altos: Rename 'core' to 'kernel'

[fw/altos] / src / kernel / ao_gps_report.c

diff --git a/src/kernel/ao_gps_report.c b/src/kernel/ao_gps_report.c
new file mode 100644 (file)
index 0000000..07201ac
--- /dev/null
+++ b/src/kernel/ao_gps_report.c
@@ -0,0 +1,89 @@
+/*
+ * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+
+void
+ao_gps_report(void)
+{
+       static __xdata struct ao_log_record             gps_log;
+       static __xdata struct ao_telemetry_location     gps_data;
+       static __xdata struct ao_telemetry_satellite    gps_tracking_data;
+       uint8_t date_reported = 0;
+       uint8_t new;
+
+       for (;;) {
+               while ((new = ao_gps_new) == 0)
+                       ao_sleep(&ao_gps_new);
+               ao_mutex_get(&ao_gps_mutex);
+               if (new & AO_GPS_NEW_DATA)
+                       ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
+               if (new & AO_GPS_NEW_TRACKING)
+                       ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
+               ao_gps_new = 0;
+               ao_mutex_put(&ao_gps_mutex);
+
+               if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) {
+                       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;
+                       gps_log.u.gps_time.second = gps_data.second;
+                       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 = gps_data.latitude;
+                       ao_log_data(&gps_log);
+                       gps_log.type = AO_LOG_GPS_LON;
+                       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);
+                       }
+               }
+               if (new & AO_GPS_NEW_TRACKING) {
+                       uint8_t c, n;
+
+                       if ((n = gps_tracking_data.channels) != 0) {
+                               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;
+
+void
+ao_gps_report_init(void)
+{
+       ao_add_task(&ao_gps_report_task, ao_gps_report, "gps_report");
+}