Merge branch 'new-packet-format' of ssh://git.gag.com/scm/git/fw/altos into new-packa...

[fw/altos] / src / ao_gps_report.c

diff --git a/src/ao_gps_report.c b/src/ao_gps_report.c
index 1b5402a8f883e06ff180d097e38da06f5184dc12..7abc93f5d8e868cda3c5542a75b06a9e73846f4e 100644 (file)
--- a/src/ao_gps_report.c
+++ b/src/ao_gps_report.c
@@ -22,6 +22,7 @@ ao_gps_report(void)
 {
        static __xdata struct ao_log_record     gps_log;
        static __xdata struct ao_gps_data       gps_data;
+       uint8_t date_reported = 0;
 
        for (;;) {
                ao_sleep(&ao_gps_data);
@@ -32,7 +33,7 @@ ao_gps_report(void)
                if (!(gps_data.flags & AO_GPS_VALID))
                        continue;
 
-               gps_log.tick = ao_time();
+               gps_log.tick = ao_gps_tick;
                gps_log.type = AO_LOG_GPS_TIME;
                gps_log.u.gps_time.hour = gps_data.hour;
                gps_log.u.gps_time.minute = gps_data.minute;
@@ -40,26 +41,59 @@ ao_gps_report(void)
                gps_log.u.gps_time.flags = gps_data.flags;
                ao_log_data(&gps_log);
                gps_log.type = AO_LOG_GPS_LAT;
-               gps_log.u.gps_latitude.degrees = gps_data.latitude.degrees;
-               gps_log.u.gps_latitude.minutes = gps_data.latitude.minutes;
-               gps_log.u.gps_latitude.minutes_fraction = gps_data.latitude.minutes_fraction;
+               gps_log.u.gps_latitude = gps_data.latitude;
                ao_log_data(&gps_log);
                gps_log.type = AO_LOG_GPS_LON;
-               gps_log.u.gps_longitude.degrees = gps_data.longitude.degrees;
-               gps_log.u.gps_longitude.minutes = gps_data.longitude.minutes;
-               gps_log.u.gps_longitude.minutes_fraction = gps_data.longitude.minutes_fraction;
+               gps_log.u.gps_longitude = gps_data.longitude;
                ao_log_data(&gps_log);
                gps_log.type = AO_LOG_GPS_ALT;
                gps_log.u.gps_altitude.altitude = gps_data.altitude;
                gps_log.u.gps_altitude.unused = 0xffff;
                ao_log_data(&gps_log);
+               if (!date_reported && (gps_data.flags & AO_GPS_DATE_VALID)) {
+                       gps_log.type = AO_LOG_GPS_DATE;
+                       gps_log.u.gps_date.year = gps_data.year;
+                       gps_log.u.gps_date.month = gps_data.month;
+                       gps_log.u.gps_date.day = gps_data.day;
+                       gps_log.u.gps_date.extra = 0;
+                       date_reported = ao_log_data(&gps_log);
+               }
+       }
+}
+
+void
+ao_gps_tracking_report(void)
+{
+       static __xdata struct ao_log_record     gps_log;
+       static __xdata struct ao_gps_tracking_data      gps_tracking_data;
+       uint8_t c, n;
+
+       for (;;) {
+               ao_sleep(&ao_gps_tracking_data);
+               ao_mutex_get(&ao_gps_mutex);
+               gps_log.tick = ao_gps_tick;
+               memcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (struct ao_gps_tracking_data));
+               ao_mutex_put(&ao_gps_mutex);
+
+               if (!(n = gps_tracking_data.channels))
+                       continue;
+
+               gps_log.type = AO_LOG_GPS_SAT;
+               for (c = 0; c < n; c++)
+                       if ((gps_log.u.gps_sat.svid = gps_tracking_data.sats[c].svid))
+                       {
+                               gps_log.u.gps_sat.c_n = gps_tracking_data.sats[c].c_n_1;
+                               ao_log_data(&gps_log);
+                       }
        }
 }
 
 __xdata struct ao_task ao_gps_report_task;
+__xdata struct ao_task ao_gps_tracking_report_task;
 
 void
 ao_gps_report_init(void)
 {
        ao_add_task(&ao_gps_report_task, ao_gps_report, "gps_report");
+       ao_add_task(&ao_gps_tracking_report_task, ao_gps_tracking_report, "gps_tracking_report");
 }