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>

3 files changed, 253 insertions, 0 deletions

diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index 3ff9e811..87fa0d4d 100644
--- a/src/kernel/ao_log.h
+++ b/src/kernel/ao_log.h
@@ -47,6 +47,7 @@ extern __pdata enum ao_flight_state ao_log_state;
 #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;
@@ -364,6 +365,50 @@ struct ao_log_mini {
 		(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;
@@ -377,6 +422,9 @@ ao_log_metrum(__xdata struct ao_log_metrum *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);
 
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;
+}
diff --git a/src/kernel/ao_log_gps.h b/src/kernel/ao_log_gps.h
new file mode 100644
index 00000000..733db19b
--- /dev/null
+++ b/src/kernel/ao_log_gps.h
@@ -0,0 +1,32 @@
+/*
+ * 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);
+