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/*
* 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
struct ao_gps_split {
uint8_t positive;
uint8_t degrees;
uint8_t minutes;
uint16_t minutes_fraction;
};
static void
ao_gps_split(int32_t v, __xdata struct ao_gps_split *split) __reentrant
{
uint32_t minutes_e7;
split->positive = 1;
if (v < 0) {
v = -v;
split->positive = 0;
}
split->degrees = v / 10000000;
minutes_e7 = (v % 10000000) * 60;
split->minutes = minutes_e7 / 10000000;
split->minutes_fraction = (minutes_e7 % 10000000) / 1000;
}
void
ao_gps_print(__xdata struct ao_gps_data *gps_data) __reentrant
{
printf("GPS %2d sat",
(gps_data->flags & AO_GPS_NUM_SAT_MASK) >> AO_GPS_NUM_SAT_SHIFT);
if (gps_data->flags & AO_GPS_VALID) {
static __xdata struct ao_gps_split lat, lon;
int16_t climb, climb_int, climb_frac;
ao_gps_split(gps_data->latitude, &lat);
ao_gps_split(gps_data->longitude, &lon);
printf(" %2d:%02d:%02d",
gps_data->hour,
gps_data->minute,
gps_data->second);
printf(" %2d°%02d.%04d'%c %2d°%02d.%04d'%c %5dm",
lat.degrees,
lat.minutes,
lat.minutes_fraction,
lat.positive ? 'N' : 'S',
lon.degrees,
lon.minutes,
lon.minutes_fraction,
lon.positive ? 'E' : 'W',
gps_data->altitude);
climb = gps_data->climb_rate;
if (climb >= 0) {
climb_int = climb / 100;
climb_frac = climb % 100;
} else {
climb = -climb;
climb_int = -(climb / 100);
climb_frac = climb % 100;
}
printf(" %5u.%02dm/s(H) %d° %5d.%02dm/s(V)",
gps_data->ground_speed / 100,
gps_data->ground_speed % 100,
gps_data->course * 2,
climb / 100,
climb % 100);
printf(" %d.%d(hdop) %5u(herr) %5u(verr)",
gps_data->hdop / 5,
(gps_data->hdop * 2) % 10,
gps_data->h_error,
gps_data->v_error);
} else if (gps_data->flags & AO_GPS_RUNNING) {
printf(" unlocked");
} else {
printf (" not-connected");
}
}
void
ao_gps_tracking_print(__xdata struct ao_gps_tracking_data *gps_tracking_data) __reentrant
{
uint8_t c, n, v;
__xdata struct ao_gps_sat_data *sat;
printf("SAT ");
n = gps_tracking_data->channels;
if (n == 0) {
printf("not-connected");
return;
}
sat = gps_tracking_data->sats;
v = 0;
for (c = 0; c < n; c++) {
if (sat->svid && sat->state)
v++;
sat++;
}
printf("%d ", v);
sat = gps_tracking_data->sats;
for (c = 0; c < n; c++) {
if (sat->svid && sat->state)
printf (" %3d %02x %3d",
sat->svid,
sat->state,
sat->c_n_1);
sat++;
}
}
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