From 24167015705ae831692b95735968b04a876f935e Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Fri, 4 Apr 2014 23:34:48 -0700 Subject: altos: Rename 'core' to 'kernel' core remains a bad name to use -- dirvish skips files (and directories, it seems) with that name. Signed-off-by: Keith Packard --- src/kernel/ao_gps_report_mega.c | 90 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 90 insertions(+) create mode 100644 src/kernel/ao_gps_report_mega.c (limited to 'src/kernel/ao_gps_report_mega.c') diff --git a/src/kernel/ao_gps_report_mega.c b/src/kernel/ao_gps_report_mega.c new file mode 100644 index 00000000..5e3c71bf --- /dev/null +++ b/src/kernel/ao_gps_report_mega.c @@ -0,0 +1,90 @@ +/* + * Copyright © 2009 Keith Packard + * + * 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" + +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 ((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"); +} -- cgit v1.2.3 From 177d3c0333fd4218f01e05c78cbc5f186c8e32c0 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Fri, 30 May 2014 17:27:10 -0700 Subject: altos: Allow sparse GPS data logging for TeleGPS When the device hasn't moved for a while, stop logging data. Start as soon as it moves again. Signed-off-by: Keith Packard --- src/kernel/ao_gps_report_mega.c | 44 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 44 insertions(+) (limited to 'src/kernel/ao_gps_report_mega.c') diff --git a/src/kernel/ao_gps_report_mega.c b/src/kernel/ao_gps_report_mega.c index 5e3c71bf..cb0c0fd9 100644 --- a/src/kernel/ao_gps_report_mega.c +++ b/src/kernel/ao_gps_report_mega.c @@ -18,6 +18,43 @@ #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) { @@ -38,7 +75,14 @@ ao_gps_report_mega(void) 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; -- cgit v1.2.3