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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; either version 2 of the License, or
* (at your option) any later version.
*
* 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"
void
ao_gps_report(void)
{
static __xdata struct ao_log_record gps_log;
static __xdata struct ao_telemetry_location gps_data;
static __xdata struct ao_telemetry_satellite gps_tracking_data;
uint8_t date_reported = 0;
uint8_t new;
for (;;) {
while ((new = ao_gps_new) == 0)
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_time.hour = gps_data.hour;
gps_log.u.gps_time.minute = gps_data.minute;
gps_log.u.gps_time.second = gps_data.second;
gps_log.u.gps_time.flags = gps_data.flags;
ao_log_write(&gps_log);
gps_log.type = AO_LOG_GPS_LAT;
gps_log.u.gps_latitude = gps_data.latitude;
ao_log_write(&gps_log);
gps_log.type = AO_LOG_GPS_LON;
gps_log.u.gps_longitude = gps_data.longitude;
ao_log_write(&gps_log);
gps_log.type = AO_LOG_GPS_ALT;
gps_log.u.gps_altitude.altitude_low = gps_data.altitude_low;
#if HAS_WIDE_GPS
gps_log.u.gps_altitude.altitude_high = gps_data.altitude_high;
#else
gps_log.u.gps_altitude.altitude_high = 0xffff;
#endif
ao_log_write(&gps_log);
if (!date_reported && (gps_data.flags & AO_GPS_DATE_VALID)) {
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;
gps_log.u.gps_date.extra = 0;
date_reported = ao_log_write(&gps_log);
}
}
if (new & AO_GPS_NEW_TRACKING) {
uint8_t c, n;
if ((n = gps_tracking_data.channels) != 0) {
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.c_n = gps_tracking_data.sats[c].c_n_1;
ao_log_write(&gps_log);
}
}
}
}
}
__xdata struct ao_task ao_gps_report_task;
void
ao_gps_report_init(void)
{
ao_add_task(&ao_gps_report_task, ao_gps_report, "gps_report");
}
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