1 files changed, 112 insertions, 0 deletions
diff --git a/src/kernel/ao_gps_print.c b/src/kernel/ao_gps_print.c
new file mode 100644
index 00000000..47c945d7
--- /dev/null
+++ b/src/kernel/ao_gps_print.c
@@ -0,0 +1,112 @@
+/*
+ * 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.
+ */
+
+#ifndef AO_GPS_TEST
+#include "ao.h"
+#endif
+#include "ao_telem.h"
+
+void
+ao_gps_print(__xdata struct ao_gps_orig *gps_data) __reentrant
+{
+	char	state;
+
+	if (gps_data->flags & AO_GPS_VALID)
+		state = AO_TELEM_GPS_STATE_LOCKED;
+	else if (gps_data->flags & AO_GPS_RUNNING)
+		state = AO_TELEM_GPS_STATE_UNLOCKED;
+	else
+		state = AO_TELEM_GPS_STATE_ERROR;
+	printf(AO_TELEM_GPS_STATE " %c "
+	       AO_TELEM_GPS_NUM_SAT " %d ",
+	       state,
+	       (gps_data->flags & AO_GPS_NUM_SAT_MASK) >> AO_GPS_NUM_SAT_SHIFT);
+	if (!(gps_data->flags & AO_GPS_VALID))
+		return;
+	printf(AO_TELEM_GPS_LATITUDE " %ld "
+	       AO_TELEM_GPS_LONGITUDE " %ld "
+	       AO_TELEM_GPS_ALTITUDE " %d ",
+	       (long) gps_data->latitude,
+	       (long) gps_data->longitude,
+	       gps_data->altitude);
+
+	if (gps_data->flags & AO_GPS_DATE_VALID)
+		printf(AO_TELEM_GPS_YEAR " %d "
+		       AO_TELEM_GPS_MONTH " %d "
+		       AO_TELEM_GPS_DAY " %d ",
+		       gps_data->year,
+		       gps_data->month,
+		       gps_data->day);
+
+	printf(AO_TELEM_GPS_HOUR " %d "
+	       AO_TELEM_GPS_MINUTE " %d "
+	       AO_TELEM_GPS_SECOND " %d ",
+	       gps_data->hour,
+	       gps_data->minute,
+	       gps_data->second);
+
+	printf(AO_TELEM_GPS_HDOP " %d ",
+	       gps_data->hdop * 2);
+
+	if (gps_data->flags & AO_GPS_COURSE_VALID) {
+		printf(AO_TELEM_GPS_HERROR " %d "
+		       AO_TELEM_GPS_VERROR " %d "
+		       AO_TELEM_GPS_VERTICAL_SPEED " %d "
+		       AO_TELEM_GPS_HORIZONTAL_SPEED " %d "
+		       AO_TELEM_GPS_COURSE " %d ",
+		       gps_data->h_error,
+		       gps_data->v_error,
+		       gps_data->climb_rate,
+		       gps_data->ground_speed,
+		       (int) gps_data->course * 2);
+	}
+}
+
+void
+ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data) __reentrant
+{
+	uint8_t	c, n, v;
+	__xdata struct ao_gps_sat_orig	*sat;
+
+	n = gps_tracking_data->channels;
+	if (n == 0)
+		return;
+
+	sat = gps_tracking_data->sats;
+	v = 0;
+	for (c = 0; c < n; c++) {
+		if (sat->svid)
+			v++;
+		sat++;
+	}
+
+	printf (AO_TELEM_SAT_NUM " %d ",
+		v);
+
+	sat = gps_tracking_data->sats;
+	v = 0;
+	for (c = 0; c < n; c++) {
+		if (sat->svid) {
+			printf (AO_TELEM_SAT_SVID "%d %d "
+				AO_TELEM_SAT_C_N_0 "%d %d ",
+				v, sat->svid,
+				v, sat->c_n_1);
+			v++;
+		}
+		sat++;
+	}
+}