altos: Add TeleGPS logging format

This is mostly like the mega format, but places the flight state in a
spare byte of the GPS data and writes the gps starting location to the
flight packet.

Log data is written by the main tracker thread; there's no reason for
a separate thread given the GPS update rate and the lack of flight
controls. This means ao_log_gps has an API to be called from there,
rather than a thread to run.

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

1 files changed, 173 insertions, 0 deletions

diff --git a/src/kernel/ao_log_gps.c b/src/kernel/ao_log_gps.c
new file mode 100644
index 00000000..e9e573a5
--- /dev/null
+++ b/src/kernel/ao_log_gps.c
@@ -0,0 +1,173 @@
+/*
+ * 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;
+}