Add date to GPS data, captured from GPRMC packet.

Pull the date out of the GPS stream and send it over the telemetry
link and write it to the eeprom.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/ao-tools/ao-view/aoview_state.c b/ao-tools/ao-view/aoview_state.c
index 2f613d44c835c2f29893d22cf3f9bd253490e99f..21cea99add4451dfb462ac3ea48f23c3568b9a00 100644 (file)
--- a/ao-tools/ao-view/aoview_state.c
+++ b/ao-tools/ao-view/aoview_state.c
@@ -315,6 +315,10 @@ aoview_state_notify(struct cc_telem *data)
                aoview_state_add_deg(1, "Longitude", state->gps.lon, 'E', 'W');
                aoview_table_add_row(1, "GPS altitude", "%d", state->gps.alt);
                aoview_table_add_row(1, "GPS height", "%d", state->gps_height);
+               aoview_table_add_row(1, "GPS date", "%04d-%02d-%02d",
+                                    state->gps.gps_time.year,
+                                    state->gps.gps_time.month,
+                                    state->gps.gps_time.day);
                aoview_table_add_row(1, "GPS time", "%02d:%02d:%02d",
                                     state->gps.gps_time.hour,
                                     state->gps.gps_time.minute,

diff --git a/ao-tools/lib/cc-telem.c b/ao-tools/lib/cc-telem.c
index 0e1483f7aa17934e2648a05d37d71c6bd9cc62c0..9a2f6155a4345ce12bd22e022a83a89dc590237f 100644 (file)
--- a/ao-tools/lib/cc-telem.c
+++ b/ao-tools/lib/cc-telem.c
@@ -127,6 +127,7 @@ cc_telem_parse(const char *input_line, struct cc_telem *telem)
        if (strcmp (words[36], "unlocked") == 0) {
                telem->gps.gps_connected = 1;
                telem->gps.gps_locked = 0;
+               telem->gps.gps_time.year = telem->gps.gps_time.month = telem->gps.gps_time.day = 0;
                telem->gps.gps_time.hour = telem->gps.gps_time.minute = telem->gps.gps_time.second = 0;
                telem->gps.lat = telem->gps.lon = 0;
                telem->gps.alt = 0;
@@ -134,6 +135,16 @@ cc_telem_parse(const char *input_line, struct cc_telem *telem)
        } else if (nword >= 40) {
                telem->gps.gps_locked = 1;
                telem->gps.gps_connected = 1;
+               if (version >= 2) {
+                       sscanf(words[36], "%d-%d-%d",
+                              &telem->gps.gps_time.year,
+                              &telem->gps.gps_time.month,
+                              &telem->gps.gps_time.day);
+                       words += 1;
+                       nword -= 1;
+               } else {
+                       telem->gps.gps_time.year = telem->gps.gps_time.month = telem->gps.gps_time.day = 0;
+               }
                sscanf(words[36], "%d:%d:%d", &telem->gps.gps_time.hour, &telem->gps.gps_time.minute, &telem->gps.gps_time.second);
                cc_parse_pos(&telem->gps.lat, words[37]);
                cc_parse_pos(&telem->gps.lon, words[38]);
@@ -142,6 +153,7 @@ cc_telem_parse(const char *input_line, struct cc_telem *telem)
        } else {
                telem->gps.gps_connected = 0;
                telem->gps.gps_locked = 0;
+               telem->gps.gps_time.year = telem->gps.gps_time.month = telem->gps.gps_time.day = 0;
                telem->gps.gps_time.hour = telem->gps.gps_time.minute = telem->gps.gps_time.second = 0;
                telem->gps.lat = telem->gps.lon = 0;
                telem->gps.alt = 0;

diff --git a/ao-tools/lib/cc.h b/ao-tools/lib/cc.h
index b8e3c061140f764699174cda0ba92fd55323d9c7..ebc0db7d9ee22a90e8aff73cd71c21c13524bc4e 100644 (file)
--- a/ao-tools/lib/cc.h
+++ b/ao-tools/lib/cc.h
@@ -192,6 +192,9 @@ struct cc_flightcooked {
 
 
 struct cc_gps_time {
+       int year;
+       int month;
+       int day;
        int hour;
        int minute;
        int second;

diff --git a/src/ao.h b/src/ao.h
index f266ac64844e4808033b67263d195080c6c509bc..c1a0f6e396228906e7b4942240a1a0049c9cf82f 100644 (file)
--- a/src/ao.h
+++ b/src/ao.h
@@ -493,6 +493,7 @@ ao_ee_init(void);
 #define AO_LOG_GPS_LON         'W'
 #define AO_LOG_GPS_ALT         'H'
 #define AO_LOG_GPS_SAT         'V'
+#define AO_LOG_GPS_DATE                'Y'
 
 #define AO_LOG_POS_NONE                (~0UL)
 
@@ -538,6 +539,11 @@ struct ao_log_record {
                        uint8_t         state;
                        uint8_t         c_n;
                } gps_sat;
+               struct {
+                       uint8_t         year;
+                       uint8_t         month;
+                       uint8_t         day;
+               } gps_date;
                struct {
                        uint16_t        d0;
                        uint16_t        d1;
@@ -720,8 +726,12 @@ ao_serial_init(void);
 
 #define AO_GPS_VALID           (1 << 4)
 #define AO_GPS_RUNNING         (1 << 5)
+#define AO_GPS_DATE_VALID      (1 << 6)
 
 struct ao_gps_data {
+       uint8_t                 year;
+       uint8_t                 month;
+       uint8_t                 day;
        uint8_t                 hour;
        uint8_t                 minute;
        uint8_t                 second;

diff --git a/src/ao_gps_print.c b/src/ao_gps_print.c
index cc75133728884550d1e092c8992ecfb6527cbb00..95439ec709c6eb9542ed70e1c274a93a08a4c20c 100644 (file)
--- a/src/ao_gps_print.c
+++ b/src/ao_gps_print.c
@@ -53,6 +53,10 @@ ao_gps_print(__xdata struct ao_gps_data *gps_data) __reentrant
 
                ao_gps_split(gps_data->latitude, &lat);
                ao_gps_split(gps_data->longitude, &lon);
+               printf(" 20%02d-%02d-%02d",
+                      gps_data->year,
+                      gps_data->month,
+                      gps_data->day);
                printf(" %2d:%02d:%02d",
                       gps_data->hour,
                       gps_data->minute,

diff --git a/src/ao_gps_report.c b/src/ao_gps_report.c
index 75c944f55378afa601e60464a4246cdb07d31f09..e3e275238bd7f54c2c8b2fabe1e232345a536be4 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);
@@ -49,6 +50,14 @@ ao_gps_report(void)
                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)) {
+                       date_reported = 1;
+                       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;
+                       ao_log_data(&gps_log);
+               }
        }
 }
 
@@ -71,8 +80,7 @@ ao_gps_tracking_report(void)
                gps_log.tick = ao_time();
                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.state = gps_tracking_data.sats[c].state))
+                       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);

diff --git a/src/ao_gps_skytraq.c b/src/ao_gps_skytraq.c
index cd5f78b923c4a437671fdeb77f5c45af008bfc13..b2eef04bfd24521ef884f877ecc2a92089216816 100644 (file)
--- a/src/ao_gps_skytraq.c
+++ b/src/ao_gps_skytraq.c
@@ -19,9 +19,9 @@
 #include "ao.h"
 #endif
 
-#define AO_GPS_LEADER          3
+#define AO_GPS_LEADER          2
 
-static const char ao_gps_header[] = "GPG";
+static const char ao_gps_header[] = "GP";
 
 __xdata uint8_t ao_gps_mutex;
 static __xdata char ao_gps_char;
@@ -32,6 +32,7 @@ __xdata struct ao_gps_data    ao_gps_data;
 __xdata struct ao_gps_tracking_data    ao_gps_tracking_data;
 
 static __xdata struct ao_gps_data              ao_gps_next;
+static __xdata uint8_t                         ao_gps_date_flags;
 static __xdata struct ao_gps_tracking_data     ao_gps_tracking_next;
 
 static const char ao_gps_config[] = {
@@ -181,7 +182,7 @@ ao_gps_parse_flag(char no_c, char yes_c) __reentrant
 void
 ao_gps(void) __reentrant
 {
-       char    c;
+       char    a, c;
        uint8_t i;
 
        ao_serial_set_speed(AO_SERIAL_SPEED_9600);
@@ -198,7 +199,7 @@ ao_gps(void) __reentrant
                ao_gps_cksum = 0;
                ao_gps_error = 0;
 
-               /* Skip anything other than GPG */
+               /* Skip anything other than GP */
                for (i = 0; i < AO_GPS_LEADER; i++) {
                        ao_gps_lexchar();
                        if (ao_gps_char != ao_gps_header[i])
@@ -209,6 +210,8 @@ ao_gps(void) __reentrant
 
                /* pull the record identifier characters off the link */
                ao_gps_lexchar();
+               a = ao_gps_char;
+               ao_gps_lexchar();
                c = ao_gps_char;
                ao_gps_lexchar();
                i = ao_gps_char;
@@ -216,7 +219,7 @@ ao_gps(void) __reentrant
                if (ao_gps_char != ',')
                        continue;
 
-               if (c == (uint8_t) 'G' && i == (uint8_t) 'A') {
+               if (a == (uint8_t) 'G' && c == (uint8_t) 'G' && i == (uint8_t) 'A') {
                        /* Now read the data into the gps data record
                         *
                         * $GPGGA,025149.000,4528.1723,N,12244.2480,W,1,05,2.0,103.5,M,-19.5,M,,0000*66
@@ -245,7 +248,7 @@ ao_gps(void) __reentrant
                         *         *66          checksum
                         */
 
-                       ao_gps_next.flags = AO_GPS_RUNNING;
+                       ao_gps_next.flags = AO_GPS_RUNNING | ao_gps_date_flags;
                        ao_gps_next.hour = ao_gps_decimal(2);
                        ao_gps_next.minute = ao_gps_decimal(2);
                        ao_gps_next.second = ao_gps_decimal(2);
@@ -290,7 +293,7 @@ ao_gps(void) __reentrant
                                ao_mutex_put(&ao_gps_mutex);
                                ao_wakeup(&ao_gps_data);
                        }
-               } else if (c == (uint8_t) 'S' && i == (uint8_t) 'V') {
+               } else if (a == (uint8_t) 'G' && c == (uint8_t) 'S' && i == (uint8_t) 'V') {
                        uint8_t done;
                        /* Now read the data into the GPS tracking data record
                         *
@@ -345,6 +348,56 @@ ao_gps(void) __reentrant
                                ao_mutex_put(&ao_gps_mutex);
                                ao_wakeup(&ao_gps_tracking_data);
                        }
+               } else if (a == (uint8_t) 'R' && c == (uint8_t) 'M' && i == (uint8_t) 'C') {
+                       /* Parse the RMC record to read out the current date */
+
+                       /* $GPRMC,111636.932,A,2447.0949,N,12100.5223,E,000.0,000.0,030407,,,A*61
+                        *
+                        * Recommended Minimum Specific GNSS Data
+                        *
+                        *      111636.932      UTC time 11:16:36.932
+                        *      A               Data Valid (V = receiver warning)
+                        *      2447.0949       Latitude
+                        *      N               North/south indicator
+                        *      12100.5223      Longitude
+                        *      E               East/west indicator
+                        *      000.0           Speed over ground
+                        *      000.0           Course over ground
+                        *      030407          UTC date (ddmmyy format)
+                        *      A               Mode indicator:
+                        *                      N = data not valid
+                        *                      A = autonomous mode
+                        *                      D = differential mode
+                        *                      E = estimated (dead reckoning) mode
+                        *                      M = manual input mode
+                        *                      S = simulator mode
+                        *      61              checksum
+                        */
+                       ao_gps_skip_field();
+                       for (i = 0; i < 8; i++) {
+                               ao_gps_lexchar();
+                               ao_gps_skip_field();
+                       }
+                       a = ao_gps_decimal(2);
+                       c = ao_gps_decimal(2);
+                       i = ao_gps_decimal(2);
+                       /* Skip remaining fields */
+                       while (ao_gps_char != '*' && ao_gps_char != '\n' && ao_gps_char != '\r') {
+                               ao_gps_lexchar();
+                               ao_gps_skip_field();
+                       }
+                       if (ao_gps_char == '*') {
+                               uint8_t cksum = ao_gps_cksum ^ '*';
+                               if (cksum != ao_gps_hex(2))
+                                       ao_gps_error = 1;
+                       } else
+                               ao_gps_error = 1;
+                       if (!ao_gps_error) {
+                               ao_gps_next.year = i;
+                               ao_gps_next.month = c;
+                               ao_gps_next.day = a;
+                               ao_gps_date_flags = AO_GPS_DATE_VALID;
+                       }
                }
        }
 }

diff --git a/src/ao_gps_test.c b/src/ao_gps_test.c
index 366bca718a76851a31c26434a124b794324f3d10..3692f0e53b0cc5865d76c76eaf8c21a2ab808e61 100644 (file)
--- a/src/ao_gps_test.c
+++ b/src/ao_gps_test.c
@@ -27,8 +27,12 @@
 
 #define AO_GPS_VALID           (1 << 4)
 #define AO_GPS_RUNNING         (1 << 5)
+#define AO_GPS_DATE_VALID      (1 << 6)
 
 struct ao_gps_data {
+       uint8_t                 year;
+       uint8_t                 month;
+       uint8_t                 day;
        uint8_t                 hour;
        uint8_t                 minute;
        uint8_t                 second;

diff --git a/src/ao_gps_test_skytraq.c b/src/ao_gps_test_skytraq.c
index 510bc41916532aa3b53f4ec2037226af62c20f39..ccf963785d74b44adaf4c7da06a1f7d491a14d37 100644 (file)
--- a/src/ao_gps_test_skytraq.c
+++ b/src/ao_gps_test_skytraq.c
@@ -27,8 +27,12 @@
 
 #define AO_GPS_VALID           (1 << 4)
 #define AO_GPS_RUNNING         (1 << 5)
+#define AO_GPS_DATE_VALID      (1 << 6)
 
 struct ao_gps_data {
+       uint8_t                 year;
+       uint8_t                 month;
+       uint8_t                 day;
        uint8_t                 hour;
        uint8_t                 minute;
        uint8_t                 second;