Merge tag '1.4' into fox

tagging 1.4 release

Conflicts:
	src/Makefile

1 files changed, 134 insertions, 0 deletions

diff --git a/src/kernel/ao_gps_report_mega.c b/src/kernel/ao_gps_report_mega.c
new file mode 100644
index 00000000..cb0c0fd9
--- /dev/null
+++ b/src/kernel/ao_gps_report_mega.c
@@ -0,0 +1,134 @@
+/*
+ * 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"
+#include "ao_log.h"
+
+#ifndef GPS_SPARSE_LOG
+#define GPS_SPARSE_LOG	0
+#endif
+
+#if GPS_SPARSE_LOG
+static int32_t	prev_lat, prev_lon, 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
+
+static uint8_t
+ao_gps_sparse_should_log(int32_t lat, int32_t lon, int16_t alt)
+{
+	uint8_t	ret = 1;
+
+	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;
+}
+#endif
+
+void
+ao_gps_report_mega(void)
+{
+	static __xdata struct ao_log_mega		gps_log;
+	static __xdata struct ao_telemetry_location	gps_data;
+	static __xdata struct ao_telemetry_satellite	gps_tracking_data;
+	uint8_t	new;
+	uint8_t	c, n, i;
+
+	for (;;) {
+		while (!(new = ao_gps_new))
+			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 GPS_SPARSE_LOG
+		/* Don't log data if GPS has a fix and hasn't moved for a while */
+		if ((gps_data.flags & AO_GPS_VALID) &&
+		    !ao_gps_sparse_should_log(gps_data.latitude, gps_data.longitude, gps_data.altitude))
+			continue;
+#endif
+		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.latitude = gps_data.latitude;
+			gps_log.u.gps.longitude = gps_data.longitude;
+			gps_log.u.gps.altitude = gps_data.altitude;
+
+			gps_log.u.gps.hour = gps_data.hour;
+			gps_log.u.gps.minute = gps_data.minute;
+			gps_log.u.gps.second = gps_data.second;
+			gps_log.u.gps.flags = gps_data.flags;
+			gps_log.u.gps.year = gps_data.year;
+			gps_log.u.gps.month = gps_data.month;
+			gps_log.u.gps.day = gps_data.day;
+			gps_log.u.gps.course = gps_data.course;
+			gps_log.u.gps.ground_speed = gps_data.ground_speed;
+			gps_log.u.gps.climb_rate = gps_data.climb_rate;
+			gps_log.u.gps.pdop = gps_data.pdop;
+			gps_log.u.gps.hdop = gps_data.hdop;
+			gps_log.u.gps.vdop = gps_data.vdop;
+			gps_log.u.gps.mode = gps_data.mode;
+			ao_log_mega(&gps_log);
+		}
+		if ((new & AO_GPS_NEW_TRACKING) && (n = gps_tracking_data.channels) != 0) {
+			gps_log.tick = ao_gps_tick;
+			gps_log.type = AO_LOG_GPS_SAT;
+			i = 0;
+			for (c = 0; c < n; c++)
+				if ((gps_log.u.gps_sat.sats[i].svid = gps_tracking_data.sats[c].svid))
+				{
+					gps_log.u.gps_sat.sats[i].c_n = gps_tracking_data.sats[c].c_n_1;
+					i++;
+					if (i >= 12)
+						break;
+				}
+			gps_log.u.gps_sat.channels = i;
+			ao_log_mega(&gps_log);
+		}
+	}
+}
+
+__xdata struct ao_task ao_gps_report_mega_task;
+
+void
+ao_gps_report_mega_init(void)
+{
+	ao_add_task(&ao_gps_report_mega_task,
+		    ao_gps_report_mega,
+		    "gps_report");
+}