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>

6 files changed, 92 insertions, 9 deletions

diff --git a/src/ao.h b/src/ao.h
index f266ac64..c1a0f6e3 100644
--- 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)
 
@@ -539,6 +540,11 @@ struct ao_log_record {
 			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;
 		} anon;
@@ -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 cc751337..95439ec7 100644
--- 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 75c944f5..e3e27523 100644
--- 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 cd5f78b9..b2eef04b 100644
--- 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 366bca71..3692f0e5 100644
--- 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 510bc419..ccf96378 100644
--- 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;