X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fcore%2Fao_gps_report.c;fp=src%2Fcore%2Fao_gps_report.c;h=e57f87443c2bb8debb6f3ca0d346910283767ee7;hp=0000000000000000000000000000000000000000;hb=9513be7f9d3d0b0ec29f6487fa9dc8f1ac24d0de;hpb=3bfe8df44b575ca430ffaa051e20faa955a06c03

diff --git a/src/core/ao_gps_report.c b/src/core/ao_gps_report.c
new file mode 100644
index 00000000..e57f8744
--- /dev/null
+++ b/src/core/ao_gps_report.c
@@ -0,0 +1,99 @@
+/*
+ * 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;
+	uint8_t	date_reported = 0;
+
+	for (;;) {
+		ao_sleep(&ao_gps_data);
+		ao_mutex_get(&ao_gps_mutex);
+		memcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
+		ao_mutex_put(&ao_gps_mutex);
+
+		if (!(gps_data.flags & AO_GPS_VALID))
+			continue;
+
+		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);
+		}
+	}
+}
+
+void
+ao_gps_tracking_report(void)
+{
+	static __xdata struct ao_log_record		gps_log;
+	static __xdata struct ao_telemetry_satellite	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 (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");
+}