#define AO_LOG_FORMAT_EASYMINI 6 /* 16-byte MS5607 baro only, 3.0V supply */
#define AO_LOG_FORMAT_TELEMETRUM 7 /* 16-byte typed telemetrum records */
#define AO_LOG_FORMAT_TELEMINI 8 /* 16-byte MS5607 baro only, 3.3V supply */
+#define AO_LOG_FORMAT_TELEGPS 9 /* 32 byte telegps records */
#define AO_LOG_FORMAT_NONE 127 /* No log at all */
extern __code uint8_t ao_log_format;
(dst)[2] = (value) >> 16; \
} while (0)
+struct ao_log_gps {
+ char type; /* 0 */
+ uint8_t csum; /* 1 */
+ uint16_t tick; /* 2 */
+ union { /* 4 */
+ /* AO_LOG_FLIGHT */
+ struct {
+ uint16_t flight; /* 4 */
+ int16_t start_altitude; /* 6 */
+ int32_t start_latitude; /* 8 */
+ int32_t start_longitude; /* 12 */
+ } flight; /* 16 */
+ /* AO_LOG_GPS_TIME */
+ struct {
+ int32_t latitude; /* 4 */
+ int32_t longitude; /* 8 */
+ int16_t altitude; /* 12 */
+ uint8_t hour; /* 14 */
+ uint8_t minute; /* 15 */
+ uint8_t second; /* 16 */
+ uint8_t flags; /* 17 */
+ uint8_t year; /* 18 */
+ uint8_t month; /* 19 */
+ uint8_t day; /* 20 */
+ uint8_t course; /* 21 */
+ uint16_t ground_speed; /* 22 */
+ int16_t climb_rate; /* 24 */
+ uint8_t pdop; /* 26 */
+ uint8_t hdop; /* 27 */
+ uint8_t vdop; /* 28 */
+ uint8_t mode; /* 29 */
+ uint8_t state; /* 30 */
+ } gps; /* 31 */
+ /* AO_LOG_GPS_SAT */
+ struct {
+ uint16_t channels; /* 4 */
+ struct {
+ uint8_t svid;
+ uint8_t c_n;
+ } sats[12]; /* 6 */
+ } gps_sat; /* 30 */
+ } u;
+};
+
/* Write a record to the eeprom log */
uint8_t
ao_log_data(__xdata struct ao_log_record *log) __reentrant;
uint8_t
ao_log_mini(__xdata struct ao_log_mini *log) __reentrant;
+uint8_t
+ao_log_gps(__xdata struct ao_log_gps *log) __reentrant;
+
void
ao_log_flush(void);
--- /dev/null
+/*
+ * Copyright © 2014 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"
+#include <ao_log.h>
+#include <ao_log_gps.h>
+#include <ao_data.h>
+#include <ao_flight.h>
+#include <ao_distance.h>
+#include <ao_tracker.h>
+
+static __xdata uint8_t ao_log_mutex;
+static __xdata struct ao_log_gps log;
+
+__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEGPS;
+
+static uint8_t
+ao_log_csum(__xdata uint8_t *b) __reentrant
+{
+ uint8_t sum = 0x5a;
+ uint8_t i;
+
+ for (i = 0; i < sizeof (struct ao_log_gps); i++)
+ sum += *b++;
+ return -sum;
+}
+
+uint8_t
+ao_log_gps(__xdata struct ao_log_gps *log) __reentrant
+{
+ uint8_t wrote = 0;
+ /* set checksum */
+ log->csum = 0;
+ log->csum = ao_log_csum((__xdata uint8_t *) log);
+ ao_mutex_get(&ao_log_mutex); {
+ if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
+ ao_log_stop();
+ if (ao_log_running) {
+ wrote = 1;
+ ao_storage_write(ao_log_current_pos,
+ log,
+ sizeof (struct ao_log_gps));
+ ao_log_current_pos += sizeof (struct ao_log_gps);
+ }
+ } ao_mutex_put(&ao_log_mutex);
+ return wrote;
+}
+
+
+static int32_t prev_lat, prev_lon;
+static int16_t prev_alt;
+static uint8_t has_prev, unmoving;
+
+#define GPS_SPARSE_UNMOVING_REPORTS 10
+#define GPS_SPARSE_UNMOVING_GROUND 10
+#define GPS_SPARSE_UNMOVING_AIR 10
+
+uint8_t
+ao_log_gps_should_log(int32_t lat, int32_t lon, int16_t alt)
+{
+ if (has_prev && ao_log_running) {
+ uint32_t h = ao_distance(prev_lat, prev_lon, lat, lon);
+ uint16_t v = alt > prev_alt ? (alt - prev_alt) : (prev_alt - alt);
+
+ if (h < GPS_SPARSE_UNMOVING_GROUND && v < GPS_SPARSE_UNMOVING_AIR) {
+ if (unmoving < GPS_SPARSE_UNMOVING_REPORTS)
+ ++unmoving;
+ } else
+ unmoving = 0;
+ } else
+ unmoving = 0;
+
+ prev_lat = lat;
+ prev_lon = lon;
+ prev_alt = alt;
+ has_prev = 1;
+ return unmoving >= GPS_SPARSE_UNMOVING_REPORTS;
+}
+
+void
+ao_log_gps_flight(void)
+{
+ log.type = AO_LOG_FLIGHT;
+ log.tick = ao_time();
+ log.u.flight.flight = ao_flight_number;
+ log.u.flight.start_altitude = ao_tracker_start_altitude;
+ log.u.flight.start_latitude = ao_tracker_start_latitude;
+ log.u.flight.start_longitude = ao_tracker_start_longitude;
+ ao_log_gps(&log);
+}
+
+void
+ao_log_gps_data(uint16_t tick, uint8_t state, struct ao_telemetry_location *gps_data)
+{
+ log.tick = tick;
+ log.type = AO_LOG_GPS_TIME;
+ log.u.gps.latitude = gps_data->latitude;
+ log.u.gps.longitude = gps_data->longitude;
+ log.u.gps.altitude = gps_data->altitude;
+
+ log.u.gps.hour = gps_data->hour;
+ log.u.gps.minute = gps_data->minute;
+ log.u.gps.second = gps_data->second;
+ log.u.gps.flags = gps_data->flags;
+ log.u.gps.year = gps_data->year;
+ log.u.gps.month = gps_data->month;
+ log.u.gps.day = gps_data->day;
+ log.u.gps.course = gps_data->course;
+ log.u.gps.ground_speed = gps_data->ground_speed;
+ log.u.gps.climb_rate = gps_data->climb_rate;
+ log.u.gps.pdop = gps_data->pdop;
+ log.u.gps.hdop = gps_data->hdop;
+ log.u.gps.vdop = gps_data->vdop;
+ log.u.gps.mode = gps_data->mode;
+ log.u.gps.state = state;
+ ao_log_gps(&log);
+}
+
+void
+ao_log_gps_tracking(uint16_t tick, struct ao_telemetry_satellite *gps_tracking_data)
+{
+ uint8_t c, n, i;
+
+ log.tick = tick;
+ log.type = AO_LOG_GPS_SAT;
+ i = 0;
+ n = gps_tracking_data->channels;
+ for (c = 0; c < n; c++)
+ if ((log.u.gps_sat.sats[i].svid = gps_tracking_data->sats[c].svid))
+ {
+ log.u.gps_sat.sats[i].c_n = gps_tracking_data->sats[c].c_n_1;
+ i++;
+ if (i >= 12)
+ break;
+ }
+ log.u.gps_sat.channels = i;
+ ao_log_gps(&log);
+}
+
+static uint8_t
+ao_log_dump_check_data(void)
+{
+ if (ao_log_csum((uint8_t *) &log) != 0)
+ return 0;
+ return 1;
+}
+
+uint16_t
+ao_log_flight(uint8_t slot)
+{
+ if (!ao_storage_read(ao_log_pos(slot),
+ &log,
+ sizeof (struct ao_log_gps)))
+ return 0;
+
+ if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
+ return log.u.flight.flight;
+ return 0;
+}
--- /dev/null
+/*
+ * Copyright © 2014 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"
+#include "ao_telemetry.h"
+
+uint8_t
+ao_log_gps_should_log(int32_t lat, int32_t lon, int16_t alt);
+
+void
+ao_log_gps_flight(void);
+
+void
+ao_log_gps_data(uint16_t tick, uint8_t state, struct ao_telemetry_location *gps_data);
+
+void
+ao_log_gps_tracking(uint16_t tick, struct ao_telemetry_satellite *gps_tracking_data);
+
projects / fw / altos / commitdiff