint8_t positive;
-       uint8_t degrees;
-       uint8_t minutes;
-       uint16_t minutes_fraction;
-};
-
-static void
-ao_gps_split(int32_t v, __xdata struct ao_gps_split *split) __reentrant
-{
-       uint32_t minutes_e7;
-
-       split->positive = 1;
-       if (v < 0) {
-               v = -v;
-               split->positive = 0;
-       }
-       split->degrees = v / 10000000;
-       minutes_e7 = (v % 10000000) * 60;
-       split->minutes = minutes_e7 / 10000000;
-       split->minutes_fraction = (minutes_e7 % 10000000) / 1000;
-}
+#include "ao_telem.h"
 
 void
 ao_gps_print(__xdata struct ao_gps_data *gps_data) __reentrant
 {
-       printf("GPS %2d sat",
+       char    state;
+
+       if (gps_data->flags & AO_GPS_VALID)
+               state = AO_TELEM_GPS_STATE_LOCKED;
+       else if (gps_data->flags & AO_GPS_RUNNING)
+               state = AO_TELEM_GPS_STATE_UNLOCKED;
+       else
+               state = AO_TELEM_GPS_STATE_ERROR;
+       printf(AO_TELEM_GPS_STATE " %c "
+              AO_TELEM_GPS_NUM_SAT " %d ",
+              state,
               (gps_data->flags & AO_GPS_NUM_SAT_MASK) >> AO_GPS_NUM_SAT_SHIFT);
-       if (gps_data->flags & AO_GPS_VALID) {
-               static __xdata struct ao_gps_split      lat, lon;
-               int16_t climb, climb_int, climb_frac;
+       if (!(gps_data->flags & AO_GPS_VALID))
+               return;
+       printf(AO_TELEM_GPS_LATITUDE " %ld "
+              AO_TELEM_GPS_LONGITUDE " %ld "
+              AO_TELEM_GPS_ALTITUDE " %d ",
+              gps_data->latitude,
+              gps_data->longitude,
+              gps_data->altitude);
 
-               ao_gps_split(gps_data->latitude, &lat);
-               ao_gps_split(gps_data->longitude, &lon);
-               printf(" 20%02d-%02d-%02d",
+       if (gps_data->flags & AO_GPS_DATE_VALID)
+               printf(AO_TELEM_GPS_YEAR " %d "
+                      AO_TELEM_GPS_MONTH " %d "
+                      AO_TELEM_GPS_DAY " %d ",
                       gps_data->year,
                       gps_data->month,
                       gps_data->day);
-               printf(" %2d:%02d:%02d",
-                      gps_data->hour,
-                      gps_data->minute,
-                      gps_data->second);
-               printf(" %2d°%02d.%04d'%c %2d°%02d.%04d'%c %5dm",
-                      lat.degrees,
-                      lat.minutes,
-                      lat.minutes_fraction,
-                      lat.positive ? 'N' : 'S',
-                      lon.degrees,
-                      lon.minutes,
-                      lon.minutes_fraction,
-                      lon.positive ? 'E' : 'W',
-                      gps_data->altitude);
-               climb = gps_data->climb_rate;
-               if (climb >= 0) {
-                       climb_int = climb / 100;
-                       climb_frac = climb % 100;
-               } else {
-                       climb = -climb;
-                       climb_int = -(climb / 100);
-                       climb_frac = climb % 100;
-               }
-               printf(" %5u.%02dm/s(H) %d° %5d.%02dm/s(V)",
-                      gps_data->ground_speed / 100,
-                      gps_data->ground_speed % 100,
-                      gps_data->course * 2,
-                      climb / 100,
-                      climb % 100);
-               printf(" %d.%d(hdop) %5u(herr) %5u(verr)",
-                      gps_data->hdop / 5,
-                      (gps_data->hdop * 2) % 10,
+
+       printf(AO_TELEM_GPS_HOUR " %d "
+              AO_TELEM_GPS_MINUTE " %d "
+              AO_TELEM_GPS_SECOND " %d ",
+              gps_data->hour,
+              gps_data->minute,
+              gps_data->second);
+
+       printf(AO_TELEM_GPS_HDOP " %d ",
+              gps_data->hdop * 2);
+
+       if (gps_data->flags & AO_GPS_COURSE_VALID) {
+               printf(AO_TELEM_GPS_HERROR " %d "
+                      AO_TELEM_GPS_VERROR " %d "
+                      AO_TELEM_GPS_VERTICAL_SPEED " %d "
+                      AO_TELEM_GPS_HORIZONTAL_SPEED " %d "
+                      AO_TELEM_GPS_COURSE " %d ",
                       gps_data->h_error,
-                      gps_data->v_error);
-       } else if (gps_data->flags & AO_GPS_RUNNING) {
-               printf(" unlocked");
-       } else {
-               printf (" not-connected");
+                      gps_data->v_error,
+                      gps_data->climb_rate,
+                      gps_data->ground_speed,
+                      (int) gps_data->course * 2);
        }
 }
 
@@ -103,27 +81,32 @@ ao_gps_tracking_print(__xdata struct ao_gps_tracking_data *gps_tracking_data) __
 {
        uint8_t c, n, v;
        __xdata struct ao_gps_sat_data  *sat;
-       printf("SAT ");
+
        n = gps_tracking_data->channels;
-       if (n == 0) {
-               printf("not-connected");
+       if (n == 0)
                return;
-       }
+
        sat = gps_tracking_data->sats;
        v = 0;
        for (c = 0; c < n; c++) {
-               if (sat->svid && sat->state)
+               if (sat->svid)
                        v++;
                sat++;
        }
-       printf("%d ", v);
+
+       printf (AO_TELEM_SAT_NUM " %d ",
+               v);
+
        sat = gps_tracking_data->sats;
+       v = 0;
        for (c = 0; c < n; c++) {
-               if (sat->svid && sat->state)
-                       printf (" %3d %02x %3d",
-                               sat->svid,
-                               sat->state,
-                               sat->c_n_1);
+               if (sat->svid) {
+                       printf (AO_TELEM_SAT_SVID "%d %d "
+                               AO_TELEM_SAT_C_N_0 "%d %d ",
+                               v, sat->svid,
+                               v, sat->c_n_1);
+                       v++;
+               }
                sat++;
        }
 }